CN104802183A - Self-locking type robot joint - Google Patents
Self-locking type robot joint Download PDFInfo
- Publication number
- CN104802183A CN104802183A CN201510154752.8A CN201510154752A CN104802183A CN 104802183 A CN104802183 A CN 104802183A CN 201510154752 A CN201510154752 A CN 201510154752A CN 104802183 A CN104802183 A CN 104802183A
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- self
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- large arm
- turbine
- encoder
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Abstract
The invention provides a self-locking type robot joint. The self-locking type robot joint comprises an encoder, a driving motor, a speed reducer, a shaft coupler, a worm rod, a worm wheel, a large arm and a small arm. According to the robot joint, the layout of members is compact, and the driving motor, the speed reducer, the encoder and the like are arranged in the large arm so that the self space of a mechanical arm is extremely saved. Furthermore, a primary-grade worm wheel and worm rod pair is arranged in a transmission structure so that the self-locking type robot joint has a self-locking structure; when the mechanical arm moves to an appointed movement position, the mechanical arm can still keep current movement, and the current of the driving motor can be reduced so that the endurance ability of a robot is improved.
Description
Technical field
The present invention relates to robot field, be specifically related to a kind of self-locking joint of robot.
Background technology
All need the participation of robot in occasions such as earthquake relief work, geological prospecting, mine, anti-terrorisms, and mechanical arm is as a mobile robot's part, the actions such as IMAQ, snatch, sample collection are carried out at needs scene, bear considerable role.And often robot manipulating task site space is limited, need mechanical arm own dimensions little, and when operations such as snatches in order to avoid the too much loss of energy, need mechanical arm self to carry out action maintenance.
Summary of the invention
The technical issues that need to address of the present invention are: in order to self take up space when reducing mechanical arm operation, and can carry out action maintenance, the invention provides a kind of self-locking joint of robot.The robot joint structure that the present invention relates to is compact, takes up space little, and has self-retaining function, can keep current operation action after system power failure.
Technical scheme of the present invention is: design a kind of self-locking joint of robot, it is characterized in that, comprises large arm 15, forearm 12, encoder 1, drive motors 2, decelerator 3, shaft coupling 4, worm screw 7 and turbine 8; Large arm 15 and forearm 12 are hollow body; Encoder 1, drive motors 2, decelerator 3 are placed in large arm 15, and encoder 1, drive motors 2, decelerator 3 and large arm 15 are coaxial; Encoder 1 controls drive motors 2, the output connection reducer 3 of drive motors 2; Decelerator 3 output drives worm screw 7 by shaft coupling 4; Turbine 8 and worm screw 7 engage each other, and the axial direction of turbine 8 is mutually vertical with the axial direction of worm screw 7; Direction, forearm 12 axis place is mutually vertical with turbine 8 place axial direction, and direction, forearm 12 axis place is mutually vertical with direction, large arm 15 axis place; Turbine 8 is connected with forearm 12 by driving shaft 9, makes turbine 8 drive forearm 12 to carry out circumference rotation around the axial direction of turbine 8.
Further technical scheme of the present invention is: also comprise adpting flange 5, and decelerator 3 is connected in the cavity of large arm 15 by adpting flange 5; Axial direction along adpting flange 5 on adpting flange 5 outer wall is provided with groove.
Further technical scheme of the present invention is: also comprise casing 10 and case lid 11, and worm screw 7 and turbine 8 are placed in casing 10, and worm screw 7 is coordinated with casing 10 by rolling bearing; Casing 10 and case lid 11 are fixed connection by screw thread.
Further technical scheme of the present invention is: also comprise connecting ring 14, and it is fastening that large arm 15 and casing 10 pass through connecting ring 14.
By above technical scheme, the drive motors be installed in large arm passes through successively through decelerator, worm and gear, can, by power transmission to forearm, drive forearm to rotate.The encoder that drive motors end connects is absolute encoder, and the speed can rotated forearm, position are measured, and form closed-loop control system.Worm couple forms self-locking campaign, realizes the self-locking of mechanical arm.
Invention effect
Technique effect of the present invention is:
The present invention proposes a kind of self-locking joint of robot, and drive motors, decelerator etc. are arranged in work jibs inside by component compact in design, thus saves mechanical arm self space greatly.In addition, in drive mechanism, one-level self-locking worm gear worm gear pair is added, even if power down mechanical arm also can keep current operation action.
Accompanying drawing explanation
Fig. 1 is the structural representation of joint of robot of the present invention;
Fig. 2 is the profile of large arm of the present invention;
Fig. 3 is the profile of forearm driving shaft of the present invention;
Fig. 4 is forearm driving shaft upper-part schematic diagram of the present invention;
Fig. 5 is the connection diagram of large arm of the present invention and worm gear case;
Fig. 6 is cable trough structural representation of the present invention.
Description of reference numerals: 1-encoder; 2-drive motors; 3-decelerator; 4-shaft coupling; 5-adpting flange; 6-worm bearing lid; 7-worm screw; 8-worm gear; 9-forearm driving shaft; 10-worm gear case; 11-worm and gear case lid; 12-forearm; 13-forearm end cap; 14-large arm connecting ring; 15-large arm.
