WO2023133950A1 - 一种磁码盘机械臂关节 - Google Patents

一种磁码盘机械臂关节 Download PDF

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Publication number
WO2023133950A1
WO2023133950A1 PCT/CN2022/074843 CN2022074843W WO2023133950A1 WO 2023133950 A1 WO2023133950 A1 WO 2023133950A1 CN 2022074843 W CN2022074843 W CN 2022074843W WO 2023133950 A1 WO2023133950 A1 WO 2023133950A1
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WIPO (PCT)
Prior art keywords
brake
code
magnetic
fixed
mechanical arm
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PCT/CN2022/074843
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English (en)
French (fr)
Inventor
林子春
万一品
陈晓斌
李汉涛
夏蕾
宋绪丁
王马利
Original Assignee
琦星智能科技股份有限公司
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Publication of WO2023133950A1 publication Critical patent/WO2023133950A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • This application proposes a mechanical arm joint with a magnetic code disc, and specifically relates to the manufacturing technology of a mechanical arm.
  • the operation data of the driving motor on the industrial mechanical arm is collected by the work of the encoder.
  • the existing encoders on the market mainly include photoelectric code discs and incremental magnetic code discs. Both photoelectric encoders and magnetic encoders have their own advantages and disadvantages in use. Photoelectric encoders cannot adapt to serious pollution. In working environments such as vibration, high temperature, and especially grease corrosion, the incremental magnetic code disc can be used as an option; the incremental magnetic code disc will interfere with its function under the condition of magnetic interference. At this time, the A photoelectric encoder that is not affected by magnetic interference can be selected. However, there is no servo control system in the existing market that can combine the advantages of these two encoders, so that the most suitable encoder can be selected according to different operating environments.
  • a magnetic code disc manipulator joint which has a code disc module, an output shaft, and a fixing frame.
  • the fixing frame has an upper fixing plate and a lower fixing plate.
  • the code disc module has a mechanical code disc and a magnetic code disc, the code disc module is arranged between the upper fixed plate and the lower fixed plate, the mechanical code disc and the magnetic code disc are arranged on the code disc base, and the code disc base is sleeved And fixed on the output shaft, the magnetic code disc is a multi-turn absolute position magnetic code disc.
  • the fixing frame also has several connecting screws, and several connecting screws are arranged between the upper fixing plate and the lower fixing plate, and the connecting screws connect the upper fixing plate and the lower fixing plate.
  • the upper fixing plate or the lower fixing plate are also provided with connecting screws for fixing the signal processing board, and the code disc module is electrically connected with the signal processing board.
  • a mechanical code disk reading head and a magnetic code disk reading head are fixed on the fixed frame, the mechanical code disk reading head is close to the mechanical code disk, and the magnetic code disk reading head is close to the magnetic code disk.
  • the middle parts of the upper fixing plate and the lower fixing plate have a through hole through which the output shaft passes, and the fixing bracket is sleeved on the output shaft and the input shaft and fixed inside the joint housing.
  • the magnetic code disc mechanical arm joint also has a brake, the brake is fixed on the lower part of the lower fixed plate, the brake has an electromagnetic brake and a brake bushing, the brake bushing is matched inside the electromagnetic brake, and the brake bushing is fixed on the input shaft close to Drive motor side.
  • the shaft hole of the brake sleeve is fitted on the input shaft and fixed with screws, the brake sleeve is embedded and matched inside the electromagnetic brake, and the brake sleeve and the electromagnetic brake are matched in a polygonal shape.
  • the polygons of the electromagnetic brake and the brake bushing are both provided with at least four sides, the electromagnetic brake is an inner polygon, the brake bushing is an outer polygon, and a shock absorbing strip is arranged between the electromagnetic brake and the brake bushing.
  • the shock strip is a rubber strip.
  • the code disc module also has a motor code disc, the motor code disc is arranged on the motor code disc base, the motor code disc reading head is fixed on the fixed frame, the motor code disc base is fixed on the input shaft, and the motor code disc The disk reading head is close to the code disk of the motor.
  • the drive motor is connected to a hollow input shaft, and the drive motor outputs power to the reducer, and the output power of the drive motor passes through the reducer for speed change, and the output shaft of the reducer passes through the hollow input shaft, and the output shaft passes through the The input shaft is higher than the drive motor position.
