CN100560308C - Safe type mechanical arm - Google Patents
Safe type mechanical arm Download PDFInfo
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- CN100560308C CN100560308C CNB2007100464650A CN200710046465A CN100560308C CN 100560308 C CN100560308 C CN 100560308C CN B2007100464650 A CNB2007100464650 A CN B2007100464650A CN 200710046465 A CN200710046465 A CN 200710046465A CN 100560308 C CN100560308 C CN 100560308C
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Abstract
A kind of safety-type mechanical arm belongs to the Robotics field.The present invention includes: waist joint, shoulder joint, elbow joint, wrist joint, paw.Described waist joint torque limiter is arranged in the waist joint, described elbow joint torque limiter is arranged in elbow joint, described waist joint torque limiter, elbow joint torque limiter limit the maximum load moment of waist joint, elbow joint respectively, orthogonal intersecting between the central axis of waist joint, shoulder joint, the axis of shoulder joint central axis and elbow joint rotating shaft is orthogonal to intersect.Waist joint, shoulder joint, elbow joint have 1 rotary oscillation free degree respectively, and wrist joint has the rotary oscillation free degree of 3 quadratures, and paw has 1 and opens and closes one-movement-freedom-degree.Waist joint torque limiter, elbow joint torque limiter have played mechanical arm effectively in the safeguard protection effect that takes place under the cas fortuits such as overload or collision.The present invention is particularly suitable for helping the disabled or nurses the robot mechanical arm arm of usefulness.
Description
Technical field
What the present invention relates to is the mechanism in a kind of Robotics field, specifically, is a kind of safe type mechanical arm, especially is fit to help the disabled or nurses the robot mechanical arm arm of usefulness.
Background technology
Existing relating in the robot in the relevant transmission system of mechanical arm mechanism, mostly there is not the mechanical type overload protection arrangement.At present; more external famous robot research mechanisms such as the robot of German space center (DLR) and the research that mechano-electronic research institute is carrying out the safety-type robot; purpose is in order to improve the security cooperation between the future robot and the mankind; as be used to help the disabled or the robot of nursing can not have the action of any injury in the course of the work to disabled patient; promptly when bumping between the robot and the mankind or maloperation when causing excessive percussion; safety-type can reduce the impact to the mankind automatically, and the protection mankind preserve from.
Find by prior art documents, Chinese patent CN02292175.3, denomination of invention is: multi-joint human emulated robot arm, this technology discloses a kind of structure that is installed in the mechanical arm in the robot, it has a plurality of rotary pairs and secondary shoulder joint, elbow joint, wrist joint and the paw of forming mechanical arm respectively of swing, actions such as this mechanical arm can be finished and take, put, tighten, switch.Because what all adopted in each joint in this technology is positive drive such as gear drive or worm and gear transmission; the overload protection part is not set in the transmission system; ignored when robot in operating process if bump or issuable harm during overload impact, it is a kind of non-safe type mechanical arm.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of safe type mechanical arm structure is provided.The present invention is by the waist joint torque limiter of having connected in the transmission system of mechanical arm waist joint inside, the elbow joint torque limiter of in the transmission system of elbow joint inside, having connected, when the loading moment on acting on elbow joint is excessive, the inside effect of skidding will take place in the elbow joint torque limiter of elbow joint inside, thereby play the effect of safeguard protection; When the loading moment on acting on shoulder joint is excessive, the inside effect of skidding will take place in the waist joint torque limiter of waist joint inside, from and play the effect of safeguard protection.The present invention has played mechanical arm effectively in the safeguard protection effect that takes place under the cas fortuits such as overload or collision.
The present invention is achieved by the following technical solutions, the present invention includes: waist joint, shoulder joint, elbow joint, wrist joint, paw, waist joint torque limiter, elbow joint torque limiter.Wherein: waist joint, shoulder joint, elbow joint have 1 rotary oscillation free degree respectively, and wrist joint has the rotary oscillation free degree of 3 quadratures, and paw has 1 and opens and closes one-movement-freedom-degree.Annexation is: described elbow joint torque limiter is arranged in elbow joint, described waist joint torque limiter, the elbow joint torque limiter limits waist joint respectively, the maximum load moment of elbow joint, waist joint connects shoulder joint, waist joint, orthogonal intersecting between the central axis of shoulder joint, shoulder joint connects elbow joint, elbow joint connects wrist joint, two vertical central axis are arranged in the elbow joint, wherein central axis and shoulder joint central axis are orthogonal intersects, another root central axis and shoulder joint central axis in the elbow joint are parallel to each other, and carpal end is connecting paw.
