CN104175327A - Integrated flexible rotating joint - Google Patents
Integrated flexible rotating joint Download PDFInfo
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- CN104175327A CN104175327A CN201310199825.6A CN201310199825A CN104175327A CN 104175327 A CN104175327 A CN 104175327A CN 201310199825 A CN201310199825 A CN 201310199825A CN 104175327 A CN104175327 A CN 104175327A
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Abstract
The invention provides an integrated flexible rotating joint which comprises a shell and a joint main body located in the shell. The integrated flexible rotating joint is characterized in that the joint main body comprises a plurality of circuit boards; a plurality of mounting planes are formed on the inner circumference of the shell; the circuit boards are respectively mounted on the mounting planes. In the integrated flexible rotating joint, the circuit boards are arranged on the inner circumference of the shell, and the space in the shell is smartly utilized, so that the whole joint structure is very compact, the modularization is easily realized, and the assembling and disassembling are convenient.
Description
Technical field
The present invention relates to robot field, relate in particular to a kind of integrated flexible rotary joint.
Background technology
Massage is a kind of non-medicine, without wound, the naturopathy that has no side effect.Facts have proved, massage not only has good result for the treatment of to numerous diseases such as orthopedics and traumatology, internal medicine, surgery, gynaecology, paediatrics and ENT dept.s, the effect of have more health body-building, prevent disease, eliminating disease and prolong life.Meanwhile, without the inconvenience of taking medicine, without the misery of acupuncture, hold easy for patients to accept.Yet along with China enters aging society, the growing demand of massage therapy has become insurmountable imbalance between supply and demand with the relative scarcity of professional massage personnel.
In order to solve above-mentioned contradiction, on the one hand, the Domestic massage equipment such as different types of massage device or massage armchair on market, have been emerged in large numbers, its principle is: the own wt of human body fully contacts with massage head, utilizes massage apparatus main controller to control massage head motion human body is produced to extruding force passive, rule.By human body self sensation, adjust position and the degree of depth of massage, thereby reach the object that stimulates blood circulation, relaxs one's muscles, there is higher security.But its motor pattern cannot customize, the uncontrollable result for the treatment of that causes of massage force is limited; On the other hand, scientific research personnel is combined traditional Industrial Robot Technology with active massage manipulation, carried out the research to massage robot principle prototype, and obtained certain scientific achievement.At present, the principle prototype of massage robot is all based upon on the basis of industrial robot, although can realize the function of active massage, the security of massaging process is but difficult to ensure, causes robot to be difficult to carry out clinical practice.In addition, massage robot configuration seldom adopts apery configuration at present, even if there is the accessory that part contacts with people to adopt the design of apery type, but the friendly of robot integral body is still worth discussion, is difficult to and accepted by user.And existing massage robot often adopts mechanism module, the design of circuit isolation, although add and have certain advantage man-hour in design, is bringing larger inconvenience aspect installation and maintenance debugging, is difficult to realize the commercialization and the marketization of massage robot.In sum, existing massage robot still can not really be realized clinicalization, the marketization and commercialization.
For Domestic massage equipment, mainly there are following 2 deficiencies:
1, passive type massage, massage effect varies with each individual;
2, gimmick is single, and dynamics is uncontrollable, and therapeutic action is very little.
For massage robot, mainly there are following 3 deficiencies:
1, security
No matter the massage robot of development adopts the (series connection of which kind of configuration at present, parallel connection and planer-type), all be based upon on the basis of industrial robot and research and develop, it aspect security, is also the safeguard measure that adopts industrial robot, as adopted as emergency stop switch, safe magnetic is locked or robot end, is added the external equipments such as limiter of moment and coordinate impedance control strategy to realize active massage, thereby solution safety issue, although reduced to a certain extent the danger of robot massage, but do not break away from the barrier of industrial robot application category, while being especially subject to impulsive force in application process, be limited to the bandwidth of sensor and the arithmetic speed of computer, its security is difficult to be ensured, therefore, existing massage robot has been subject to benefiting from colony especially the elderly patient and social query, be difficult to really realize service robot commercialization.
2, friendly
Existing massage robot has continued the mentality of designing of industrial robot, only from the realization of gimmick, carrys out design robot.Therefore, the robot of design is more similar to special equipment, make to be subject to user psychologically with health on cannot be real loosen, cause massage effect to be had a greatly reduced quality.
3, inconvenient installation and debugging and maintenance
Massage robot, after long-time use, inevitably wants generation part aging or damage.Therefore, need to parts aging or damage be changed or be keeped in repair.Existing robot adopts the modularized design of dynamo-electric separate type conventionally.When keeping in repair, conventionally need to dismantle respectively circuit and robot mechanism, dismounting more complicated, even occurs because dismounting causes the situation that interface section is damaged accidentally sometimes, causes robot convertibility poor, inconvenient maintenance.
Summary of the invention
The object of the present invention is to provide a kind of integrated flexible rotary joint, it utilizes the space in joint housing dexterously, and compact conformation is easy to realize modularization, easy accessibility.
To achieve these goals, the invention provides a kind of integrated flexible rotary joint, comprise housing and the joint body that is positioned at this housing, it is characterized in that, described joint body comprises a plurality of circuit boards, inner peripheral surface at described housing is formed with a plurality of mounting planes, and described a plurality of circuit boards are installed on respectively on described a plurality of mounting plane.