Detailed description of the invention
Below in conjunction with concrete embodiment, technical solution of the present invention is further illustrated.
As accompanying drawing 1-4 shows, a kind of self-locking joint of robot, is characterized in that: comprise encoder 1, drive motors 2, decelerator 3, shaft coupling 4, adpting flange 5, worm bearing lid 6, worm screw 7, worm gear 8, forearm driving shaft 9, worm gear case 10, worm and gear case lid 11, forearm 12, forearm end cap 13, large arm connecting ring 14, large arm 15.
Drive motors 2 end connects encoder 1, output connection reducer 3, decelerator by bolt and adpting flange 5 fastening, decelerator output is connected maintenance by shaft coupling 4 with worm screw 7 and is synchronized with the movement, and worm screw 7 two coordinates with worm gear case 10 respectively by rolling bearing.Worm bearing lid 11 is threaded with worm gear case 10, and to worm shaft to positioning.Worm gear 8 is coordinated by flat key with forearm driving shaft 9, and adopt trip bolt and forearm driving shaft fastening, engage with worm screw 7, transmit motion.Forearm driving shaft 9 coordinates with worm gear case 10 and worm and gear case lid 11 respectively by rolling bearing, and worm and gear case lid and worm gear case, for being threaded, screwing in worm and gear case lid and carry out axial location to forearm driving shaft 9.
Forearm 11 is coordinated with forearm driving shaft 9 by two rolling bearings, by spline transmitting torque between forearm 11 axis hole and forearm driving shaft.Forearm end cap 13 is threaded connection forearm, screws in screw thread and locates forearm.
As shown in Figure 6, worm gear case 10 is inserted in adpting flange 5 one end, and the other end injects large arm 15, and uniform several the finedraws in large arm 15 one end, are fixedly clamped large arm 15 and adpting flange 5 by large arm connecting ring 14.Large arm connecting ring 14 another side and worm gear case 10 are fixedly clamped, and large arm and worm gear case are fixed as an entirety.Large arm connecting ring 14 two sides is screw clamp locking structure, screws corresponding screw rod, can clamp connector.
In adpting flange 5 and worm gear case 10, there is cable trough, connect up for mechanical arm.
It is secondary that the present invention have employed first-stage worm gear worm movement in transmission, and have the structure of self-locking, when manipulator motion is to the operating position of specifying, can reduce the electric current of drive motors or directly remove electricity, mechanical arm still can keep current action.
Claims (4)
1. a self-locking joint of robot, it is characterized in that, comprise large arm (15), forearm (12), encoder (1), drive motors (2), decelerator (3), shaft coupling (4), worm screw (7) and turbine (8); Large arm (15) and forearm (12) are hollow body; Encoder (1), drive motors (2), decelerator (3) are placed in large arm (15), and encoder (1), drive motors (2), decelerator (3) and large arm (15) are coaxial; Encoder (1) controls drive motors (2), the output connection reducer (3) of drive motors (2); Decelerator (3) output drives worm screw (7) by shaft coupling (4); Turbine (8) and worm screw (7) engage each other, and the axial direction of turbine (8) is mutually vertical with the axial direction of worm screw (7); Direction, forearm (12) axis place is mutually vertical with turbine (8) place axial direction, and direction, forearm (12) axis place is mutually vertical with direction, large arm (15) axis place; Turbine (8) is connected with forearm (12) by driving shaft (9), makes turbine (8) drive forearm (12) to carry out circumference rotation around the axial direction of turbine (8).
2. a kind of self-locking joint of robot as claimed in claim 1, is characterized in that, also comprises adpting flange (5), and decelerator (3) is connected in the cavity of large arm (15) by adpting flange (5); Adpting flange (5) outer wall is provided with groove along the axial direction of adpting flange (5).
3. a kind of self-locking joint of robot as claimed in claim 1, it is characterized in that, also comprise casing (10) and case lid (11), worm screw (7) and turbine (8) are placed in casing (10), and worm screw (7) is coordinated with casing (10) by rolling bearing; Casing (10) and case lid (11) are fixed connection by screw thread.