Described waist joint comprises: the deceleration direct current generator of waist joint housing, waist joint band encoder, waist joint motor bearing, rotating shaft, waist joint clutch shaft bearing seat, axle sleeve, waist joint second bearing block, spacer ring, baffle plate, output sleeve.Interconnected relationship is: the deceleration direct current generator and the waist joint motor bearing of waist joint band encoder are fixed, be disposed in the waist joint enclosure interior, waist joint motor bearing connects with the waist joint housing, key is connected between rotating shaft and the output sleeve, output sleeve with two roller bearings in waist joint clutch shaft bearing seat and waist joint second bearing block, axle sleeve is installed on the output sleeve, be interference fits between the two, be respectively applied for the axial location of two rolling bearings in waist joint clutch shaft bearing seat and waist joint second bearing block, spacer ring is installed between the flange and the rolling bearing in waist joint second bearing block of output sleeve, also be interference fits between spacer ring and the output sleeve, baffle plate is with the output stressed joint of output sleeve and rotating shaft.
The output shaft of the deceleration direct current generator of one end of described waist joint torque limiter and waist joint band encoder is connected, and the input of the other end and waist joint shaft is connected.
Described waist joint and waist joint torque limiter drive connection are: the output shaft of the deceleration direct current generator of waist joint band encoder is passed to the waist joint torque limiter with power, the waist joint torque limiter is passed to rotating shaft with power again, and rotating shaft connects by key passes to output sleeve with power again.When the loading moment that acts on the waist joint torque limiter surpasses its rated value, skid occurring in the inside of waist joint torque limiter, thereby can prevent that overlond running from appearring in the deceleration direct current generator of waist joint band encoder on the one hand, another side has limited the maximum load moment of waist joint.
Described elbow joint comprises: big arm housing, the deceleration direct current generator of elbow joint band encoder, elbow joint motor bearing, elbow joint first rotating shaft, clutch shaft bearing seat, second bearing block, the first rotating shaft axle sleeve, the first rotating shaft spacer ring, cone pinion, the first axle head baffle plate, the second axle head baffle plate, large bevel gear, case, mounting flange, elbow joint second rotating shaft, elbow joint harmonic gear reducer, elbow joint output flange.Annexation is: the deceleration direct current generator and the elbow joint motor bearing of elbow joint band encoder are affixed, and in the big arm housing of packing into, elbow joint motor bearing connects with big arm housing; Elbow joint first rotating shaft is passed through two roller bearings in clutch shaft bearing seat, second bearing block, clutch shaft bearing seat, second bearing block place respectively in the big arm housing, between the first rotating shaft axle sleeve and first rotating shaft is interference fits, is used for the axial location of rolling bearing in clutch shaft bearing seat, second bearing block; Cone pinion is connected with the output key of elbow joint first rotating shaft, between the rolling bearing of the first rotating shaft spacer ring in the cone pinion and second bearing block, and be interference fits between elbow joint first rotating shaft, the first axle head baffle plate is contained in the output of first rotating shaft, and makes the cone pinion axial location; Elbow joint second rotating shaft is supported by the rolling bearing of elbow joint harmonic gear reducer inside and the rolling bearing of mounting flange inside, be interference fits between the input axle sleeve of elbow joint second rotating shaft and harmonic gear reducer, mounting flange is fixed on the big arm housing, key is connected between the input of large bevel gear and elbow joint second rotating shaft, the input of the second axle head baffle plate and elbow joint second rotating shaft is fixed, and makes the large bevel gear axial location; Case and mounting flange are fixed; The outward flange and the mounting flange of elbow joint harmonic gear reducer are fixed, and the elbow joint output flange is connected with the output end face of elbow joint harmonic gear reducer.
The output shaft of the deceleration direct current generator of one end of described elbow joint torque limiter and elbow joint band encoder is connected, and the input of the other end and elbow joint first rotating shaft is connected.