Preferably, described a plurality of circuit boards comprise controls power panel, driving power plate, control circuit board and drive circuit board, and wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.
Preferably, described a plurality of circuit board is sequentially electrically connected to by electric wire.
Preferably, described housing comprises main casing and time housing that docking connects, and described a plurality of mounting planes are formed in described main casing.
Preferably, on the sidewall of described main casing, have cable interface, described circuit board is electrically connected to the motor in described joint body by this cable interface.
Preferably, described joint body comprises motor, the decelerator being connected with the output of motor, the moment elasticity being connected with the output of decelerator is transmitted module, the flexbile gear output shaft being connected with the housing component of moment elasticity transmission module, with the joint output shaft that the spoke of moment elasticity transmission module is connected, the moment detection module being connected with one end of flexbile gear output shaft, and the position detecting module being connected with the other end of flexbile gear output shaft.
Preferably, described motor be have hollow motor shaft without frame brushless electric machine, described decelerator is harmonic speed reducer, described motor shaft is connected with the wave producer of described harmonic speed reducer, the cup-shape flexspline of described harmonic speed reducer is connected with described flexbile gear output shaft, and the other end of this flexbile gear output shaft is through described motor shaft protruding to be connected to described position detecting module.
Preferably, described flexbile gear output shaft is that quill shaft passes with supply lines.
Preferably, described moment elasticity is transmitted the described spoke that module comprises described housing component and is positioned at this housing component, described housing component forms the tubular that comprises diapire and sidewall, on the inner peripheral surface of described sidewall, have along circumferential four uniform secter pats, described spoke has center drum and is positioned at this center drum around and circumferential four the uniform connecting plates in edge, between the end of each connecting plate and the internal perisporium of described sidewall, there is gap, described four secter pats and four connecting plates are arranged alternately, and between adjacent secter pat and connecting plate, there is elastic component with carry-over moment flexibly.
Preferably, on adjacent secter pat and connecting plate, be respectively arranged with lead, between two adjacent leads, have gap, described elastic component is helical spring and is set on two adjacent leads.
Preferably, on adjacent secter pat and connecting plate, be respectively arranged with lead, between two adjacent leads, have gap, described elastic component is helical spring and is set on two adjacent leads.
Preferably, the center of described diapire has centre bore, and one end of described flexbile gear output shaft is connected to described moment detection module through after this centre bore.
Preferably, described moment detection module and position detecting module are incremental encoder.
In above-mentioned integrated flexible rotary joint, circuit board layout, on the inner peripheral surface of housing, has been utilized to the space in housing dexterously, make whole articulation structure very compact, be easy to realize modularization, and easy accessibility.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for description, is used from explanation the present invention, but is not construed as limiting the invention with the specific embodiment one below.In the accompanying drawings:
Figure 1 shows that the schematic perspective view of a kind of embodiment of flexible massage robot.
Figure 2 shows that a kind of embodiment of pedestal 1.
Figure 3 shows that a kind of embodiment of fixed cover 16
Figure 4 shows that a kind of embodiment of the first trunk 31
Figure 5 shows that the cross-sectional schematic of a kind of syndeton between the first joint 21, fixed cover 16 and the first trunk 31.
Figure 6 shows that a kind of embodiment of the second trunk 32.
Figure 7 shows that the schematic perspective view of a kind of syndeton between the first trunk 31, second joint 22 and the second trunk 32.
Figure 8 shows that the cross-sectional schematic of a kind of syndeton between the first trunk 31, second joint 22 and the second trunk 32.
Figure 9 shows that the schematic perspective view of a kind of syndeton between the second trunk 32, the 3rd joint 23 and the 3rd trunk 33.
Figure 10 shows that the cross-sectional schematic of a kind of syndeton between the second trunk 32, the 3rd joint 23 and the 3rd trunk 33.
Figure 11 shows that the schematic perspective view of a kind of syndeton between the 3rd trunk 33, the 4th joint 24 and the 4th trunk 34.
Figure 12 shows that the cross-sectional schematic of a kind of syndeton between the 3rd trunk 33, the 4th joint 24 and the 4th trunk 34.
Figure 13 shows that the schematic diagram of a kind of embodiment of connecting rod 4.
Figure 14 shows that the schematic diagram of a kind of embodiment of massaging hand 5.
Figure 15 shows that the cross-sectional schematic of a kind of embodiment of integrated flexible rotary joint.
Figure 16 shows that the schematic perspective view of a kind of embodiment of main casing.
Figure 17 shows that the cross-sectional schematic of a kind of embodiment of time housing.
Figure 18 shows that the schematic perspective view of a kind of embodiment that motor driving part divides.
Figure 19 shows that the cross-sectional schematic of a kind of embodiment that motor driving part divides.
Figure 20 shows that the schematic perspective view of a kind of embodiment of moment elasticity transmission module.Figure 21 is depicted as the cross-sectional schematic that moment elasticity is transmitted a kind of embodiment of module.
Figure 21 is depicted as the cross-sectional schematic that moment elasticity is transmitted a kind of embodiment of module.
