CN220840259U - Double-magnetic braiding mechanical arm joint module - Google Patents
Double-magnetic braiding mechanical arm joint module Download PDFInfo
- Publication number
- CN220840259U CN220840259U CN202322686641.4U CN202322686641U CN220840259U CN 220840259 U CN220840259 U CN 220840259U CN 202322686641 U CN202322686641 U CN 202322686641U CN 220840259 U CN220840259 U CN 220840259U
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- Prior art keywords
- installation shell
- joint
- arm installation
- joint module
- cylinder
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- 238000009954 braiding Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 50
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 13
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 13
- 241001330002 Bambuseae Species 0.000 claims abstract description 13
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 13
- 239000011425 bamboo Substances 0.000 claims abstract description 13
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 9
- 230000005389 magnetism Effects 0.000 claims abstract description 5
- 238000001816 cooling Methods 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000009977 dual effect Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 230000035939 shock Effects 0.000 abstract description 2
- 230000017525 heat dissipation Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Manipulator (AREA)
Abstract
The utility model discloses a mechanical arm joint module with a double-magnetic braiding structure, which comprises a joint module body, wherein a first joint arm installation shell and a second joint arm installation shell which are connected with each other are arranged on the joint module body, a frameless torque motor is arranged in each of the first joint arm installation shell and the second joint arm installation shell, a harmonic reducer and a connecting disc are sequentially arranged on one side of the frameless torque motor, a double encoder and a driver are sequentially arranged on the other side of the frameless torque motor, a positioning cylinder is sleeved outside the frameless torque motor, a protection cylinder is sleeved outside the positioning cylinder, and the protection cylinder is fastened in the first joint arm installation shell and the second joint arm installation shell. This two magnetism braiding structure arm joint module compact structure, the joint arm installation shell inboard has set up a protection section of thick bamboo, can carry out shock-resistant protection to internally mounted's structure to play high-efficient radiating effect, a protection section of thick bamboo provides wire fixed position simultaneously, easily the use of arm joint module.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm joint module with a double-magnetic braiding structure.
Background
The mechanical arm joint module refers to a modularized component for a component mechanical arm joint, and the measurement and control of the position or the movement are generally realized by a double-magnetic braiding structure, so that the positioning precision, the movement smoothness and the repeatability are improved. The dual magnetic encoding structure generally includes a main encoder, which is generally a high-precision, high-resolution encoder, for accurately measuring and feeding back position information of a moving axis, and an auxiliary encoder; the auxiliary encoder may be a low cost, low resolution encoder for monitoring and correcting uncertainty factors such as errors, drift or vibration of the main encoder. Compared with the traditional mechanical arm joint driven by a gear or a servo motor, the mechanical arm joint module with the double-magnetic braiding structure has the advantages of high torque density, high reliability, high flexibility and smooth movement, and has wide application prospects in the fields of industrial automation, logistics transportation, medical appliances and the like.
The existing double-magnetic braiding mechanical arm joint module is characterized in that a harmonic reducer, a frameless torque motor, a double encoder, a driver, a band-type brake and other structures are arranged in a shell of the joint module, but in order to save installation space, the whole installation is compact, external protection treatment is usually directly carried out through the shell, meanwhile, heat dissipation is carried out through the shell, high-strength protection treatment cannot be carried out on an internal structure, and once damage such as collision occurs, the damage can be extremely large.
Disclosure of utility model
The utility model aims to provide a double-magnetic-braid mechanical arm joint module, which aims to solve the problems that in the prior art, a harmonic reducer, a frameless torque motor, a double encoder, a driver, a band-type brake and other structures are installed in a shell of the joint module, but in order to save installation space, the whole installation is compact, the external protection treatment is usually directly carried out through the shell, meanwhile, heat dissipation is carried out through the shell, the high-strength protection treatment cannot be carried out on an internal structure, and once damage such as impact occurs, the damage is extremely caused.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a two magnetism braiding structure arm joint module, includes joint module main part, be equipped with interconnect's first joint arm installation shell and second joint arm installation shell in the joint module main part, and all install frameless moment motor in first joint arm installation shell and the second joint arm installation shell, harmonic reducer and connection pad are installed in proper order to one side of frameless moment motor, and install dual encoder and driver in proper order to the frameless moment motor opposite side, frameless moment motor outside cover is equipped with the location section of thick bamboo, and still overlaps outside the location section of thick bamboo and be equipped with a protection section of thick bamboo to protection section of thick bamboo fastening block is in first joint arm installation shell and second joint arm installation shell, makes a protection section of thick bamboo carry out the protection to frameless moment motor, dual encoder position.
Preferably, through holes are respectively formed in the side surfaces of the first joint arm installation shell and the second joint arm installation shell, and fixing cylinders are fixed in the through holes of the first joint arm installation shell and the second joint arm installation shell through threads.