Drive connection between described elbow joint and the elbow joint torque limiter is: the output shaft of the deceleration direct current generator of elbow joint band encoder is passed to the elbow joint torque limiter with power, the elbow joint torque limiter passes through elbow joint first rotating shaft with power again, cone pinion, large bevel gear, elbow joint second rotating shaft, pass to the elbow joint harmonic gear reducer, power is through slowing down, increase and turn round, the elbow joint output flange is passed to by the output end face of elbow joint harmonic gear reducer in the commutation back, when the loading moment that acts on the elbow joint torque limiter surpasses its rated value, skid occurring in the inside of elbow joint torque limiter, thereby can prevent that overlond running from appearring in the deceleration direct current generator of elbow joint band encoder on the one hand, another side has limited the also maximum load moment of elbow joint.
When the present invention works, power in the waist joint is by the input flange cover in deceleration direct current generator, waist joint torque limiter, rotating shaft, output sleeve and the shoulder joint of waist joint band encoder, pass to the shoulder joint housing, shoulder joint can be relatively rotated around the central axis of waist joint; Power in the shoulder joint is passed to the big arm housing in the elbow joint by deceleration direct current generator, shoulder joint harmonic gear reducer, the output flange cover of shoulder joint band encoder, and elbow joint can be relatively rotated around the central axis of shoulder joint; Power in the elbow joint is by deceleration direct current generator, elbow joint torque limiter, elbow joint first rotating shaft, cone pinion, large bevel gear, elbow joint second rotating shaft of elbow joint band encoder, elbow joint harmonic gear reducer, elbow joint output flange, pass to the little arm housing in the wrist joint, the central axis of elbow joint second rotating shaft that wrist joint can be in elbow joint is relatively rotated; Power in the wrist joint respectively the deceleration direct current generator by its interior 3 band encoders with worm and gear transmission export to the terminal paw that is connected of wrist joint, make it produce 3 kinds of quadrature rotary oscillations around central axis respectively, the inner deceleration direct current generator by 1 band encoder of paw, the transmission of 2 groups of umbrella shape worm and gears, 2 groups of parallel-crank mechanisms drive the paw generation and open and close motion.
Beneficial effect of the present invention is: when the loading moment on acting on elbow joint is excessive, the inside effect of skidding will take place in the elbow joint torque limiter of elbow joint inside, thereby play the effect of safeguard protection; When the loading moment on acting on shoulder joint is excessive, the inside effect of skidding will take place in the waist joint torque limiter of waist joint inside, from and play the effect of safeguard protection.
Description of drawings
Fig. 1 is a general assembly structure of the present invention
Fig. 2 is a waist joint structure of the present invention
Fig. 3 is an elbow joint structure of the present invention
The specific embodiment
Below embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, Fig. 2, shown in Figure 3, present embodiment comprises: waist joint 1, shoulder joint 2, elbow joint 3, wrist joint 4, paw 5, waist joint torque limiter 9, elbow joint torque limiter 26.Wherein: waist joint 1, shoulder joint 2, elbow joint 3 have 1 rotary oscillation free degree respectively, and wrist joint 4 has the rotary oscillation free degree of 3 quadratures, and paw 5 has 1 and opens and closes one-movement-freedom-degree.Described waist joint torque limiter 9 is arranged in the waist joint 1, described elbow joint torque limiter 26 is arranged in elbow joint 3, described waist joint torque limiter 9, elbow joint torque limiter 26 limit the maximum load moment of waist joint 1, elbow joint 3 respectively, waist joint 1 connects shoulder joint 2, orthogonal intersecting between the central axis of waist joint 1, shoulder joint 2, shoulder joint 2 connects elbow joint 3, and elbow joint 3 connects wrist joint 4, and the end of wrist joint 4 is connecting paw.
As shown in Figure 2, waist joint 1 comprises: waist joint housing 6, the deceleration direct current generator 7 of waist joint band encoder, waist joint motor bearing 8, rotating shaft 10, waist joint clutch shaft bearing seat 11, axle sleeve 12, waist joint second bearing block 13, spacer ring 14, baffle plate 15, output sleeve 16.Annexation is: the deceleration direct current generator 7 of waist joint band encoder is fixed by screw and waist joint motor bearing 8, be disposed in waist joint housing 6 inside, screw attachment between waist joint motor bearing 8 and the waist joint housing 6, be connected with the pinching screw tight fit between the output shaft of deceleration direct current generator 7 of one end of waist joint torque limiter 9 and band encoder, the other end also is connected with the pinching screw tight fit with the input of rotating shaft 10, key is connected between rotating shaft 10 and the output sleeve 16, two roller bearings of output sleeve 16 usefulness are in waist joint clutch shaft bearing seat 11 and waist joint second bearing block 13, axle sleeve 12 is installed on the output sleeve 16, be interference fits between the two, be respectively applied for the axial location of two rolling bearings in waist joint clutch shaft bearing seat 11 and waist joint second bearing block 13, spacer ring 14 is installed between the flange and the rolling bearing in waist joint second bearing block 13 of output sleeve 16, also be interference fits between spacer ring 14 and the output sleeve 16, baffle plate 15 usefulness screws are with the output stressed joint of output sleeve 16 with rotating shaft 10.