Figure 22 is depicted as the schematic diagram of a kind of embodiment of joint output shaft.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
In the present invention, for convenience of description, used some nouns of locality, such as up and down etc., these nouns of locality are mainly to define according to the direction of corresponding views.In addition, also used the inside and outside noun of locality of Denging, these nouns of locality are mainly according to defining inside and outside product.
Massage robot
Figure 1 shows that the schematic perspective view of a kind of embodiment of flexible massage robot.As shown in Figure 1, flexible massage robot mainly comprises pedestal 1 and is installed on the mechanical arm 2 on pedestal 1, this mechanical arm 2 comprises the first joint 21 connecting successively, the first trunk 31, second joint 22, the second trunk 32, the 3rd joint 23, the 3rd trunk 33, the 4th joint 24 and the 4th trunk 34, described the first joint 21 is installed on described pedestal 1 by fixed cover 16, the rotation of the joint output shaft in the first joint 21 and the 3rd joint 23 is along the length direction of described mechanical arm 2, the rotation of the joint output shaft of the rotation in second joint 22 and the 4th joint 24 is perpendicular to the length direction of described mechanical arm 2, and in each joint, have by the moment elasticity of elastic component carry-over moment and transmit module.
In above-mentioned flexible massage robot, there are altogether four joints and four trunks, and the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft of the rotation in second joint and the 4th joint is perpendicular to the length direction of described mechanical arm, therefore mechanical arm has four frees degree altogether, consistent with the distribution of the human arm free degree, can complete the multiple massage manipulations such as massage.In addition, the mechanism size of mechanical arm also can be designed to conform to human arm size, has departed from industrial robot category, makes to be subject to user to be easier to accept.
In addition, above-mentioned flexible massage robot from the angle in joint, transmits module by adding moment elasticity at joint on the one hand, make mechanical arm self there is inherent passive flexibility, when contacted by user or while being subject to external impact, produce buffering, thereby protection is subject to user effectively; Utilize on the other hand Technology of ZO control to make mechanical arm produce active compliance to destructuring (the unknown) environment, make robot can in working space, complete safely massaging action.To sum up two aspect characteristics make flexible massage robot fundamentally solve the problem of security.
Below, the mode in connection with accompanying drawing by embodiment is elaborated to each part of flexible massage robot.
Pedestal
Figure 2 shows that a kind of embodiment of pedestal 1.As shown in Figure 2, pedestal 1 mainly comprises base plate 11 and side plate 12, is connected with floor 13 to gain in strength between the two.The setting that is perpendicular to one another haply of base plate 11 and side plate 12.In order to improve steadiness and the rigidity of pedestal 1, can use two floors 13 that be arranged in parallel.In addition, on the top of side plate 12, there is a through hole 14 and a plurality of T-slot 15 (in figure, being shown as four).The first joint 21 can be fixed on described side plate 12 by fixed cover 16 (seeing Fig. 3) and the securing member inserting in described through hole 14.For example, securing member can adopt tommyhead bolt, and it coordinates with the T-slot 15 on side plate 12, to the first joint 21 is mounted on side plate 12.Concrete connected mode will describe in detail hereinafter.
Fixed cover, the first joint and the first trunk
The first joint 21 can be installed on pedestal 1 in several ways.As a kind of embodiment, the first joint 21 can be installed on pedestal 1 by fixed cover 16 and the securing member inserting in pedestal 1 through hole 14.
Figure 3 shows that a kind of embodiment of fixed cover 16.As shown in Figure 3, fixed cover 16 comprises ring flange 161, and the left end of this ring flange 161 can be inserted in the through hole 14 of pedestal 1, and the securing member for example head of tommyhead bolt can be engaged in the T-slot of pedestal 1, its bar portion can, through the installing hole on ring flange 161, then pass through fastening nuts.
On fixed cover 16, can also be formed with a plurality of dowel holes 162 and screwed hole 163, the first joint 21 can be inserted in fixed cover 16, then by through the alignment pin of dowel hole 162 and through the screw of screwed hole 163 etc. by its maintenance and be fixed in positioning sleeve 16.
In this way, can make the center of gravity in the first joint 21 be positioned as close to the side plate 12 of pedestal 1, thereby can optimize the stressing conditions of side plate 12.
The concrete structure in the first joint 21 will describe in detail hereinafter.
Figure 4 shows that a kind of embodiment of the first trunk 31.As shown in Figure 4, the first trunk 31 mainly comprises main part 311, be positioned at the upper joint installation portion 312 of main part upside, and the hypozygal installation portion 313 that is positioned at main part downside, described upper joint installation portion 312 is preferably formed as cavity, and the part in described the first joint 21 can be held and remain in this cavity.
The center of the diapire of described cavity is formed with non-circular hole 314, regular hexagon hole for example, this non-circular hole 314 can be with the joint output shaft form fit in described the first joint 21 with carry-over moment, the surrounding of described non-circular hole 314 has a plurality of installing holes, and securing member can be connected on the joint output shaft in described the first joint 21 through the plurality of installing hole.
The cross section of described main part 311 is preferably square, and on sidewall, is formed with lightening hole 315, can increase on the one hand the rigidity of this main part, can effectively reduce its weight and rotary inertia again, and mechanical arm is more easily controlled.Described hypozygal installation portion 313 forms two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part 311.
