CN207344624U - With double limitation set mechanical joint and apply its mechanical arm and robot - Google Patents
With double limitation set mechanical joint and apply its mechanical arm and robot Download PDFInfo
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- CN207344624U CN207344624U CN201721120403.5U CN201721120403U CN207344624U CN 207344624 U CN207344624 U CN 207344624U CN 201721120403 U CN201721120403 U CN 201721120403U CN 207344624 U CN207344624 U CN 207344624U
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Abstract
Present disclose provides a kind of mechanical joint set with double limitation and apply its mechanical arm and robot.The mechanical joint includes：Rotation seat, is provided with actuating unit in it；Rotor, it can be rotated under the drive of actuating unit relative to rotation seat by axis of second direction；Soft position-limit mechanism, including：Soft spacing sensory package and control assembly, wherein, soft spacing sensory package sends limit signal when rotor turns to the first spacing angle；Control assembly stops actuating unit, and then prevent further rotating for rotor according to limit signal；Hard position-limit mechanism, is mechanical position limitation mechanism, is arranged on rotation seat and/or rotor, and when rotor turns to the second spacing angle, the hard position-limit mechanism of rotation seat and/or rotor blocks, and then prevents further rotating for rotor.The disclosure employs the safe spacing anti-collision system of two sets of mechanical arms, drastically increases the security reliability of mechanical arm, reduces risk of collision during its operation.
Description
Technical field
This disclosure relates to mechanical arm field, more particularly to a kind of mechanical joint set with double limitation and application its
Mechanical arm and robot.
Background technology
Important branch of the robot technology as modern science and technology, is related to machinery, electronics, sensor, computer and people
Many multi-disciplinary achievements in research such as work intelligence, are the hot fields researched and developed now.
Mechanical arm is the widest automated machine device of practical application in robot technical field, industry manufacture,
The fields such as therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation can see its figure.Mechanical arm
It can use, can also be used alone as a part for robot.Although their form is had nothing in common with each other, they have one
The characteristics of a common, be to receive instruction, is precisely positioned to the certain point of three-dimensional (or two dimension) spatially and carries out operation.
The instruction of mechanical arm is generally sent by people, and the angle of rotation for being converted into corresponding joint motor is handled by computer program
Parameters such as degree, speed, acceleration, and the processing of these parameters carries out automatically by computer program entirely, once program occur mistake or
By external interference program will be caused to calculate the parameter to make mistake, motor, which performs these wrong parameters, can cause mechanical arm to go to taboo
Only itself collision occurs for region, can also bump against other object or person in some cases, cause other security risks.
Utility model content
(1) technical problems to be solved
Present disclose provides a kind of mechanical joint set with double limitation and its mechanical arm and robot is applied, with
Technical problem set forth above is solved at least in part.
(2) technical solution
According to one aspect of the disclosure, there is provided a kind of mechanical joint set with double limitation, including：Rotate
Seat, it has first connecting portion towards first direction, and rotation seat is provided with actuating unit；Rotor, it has towards third direction
There is second connecting portion, which can rotate under the drive of actuating unit relative to rotation seat by axis of second direction；Soft limit
Position mechanism, including：Soft spacing sensory package and control assembly, wherein, soft spacing sensory package turns to the first limit in rotor
When parallactic angle is spent, limit signal is sent；Control assembly stops actuating unit according to limit signal, so prevent rotor into one
Step rotation；Hard position-limit mechanism, is mechanical position limitation mechanism, is arranged on rotation seat and/or rotor, second is turned in rotor
During spacing angle, the hard position-limit mechanism of rotation seat and/or rotor blocks, and then prevents further rotating for rotor.
In some embodiments of the present disclosure, soft spacing sensory package includes：Proximity sensor, is arranged at rotor and turns
On one of dynamic seat；And sensor detection sample, be arranged at rotor and rotation seat it is wherein another on；Wherein, when
When rotor is rotated using second direction as axis, proximity sensor and sensor detection sample move closer to, and are turned in rotor
During the first spacing angle, proximity sensor is opposite with sensor detection sample, and proximity sensor sends limit signal.