Preferably, a cooling fan is arranged in the fixed cylinder, and a cooling screen plate is fastened on the outer side surface of the fixed cylinder in a clamping manner for cooling and exhausting treatment.
Preferably, the outside at protection section of thick bamboo both ends all is equipped with the stationary blade that constitutes integratively, and protection section of thick bamboo side is still evenly spaced apart and is equipped with the through wires hole of bar structure.
Preferably, the fixing plates are welded with cooling fins at uniform intervals, the width of each cooling fin is equal to that of each fixing plate, and the fixing barrel corresponds to the cooling fin on one side.
Preferably, clamping grooves are formed between the fixing pieces, and the clamping grooves correspond to threading hole positions.
Compared with the prior art, the utility model has the beneficial effects that: this two magnetism braiding structure arm joint module compact structure, the joint arm installation shell inboard has set up a protection section of thick bamboo, can carry out shock-resistant protection to internally mounted's structure to play high-efficient radiating effect, a protection section of thick bamboo provides wire fixed position simultaneously, easily the use of arm joint module. This two magnetism braiding structure arm joint module has set up the fin in the protective tube outside, when radiating, makes protective tube structure obtain strengthening to offer the through wires hole on protective tube, so that the wire wears to establish driver department from protective tube department, so that the accomodate protection of wire improves joint module's life.
Drawings
FIG. 1 is a schematic diagram of a mechanical arm joint module with a double magnetic braid structure;
FIG. 2 is a schematic diagram of a cross-sectional structure of a protective cylinder of a mechanical arm joint module with a double magnetic braid structure;
FIG. 3 is a side view of a protective cylinder of a mechanical arm joint module with a double magnetic braid structure;
Fig. 4 is a schematic diagram of a connection structure between a fixing cylinder and a second mounting shell of a mechanical arm joint module with a double magnetic braiding structure.
In the figure: 1. a joint module body; 2. a harmonic reducer; 3. a connecting disc; 4. a fixed cylinder; 5. a heat dissipation screen; 6. a first articulated arm mounting shell; 7. a protective cylinder; 701. a threading hole; 702. a fixing piece; 703. a heat sink; 704. a clamping groove; 8. a positioning cylinder; 9. a frameless torque motor; 10. a double encoder; 11. a driver; 12. the second articulated arm mounting shell.
Description of the embodiments
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-4, the present utility model provides a technical solution: the mechanical arm joint module with the double-magnetic braiding structure comprises a joint module main body 1, wherein a first joint arm installation shell 6 and a second joint arm installation shell 12 which are mutually connected are arranged on the joint module main body 1, through holes are respectively formed in the side surfaces of the first joint arm installation shell 6 and the second joint arm installation shell 12, a fixing cylinder 4 is fixedly arranged in the through holes of the first joint arm installation shell 6 and the second joint arm installation shell 12 through threads, the fixing cylinder 4 can be rotationally fixed on the first joint arm installation shell 6 and the second joint arm installation shell 12 through a threaded structure, a heat dissipation fan is arranged in the fixing cylinder 4, a heat dissipation screen 5 is fastened on the outer side surface of the fixing cylinder 4 in a clamping manner for heat dissipation and exhaust treatment, the heat dissipation fan in the fixing cylinder 4 can be subjected to wiring power supply treatment through a power supply of a mechanical arm, the joint module main body 1 can be fixed by a fixing cylinder 4, a frameless moment motor 9 is arranged in a first joint arm installation shell 6 and a second joint arm installation shell 12, a harmonic reducer 2 and a connecting disc 3 are sequentially arranged on one side of the frameless moment motor 9, a double encoder 10 and a driver 11 are sequentially arranged on the other side of the frameless moment motor 9, a positioning cylinder 8 is sleeved outside the frameless moment motor 9, a protection cylinder 7 is sleeved outside the positioning cylinder 8, the protection cylinder 7 is fastened in the first joint arm installation shell 6 and the second joint arm installation shell 12, the protection cylinder 7 protects the frameless moment motor 9 and the double encoder 10, fixing sheets 702 which are integrally formed are arranged on the outer sides of two ends of the protection cylinder 7, threading holes 701 with strip structures are uniformly arranged on the side surfaces of the protection cylinder 7 at intervals, the structure enables wiring between the frameless torque motor 9 and the double encoder 10 and the driver 11 to pass through the threading holes 701 so as to facilitate the storage of wires and avoid the conditions of wire abrasion and the like, the fixing sheets 702 enable the protective cylinder 7 to be tightly inserted into the first joint arm mounting shell 6 and the second joint arm mounting shell 12, the radiating fins 703 are uniformly welded between the fixing sheets 702 at intervals, the width of the radiating fins 703 is equal to that of the fixing sheets 702, the fixing cylinder 4 corresponds to the position of one side of the radiating fins 703, the structure enables the protective cylinder 7 to conduct absorbed heat to the radiating fins 703 and conduct the absorbed heat to the first joint arm mounting shell 6 and the second joint arm mounting shell 12 through the radiating fins 703, heat dissipation treatment is achieved, the fixing cylinder 4 is arranged so as to ensure the heat dissipation effect, and the safe use of the joint module main body 1, clamping grooves 704 are respectively arranged between the fixing sheets 702, the clamping grooves 704 correspond to the positions of the threading holes 701, the clamping grooves 704 and the threading holes 701 are used for threading and clamping fixing treatment of the wires, and the 3, the speed reducer 2, the motor, the frame 9, the double encoder 10 and the double encoder 11 are used for the existing mechanical encoder 11, and the mechanical encoder 11 are used for the magnetic encoder 11.