Figure 5 shows that the cross-sectional schematic of a kind of syndeton between the first joint 21, fixed cover 16 and the first trunk 31.
As shown in Figure 5, insert in fixed cover 16 in the first joint 21, and fixed by the securing members such as screw that insert the alignment pin in dowel hole 162 and insert in screwed hole 163.The upper joint installation portion that forms cavity of the first trunk 31 is from overlapping and install to fixed cover 16 and the first joint 21 below, between fixed cover 16 and cavity, be provided with bearing, between the first joint 21 and cavity, be provided with equally bearing in addition, so that the first trunk 31 can be with respect to fixed cover 16 rotations.The joint output the tip of the axis in the first joint 21 can with described pocket base wall on non-circular hole 314 form fit with carry-over moment, simultaneously, can use the securing members such as screw to be fastened on the output shaft of joint by non-circular hole 314 installing hole around, to joint output shaft and the first trunk 31 are fixed together, to prevent the two separation.
By said structure, the first joint 21 and fixed cover 16 insert and are contained in the cavity of the first trunk 31, can make thus the center of gravity of the first trunk be positioned as close to the first joint 21, can strengthen the integral rigidity of mechanical arm.
The first trunk is connected by second joint with the second trunk
The first trunk 31 is connected by second joint 22 with the second trunk 32.
Figure 6 shows that a kind of embodiment of the second trunk 32.As shown in Figure 6, the second trunk 32 comprises main part 321, be positioned at the upper joint installation portion 322 of main part upside, and the hypozygal installation portion 323 that is positioned at main part downside, described upper joint installation portion 322 forms the upper mounting cylinder with sidewall and diapire, and a part for described second joint 22 is held and remained on this in mounting cylinder.On upper mounting cylinder, can be formed with lightening hole 325.
The center of the diapire of described upper mounting cylinder is formed with non-circular hole 324, the joint output shaft form fit of this non-circular hole and described second joint 22 is with carry-over moment, the surrounding of described non-circular hole 324 has a plurality of installing holes, and securing member can be connected on the joint output shaft of described second joint 22 through the plurality of installing hole.
Described hypozygal installation portion 323 forms lower mounting cylinder, and the part in the 3rd joint 33 can be held and remain in this lower mounting cylinder.Described main part 321 can form two relative connecting plates, and these two connecting plates are connected between described upper joint installation portion 322 and hypozygal installation portion 323.The axis of upper mounting cylinder and lower mounting cylinder is substantially vertical.
Figure 7 shows that the schematic perspective view of a kind of syndeton between the first trunk 31, second joint 22 and the second trunk 32.Figure 8 shows that the cross-sectional schematic of a kind of syndeton between the first trunk 31, second joint 22 and the second trunk 32.
As shown in Figure 7 and Figure 8, second joint 22 inserts in the upper joint installation portion (upper mounting cylinder) 322 of the second trunk 32, has bearing between the two.Be inserted into the joint output shaft form fit of second joint 22 in the non-circular hole 324 on mounting cylinder diapire with carry-over moment, simultaneously, the securing members such as screw can be connected on the output shaft of joint through non-circular hole 324 installing hole around, to second joint 22 is kept securely and be fixed in the second trunk 32.
A hypozygal installation portion (retainer ring) 313 of the first trunk 31 can directly be enclosed within (right side of Fig. 8) on second joint 22, and fixes by fixed cap 318 and securing member.For easy for installation and make stabilized structure, outside at the diapire of the mounting cylinder of the second trunk 32 can be fixed with a servo axis 316 simultaneously, then another retainer ring of the first trunk 31 is installed on this servo axis 316 by bearing gland 317 and bearing etc.
The second trunk is connected by the 3rd joint with the 3rd trunk
Figure 9 shows that the schematic perspective view of a kind of syndeton between the second trunk 32, the 3rd joint 23 and the 3rd trunk 33.Figure 10 shows that the cross-sectional schematic of a kind of syndeton between the second trunk 32, the 3rd joint 23 and the 3rd trunk 33.
As shown in Figure 9 and Figure 10, insert in the hypozygal installation portion (lower mounting cylinder) 322 of the second trunk 32 in the 3rd joint 23, and keep fixing by securing member.The structure of the 3rd trunk 33 and the first trunk 31 is basic identical, and its upper joint installation portion cover that forms cavity installs on the hypozygal installation portion of the second trunk 32, has bearing between the two.Be inserted into the joint output shaft form fit in the 3rd joint 23 in the non-circular hole in the pocket base wall of the 3rd trunk 33 with carry-over moment, simultaneously, the securing members such as screw can be connected on the output shaft of joint through non-circular hole installing hole around, to the 3rd joint 23 is kept securely and be fixed in the 3rd trunk 33.
The 3rd trunk and the first trunk structure are basic identical, repeat no more.At this, it should be noted that, the 3rd trunk and the first trunk structure are basic identical, the primary structure that refers to the two is identical, for example, it has main part equally, is positioned at the upper joint installation portion of main part upside, and the hypozygal installation portion that is positioned at main part downside, described upper joint installation portion is preferably formed as cavity, and the center of the diapire of this cavity can be formed with non-circular hole.The cross section of main part is preferably square, and on sidewall, is formed with lightening hole.Hypozygal installation portion can form two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part.Certainly, according to concrete design needs, can allow in the two some details outside above-mentioned primary structure distinct, for example position of lightening hole, quantity and shape, dimension scale of each several part etc.