4. a kind of self-locking joint of robot as described in claim 1 or 2 or 3, is characterized in that, also comprises connecting ring (14), large arm (15) and casing (10) fastening by connecting ring (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510154752.8A CN104802183A (en) | 2015-04-02 | 2015-04-02 | Self-locking type robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510154752.8A CN104802183A (en) | 2015-04-02 | 2015-04-02 | Self-locking type robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104802183A true CN104802183A (en) | 2015-07-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510154752.8A Pending CN104802183A (en) | 2015-04-02 | 2015-04-02 | Self-locking type robot joint |
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| CN (1) | CN104802183A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITUB20152650A1 (en) * | 2015-07-30 | 2017-01-30 | Innovative Eng Search Ltd | Industrial robot |
| CN107433622A (en) * | 2017-08-04 | 2017-12-05 | 国网山东省电力公司电力科学研究院 | A kind of robot arm position feedback mechanism, robot arm and robot |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107825459A (en) * | 2017-10-30 | 2018-03-23 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
| CN108490781A (en) * | 2018-03-21 | 2018-09-04 | 航天科工智能机器人有限责任公司 | Position closed loop feedback servo control method with self-locking performance transmission mechanism |
| CN111993395A (en) * | 2020-08-18 | 2020-11-27 | 杭州捷铭智能装备有限公司 | Terminal gesture self-sustaining device of arm |
| CN112405621A (en) * | 2020-11-13 | 2021-02-26 | 东南大学 | Low-energy-consumption robot joint quick locking device and using method |
| CN112407938A (en) * | 2020-11-05 | 2021-02-26 | 东北大学 | Hand pneumatic type driven transport arm |
| CN112664415A (en) * | 2020-12-28 | 2021-04-16 | 山东临工工程机械有限公司 | Articulated manipulator potential energy recovery device |
| CN114714328A (en) * | 2022-03-27 | 2022-07-08 | 重庆大学 | Mechanical arm based on backlash adjustable enveloping worm drive |
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| EP0527121A1 (en) * | 1991-08-05 | 1993-02-10 | IGM - ROBOTERSYSTEME Aktiengesellschaft | Gearing for driving a joint especially for industrial robot |
| CN1876335A (en) * | 2006-07-10 | 2006-12-13 | 东南大学 | Joint structure for rehabilitation training robot |
| JP2007175845A (en) * | 2005-12-28 | 2007-07-12 | Harmonic Drive Syst Ind Co Ltd | Closed worm gear type finger articulation unit |
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| WO2012075737A1 (en) * | 2010-12-07 | 2012-06-14 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joint and robot |
| CN202985576U (en) * | 2012-11-13 | 2013-06-12 | 陈文� | Drive joint of robot second arm |
| CN203109960U (en) * | 2012-12-19 | 2013-08-07 | 北京配天大富精密机械有限公司 | Robot wrist part, robot upper arm and arc welding robot |
| CN103341864A (en) * | 2013-05-08 | 2013-10-09 | 南京航空航天大学 | Robot joint module with self-locking function and robot |
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2015
- 2015-04-02 CN CN201510154752.8A patent/CN104802183A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0527121A1 (en) * | 1991-08-05 | 1993-02-10 | IGM - ROBOTERSYSTEME Aktiengesellschaft | Gearing for driving a joint especially for industrial robot |
| JP2007175845A (en) * | 2005-12-28 | 2007-07-12 | Harmonic Drive Syst Ind Co Ltd | Closed worm gear type finger articulation unit |
| CN1876335A (en) * | 2006-07-10 | 2006-12-13 | 东南大学 | Joint structure for rehabilitation training robot |
| WO2012075737A1 (en) * | 2010-12-07 | 2012-06-14 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joint and robot |
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| CN202985576U (en) * | 2012-11-13 | 2013-06-12 | 陈文� | Drive joint of robot second arm |
| CN203109960U (en) * | 2012-12-19 | 2013-08-07 | 北京配天大富精密机械有限公司 | Robot wrist part, robot upper arm and arc welding robot |
| CN103341864A (en) * | 2013-05-08 | 2013-10-09 | 南京航空航天大学 | Robot joint module with self-locking function and robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITUB20152650A1 (en) * | 2015-07-30 | 2017-01-30 | Innovative Eng Search Ltd | Industrial robot |
| CN107433622A (en) * | 2017-08-04 | 2017-12-05 | 国网山东省电力公司电力科学研究院 | A kind of robot arm position feedback mechanism, robot arm and robot |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107717955B (en) * | 2017-09-29 | 2024-03-19 | 中国科学院空间应用工程与技术中心 | Space four-degree-of-freedom inspection mechanical arm and control system and control method thereof |
| CN107825459A (en) * | 2017-10-30 | 2018-03-23 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
| CN108490781A (en) * | 2018-03-21 | 2018-09-04 | 航天科工智能机器人有限责任公司 | Position closed loop feedback servo control method with self-locking performance transmission mechanism |
| CN111993395A (en) * | 2020-08-18 | 2020-11-27 | 杭州捷铭智能装备有限公司 | Terminal gesture self-sustaining device of arm |
| CN112407938A (en) * | 2020-11-05 | 2021-02-26 | 东北大学 | Hand pneumatic type driven transport arm |
| CN112405621A (en) * | 2020-11-13 | 2021-02-26 | 东南大学 | Low-energy-consumption robot joint quick locking device and using method |
| CN112664415A (en) * | 2020-12-28 | 2021-04-16 | 山东临工工程机械有限公司 | Articulated manipulator potential energy recovery device |
| CN114714328A (en) * | 2022-03-27 | 2022-07-08 | 重庆大学 | Mechanical arm based on backlash adjustable enveloping worm drive |
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Application publication date: 20150729 |
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