  • This application proposes a control scheme that can combine the advantages of photoelectric encoders and magnetic encoders and improve the brake.
  • the output shaft of the reducer is added with an absolute position multi-turn magnetic encoder.
  • the encoder so that the output shaft photoelectric encoder and magnetic encoder are common, that is, the appropriate encoder type can be selected according to different operating conditions; instead of the original brake, the magnetic brake has the advantages of no slipping and no gap. It is described as: the stator of the brake is fixedly connected to the lower fixing plate of the code disc module, and the rotor of the brake is fixedly connected to the iron core of the rotor of the servo motor.
  • the mechanical arm joint of the present application has the advantages of simple, stable and firm structure.
  • the brake and encoder can be easily disassembled together only by disassembling the fixing frame, which has the advantage of convenient maintenance and effectively improves mechanical performance.
  • the precision of the brake parking position of the arm has the advantage of low noise at the same time.
  • Fig. 1 is a structural diagram of a mechanical arm joint of a magnetic code disc in the present application.
  • Fig. 2 is a structure diagram of a code disc module, a fixing frame and a brake of a magnetic code disc manipulator joint of the present application.
  • FIG. 3 is a structural schematic diagram of a fixing frame of a mechanical arm joint with a magnetic code disc and a magnetic code disc according to the present application.
  • FIG. 4 is a structural schematic diagram of a motor code disc of a mechanical arm joint with a magnetic code disc according to the present application.
  • Fig. 5 is a structure diagram of a brake of a mechanical arm joint of a magnetic code disc in the present application.
  • Code disk module 10 mechanical code disk 101, mechanical code disk reading head 102, signal processing board 103; code disk base 104, magnetic code disk 105, magnetic code disk reading head 106, motor code disk 107, motor code disk reading head 108, motor code disc base 109;
  • Fixing frame 20 upper fixing plate 21, lower fixing plate 22, connecting screw 23, through hole 24;
  • Input shaft 61 Input shaft 61; output shaft 62.
  • a magnetic code disc mechanical arm joint of the present application has a joint housing (not shown in the figure), a code disc module 10, a fixed frame 20, a brake 30, a drive motor 40, a reducer 50 and an input shaft 61, The output shaft 62 etc., in addition to the above-mentioned features, the magnetic code disk mechanical arm joint installed on the mechanical arm also has all the functions that can realize the normal operation of the mechanical arm.
  • the drive motor 40 is connected to the hollow input shaft 61, the drive motor 40 outputs power to the speed reducer 50, the power output by the drive motor 40 is changed through the speed reducer 50, and the output shaft 62 of the speed reducer 50 passes through the hollow input shaft 61,
  • the output shaft 62 passes through the input shaft 61 and is higher than the position of the driving motor 40 .
  • the upper part of the drive motor 40 is provided with a brake 30, a fixed frame 20, a code disc module 10 and a signal processing board 103, wherein the code disc module 10 is arranged on the upper part of the fixed frame 20 and fixed Between the plate 21 and the lower fixed plate 22, the code disc module 10 is used to read various operating states of the joints of the mechanical arm.
  • the middle parts of the upper fixed plate 21 and the lower fixed plate 22 have a through hole 24 through which the output shaft 62 can pass.
  • the fixed frame 20 is set on the output shaft 62 and the input shaft 61 and fixed inside the joint housing;
  • the upper fixed plate 21 is fixed with a signal processing board 103, and the code disc module 10 is electrically connected to the signal processing board 103;
  • the brake 30 is fixed At the lower part of the lower fixing plate 22 , the brake 30 is sleeved on the input shaft 61 and acts on the input shaft 61 for braking the driving motor 40 in operation.
  • Fixing frame 20 also has several connecting screws 23, is provided with several connecting screws 23 between upper fixing plate 21 and lower fixing plate 22, and connecting screw 23 connects upper fixing plate 21 and lower fixing plate 22 and is used for fixing frame 20 is fixed on the joint housing, so that the fixing frame 20 forms an integral structure.
  • the upper fixing plate 21 or the lower fixing plate 22 is also provided with a connecting screw 23 capable of fixing the signal processing board 103 .
  • the code disc module 10 is arranged between the upper fixing plate 21 and the lower fixing plate 22, and the upper fixing plate 21 or the lower fixing plate 22 fixes the signal processing board 103.