The 3rd trunk is connected by the 4th joint with the 4th trunk
Figure 11 shows that the schematic perspective view of a kind of syndeton between the 3rd trunk 33, the 4th joint 24 and the 4th trunk 34.Figure 12 shows that the cross-sectional schematic of a kind of syndeton between the 3rd trunk 33, the 4th joint 24 and the 4th trunk 34.
The 3rd trunk 33 and the first trunk 31 structures are basic identical, and the 4th trunk 34 and the second trunk 32 structures are basic identical.Referring to above describing, structure described here is basic identical refers to that primary structure is identical equally, but allows to exist the difference of design details.The mode that the 3rd trunk 33 is connected by the 4th joint 24 with the 4th trunk 34 is similar to the first trunk 31 and the second trunk 32 passes through the connected mode of second joint 22, repeats no more.
In addition, as shown in Figure 11 and Figure 12, at the end of the 4th trunk 34, can be connected with a connecting rod 4 by securing members such as screws, at the end of connecting rod 4, can be connected with massaging hand 5.
Tail end connecting rod and massaging hand
Figure 13 shows that the schematic diagram of a kind of embodiment of connecting rod 4.Figure 14 shows that the schematic diagram of a kind of embodiment of massaging hand 5.
As shown in Figure 13 and Figure 14, connecting rod 4 can be connected to the bottom of the 4th trunk 34, in order to increase the length of mechanical arm, makes the length of whole mechanical arm approach the length of normal human's arm.5 of massaging hands can be connected to the end of connecting rod 4 by Connection Block 51, in order to carry out massage functions.Massaging hand 5 can adopt existing various massaging hand, and for example three finger formula massaging hands shown in diagram, can purchase the three finger Dextrous Hand from the BarrettHand of U.S. Barrett company.
Integrated flexible rotary joint
In flexible massage robot of the present invention, used four joints, be respectively the first joint 21, second joint 22, the 3rd joint 23 and the 4th joint 24.The structure in these joints is basic identical, will be elaborated for this joint (also can be referred to as " integrated flexible rotary joint ") below.
Figure 15 shows that the cross-sectional schematic of a kind of embodiment of integrated flexible rotary joint.As shown in figure 15, this integrated flexible rotary joint mainly comprises housing 100 and is positioned at the joint body of this housing, this joint body mainly comprises motor 200, the decelerator 300 being connected with the output of motor, the moment elasticity being connected with the output of decelerator is transmitted module 400, the flexbile gear output shaft 500 being connected with the housing component of moment elasticity transmission module, the joint output shaft 600 being connected with the spoke of moment elasticity transmission module, the moment detection module 700 being connected with one end of flexbile gear output shaft, the position detecting module 800 being connected with the other end of flexbile gear output shaft, and circuit board 900.
Below with reference to accompanying drawings above-mentioned unit is elaborated.
Housing
As shown in figure 15, housing 100 mainly comprises main casing 110, inferior housing 120 and end cap 130, thereby is conducive to the dismounting of the various parts of enclosure interior.
Motor 200, position detecting module 800 and circuit board 900 are mainly positioned at main casing 110, and decelerator 300, moment elasticity transmit module 400 and 700 of moment detection modules are mainly positioned at time housing 120.End cap 130 is for sealing the outer end of main casing.Joint output shaft 600 stretches out from the outer end of inferior housing 120.When integrated flexible rotary joint assembles, after motor 200, decelerator 300, moment elasticity transmission module 400 etc. can being assembled, be inserted in main casing 110, and then cover housing last time 120.Main casing 110 the inners are circumferentially processed with 1 group of through hole and 1 group of ladder counter sink, by securing members such as screws, main casing 110 can be connected with firm wheel holder 304.And then cover housing 120 last time, countersunk head through hole is circumferentially left in inferior housing 120 the inners, and the securing members such as screw can be fixed on firm wheel holder 304 by inferior housing 120 by the through hole on main casing 110, and then fixing upper end cover 130.
Figure 16 shows that the schematic perspective view of a kind of embodiment of main casing.As shown in figure 16, the outline of main casing 110 roughly forms cylindrical shape, and its inner surface is formed with a plurality of mounting planes 111 with mounting circuit boards.For example, as a kind of embodiment, integrated flexible rotary joint of the present invention has four circuit boards 900, be respectively and control power panel, driving power plate, control circuit board and drive circuit board, wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.Controlling power panel and driving power plate preferably can independent grounding, thereby in the time of can avoiding powering, produces phase mutual interference.Correspondingly, the inner surface of main casing is formed with four mounting planes 111, and it is along the circumferential direction spacedly distributed, every circuit board is installed on a mounting plane, between two adjacent mounting planes, can give transition by little plane, therefore, the inner surface of main casing roughly forms octagon.
Four circuit boards 900 are preferably sequentially electrically connected by electric wire, thereby form an integral unit, can be built in easily in main casing 110.In order to reduce joint weight and to be convenient to fixing circuit board, on the outer surface at the two ends of main casing, be processed with respectively and four four planes 112 that circuit board position is corresponding, thereby can circuit board be fixed on the inner surface of main casing easily by securing members such as screws.
In addition, in four planes 112 on the outer surface of the outer end of main casing, can in a plane, cable interface 113 be installed therein, motor 200 can be electrically connected to circuit board 900 easily by this cable interface.
Figure 17 shows that the cross-sectional schematic of a kind of embodiment of time housing.As shown in figure 17, inferior housing 120 roughly forms cylindrical shape, and its outer end is formed with reducing, thereby can axial location joint output shaft 600.The inner of inferior housing is circumferentially formed with a plurality of installing holes 121, and the securing members such as screw can be fixed to inferior housing on firm wheel holder 304 through after these installing holes.
Motor driving part divides
Motor 200 is as power source, and integrated flexible rotating joint provides moment.Motor preferably adopts without frame brushless electric machine.
Figure 18 shows that the schematic perspective view of a kind of embodiment that motor driving part divides.Figure 19 shows that the cross-sectional schematic of a kind of embodiment that motor driving part divides.Particularly, as shown in Figure 18 and Figure 19, motor 200 mainly comprises stator 201 and rotor 202.In the outside of stator 201, fixed cover is connected to motor housing.For easy accessibility, motor housing comprises left outside shell 203 and 204 two parts of right casing, can link together by securing members such as screws each other.Preferably, left outside shell and right casing have flange part 205 separately, and the securing members such as screw link together left and right shell through this flange part.Flange part 205 is preferably formed as square, to match with four circuit boards 900 in the main casing 110 of integrated flexible rotary joint, the securing members such as screw are connected in the bight of square flange part 205.On the sidewall of right casing 204, can have line outlet 206, motor lines is drawn to be connected to circuit board 900 by this line outlet.
Outer end at the right casing 204 of motor is connected with motor shaft bearing block 207 by securing members such as screws, and motor shaft 208 is supported in this motor shaft bearing block 207 rotationally by bearing.In addition, in the center, outer end of motor shaft bearing block, also by securing members such as screws, be connected with flexbile gear output shaft bearing seat 209, flexbile gear output shaft 500 is supported on this flexbile gear output shaft bearing seat 209 rotationally by bearing.Flexbile gear output shaft 500 arranges through motor shaft 208 rotationally.
Rotor 202 is positioned at stator 201 inside, at rotor 202 center, is fixed with motor shaft 208, and rotor drives this motor shaft to rotate.Motor shaft is preferably hollow shaft.
The left end of motor shaft 208 is the extension diameter section of enlarged-diameter, this extension diameter section is connected (particularly with decelerator 300 by securing members such as screws, for example be connected with the wave producer of harmonic speed reducer), thus the moment of motor shaft can be exported by the cup-shape flexspline of harmonic speed reducer.The firm wheel of harmonic speed reducer is connected on firm wheel holder 304 by securing members such as screws.Just wheel holder is connected to the left end of the left outside shell of motor by securing members such as screws.Meanwhile, as described above, this has just been taken turns holder 304 and may be fixedly attached on the main casing 110 in integrated flexible joint.Center at firm wheel holder 304 is connected with motor shaft bearing block by securing members such as screws equally, and motor shaft is supported in this motor shaft bearing block rotationally by bearing.
Harmonic speed reducer 300 mainly comprises firm wheel, cup-shape flexspline and wave producer.As described above, just wheel is connected on firm wheel holder 304 by securing members such as screws, and wave producer is connected to by securing members such as screws on the extension diameter section of motor shaft 208, and cup-shape flexspline is at wave producer with just between wheel, for output torque.
Cup-shape flexspline is connected to moment elasticity by securing members such as screws and transmits on the housing component of module 400, for driving housing component to rotate.In addition, housing component can be supported on housing component spring bearing holder 406 rotationally by bearing, and 406 of housing component spring bearing holders can be connected with firm wheel holder by securing members such as screws.
Meanwhile, cup-shape flexspline is also connected on flexbile gear output shaft by securing members such as screws, thereby moment can be passed to flexbile gear output shaft simultaneously.
Flexbile gear output shaft
As shown in figure 15, the right-hand member of flexbile gear output shaft 500 stretches out to be connected to the code-disc of position detecting module 800 to the right through the motor shaft of hollow, thereby utilizes this position detecting module this flexbile gear output shaft can be detected with respect to the relative rotation of the shell 100 of integrated flexible rotary joint.The left end of flexbile gear output shaft extends to be connected to the code-disc of moment detection module 700 left, thereby utilizes this moment detection module the output torque of joint output shaft and joint output shaft can be detected with respect to the relative rotation of this flexbile gear output shaft.Therefore, the relative rotation of position detecting module and the detection of moment detection module is added, can show that joint output shaft is with respect to the relative rotation of the shell of integrated flexible rotary joint, can carry out thus to determine the actual angle turning over of joint output shaft.
The left end of flexbile gear output shaft is rotatably supported on moment elasticity by bearing and transmits in the spoke of module, middle part is supported in flexbile gear output shaft bearing seat rotationally by bearing, and right-hand member is supported in another flexbile gear output shaft bearing seat rotationally by bearing equally.