The drive connection of described waist joint 1 waist joint torque limiter 9 is: the output shaft of the deceleration direct current generator 7 of waist joint band encoder is passed to waist joint torque limiter 9 with power, rotating shaft 10 passed to power again by waist joint torque limiter 9, and rotating shaft 10 connects by key passes to power output sleeve 16 again.When the loading moment of effect on the waist joint torque limiter 9 surpasses its rated value, skid occurring in the inside of waist joint torque limiter 9, thereby can prevent that overlond running from appearring in the deceleration direct current generator 7 of waist joint band encoder on the one hand, another side has limited the maximum load moment of waist joint 1.
As shown in Figure 3, elbow joint 3 comprises: big arm housing 23, the deceleration direct current generator 24 of elbow joint band encoder, elbow joint motor bearing 25, elbow joint first rotating shaft 27, clutch shaft bearing seat 28, second bearing block 30, the first rotating shaft axle sleeve, 29, the first rotating shaft spacer rings 31, cone pinion 32, the first axle head baffle plate, 33, the second axle head baffle plates 34, large bevel gear 35, case 37, mounting flange 38, elbow joint second rotating shaft 39, elbow joint harmonic gear reducer 40, elbow joint output flange 41.Annexation is: the deceleration direct current generator 24 usefulness screws and the elbow joint motor bearing 25 of elbow joint band encoder are affixed, and in the big arm housing 23 of packing into, screw attachment between elbow joint motor bearing 25 and the big arm housing 23; Be connected by the pinching screw tight fit between the output shaft of one end of elbow joint torque limiter 26 and the deceleration direct current generator 24 of elbow joint band encoder, be connected by the pinching screw tight fit between the input of the other end and elbow joint first rotating shaft 27; In clutch shaft bearing seat 28, second bearing block 30, clutch shaft bearing seat 28, second bearing block 30 place respectively in the big arm housing 23 by two roller bearings in elbow joint first rotating shaft 27, and screw attachment with it; Between the first rotating shaft axle sleeve 29 and first rotating shaft 27 is interference fits, is used for the axial location of rolling bearing in clutch shaft bearing seat 28, second bearing block 30; Cone pinion 32 is connected with the output key of elbow joint first rotating shaft 27, between the rolling bearing of the first rotating shaft spacer ring 31 in the cone pinion 32 and second bearing block 30, and between elbow joint first rotating shaft 27 is interference fits, the first axle head baffle plate, 33 usefulness screws are contained in the output of first rotating shaft 27, and make cone pinion 32 axial location; Elbow joint second rotating shaft 39 is supported by the rolling bearing of elbow joint harmonic gear reducer 40 inside and the rolling bearing of mounting flange 38 inside, between the input axle sleeve of elbow joint second rotating shaft 39 and harmonic gear reducer 40 is interference fits, and fix with two holding screws, mounting flange 38 is screwed on big arm housing 23, key is connected between the input of large bevel gear 35 and elbow joint second rotating shaft 39, the input of the second axle head baffle plate, 34 usefulness screws and elbow joint second rotating shaft 39 is fixed, and makes large bevel gear 35 axial location; Be screwed between case 37 and the mounting flange 38; Be screwed between the outward flange of elbow joint harmonic gear reducer 40 and the mounting flange 38, screw is connected between the output end face of elbow joint output flange 41 and elbow joint harmonic gear reducer 40.
Described elbow joint 3 with the drive connection of elbow joint torque limiter 26 is: the output shaft of the deceleration direct current generator 24 of elbow joint band encoder is passed to elbow joint torque limiter 26 with power, elbow joint torque limiter 26 passes through elbow joint first rotating shaft 27 with power again, cone pinion 32, large bevel gear 35, elbow joint second rotating shaft 39, pass to elbow joint harmonic gear reducer 40, power is through slowing down, increase and turn round, elbow joint output flange 41 is passed to by the output end face of elbow joint harmonic gear reducer 40 in the commutation back, when the loading moment of effect on the elbow joint torque limiter 26 surpasses its rated value, skid occurring in the inside of elbow joint torque limiter 26, thereby can prevent that overlond running from appearring in the deceleration direct current generator 24 of elbow joint band encoder on the one hand, another side has limited the also maximum load moment of elbow joint 3.