Working principle: when the mechanical arm joint module with the double magnetic braiding structure is used, firstly, the frameless torque motor 9 is installed in the positioning cylinder 8, then the connecting disc 3 and the harmonic reducer 2 are connected with the frameless torque motor 9 through the driving rod, the band-type brake is installed on the inner side of the frameless torque motor 9, the protection cylinder 7 is clamped and fixed on the outer side of the positioning cylinder 8, then the double encoder 10 is fixed on the inner side of the protection cylinder 7, a wire connected with the driver 11 through the threading hole 701 reaches the outer side of the protection cylinder 7, then the driver 11 is fixed on the double encoder 10, the wire is clamped at the clamping groove 704 and connected to the driver 11, then the assembled steering mechanism is respectively installed in the first joint arm installation shell 6 and the second joint arm installation shell 12, the protection cylinder 7 is fastened relative to the first joint arm installation shell 6 and the second joint arm installation shell 12 through the fixing piece 702, finally, the heat dissipation fan is fixed on the side of the first joint arm installation shell 6 and the second joint arm installation shell 12 through the fixing cylinder 4, when the joint main body 1 works, the heat dissipation module is conducted through the screen plate 7, and the heat dissipation main body 1 is guaranteed to work, and the heat dissipation module is guaranteed to be simultaneously, and the heat dissipation main body 1 works.
Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.
Claims (6)
1. The utility model provides a two magnetism braided construction arm joint modules, includes joint module main part (1), its characterized in that: be equipped with interconnect's first articulated arm installation shell (6) and second articulated arm installation shell (12) on joint module main part (1), and all install frameless moment motor (9) in first articulated arm installation shell (6) and second articulated arm installation shell (12), harmonic reducer (2) and connection pad (3) are installed in proper order to one side of frameless moment motor (9), and two encoders (10) and driver (11) are installed in proper order to frameless moment motor (9) opposite side, the outside cover of frameless moment motor (9) is equipped with positioning cylinder (8), and still overlaps outside positioning cylinder (8) and be equipped with protective cylinder (7) to in protective cylinder (7) fastening is in first articulated arm installation shell (6) and second articulated arm installation shell (12), makes protective cylinder (7) carry out the protection to frameless moment motor (9), two encoders (10) position.
2. The mechanical arm joint module of the double-magnetic braiding structure according to claim 1, wherein: through holes are respectively formed in the side faces of the first joint arm installation shell (6) and the second joint arm installation shell (12), and fixing cylinders (4) are fixed in the through holes of the first joint arm installation shell (6) and the second joint arm installation shell (12) through threads.
3. The mechanical arm joint module of the double-magnetic braiding structure according to claim 2, wherein: a cooling fan is arranged in the fixed cylinder (4), and a cooling screen plate (5) is fastened on the outer side surface of the fixed cylinder (4) in a clamping manner for cooling and exhausting treatment.
4. A dual magnetic braid robot arm joint module as claimed in claim 3, wherein: the outside at protection section of thick bamboo (7) both ends all is equipped with stationary blade (702) that an organic whole constitutes, and protection section of thick bamboo (7) side is still evenly spaced apart and is equipped with bar-shaped structure's through wires hole (701).
5. The mechanical arm joint module of the double magnetic braiding structure of claim 4, wherein: the cooling fins (703) are welded between the fixing plates (702) at uniform intervals, the width of the cooling fins (703) is equal to that of the fixing plates (702), and the fixing cylinder (4) corresponds to one side of the cooling fins (703).
6. The mechanical arm joint module of the double magnetic braiding structure of claim 4, wherein: clamping grooves (704) are formed between the fixing pieces (702), and the positions of the clamping grooves (704) and the threading holes (701) correspond to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322686641.4U CN220840259U (en) | 2023-10-08 | 2023-10-08 | Double-magnetic braiding mechanical arm joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322686641.4U CN220840259U (en) | 2023-10-08 | 2023-10-08 | Double-magnetic braiding mechanical arm joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220840259U true CN220840259U (en) | 2024-04-26 |
Family
ID=90739425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322686641.4U Active CN220840259U (en) | 2023-10-08 | 2023-10-08 | Double-magnetic braiding mechanical arm joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220840259U (en) |
-
2023
- 2023-10-08 CN CN202322686641.4U patent/CN220840259U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant |