CN102431038A - Modular joint combination of mechanical arm with multiple degrees of freedom - Google Patents
Modular joint combination of mechanical arm with multiple degrees of freedom Download PDFInfo
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- CN102431038A CN102431038A CN2011103336881A CN201110333688A CN102431038A CN 102431038 A CN102431038 A CN 102431038A CN 2011103336881 A CN2011103336881 A CN 2011103336881A CN 201110333688 A CN201110333688 A CN 201110333688A CN 102431038 A CN102431038 A CN 102431038A
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Abstract
The invention discloses a modular joint combination of a mechanical arm with multiple degrees of freedom, which comprises more than two modular joints. The modular joints are serially connected and rotate coaxially, each modular joint consists of a first joint and a second joint which are integrally connected, each first joint comprises a power transmission input shaft, first harmonic speed reducers and first clutches are disposed on the power input shafts, each second joint consists of a transmission shaft connected with the input shaft of the corresponding first joint, the transmission shafts are connected with the first clutches, armatures of second clutches are connected with independent transmission mechanisms, and the independent transmission mechanisms are second harmonic speed reducers respectively. A modular joint structure mode is adopted to form the mechanical arm, development cycle of the mechanical arm is short, multiple degrees of freedom are easier to be realized, the multiple modular joints can share the same power source due to an independent and transmission manner, accordingly, service amounts of servo motors, encoders and drivers can be reduced, and cost is lowered advantageously.
Description
Technical field
The present invention relates to a kind of modularized joint of mechanical arm.
Background technology
Joint of robot is the basic components of robot, the good and bad performance that directly influences robot of its performance.Along with the continuous development of mechanical & electrical technology, joint of robot demonstrates big moment, high accuracy, is quick on the draw, miniaturization, optical, mechanical and electronic integration, standardization and modular development trend.
The primary structure of all kinds of modularized joints has parallel modularization joint, perpendicular style modularization joint, imperial crown gear type modularized joint etc.
Because the module machine person joint has that redundant degree is high, simple and reliable for structure, easy to maintenance, load/load-bearing is than high series of advantages.The typical field of application of modularized joint is a space manipulator, and the robot for space Canadarm2 of Canadian space office (CSA) is unique robot for space arm of in real work, using.The ETS-V2 of Japan NASDA (NSADA) is that first is equipped with the satellite system of mechanical arm in the world.US National Aeronautics and Space Administration (NASA) has developed an assistant of robot who is referred to as " Robonaut " for the astronaut, and its both arms adopt modularized joint.German Aerospace Center (DLR) has developed three generations's lightweight robotic, and it adopts and the similar structure of human arm, and shoulder joint, elbow joint, wrist joint have all adopted modularized design scheme.The quick robot system research company of the U.S. (AGILE SYSTEMS Robotics Research Corporation) has developed a series of modularized joints of totally 18 kinds of different sizes by modular principle; Can pass through independent assortment, be applicable to multiple fields such as space, industry.
In recent years; The industrial robot mechanical arm is also gradually to the modularization trend development; The MOTOMAN-DA20 of day intrinsic safety river motor " adopt the local module design with " MOTOMAN-IA20 ", two 6 shaft-driven mechanical arms are equipped with, can full substitution human the completion assembled and the demand of transport operation.The up-to-date notion industrial robot FRIDA of Switzerland ABB group adopted perpendicular style modularization joint, parallel be the industrial robot system that modularized joint constitutes both arms 12 frees degree jointly, can adapt to the requirement in human work space fully.
Along with the Chinese Space development of technology, in the near future, the moon, Mars even other celestial body will be explored by China, and these forward positions are explored and be unable to do without space manipulator, and modularized joint is the important component part of space manipulator.Research in China mechanism has developed the modularized joint system that a series of single motors drive single-degree-of-freedoms, for example 502, Harbin Institute of Technology etc.
How reducing volume, simplified structure, raising reliability is the main difficult point of modular mechanical arm.At present; Above-mentioned all mechanical arms all adopt a servomotor to drive the design in a joint through transmission mechanism; When needed joint of mechanical arm quantity increases; Then drive motors, motor encoder, motor driver and controller all increase in proportion; The direct influence that is brought is: the gross weight increase of mechanical arm, complex structure, components and parts increase, cable and number of lines increase are unfavorable for the joint of mechanical arm position sealing has influenced mechanical arm at space, wait application under the mal-condition under water.
Summary of the invention
In view of this; The technical problem that the present invention will solve is to provide that a kind of multi freedom degree mechanical arm modularized joint integrated level is high, reliability is high, compact conformation, the integrated back of multiple degrees of freedom gross mass are light, and can adapt to the mechanical arm modular joint of multiple environment.