In the present embodiment, the output sleeve in the waist joint 1 is connecting the input flange cover in the shoulder joint 2, orthogonal intersecting between the central axis A-A of waist joint 1, shoulder joint 2 and the B-B; Output flange in the shoulder joint 2 interlocks the big arm housing of following in the elbow joint 3, and the first shaft axis G-G is orthogonal in the central axis B-B of shoulder joint 2 and the elbow joint 3 intersects; Elbow joint output flange in the elbow joint 3 is connecting the little arm housing in the wrist joint 4, the central axis D-D of little arm housing is orthogonal in the center line C-C of second rotating shaft in the elbow joint 3 and the wrist joint 4 intersects, and the central axis G-G of first rotating shaft in the elbow joint 3 and the center line C-C of second rotating shaft are orthogonal to intersect; The end of wrist joint 4 is connecting paw 5.
During present embodiment work, power in the waist joint 1 is by the input flange cover in deceleration direct current generator 7, waist joint torque limiter 9, rotating shaft 10, output sleeve 16 and the shoulder joint 2 of waist joint band encoder, pass to the shoulder joint housing, shoulder joint 2 can be relatively rotated around the central axis A-A of waist joint 1; Power in the shoulder joint 2 is passed to the big arm housing 23 in the elbow joint 3 by deceleration direct current generator, shoulder joint harmonic gear reducer, the output flange cover of shoulder joint band encoder, and elbow joint 3 can be relatively rotated around the central axis B-B of shoulder joint 2; Power in the elbow joint 3 is by deceleration direct current generator 24, elbow joint torque limiter 26, elbow joint first rotating shaft 27, cone pinion 32, large bevel gear 35, elbow joint second rotating shaft 39 of elbow joint band encoder, elbow joint harmonic gear reducer 40, elbow joint output flange 41, pass to the forearm housing 42 in the wrist joint 4, wrist joint 4 can be relatively rotated around the central axis C-C of second rotating shaft 39 of the elbow joint in the elbow joint 3; Power in the wrist joint 4 respectively the deceleration direct current generator by its interior 3 band encoders with worm and gear transmission export to the wrist joint 4 terminal paws 5 that are connected, make it produce 3 kinds of quadrature rotary oscillations around central axis D-D, E-E, F-F respectively, paw 5 inner deceleration direct current generators by 1 band encoder, the transmission of 2 groups of umbrella shape worm and gears, 2 groups of parallel-crank mechanisms drive paw and produce the switching motion.When the loading moment on acting on elbow joint 3 is excessive, the inside effect of skidding will take place in the elbow joint torque limiter 26 of elbow joint 3 inside, thereby play the effect of safeguard protection; When the loading moment on acting on shoulder joint 2 is excessive, the inside effect of skidding will take place in the waist joint torque limiter 9 of waist joint 1 inside, from and play the effect of safeguard protection.
Claims (9)
1. safe type mechanical arm, comprise: waist joint, shoulder joint, elbow joint, wrist joint, paw, waist joint connects shoulder joint, shoulder joint connects elbow joint, elbow joint connects wrist joint, carpal end is connecting paw, it is characterized in that, also comprise the waist joint torque limiter, the elbow joint torque limiter, described waist joint torque limiter is arranged in the waist joint, described elbow joint torque limiter is arranged in the elbow joint, described waist joint torque limiter, the elbow joint torque limiter limits waist joint respectively, the maximum load moment of elbow joint, waist joint, orthogonal intersecting between the central axis of shoulder joint, two vertical central axis are arranged in the elbow joint, wherein central axis and shoulder joint central axis are orthogonal intersects, and another root central axis and shoulder joint central axis in the elbow joint are parallel to each other.
2. safe type mechanical arm according to claim 1, it is characterized in that, described waist joint comprises: the waist joint housing, the deceleration direct current generator of waist joint band encoder, waist joint motor bearing, rotating shaft, waist joint clutch shaft bearing seat, axle sleeve, waist joint second bearing block, spacer ring, baffle plate, output sleeve, interconnected relationship is: the deceleration direct current generator and the waist joint motor bearing of waist joint band encoder are fixed, be disposed in the waist joint enclosure interior, waist joint motor bearing connects with the waist joint housing, key is connected between rotating shaft and the output sleeve, output sleeve with two roller bearings in waist joint clutch shaft bearing seat and waist joint second bearing block, axle sleeve is installed on the output sleeve, spacer ring is installed between output sleeve and waist joint second bearing block, be interference fits between spacer ring and the output sleeve, baffle plate is with the output stressed joint of output sleeve and rotating shaft.