  • the mechanical arm joint has the advantages of simple, stable and firm structure, and especially has the advantage of convenient maintenance in terms of maintenance and disassembly.
  • the above-mentioned brake 30 has an electromagnetic brake 31 and a brake bushing 32, the brake bushing 32 is matched inside the electromagnetic brake 31, the brake bushing 32 is fixed on the input shaft 61 close to the side of the drive motor 40, and the electromagnetic brake 31 is fixed on the side of the fixed frame 20 On the lower fixing plate 22, the shaft hole 321 of the brake bushing 32 is sleeved on the input shaft 61 and fixed with screws.
  • the electromagnetic brake 31 is energized, the input shaft 61 is decelerated and stopped through the brake bushing 32 .
  • the brake bushing 32 is embedded and matched inside the electromagnetic brake 31, and the brake bushing 32 and the electromagnetic brake 31 are matched in a polygonal shape, wherein the polygons of the electromagnetic brake 31 and the brake bushing 32 are at least provided with four sides, which can be pentagons Hexagon etc., the electromagnetic brake 31 is an inner polygon, and the brake bushing 32 is an outer polygon.
  • a shock-absorbing strip can also be arranged between the electromagnetic brake 31 and the brake bushing 32.
  • the shock-absorbing strip can optionally use a rubber strip. The impact between the two reduces the noise generated between the two.
  • the mechanical joint of the present application adopts the electromagnetic brake 31 to effectively improve the accuracy of the braked parking position of the mechanical arm, and also has the advantage of low noise.
  • the above code disc module 10 mainly consists of a mechanical code disc 101, a magnetic code disc 105 and a motor code disc 107.
  • the code disc module 10 also has a mechanical code disc reading head 102, a signal processing board 103, a code disc base 104, a magnetic code disc Disk reading head 106, motor code disk reading head 108 and motor code disk base 109 etc.
  • the above-mentioned mechanical code wheel 101 and magnetic code wheel 105 are arranged on the code wheel base 104, and the code wheel base 104 is sleeved and fixed on the output shaft 62, and the code wheel base 104 is carried out on the output shaft 62 with the drive motor 40.