In some embodiments of the present disclosure, proximity sensor is arranged at the side of rotor, close to second connecting portion
Position；Sensor detection sample is arranged on rotation seat, close to the position of first connecting portion.
In some embodiments of the present disclosure, hard position-limit mechanism includes：Mechanical position limitation bolt, is arranged on rotation seat, leans on
The position of the second connecting portion of nearly rotor；Wherein, when rotor turns to the second spacing angle, mechanical position limitation bolt props up
The side of rotor, and then prevent further rotating for rotor.
In some embodiments of the present disclosure, hard position-limit mechanism includes：First mechanical position limitation mechanism, is arranged at rotation seat
On；Second mechanical position limitation mechanism, is arranged on rotor；Wherein, when rotor turns to the second spacing angle, the first machinery
Position-limit mechanism and the second mechanical position limitation mechanism are blocked, and then prevent further rotating for rotor.
In some embodiments of the present disclosure, soft spacing sensory package is compared to hard position-limit mechanism, in closer to rotation
The position of external side；And/or second spacing angle compared to the first spacing angle, it is allowed to rotor rotate bigger angle.
In some embodiments of the present disclosure, actuating unit includes：Motor and matching retarder；Rotor can turn
The output terminal of retarder is fixed on dynamicly, its input terminal connection motor can be under the drive of motor, relative to rotation seat with second
Direction rotates for axis.
In some embodiments of the present disclosure, rotation seat is internally formed hollow-core construction, and actuating unit is arranged at hollow knot
In structure.
According to another aspect of the disclosure, a kind of mechanical arm is additionally provided, including：First mechanical joint, is as above
Mechanical joint；Mechanical large arm and mechanical forearm, both are connected by the first mechanical joint, wherein, mechanical large arm is connected to rotation
The first connecting portion of seat, mechanical forearm are connected to the second connecting portion of rotor.
In some embodiments of the present disclosure, further include：Second mechanical joint and the 3rd mechanical joint, wherein：Second machine
The rotor in tool joint is connected to mechanical large arm；The rotor of 3rd mechanical joint is connected to the rotation seat of the second mechanical joint.
According to another aspect of the disclosure, a kind of robot is additionally provided, including：As above mechanical joint；And/or such as
On mechanical arm.
In some embodiments of the present disclosure, including：As above mechanical arm；Mechanical shoulder, its first end are connected to the 3rd
The rotation seat of mechanical joint；4th mechanical joint, its rotor are connected to the second end of mechanical shoulder, its rotation seat is consolidated with shoulder
Determine part to fix；
Wherein, mechanical arm and mechanical shoulder 400 are fixed on arm supporting bracket by shoulder fixing piece.
In some embodiments of the present disclosure, mechanical shoulder includes：The connection tubing of inner side, its both ends are respectively connected to
The rotor of the rotation seat of three mechanical joints and the 4th mechanical joint；Some stiffeners in outside, the two of every reinforcing rib
End is individually fixed on the rotation seat of the 3rd mechanical joint and the rotor of the 4th mechanical joint, with the strong of enhancing connection tubing
Degree.
In some embodiments of the present disclosure, shoulder fixing piece is a fixed plate；And/or connection tubing uses carbon fiber pipe
Prepare.
(3) beneficial effect
It can be seen from the above technical proposal that the disclosure has the mechanical joint of double limitation setting and applies its machinery
Arm and robot at least have the advantages that one of them：
(1) cost that the combination of soft position-limit mechanism and hard position-limit mechanism makes program code malfunction substantially reduces, as long as soft limit
Position mechanism does not break down or program error, sends limit signal by soft spacing sensory package, control assembly, which leaves the motor off, to be turned
Dynamic, loss is almost nil；Only when soft spacing sensory package, control assembly mechanism malfunction or program malfunction, just by hard
Position-limit mechanism plays a role prevents further rotating for rotor by force, leaves the motor off rotation and band-type brake, cost at this time
Hard spacing part is simply replaced, will not cause further to lose, cost substantially reduces；
(2) the safe spacing anti-collision system of two sets of mechanical arms is employed, drastically increases the security reliability of mechanical arm,
Reduce risk of collision during its operation；
(3) greatly facilitate programmer and debug mechanical arm, reduce cost and the cycle of debugging.