Flexbile gear output shaft is preferably quill shaft, and the required various cables of rotary joint can pass the flexbile gear output shaft of this hollow easily.
Moment elasticity is transmitted module
Figure 20 shows that the schematic perspective view of a kind of embodiment of moment elasticity transmission module.Figure 21 is depicted as the cross-sectional schematic that moment elasticity is transmitted a kind of embodiment of module.Moment elasticity transmit module 400 mainly comprise housing component 401, at spoke 402 and the elastic component between housing component and spoke 403 of enclosure interior.Conventionally, housing component 401 is for receiving moment, and passes torque to spoke 402 by elastic component 403, and spoke is exported to joint output shaft 600 by moment.
The cup-shape flexspline that Reference numeral 302 in Figure 21 represents in harmonic speed reducer, it is connected with housing component 401 by securing members such as screws, to pass torque to housing component 401, drives housing component 401 to rotate.Reference numeral 406 represents housing component bearing mounting bases, between itself and housing component 401, is provided with bearing.
Housing component 401 roughly forms the tubular of an end opening, other end sealing.Particularly, housing component comprises diapire and the sidewall arranging around this diapire.On diapire, can be provided with centre bore, so that flexbile gear output shaft 500 passes.
On the inner surface of the sidewall of housing, be fixed with four secter pats 404 that are along the circumferential direction spacedly distributed, such as being fixed by securing members such as screws.Spoke roughly forms cross.Particularly, spoke comprises center drum and be formed at four connecting plates 405 on center drum outer surface, and these four connecting plates are along the circumferential direction distributed in the outer surface of center drum.Center drum general with shell bottom wall on centre bore maintenance concentric.Each connecting plate is between two adjacent secter pats, and four secter pats and four connecting plates are along the circumferential direction arranged alternately.Between connecting plate and the sidewall of housing, there is gap, to can relatively rotate between the two.Between adjacent secter pat and connecting plate, have elastic component, therefore, the moment of housing component can flexibly pass to connecting plate by secter pat and elastic component, thereby the rotation of housing component will cause spoke to be rotated.Elastic component is used spiral compression spring conventionally.In addition, owing to having used elastic component to carry out carry-over moment, can cushion the suffered countertorque of spoke, make moment elasticity transmit module and there is flexibility, thereby reduced the requirement to sensor bandwidth and the operational speed of a computer, can at joint, carry out power control easily.
For elastic component is firmly remained between secter pat and connecting plate, preferably, on secter pat and connecting plate, be fixed with respectively lead, be for example directly threaded connection, the two ends of elastic component are enclosed within on lead respectively.Be enclosed within elastic component and there is gap between two leads in ground, on the one hand, can make elastic component performance elastic reaction; On the other hand, make the effect stroke of elastic component be confined to the distance between gap, thereby play effect spacing and protection elastic component.
Pass through said structure, preferably adopt four secter pats and four connecting plates, so design makes structurally full symmetric of secter pat that moment elasticity transmits module, larger moment can be provided, and reduced the rigidity of elastic component under equal output torque condition, be convenient to the design of elastic component and choose, and the physical size that makes moment elasticity transmit module can be easier to microminiaturization, integrated.
Moment detection module and position detecting module
As shown in figure 15, moment detection module 700 transmits for detection of moment elasticity the moment that module is transmitted.Preferably, moment detection module is used incremental encoder.
Particularly, moment detection module mainly comprises pedestal, code-disc and circuit board.Pedestal comprises base plate and is formed at three supporting legs on plate upper surface.Base plate can be installed on moment elasticity by securing members such as screws and transmit on the connecting plate of the spoke in module.Circuit board can be installed on by securing members such as screws the end of three supporting legs, to form certain space between circuit board and base plate, code-disc is positioned at this space, and the housing component transmitting in module by axle and moment elasticity keeps synchronizeing.
Therefore,, by this incremental encoder, can detect moment elasticity and transmit housing component in module and the relative rotation between spoke.Simultaneously, according to this relative rotation, can draw the elastic deformation amount of the elastic component in moment elasticity transmission module, then according to the rigidity of elastic component, can calculate the size of the power of being transmitted by elastic component, the installation site by elastic component can calculate moment elasticity and transmit the moment size that module is transmitted.Therefore,, by this moment detection module, can detect easily moment elasticity and transmit the moment that module is transmitted.
Similarly, position detecting module 800 is also preferably used incremental encoder, for detection of the actual angle turning over of flexbile gear output shaft, repeats no more.
Joint output shaft
Figure 22 is depicted as the schematic diagram of a kind of embodiment of joint output shaft.As shown in figure 22, joint output shaft 600 is for finally exporting to external unit by the moment of integrated flexible rotary joint, for example the next trunk of mechanical arm.The outer surface of the outer end 601 of joint output shaft forms polygon, hexagon for example, thereby output torque easily.The inner of joint output shaft has mounting flange 602, and this mounting flange can be connected to moment elasticity by securing members such as screws and transmit in the spoke of module, and when transmitting high-torque, this flange can make joint output shaft and spoke not produce relative motion.