  • the mechanical code disk reading head 102 approaching the mechanical code disk 101 and the magnetic code disk reading head 106 approaching the magnetic code disk 105 are used to measure the rotational speed and angular displacement of the output shaft 62, that is, the actual angle and rotational speed of the joint movement , the mechanical code disk reading head 102 and the magnetic code disk reading head 106 are fixed on the fixed frame 20 .
  • the magnetic code disc 105 can optionally use a multi-turn absolute position magnetic code disc.
  • the advantage is that the mechanical positioning method is adopted.
  • the absolute position encoder is coded by the mechanical position. Each position code is unique and does not need to be memorized.
  • the multi-turn absolute position magnetic encoder can memorize any angle and number of turns within the range, even when the encoder is turned off.
  • the axis is turned, and the rotary axis can also acquire the required position data faster at start-up or after a power failure.
  • the motor code disk 107 is arranged on the motor code disk base 109, the motor code disk reading head 108 is fixed on the fixed frame 20, the motor code disk base 109 is fixed on the input shaft 61, and the motor code disk reading head 108 is close to the motor code disk 107 , the motor code disc 107 reads the angle and rotational speed of the input shaft 61 , that is, the driving motor 40 .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Braking Arrangements (AREA)

Abstract

一种磁码盘机械臂关节，具体包括码盘模块(10)和输出轴(62)，还包括固定架(20)。所述码盘模块(10)具有机械码盘(101)和磁码盘(105)，所述固定架(20)具有上固定板(21)和下固定板(22)，所述码盘模块(10)设置在所述上固定板(21)和所述下固定板(22)之间，所述机械码盘(101)和所述磁码盘(105)设置在码盘基座(104)上，所述码盘基座(104)套设并固定在所述输出轴(62)上，所述磁码盘(105)为多圈绝对位置磁码盘(105)。

Description

一种磁码盘机械臂关节
相关申请
本申请要求2022年1月12日申请的，申请号为202220077513.2，发明名称为“一种磁码盘机械臂关节”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请提出一种磁码盘机械臂关节，具体涉及机械臂制造技术。
背景技术
工业机械臂上的驱动电机运行数据是依靠编码器的工作来采集的。众所周知，市场上现有的编码器主要有光电码盘和增量式磁码盘，光电编码器和磁编码器在使用上都有各自的优缺点，光电编码器无法适应污染严重，在有强震动、高温、特别是油脂腐蚀等作业环境下，可选使用增量式磁码盘；增量式磁码盘在有磁干扰的条件下对其发挥作用产生了一定的干扰，此时，即可选用不受磁干扰影响的光电编码器。但是现有的市场上没有一种伺服控制系统可以结合这两个编码器的优点，做到可以根据不同的作业环境选择最合适的编码器。
工业机器臂市场上现有的机械臂的控制系统大多采用的是光电编码器或者是磁编码器，然而光电编码器和磁编码器都有各自的优缺点，光电编码器无法适应污染严重，有强震动，腐蚀，高温的作业环境，此时可以优先考虑磁编码器，绝对位置多圈磁编码器可以解决记量范围小，需重复记忆的情况；就制动器而言，现在一些市场上采用制动齿，制动档杆形式的制动难免在机 械臂负载较大的时候容易出现打滑现象，造成制动不精准、不可靠。
发明内容
针对现有机械臂的编码器存在的问题，本申请提出一种磁码盘机械臂关节，具有码盘模块和输出轴，还具有固定架。固定架具有上固定板和下固定板。所述码盘模块具有机械码盘和磁码盘，码盘模块设置在上固定板和下固定板之间，机械码盘和磁码盘设置在码盘基座上，码盘基座套设并固定在输出轴上，所述磁码盘为多圈绝对位置磁码盘。