Brief description of the drawings
Fig. 1 is the stereogram for the mechanical joint for having double limitation setting according to the embodiment of the present disclosure.
Fig. 2 is the schematic diagram that mechanical arm is connected using mechanical joint shown in Fig. 1.
Fig. 3 is the structure diagram according to embodiment of the present disclosure mechanical arm.
【Embodiment of the present disclosure main element symbol description in attached drawing】
100- mechanical joints
110- rotation seats；111- first connecting portions；
120- rotors；121- second connecting portions；
The soft spacing sensory packages of 130-；
131- proximity sensors；132- sensors detect sample；
140- mechanical position limitation bolts；
150- actuating units；
O1- first direction； O2- second direction； O3- third direction；
1001- the first mechanical joint； 1002- the second mechanical joint；
1003- the three mechanical joint； 1004- the four mechanical joint；
200- machinery large arm；
300- machinery forearms；
400- machinery shoulders；
500- shoulder fixing pieces.
Embodiment
The disclosure is set using double limitation, is capable of the security of elevating mechanism joint motions.
For the purpose, technical scheme and advantage of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing, is further described the disclosure.
First, mechanical joint
In an exemplary embodiment of the disclosure, there is provided a kind of mechanical joint set with double limitation.Fig. 1
To have the stereogram of the mechanical joint of double limitation setting according to the embodiment of the present disclosure.Fig. 2 is using mechanical joint shown in Fig. 1
Connect the schematic diagram of mechanical arm.
Referring to Fig.1 and 2, the mechanical joint 100 that there is the present embodiment double limitation to set includes：
Rotation seat 110, it is towards first direction O1With first connecting portion 111, which is internally provided with engine
Structure 150, the actuating unit 150 include motor and matching retarder；
Rotor 120, it is towards third direction O3With second connecting portion 121, which is rotatably fixed to subtract
The output terminal of fast device, its input terminal connection motor, can be under the drive of the motor, relative to rotation seat 110 with second direction
O2Rotated for axis；
Soft position-limit mechanism, including：Soft spacing sensory package 130 and control assembly, wherein, soft spacing sensory package 130 is felt
Know the rotational angle of rotor 120, when rotor 120 turns to the first spacing angle, send limit signal；Control assembly
(not shown), its limit signal sent according to 130 components of soft spacing sensing, stops motor 150, and then prevents rotor 120
Further rotate；
Hard position-limit mechanism, is mechanical position limitation mechanism, is arranged on rotation seat and/or rotor, is turned in rotor 120
During the second spacing angle, the hard position-limit mechanism of rotation seat and/or rotor blocks, and prevents the further rotation of rotor 120 by force
Turn.
In the present embodiment, the cost that the combination of soft position-limit mechanism and hard position-limit mechanism makes program code malfunction substantially reduces,
As long as soft position-limit mechanism does not break down or program error, limit signal is sent by soft spacing sensory package, control assembly makes electricity
Machine stops operating, and loss is almost nil；Only in hardware failure or program codes such as soft spacing sensory package, control assemblies
During error, just played a role by hard position-limit mechanism and prevent further rotating for rotor by force, leave the motor off rotation and band-type brake,
Cost at this time also simply replaces the part of hard position-limit mechanism, will not cause further to lose, cost substantially reduces.
Each part to the present embodiment individually below with the mechanical joint of double limitation setting is retouched in detail
State.
Fig. 1 is refer to, rotation seat 110 is internally formed hollow-core construction, actuating unit is provided with the inside of hollow-core construction
150.In the present embodiment, actuating unit 150 includes：Motor and matching retarder.Realized and rotated by motor and retarder
The rotation of body 120.The output shaft of motor O in a second direction2.Second direction O2With first direction O1It is misaligned or parallel, and
And determine the rotation axis of rotor 120.Driving torque is exported by the output axial direction rotor 120 of motor.