For solving the problems of the technologies described above; Technical scheme of the present invention is achieved in that a kind of multi freedom degree mechanical arm modularized joint; Comprise two above modularized joint series connection and coaxial rotation; Modularized joint comprises that joint one and joint two connect as one, and wherein, joint one comprises that transferring power power shaft, this power input shaft are provided with all first harmonic decelerator and first clutch; Joint two comprises the power transmission shaft that is connected with said joint one power shaft, and this power transmission shaft links to each other with first clutch, and second clutch armature is connected with the transfer transmission mechanism, this transfer transmission mechanism respectively with the second harmonic decelerator.
Further, this transfer transmission mechanism comprises that one group of 30 degree bevel gear and 60 degree bevel gears engagements and one group of transmission idle pulley spend bevel gears and mesh with two 45.
Further, said joint one also includes shell one, and this shell is the steel wheel of first harmonic decelerator fixedly.
Further, said joint two also includes shell two, and shell two is connected with output flange, and an end of this output flange is the second harmonic decelerator fixedly, and the other end is fixed with the output connecting rod.
The technique effect that the present invention reaches is following:
1, the present invention has adopted the frame mode of modularized joint, and the mechanical arm construction cycle of formation lacks, is easier to constitute multivariant;
2, modularized joint of the present invention, the mode through transfer and transmission let a plurality of modularized joints can shared 1 power source, thereby can reduce the usage quantity of servomotor, encoder, driver, help reducing cost;
3, owing to the negligible amounts of components and parts such as servomotor, encoder, driver, cable obtains simplifying, and makes outside cabling reduce, and avoids the damage that causes with irradiation space, seawater corrosion, variations in temperature etc.;
4, modularized joint of the present invention is applicable to space, underwater environment, during equally also bending is applicable to that the general industry on ground is used.
Description of drawings
Fig. 1 is the structural representation of modularized joint of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the structural representation that two modularized joints connect;
Fig. 4 is the vertical view of Fig. 3;
Fig. 5 is the vertical structure cutaway view of modularized joint;
Fig. 6 is the connection sketch map of two modularized joints.
The specific embodiment
Like Fig. 1-shown in Figure 6, be the structure of multi freedom degree mechanical arm modularized joint of the present invention, comprise two above modularized joints series connection and coaxial rotation, modularized joint comprises that joint 1 and joint 22 connect as one, wherein,
Joint 1 comprises that transferring power power shaft 1-1, this power input shaft 1-1 are provided with first harmonic decelerator 1-3 and first clutch;
Joint 22 comprises the power transmission shaft 2-5 that is connected with joint one 1 power shaft 1-1, and this power transmission shaft 2-5 links to each other with first clutch, and second clutch armature 2-3 is connected with the transfer transmission mechanism, this transfer transmission mechanism respectively with the second harmonic decelerator.
This transfer transmission mechanism comprises one group 30 spends bevel gear and 60 degree bevel gears engagements; For transfer gear one 2-6 with transmission of power to dividing dynamic bevel gear four 2-10; And one group of transmission idle pulley and the engagement of two 45 degree bevel gears, for minute dynamic bevel gear two 2-7 through transmission idle pulley 2-8 with transmission of power to dividing dynamic bevel gear three 2-9.
Joint 1 also includes shell one 1-4 and housing 1-5, and this shell one 1-4 is the steel wheel of first harmonic decelerator 1-3 fixedly.
Joint 22 also includes shell two 2-15, and shell two 2-15 are connected with output flange 2-13, and the end of this output flange 2-13 is second harmonic decelerator 2-12 fixedly, and the other end is fixed with output connecting rod 2-14.
Power transmission process is following: power is one 1 power shaft 1-1 input from the joint, is passed to power transmission shaft 2-5 through shaft coupling 2-1.Power transmission shaft 2-5 is connected with dividing dynamic bevel gear two 2-7, through transmission idle pulley 2-8 with transmission of power to dividing dynamic bevel gear three 2-9, branch dynamic bevel gear three 2-9 can with next modularized joint joint one 1 power shaft 1-1 interconnect.
The motion process of modularized joint one: power is one 1 power shaft 1-1 input from the joint, and the firm 1-10 of wheel of first harmonic decelerator 1-3 is fixedly connected with shell one 1-4, and the output flange 1-2 that has just taken turns 1-11 and joint 1 is fixedly connected.Joint one 1 power shaft 1-1 link to each other with first clutch rotating shaft 1-8; When clutch coil 1-6 switches on; Clutch armature 1-7 is connected with clutch rotating shaft 1-8; Clutch armature 1-7 is connected with waveform generator 1-9, and waveform generator 1-9 is the input of first harmonic decelerator 1-3, and 1-2 joint one output flange is accomplished rotatablely moving of first joint of modularized joint.
The motion process of modularized joint 22: power is one 1 power shaft 1-1 input from the joint, is passed to the 2-5 power transmission shaft through shaft coupling 2-1.Power transmission shaft 2-5 links to each other with second clutch rotating shaft 2-4; When clutch coil 2-2 switches on; Clutch armature 2-3 is connected with clutch rotating shaft 2-4; The clutch armature 2-3 transfer gear one that links to each other with transfer gear one 2-6,2-6 to dividing dynamic bevel gear four 2-10, divide the waveform generator of dynamic bevel gear four 2-10 and second harmonic decelerator 2-12 to link to each other transmission of power; The output flange 2-13 of second harmonic decelerator 2-12 links to each other with joint two output connecting rod 2-14, thus disarthrial the rotatablely moving of accomplishing modularized joint.