可选地，所述固定架还具有若干条连接螺钉，在上固定板和下固定板之间设置有若干条连接螺钉，连接螺钉连接上固定板和下固定板。
可选地，所述上固定板或者下固定板上还设置有固定信号处理板的连接螺钉，码盘模块与信号处理板电连接。
可选地，所述固定架上固定有机械码盘读头和磁码盘读头，机械码盘读头抵近机械码盘，磁码盘读头抵近磁码盘。
可选地，所述上固定板和下固定板的中部具有让输出轴穿过的通孔，固定架套在输出轴和输入轴上并固定在关节壳体内部。
可选地，所述磁码盘机械臂关节还具有制动器，制动器固定在下固定板的下部，制动器具有电磁制动器和制动器轴套，制动器轴套匹配在电磁制动器内部，制动器轴套固定输入轴上靠近驱动电机一侧。
可选地，所述制动器轴套具有的轴孔套在输入轴上并用螺钉固定，制动器轴套嵌入匹配在电磁制动器内部，制动器轴套和电磁制动器之间以多边形形状相匹配。
可选地，所述电磁制动器和制动器轴套的多边形都至少设置有四边，电 磁制动器为内多边形，制动器轴套为外多边形，所述电磁制动器与制动器轴套之间设置有减震条，减震条为橡胶条。
可选地，所述码盘模块还具有电机码盘，电机码盘设置在电机码盘基座上，电机码盘读头固定在固定架上，电机码盘基座固定在输入轴，电机码盘读头抵近电机码盘。
可选地，所述驱动电机连接中空状的输入轴，驱动电机输出动力到减速器，驱动电机输出的动力经过减速器变速，减速器具有的输出轴穿过中空的输入轴，输出轴穿过输入轴高出驱动电机位置。
本申请提出了一种可以结合光电编码器和磁编码器的优点以及改进制动器的控制方案，在不大幅度改变原有的结构基础的前提下，减速器输出轴增加了绝对位置多圈磁编码器，做到输出轴光电编码器和磁编码器通用，即可以根据不同的作业情况来选择合适的编码器类型；替换了原有的制动器，采用磁制动器具备无打滑、无间隙的优点，具体描述为：制动器定子固定连接在码盘模块下固定板上，制动器的转子和伺服电机转子铁芯固定连接。另外，本申请的机械臂关节具有结构简单稳定牢固的优点，在维修拆装时，只要对固定架实施拆卸就可以轻松将制动器和编码器一起拆卸下来，具有维修方便的优点，有效提高了机械臂的制动停车位置的精准度，同时具有低噪音的优点。
附图说明
图1是本申请一种磁码盘机械臂关节的结构图。
图2是本申请一种磁码盘机械臂关节的码盘模块、固定架和制动器结构图。
图3是本申请一种磁码盘机械臂关节的固定架及磁码盘结构示意图。
图4是本申请一种磁码盘机械臂关节的电机码盘结构示意图。
图5是本申请一种磁码盘机械臂关节的制动器结构图。
附图标记如下：
码盘模块10，机械码盘101，机械码盘读头102，信号处理板103；码盘基座104，磁码盘105，磁码盘读头106，电机码盘107，电机码盘读头108，电机码盘基座109；
固定架20，上固定板21，下固定板22，连接螺钉23，通孔24；
制动器30，电磁制动器31，制动器轴套32，轴孔321，定位档322；
驱动电机40；
减速器50；
输入轴61；输出轴62。
具体实施方式
下面结合附图1-5对本申请的多个实施例进行详细阐述，以使本申请的优点和特征能更易于被本领域技术人员理解，从而对本申请的保护范围做出更为清楚明确的界定，这些实施方式仅用于说明本申请，而并非对本申请的限制。
结合附图，本申请的一种磁码盘机械臂关节具有关节壳体(图中未显示)、码盘模块10、固定架20、制动器30、驱动电机40、减速器50和输入轴61、输出轴62等，除了上述特征外，本磁码盘机械臂关节安装在机械臂上还具有能够实现机械臂正常运行的所有功能。
上述驱动电机40连接中空状的输入轴61，驱动电机40输出动力到减速 器50，驱动电机40输出的动力经过减速器50变速，减速器50具有的输出轴62穿过中空的输入轴61，输出轴62穿过输入轴61高出驱动电机40位置。在输出轴62和输入轴61上，驱动电机40的上部设置有制动器30、固定架20、码盘模块10和信号处理板103，其中，码盘模块10设置在位于固定架20具有的上固定板21和下固定板22之间，码盘模块10用于读取机械臂关节的各种运转状态，上固定板21和下固定板22的中部具有可以让输出轴62穿过的通孔24，使得固定架20套在输出轴62和输入轴61上固定在关节壳体内部；上固定板21上设置固定有信号处理板103，码盘模块10与信号处理板103电连接；制动器30固定在下固定板22的下部，制动器30套在输入轴61上作用于输入轴61用于驱动电机40运转中的制动。
固定架20还具有若干条连接螺钉23，在上固定板21和下固定板22之间设置有若干条连接螺钉23，连接螺钉23连接上固定板21和下固定板22并且用来将固定架20固定在关节壳体上，使得固定架20形成一个整体结构。另外，上固定板21或者下固定板22上还设置有可以固定信号处理板103的连接螺钉23。码盘模块10设置位于上固定板21和下固定板22之间，上固定板21或者下固定板22固定信号处理板103，因此，只要将固定架20在关节壳体拆卸下来，就完成连同制动器30、码盘模块10和信号处理板103的拆装，同样地，在机械臂生产时将制动器30、码盘模块10和信号处理板103先组合装配在固定板22上，然后以整体进行安装。本机械臂关节具有结构简单稳定牢固的优点，特别是在维修拆装方面具有维修方便的优点。