It should be noted that, although actuating unit is installed in the hollow-core construction of rotation seat 110 in the present embodiment, but at this
In open other embodiment, actuating unit can also be installed on the outside of rotation seat, have no effect on the realization of the disclosure.
First direction O in the outside of rotation seat hollow-core construction1, it is provided with first connecting portion 111.The first connecting portion
111 provide connection for associated components, such as：In the mechanical large arm of connection mechanical arm and the mechanical joint of mechanical forearm, this
One connecting portion 111 is connected to mechanical large arm；In the mechanical joint of the mechanical forearm and manipulator of connection mechanical arm, first company
Socket part 111 is connected to mechanical forearm etc..
Fig. 1 is continued referring to, rotor 120 is rotatably fixed to the output of retarder by way of screw fastening
End, its input terminal connection motor.The rotor 120 includes：Towards third direction O3Second connecting portion 121.Second connection
Portion 121 provides connection for associated components, such as：, should in the mechanical large arm of connection mechanical arm and the mechanical joint of mechanical forearm
Second connecting portion 121 is connected to mechanical forearm；In the mechanical joint of the mechanical forearm and manipulator of connection mechanical arm, this second
Connecting portion 121 is connected to manipulator etc..
Under the drive of motor, the associated components of rotor 120 and its connection can be with the second party where motor output shaft
To O2Rotated for axis, so as to fulfill the rotating function of mechanical joint.
In the present embodiment, second direction O2With third direction O3With first direction O1Vertically, but the disclosure not as
Limit.In the other embodiment of the disclosure, as long as first direction O1With second direction O2It is misaligned and not parallel.General feelings
Under condition, first direction O1With second direction O2Angulation is between 60 °~120 °.
Soft position-limit mechanism, including：Soft spacing sensory package 130 and control assembly.Continue referring to Fig. 1, soft spacing sensing
Component 130 includes two parts：The proximity sensor 131 being arranged on rotor 120；And it is fixed on the biography on rotation seat 110
Sensor detects sample 132.When rotor 120 rotates, proximity sensor 131 rotates therewith to sensor and detects 132 phase of sample
Pair when, proximity sensor 131 to control assembly send limit signal.In other words, the installation position set of proximity sensor 131
The position opposite with sensor detection sample 132 when rotor turns to the first spacing angle.
In the present embodiment, proximity sensor 131 is arranged at the side of rotor 120, close to the position of second connecting portion 121
Put.Sensor detection sample 132 is arranged on rotation seat 110, close to the position of first connecting portion 111.Also, in rotor
During 120 rotate along the rotation direction of setting, proximity sensor 131 is gradually close to sensor detection sample 132.
Fig. 2 is the structure diagram for the mechanical large arm and mechanical forearm that mechanical arm is connected using mechanical joint shown in Fig. 1.Please
With reference to Fig. 1 and Fig. 2, mechanical large arm 200 is connected to mechanical joint 1001Rotation seat first connecting portion 111, mechanical forearm 300
It is connected to the second connecting portion 121 of the rotor of mechanical joint.Mechanical forearm 300 rotates under the drive of motor, gradually to machine
Tool large arm is close, and the proximity sensor 131 on rotor is gradually close to the sensor detection sample 132 on rotation seat.Work as machine
Tool forearm is gone to when soon arriving the first spacing angle parallel with mechanical large arm, and proximity sensor 131 is gone to and sensor detects
Sample 132 is opposite, and limit signal is sent to control assembly.
In the present embodiment, motor 150 is the motor with band-type brake.Control assembly sends control after limit signal is received
Signal processed makes motor 150 stop operating, and is held tightly with season band-type brake, so that motor stops at once.At this time, rotor 120 and machine
Tool forearm stops operating at once therewith, so as to avoid mechanical forearm continues rotation and bumps against with mechanical large arm or mechanical shoulder.
In the present embodiment, proximity sensor 131 uses commercial sensor, and sensor detection sample 132 is using close with this
The detection sample that sensor matches, on control assembly, it receives limit signal and starts control signal to make motor 150 stop
Only run, for general mode in the art, no longer describe in detail herein.