On the mounting flange of joint output shaft, be formed with a plurality of lightening holes, with weight reduction.In addition, on mounting flange, be formed with four groups of installing holes 603, to be fixedly connected with four connecting plates in spoke.In addition, because joint output shaft bears larger torque, therefore every group of installing hole can comprise two installing holes of radially aligned, thereby moment can be transmitted jointly by two securing members, reduced the required intensity of securing member.
In the above-mentioned integrated rotary joint of the present invention, be provided with moment elasticity and transmit module, moment of torsion detection module and position detecting module, can the external impact force of cushioning effect on joint, and measure the moment of integrated flexible rotary joint output.Expanded the range of application of described integrated rotary joint.Integrated flexible rotary joint of the present invention adopts collecting mechanism, circuit, sensing in the modularized design thinking of one, can construct rapidly arm or the shank of flexible massage robot by this joint, has very high practical value.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible combinations.
In addition, between various embodiment of the present invention, also can be combined, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (12)
1. an integrated flexible rotary joint, comprise housing and the joint body that is positioned at this housing, it is characterized in that, described joint body comprises a plurality of circuit boards, inner peripheral surface at described housing is formed with a plurality of mounting planes, and described a plurality of circuit boards are installed on respectively on described a plurality of mounting plane.
2. integrated flexible rotary joint according to claim 1, it is characterized in that, described a plurality of circuit board comprises controls power panel, driving power plate, control circuit board and drive circuit board, wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.
3. integrated flexible rotary joint according to claim 1 and 2, is characterized in that, described a plurality of circuit boards are sequentially electrically connected to by electric wire.
4. integrated flexible rotary joint according to claim 1, is characterized in that, described housing comprises main casing and time housing that docking connects, and described a plurality of mounting planes are formed in described main casing.
5. integrated flexible rotary joint according to claim 4, is characterized in that, on the sidewall of described main casing, has cable interface, and described circuit board is electrically connected to the motor in described joint body by this cable interface.
6. integrated flexible rotary joint according to claim 1, it is characterized in that, described joint body comprises motor, the decelerator being connected with the output of motor, the moment elasticity being connected with the output of decelerator is transmitted module, the flexbile gear output shaft being connected with the housing component of moment elasticity transmission module, the joint output shaft being connected with the spoke of moment elasticity transmission module, the moment detection module being connected with one end of flexbile gear output shaft, and the position detecting module being connected with the other end of flexbile gear output shaft.
7. integrated flexible rotary joint according to claim 6, it is characterized in that, described motor be have hollow motor shaft without frame brushless electric machine, described decelerator is harmonic speed reducer, described motor shaft is connected with the wave producer of described harmonic speed reducer, the cup-shape flexspline of described harmonic speed reducer is connected with described flexbile gear output shaft, and the other end of this flexbile gear output shaft is through described motor shaft protruding to be connected to described position detecting module.
8. integrated flexible rotary joint according to claim 6, is characterized in that, described flexbile gear output shaft is that quill shaft passes with supply lines.
9. integrated flexible rotary joint according to claim 6, it is characterized in that, described moment elasticity is transmitted the described spoke that module comprises described housing component and is positioned at this housing component, described housing component forms the tubular that comprises diapire and sidewall, on the inner peripheral surface of described sidewall, have along circumferential four uniform secter pats, described spoke has center drum and is positioned at this center drum around and circumferential four the uniform connecting plates in edge, between the end of each connecting plate and the internal perisporium of described sidewall, there is gap, described four secter pats and four connecting plates are arranged alternately, and between adjacent secter pat and connecting plate, there is elastic component with carry-over moment flexibly.
10. integrated flexible rotary joint according to claim 9, it is characterized in that, on adjacent secter pat and connecting plate, be respectively arranged with lead, between two adjacent leads, have gap, described elastic component is helical spring and is set on two adjacent leads.
11. integrated flexible rotary joints according to claim 9, is characterized in that, the center of described diapire has centre bore, and one end of described flexbile gear output shaft is connected to described moment detection module through after this centre bore.
12. integrated flexible rotary joints according to claim 6, is characterized in that, described moment detection module and position detecting module are incremental encoder.
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| CN104827486A (en) * | 2015-06-08 | 2015-08-12 | 北京理工大学 | Flexible joint of humanoid robot |
| CN106003048A (en) * | 2016-07-04 | 2016-10-12 | 上海交通大学 | Robot joint based on gyroscope accelerometer and control system of robot joint |
| CN106182071A (en) * | 2016-08-05 | 2016-12-07 | 北京理工大学 | Two degrees of freedom rotates flexible differential driving joint module |
| CN106272374A (en) * | 2016-09-29 | 2017-01-04 | 浙江琦星电子有限公司 | Mechanical hand |
| CN106426265A (en) * | 2016-11-17 | 2017-02-22 | 中国石油大学(华东) | Variable-rigidity flexible drive joint |
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| CN113442124A (en) * | 2021-07-21 | 2021-09-28 | 清华大学 | Series elastic robot joint and using method thereof |
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| CN110480674A (en) * | 2019-07-22 | 2019-11-22 | 南方科技大学 | Booster type bionic joint |
| WO2021232440A1 (en) * | 2020-05-21 | 2021-11-25 | 江苏凌步智能科技有限公司 | Method for robot to simulate dynamic mechanical state of human limb muscles |
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