上述的制动器30具有电磁制动器31和制动器轴套32，制动器轴套32匹配在电磁制动器31内部，制动器轴套32固定输入轴61上靠近驱动电机40一侧，电磁制动器31固定在固定架20的下固定板22上，其中，制动器轴套 32具有的轴孔321套在输入轴61上并用螺钉固定。在电磁制动器31通电的情况下通过制动器轴套32对输入轴61起到减速停车的作用。制动器轴套32嵌入匹配在电磁制动器31内部，制动器轴套32和电磁制动器31之间以多边形形状相匹配，其中电磁制动器31和制动器轴套32的多边形都至少设置有四边，可以为五边形六边形等等，电磁制动器31为内多边形，制动器轴套32为外多边形。另外，在电磁制动器31与制动器轴套32之间还可以设置有减震条，减震条可选使用橡胶条，减震作用的橡胶条用于消除或缓解电磁制动器31与制动器轴套32之间撞击，减少两者之间所产生的噪音。本申请的机械关节采用电磁制动器31有效提高了机械臂的制动停车位置的精准度，同时具有低噪音的优点。
上述的码盘模块10主要有机械码盘101、磁码盘105和电机码盘107组成，码盘模块10还具有机械码盘读头102、信号处理板103、码盘基座104、磁码盘读头106、电机码盘读头108和电机码盘基座109等。上述的机械码盘101和磁码盘105设置在码盘基座104上，码盘基座104套设并固定在输出轴62上，码盘基座104随驱动电机40在输出轴62上进行旋转运作；机械码盘读头102抵近机械码盘101以及磁码盘读头106抵近磁码盘105都是用来测量输出轴62的转速和角位移，即关节运动实际的角度和转速，机械码盘读头102和磁码盘读头106固定在固定架20上。在这里磁码盘105可选使用多圈绝对位置磁码盘，优点是采用机械定位法，绝对位置编码器由机械位置确定编码，每个位置编码唯一不重复，而无需记忆，这样在安装时不必要费劲找零点，将某一中间位置作为起始点即可，简化了安装调试的难度，多圈绝对位置磁编码器都能记忆量程范围内的任何角度和圈数，即使在编码器关闭时轴被转动，旋转轴也可以在启动时或断电后更快获取所需的位置数据。
电机码盘107设置在电机码盘基座109上，电机码盘读头108固定在固定架20上，电机码盘基座109固定在输入轴61，电机码盘读头108抵近电机码盘107，电机码盘107读取输入轴61即驱动电机40运转的角度和转速状态。
以上所述仅为本申请的多个实施方式之一，并不用以限制本申请，并非因此限制本申请的专利实施范围，凡是利用本申请说明书及附图内容的形状、结构、原理所作等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域；凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均涵盖包括在本申请的专利保护范围之内。

Claims (10)

  1. 一种磁码盘机械臂关节，具有码盘模块和输出轴，其特征在于，还具有固定架，所述码盘模块具有机械码盘和磁码盘，所述固定架具有上固定板和下固定板，所述码盘模块设置在所述上固定板和所述下固定板之间，所述机械码盘和所述磁码盘设置在码盘基座上，所述码盘基座套设并固定在所述输出轴上，所述磁码盘为多圈绝对位置磁码盘。
  2. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述固定架还具有若干条连接螺钉，所述若干条连接螺钉设置在所述上固定板和所述下固定板之间，用于连接所述上固定板和所述下固定板。
  3. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述上固定板或者所述下固定板上还设置有固定信号处理板的连接螺钉，所述码盘模块与所述信号处理板电连接。
  4. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述固定架上固定有机械码盘读头和磁码盘读头，所述机械码盘读头抵近所述机械码盘，磁码盘读头抵近所述磁码盘。
  5. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述上固定板和所述下固定板的中部具有让所述输出轴穿过的通孔，所述固定架套在所述输出轴和输入轴上并固定在关节壳体内部。
  6. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述磁码盘机械臂关节还具有制动器，所述制动器固定在所述下固定板的下部，所述制动器具有电磁制动器和制动器轴套，所述制动器轴套匹配在所述电磁制动器内部，所述制动器轴套固定在输入轴上靠近驱动电机一侧。
  7. 根据权利要求6所述的一种磁码盘机械臂关节，其特征在于，所述制动 器轴套具有的轴孔套在输入轴上并用螺钉固定，所述制动器轴套嵌入匹配在电磁制动器内部，所述制动器轴套和所述电磁制动器之间以多边形形状相匹配。
  8. 根据权利要求7所述的一种磁码盘机械臂关节，其特征在于，所述电磁制动器和所述制动器轴套的多边形都至少设置有四边，所述电磁制动器为内多边形，所述制动器轴套为外多边形，所述电磁制动器与所述制动器轴套之间设置有减震条，所述减震条为橡胶条。
  9. 根据权利要求1所述的一种磁码盘机械臂关节，其特征在于，所述码盘模块还具有电机码盘，所述电机码盘设置在电机码盘基座上，电机码盘读头固定在所述固定架上，所述电机码盘基座固定在输入轴，所述电机码盘读头抵近电机码盘。
  10. 根据权利要求9所述的一种磁码盘机械臂关节，其特征在于，驱动电机连接中空状的输入轴，所述驱动电机输出动力到减速器，所述驱动电机输出的动力经过所述减速器变速，所述减速器具有的输出轴穿过中空的输入轴，输出轴穿过输入轴高出驱动电机位置。
PCT/CN2022/074843 2022-01-12 2022-01-28 一种磁码盘机械臂关节 WO2023133950A1 (zh)

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