It will be appreciated by persons skilled in the art that in the present embodiment, sensor detection sample 132 is fixed on rotation seat
On 110, proximity sensor is fixed on rotor 120, but the disclosure is not limited thereto.In the other embodiment of the disclosure
In, it can also be that sensor detection sample 132 is fixed on rotor 120, proximity sensor is fixed on rotation seat 110, together
Sample can realize the disclosure.
Referring to Fig.1 and 2, hard position-limit mechanism includes：The mechanical position limitation bolt 140 being arranged on rotation seat.The machinery
Caging bolt is set close to the second connecting portion 121 of rotor.In the process that the rotation direction of rotor 120 along setting rotates
In, mechanical forearm 300 is gradually close to mechanical position limitation bolt 140.When mechanical forearm go to soon arrive it is parallel with mechanical large arm
During the second spacing angle, mechanical position limitation bolt 140 props up the side of rotor 120, and rotor 120 cannot continue to rotate.
At this time, due to turning motionless overload-alarm and band-type brake occur for motor 150, avoid mechanical forearm and collide with mechanical large arm.
In the present embodiment, hard position-limit mechanism only includes a mechanical position limitation bolt 140, is propped up by mechanical position limitation bolt 140
The side of rotor 120, so as to prevent rotor from continuing to rotate.
Skilled artisans appreciate that be：Although the present embodiment has been separately provided hard caging bolt, in this public affairs
Open in other embodiment, the component of hard position-limit mechanism can also be the part of rotation seat or rotor in itself, equally can be real
The existing disclosure.
In addition, in the other embodiment of the disclosure, hard position-limit mechanism can also include：First be installed on rotation seat
Mechanical position limitation mechanism and the second mechanical position limitation mechanism being installed on rotor.First mechanical position limitation mechanism and the second mechanical position limitation
Mechanism is not the part of rotation seat or rotor in itself, but the mechanism in addition set.When mechanical forearm, to turn to second spacing
During angle, the first mechanical position limitation mechanism and the second mechanical position limitation mechanism are mutually blocked, and prevent rotor from continuing to rotate.
Continue referring to Fig. 1, in two groups of position-limit mechanisms, compared to mechanical position limitation bolt 140, the portion of soft spacing sensory package
Part-proximity sensor 131 and sensor detection sample 132 are on rotation seat closer to the position in outside.Also, two groups spacing
In mechanism, hard position-limit mechanism allows the angle bigger that rotor rotates.
The disclosure is prevents mechanical arm from controlling program error unpredictable danger occurs to devise a set of safe spacing
System, is typically that soft position-limit mechanism works if soft position-limit mechanism normal operation, the effect of hard position-limit mechanism is passed close
Force to prevent motor (band band-type brake) from being rotated further when sensor, motor (band band-type brake) or drive corruption, failure.Involved in the disclosure
Two sets of safe spacing systems：
First set：Soft position-limit mechanism
Soft position-limit mechanism is the first pipe protection for preventing mechanical arm from colliding, it includes：Proximity sensor 131, sensor inspection
Sample 132 and control assembly.Sensor detection sample 132 is installed at the first spacing angle of mechanical joint slewing area,
When controlling the main program code error of arm to cause mechanical joint to turn at the first spacing angle, proximity sensor 131 is examined
Detection sample 132 is measured, proximity sensor 131 sends a signal to control assembly at this time, after control assembly receives signal
Leave the motor off rotation and band-type brake, it is therefore prevented that dangerous generation.
Second set：Hard position-limit mechanism
Hard position-limit mechanism is the main program code error in control machinery arm, the situation that control assembly is also damaged, failed
Passively use down, it includes a hard spacing part, here be a mechanical position limitation bolt.It is mechanical under such a operating mode
Articulation still may proceed to rotate to cannot stop after the second spacing angle, and mechanical position limitation bolt collides with rotor,
Motor turns motionless generation overload-alarm and stops operating, band-type brake, avoids the generation of danger.
In the present embodiment, two sets of safe spacing anti-collision system are employed, the security reliability of mechanical arm is improved, reduces
Risk of collision during operation.This greatly facilitates programmer and debugs mechanical arm, reduces cost and the cycle of debugging.