3. safe type mechanical arm according to claim 2 is characterized in that, is interference fits between described axle sleeve and the output sleeve, is respectively applied for the axial location of two rolling bearings in waist joint clutch shaft bearing seat and waist joint second bearing block.
4. safe type mechanical arm according to claim 2 is characterized in that, described spacer ring is installed between the flange and the rolling bearing in waist joint second bearing block of output sleeve, also is interference fits between spacer ring and the output sleeve.
5. safe type mechanical arm according to claim 1 and 2 is characterized in that, the output shaft of the deceleration direct current generator of an end of described waist joint torque limiter and waist joint band encoder is connected, and the input of the other end and waist joint shaft is connected.
6. safe type mechanical arm according to claim 1, it is characterized in that, described elbow joint comprises: big arm housing, the deceleration direct current generator of elbow joint band encoder, elbow joint motor bearing, elbow joint first rotating shaft, the clutch shaft bearing seat, second bearing block, the first rotating shaft axle sleeve, the first rotating shaft spacer ring, cone pinion, the first axle head baffle plate, the second axle head baffle plate, large bevel gear, case, mounting flange, elbow joint second rotating shaft, the elbow joint harmonic gear reducer, the elbow joint output flange, annexation is: the deceleration direct current generator and the elbow joint motor bearing of elbow joint band encoder are affixed, and in the big arm housing of packing into, elbow joint motor bearing connects with big arm housing, elbow joint first rotating shaft is passed through two roller bearings at the clutch shaft bearing seat, in second bearing block, the clutch shaft bearing seat, second bearing block places respectively in the big arm housing, cone pinion is connected with the output key of elbow joint first rotating shaft, between the rolling bearing of the first rotating shaft spacer ring in the cone pinion and second bearing block, the first axle head baffle plate is contained in the output of first rotating shaft, and make the cone pinion axial location, elbow joint second rotating shaft is supported by elbow joint harmonic gear reducer and mounting flange, mounting flange is fixed on the big arm housing, key is connected between the input of large bevel gear and elbow joint second rotating shaft, the input of the second axle head baffle plate and elbow joint second rotating shaft is fixed, and make the large bevel gear axial location, case and mounting flange are fixed, the outward flange and the mounting flange of elbow joint harmonic gear reducer are fixed, and the elbow joint output flange is connected with the output end face of elbow joint harmonic gear reducer.
7. safe type mechanical arm according to claim 6 is characterized in that, is interference fits between the described first rotating shaft axle sleeve and first rotating shaft, is used for the axial location of rolling bearing in clutch shaft bearing seat, second bearing block.
8. safe type mechanical arm according to claim 6 is characterized in that, between the rolling bearing of the described first rotating shaft spacer ring in the cone pinion and second bearing block, and is interference fits between elbow joint first rotating shaft; Described elbow joint second rotating shaft is interference fits by the rolling bearing of elbow joint harmonic gear reducer inside and the roller bearings of mounting flange inside between the input axle sleeve of elbow joint second rotating shaft and elbow joint harmonic gear reducer.
9. according to claim 1 or 6 described safe type mechanical arms, it is characterized in that, the output shaft of the deceleration direct current generator of one end of described elbow joint torque limiter and elbow joint band encoder is connected, and the input of the other end and elbow joint first rotating shaft is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100464650A CN100560308C (en) | 2007-09-27 | 2007-09-27 | Safe type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100464650A CN100560308C (en) | 2007-09-27 | 2007-09-27 | Safe type mechanical arm |
Publications (2)
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| CN101130246A CN101130246A (en) | 2008-02-27 |
| CN100560308C true CN100560308C (en) | 2009-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100464650A Expired - Fee Related CN100560308C (en) | 2007-09-27 | 2007-09-27 | Safe type mechanical arm |
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| CN (1) | CN100560308C (en) |
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2007
- 2007-09-27 CN CNB2007100464650A patent/CN100560308C/en not_active Expired - Fee Related
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| CN101130246A (en) | 2008-02-27 |
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