The cascade process of a plurality of modularized joints is following:
Plural modularized joint can be cascaded, and the mechanical arm of formation 2 * N free degree (the 2nd, the free degree quantity of each module, N is the number of above-mentioned modularized joint).
Method of attachment is that branch dynamic bevel gear three 2-9 with the power shaft 1-1 in joint 1 and joint 22 are connected, and the output connecting rod 2-14 in shell one 1-4 in joint one and joint 22 is connected to get final product simultaneously.
The above is merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.
Claims (4)
1. a multi freedom degree mechanical arm modularized joint is characterized in that, comprises two above modularized joint series connection and coaxial rotation, and modularized joint comprises that joint one and joint two connect as one, wherein,
Joint one comprises that transferring power power shaft, this power input shaft are provided with all first harmonic decelerator and first clutch;
Joint two comprises the power transmission shaft that is connected with said joint one power shaft, and this power transmission shaft links to each other with first clutch, and second clutch armature is connected with the transfer transmission mechanism, this transfer transmission mechanism respectively with the second harmonic decelerator.
2. multi freedom degree mechanical arm modularized joint as claimed in claim 1 is characterized in that, this transfer transmission mechanism comprises one group of 30 degree bevel gear and 60 degree bevel gears mesh and one group of transmission idle pulley and the engagement of two 45 degree bevel gears.
3. multi freedom degree mechanical arm modularized joint as claimed in claim 1 is characterized in that said joint one also includes shell one, and this shell is the steel wheel of first harmonic decelerator fixedly.
4. multi freedom degree mechanical arm modularized joint as claimed in claim 1 is characterized in that said joint two also includes shell two, and shell two is connected with output flange, and an end of this output flange is the second harmonic decelerator fixedly, and the other end is fixed with the output connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103336881A CN102431038A (en) | 2011-10-28 | 2011-10-28 | Modular joint combination of mechanical arm with multiple degrees of freedom |
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| CN2011103336881A CN102431038A (en) | 2011-10-28 | 2011-10-28 | Modular joint combination of mechanical arm with multiple degrees of freedom |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385295A (en) * | 2014-09-24 | 2015-03-04 | 哈尔滨工业大学 | Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint |
| CN104440869A (en) * | 2014-09-24 | 2015-03-25 | 哈尔滨工业大学 | Three-freedom-degree parallel connection differential robot joint |
| CN104786235A (en) * | 2015-04-09 | 2015-07-22 | 哈尔滨工程大学 | Differential joint |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN108312140A (en) * | 2018-03-28 | 2018-07-24 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
| CN108608455A (en) * | 2018-07-11 | 2018-10-02 | 楼荣平 | A kind of modularization movable joint connection structure |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| CN114526291A (en) * | 2022-03-04 | 2022-05-24 | 北京思灵机器人科技有限责任公司 | Modular series elastic driver |
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| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN201291458Y (en) * | 2008-10-31 | 2009-08-19 | 华南理工大学 | T type single-degree-of-freedom robot joint module |
| CN201881383U (en) * | 2010-11-28 | 2011-06-29 | 长春工业大学 | Arm of multi-joint humanoid massage robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2001051259A2 (en) * | 2000-01-11 | 2001-07-19 | Hai Hong Zhu | Modular robot manipulator apparatus |
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN201291458Y (en) * | 2008-10-31 | 2009-08-19 | 华南理工大学 | T type single-degree-of-freedom robot joint module |
| CN201881383U (en) * | 2010-11-28 | 2011-06-29 | 长春工业大学 | Arm of multi-joint humanoid massage robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104385295A (en) * | 2014-09-24 | 2015-03-04 | 哈尔滨工业大学 | Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint |
| CN104440869A (en) * | 2014-09-24 | 2015-03-25 | 哈尔滨工业大学 | Three-freedom-degree parallel connection differential robot joint |
| CN104385295B (en) * | 2014-09-24 | 2016-03-02 | 哈尔滨工业大学 | Based on the seven degrees of freedom copy man mechanical arm in differential driving joint in parallel |
| CN104786235A (en) * | 2015-04-09 | 2015-07-22 | 哈尔滨工程大学 | Differential joint |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
| CN108312140A (en) * | 2018-03-28 | 2018-07-24 | 陕西蓝智机器人有限公司 | A kind of single machine axis connection formula multi-freedom joint mechanical arm |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| CN108608455A (en) * | 2018-07-11 | 2018-10-02 | 楼荣平 | A kind of modularization movable joint connection structure |
| CN114526291A (en) * | 2022-03-04 | 2022-05-24 | 北京思灵机器人科技有限责任公司 | Modular series elastic driver |
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Application publication date: 20120502 |