Based on above-mentioned mechanical joint, according to another aspect of the disclosure, a kind of mechanical arm is also provided.
2nd, mechanical arm first embodiment
In one embodiment of the disclosure, there is provided a kind of mechanical arm.
As shown in Fig. 2, the present embodiment mechanical arm includes：Pass through the first mechanical joint 1001200 He of mechanical large arm of connection
Mechanical forearm 300, wherein, mechanical large arm 200 is connected in the first connecting portion 111 of rotation seat, and mechanical forearm 300, which is connected to, to be turned
In the second connecting portion 121 of kinetoplast.
3rd, mechanical arm first embodiment
In another embodiment of the disclosure, there is provided a kind of mechanical arm.
As shown in figure 3, the present embodiment mechanical arm includes：Mechanical large arm 200, mechanical forearm 300, shoulder joint.Wherein：
Mechanical forearm 300 and mechanical large arm 200 pass through the first mechanical joint 1001Connection, mechanical large arm 200 are connected to the
One mechanical joint 1001Rotation seat first connecting portion 111 on, mechanical forearm 300 is connected to the first mechanical joint 1001Turn
In the second connecting portion 121 of kinetoplast.
Shoulder joint is used for the connection of mechanical large arm 200 and mechanical shoulder 400, including：Second mechanical joint 1002With the 3rd
Mechanical joint 1003.Wherein：
Second mechanical joint 1002Rotor be connected to mechanical large arm 200；
3rd mechanical joint 1003Rotor be connected to the second mechanical joint 1002Rotation seat, the 3rd mechanical joint
1003Rotation seat be connected to mechanical shoulder 400；
Wherein, the first mechanical joint 1001, the second mechanical joint 1002With the 3rd mechanical joint 1003It is that example is performed as described above
The mechanical joint.
4th, robot
Based on above-mentioned mechanical arm, according to another aspect of the disclosure, a kind of robot is additionally provided.The robot bag
Include：
The mechanical arm of above-described embodiment；
Mechanical shoulder 400, its first end are connected to the 3rd mechanical joint 1003Rotation seat；
4th mechanical joint 1004, its rotor is connected to the second end of mechanical shoulder 400, its rotation seat is fixed with shoulder
Part 500 is fixed；
Wherein, mechanical arm and mechanical shoulder 400 are fixed on arm supporting bracket by shoulder fixing piece 500.The present embodiment
In, shoulder fixing piece 500 is a fixed plate.4th mechanical joint 1004For the mechanical joint described in example is performed as described above.
Wherein, mechanical shoulder 400 includes：The connection tubing of inner side and 6 stiffeners in outside.Wherein, tubing is connected
Both ends connect the 3rd mechanical joint 100 respectively3Rotation seat and the 4th mechanical joint 1004Rotor.Each reinforcement steel
The both ends of muscle are equally individually fixed in the 3rd mechanical joint 1003Rotation seat and the 4th mechanical joint 1004Rotor on, with
The intensity of enhancing connection tubing, prevents from causing to connect tubing fracture since mechanical arm overall weight is larger.Wherein, in order to protect
Mitigate weight on the premise of card intensity, connection tubing is made using carbon fiber pipe.
So far, attached drawing is had been combined the embodiment of the present disclosure is described in detail.It should be noted that in attached drawing or say
In bright book text, the implementation that does not illustrate or describe is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or replaced to it, such as：
(1) rotation seat and rotor be opposite, in two parts that can be rotated against of a mechanical joint
One of them, can be as rotation seat, can also be referred to as rotor；
(2) in soft position-limit mechanism, tap into sensor and be changed to other sensor, microswitch etc.；
(3) in hard position-limit mechanism, spacing part is bolt, can also make other part into.
According to above description, those skilled in the art should have the disclosure mechanical joint of double limitation setting and answer
There is clear understanding with its mechanical arm and robot.
In conclusion the disclosure employs the safe spacing anti-collision system of two sets of mechanical arms, mechanical arm is drastically increased
Security reliability, reduce risk of collision during its operation, while do not increase cost substantially, there is stronger practical value.
It should also be noted that, the direction term mentioned in embodiment, for example, " on ", " under ", "front", "rear", " left side ",
" right side " etc., is only the direction of refer to the attached drawing, is not used for limiting the protection domain of the disclosure.Through attached drawing, identical element by
Same or like reference numeral represents.When understanding of this disclosure may be caused to cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between bracket should not be configured to the limit to claim
System.
Unless there are known entitled phase otherwise meaning, the numerical parameter in this specification and appended claims are approximations, energy
Enough required characteristic changings according to as obtained by content of this disclosure.Specifically, it is all to be used in specification and claim
The numeral of the middle content for representing composition, reaction condition etc., it is thus understood that be that the term for being subject to " about " is repaiied in all situations
Decorations.Under normal circumstances, the implication of its expression refers to include by specific quantity ± 10% change in certain embodiments, at some
± 5% change in embodiment, ± 1% change in certain embodiments, in certain embodiments ± 0.5% change.
Furthermore word "comprising" does not exclude the presence of element or step not listed in the claims.Before element
Word "a" or "an" does not exclude the presence of multiple such elements.
Specification and the word of ordinal number such as " first ", " second ", " the 3rd " etc. used in claim, with modification
Corresponding element, itself is not meant to that the element has any ordinal number, does not also represent the suitable of a certain element and another element
Order in sequence or manufacture method, the use of those ordinal numbers are only used for enabling the element with certain name and another tool
The element for having identical name can make clear differentiation.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description to the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The disclosure of shield requires features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the disclosure.
Particular embodiments described above, has carried out further in detail the purpose, technical solution and beneficial effect of the disclosure
Describe in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, be not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (14)
- A kind of 1. mechanical joint set with double limitation, it is characterised in that including：Rotation seat (110), it is towards first direction (O1) there is first connecting portion (111), the rotation seat is provided with actuating unit (150)；Rotor (120), it is towards third direction (O3) there is second connecting portion (121), which can be in the actuating unit (150) under drive, relative to rotation seat with second direction (O2) rotated for axis；Soft position-limit mechanism, including：Soft spacing sensory package (130) and control assembly, wherein, the soft spacing sensory package (130) when the rotor (120) turns to the first spacing angle, limit signal is sent；The control assembly is according to described Limit signal, stops actuating unit (150), and then prevents further rotating for rotor (120)；Hard position-limit mechanism, is mechanical position limitation mechanism, is arranged on the rotation seat and/or the rotor, in the rotor (120) when turning to the second spacing angle, the hard position-limit mechanism of the rotation seat and/or the rotor blocks, and then prevents Rotor (120) further rotate.
- 2. mechanical joint according to claim 1, it is characterised in that the soft spacing sensory package (130) includes：Proximity sensor (131), is arranged on one of the rotor (120) and the rotation seat (110)；AndSensor detection sample (132), be arranged at the rotor (120) and the rotation seat (110) it is wherein another on；Wherein, when the rotor (120) is with second direction (O2) for axis rotation when, the proximity sensor (131) and the biography Sensor detection sample (132) moves closer to, described close to sensing when the rotor (120) turns to the first spacing angle With sensor detection sample (132) relatively, the proximity sensor (131) sends limit signal to device (131).
- 3. mechanical joint according to claim 2, it is characterised in that：The proximity sensor (131) is arranged at the side of the rotor (120), close to the second connecting portion (121) Position；The sensor detection sample (132) is arranged on the rotation seat (110), close to the first connecting portion (111) Position.
- 4. mechanical joint according to claim 1, it is characterised in that the hard position-limit mechanism includes：Mechanical position limitation bolt (140), is arranged on the rotation seat (110), close to the position of the second connecting portion (121) of rotor Put；Wherein, when the rotor (120) turns to the second spacing angle, the mechanical position limitation bolt (140) props up described The side of rotor (120), and then prevent further rotating for rotor (120).
- 5. mechanical joint according to claim 1, it is characterised in that the hard position-limit mechanism includes：First mechanical position limitation mechanism, is arranged on the rotation seat (110)；Second mechanical position limitation mechanism, is arranged on the rotor (120)；Wherein, when the rotor (120) turns to the second spacing angle, the first mechanical position limitation mechanism and the second machinery Position-limit mechanism blocks, and then prevents further rotating for rotor (120).
- 6. mechanical joint according to claim 1, it is characterised in that：The soft spacing sensory package (130) is compared to the hard position-limit mechanism, in closer on the outside of the rotor (120) Position；And/orThe second spacing angle is compared to the described first spacing angle, it is allowed to which the rotor (120) rotates the angle of bigger.
- 7. mechanical joint according to any one of claim 1 to 6, it is characterised in that：The actuating unit (150) includes：Motor and matching retarder；The rotor is rotatably fixed to the output terminal of the retarder, its input terminal connects the motor, can be described Under the drive of motor, relative to rotation seat with second direction (O2) rotated for axis.
- 8. mechanical joint according to claim 7, it is characterised in that the rotation seat is internally formed hollow-core construction, institute Actuating unit (150) is stated to be arranged in the hollow-core construction.
- A kind of 9. mechanical arm, it is characterised in that including：First mechanical joint (1001), it is the mechanical joint any one of claim 1 to 6；Mechanical large arm (200) and mechanical forearm (300), both pass through first mechanical joint (1001) connection, wherein, it is described Mechanical large arm (200) is connected to the first connecting portion (111) of rotation seat, and the machinery forearm (300) is connected to the of rotor Two connecting portions (121).
- 10. mechanical arm according to claim 9, it is characterised in that further include：Second mechanical joint (1002) and the 3rd machine Tool joint (1003), wherein：Second mechanical joint (1002) rotor be connected to mechanical large arm (200)；3rd mechanical joint (1003) rotor be connected to the second mechanical joint (1002) rotation seat.
- A kind of 11. robot, it is characterised in that including：Mechanical joint any one of claim 1 to 6；And/orMechanical arm described in claim 9 or 10.
- 12. robot according to claim 11, it is characterised in that including：Mechanical arm described in claim 10；Mechanical shoulder (400), its first end are connected to the 3rd mechanical joint (1003) rotation seat；4th mechanical joint (1004), its rotor is connected to the second end of mechanical shoulder (400), its rotation seat is fixed with shoulder Part (500) is fixed；Wherein, the mechanical arm and mechanical shoulder (400) are fixed on arm supporting bracket by the shoulder fixing piece (500).
- 13. robot according to claim 12, it is characterised in that the machinery shoulder (400) includes：The connection tubing of inner side, its both ends are respectively connected to the 3rd mechanical joint (1003) rotation seat and the 4th mechanical joint (1004) rotor；Some stiffeners in outside, the both ends of every reinforcing rib are individually fixed in the 3rd mechanical joint (1003) rotation seat With the 4th mechanical joint (1004) rotor on, with strengthen it is described connection tubing intensity.
- 14. robot according to claim 13, it is characterised in that：The shoulder fixing piece (500) is a fixed plate；And/orThe connection tubing is prepared using carbon fiber pipe.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721120403.5U CN207344624U (en) | 2017-09-01 | 2017-09-01 | With double limitation set mechanical joint and apply its mechanical arm and robot |
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| CN201721120403.5U CN207344624U (en) | 2017-09-01 | 2017-09-01 | With double limitation set mechanical joint and apply its mechanical arm and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN110253622A (en) * | 2019-06-21 | 2019-09-20 | 深圳岱仕科技有限公司 | The collision-proof method of rotary joint and rotary joint |
-
2017
- 2017-09-01 CN CN201721120403.5U patent/CN207344624U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN110253622A (en) * | 2019-06-21 | 2019-09-20 | 深圳岱仕科技有限公司 | The collision-proof method of rotary joint and rotary joint |
| WO2020252858A1 (en) * | 2019-06-21 | 2020-12-24 | 深圳岱仕科技有限公司 | Rotary joint and anti-collision method of rotary joint |
| CN110253622B (en) * | 2019-06-21 | 2021-01-22 | 深圳岱仕科技有限公司 | Rotary joint and anti-collision method for rotary joint |
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