CN106142128B - Turn round rocking type mechanical arm joint module - Google Patents
Turn round rocking type mechanical arm joint module Download PDFInfo
- Publication number
- CN106142128B CN106142128B CN201610605739.4A CN201610605739A CN106142128B CN 106142128 B CN106142128 B CN 106142128B CN 201610605739 A CN201610605739 A CN 201610605739A CN 106142128 B CN106142128 B CN 106142128B
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- Prior art keywords
- drive control
- driving motor
- mechanical arm
- unit
- revolution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of revolution rocking type mechanical arm joint modules, including drive control unit, exterior oscillations connection unit, external revolution connection unit and power communications unit；Wherein, the power communications unit is electrically connected the drive control unit；The drive control unit is electrically connected the second driving motor of the first driving motor of the exterior oscillations connection unit, external revolution connection unit；The drive control unit is swung and/or is controlled the external revolution connection unit for controlling the exterior oscillations connection unit and rotated.The present invention has compact-sized, simple and easy, the advantages that replacement is convenient, and the degree of modularity is high, provides supports conditions for the development of mechanical arm system.
Description
Technical field
The present invention relates to mechanical arm technologies, and in particular, to a kind of revolution rocking type mechanical arm joint module.
Background technique
In recent years, robot technology achieves significant progress, and mechanical arm is obtaining in current robotic technology field
To the automated machine device of most broad practice.In the production fields such as machine-building, electronics, metallurgy, therapeutic treatment, machine
The use of tool arm can accelerate the construction degree of automation, intelligence and the modernization of system, to significantly promote production effect
Rate.
However present most of mechanical arm has a single function, such as the production line machinery for being repeatedly performed single action
The industrial machineries arms such as arm, electroplating equipment wielding machine arm.This kind of mechanical arm is unable to satisfy a tractor serves several purposes, just can be only done once designing
Single action, relative cost increase.Therefore, the demand of versatility mechanical arm is just increased increasingly, this kind of mechanical arm does not have
Fixed shape can change the job category of oneself according to the demand of operator.
Meanwhile existing arm robot usually has multiple cradle heads, the rotation control in each joint is substantially
It is to be realized by stepper motor either servo motor, the usual volume in joint that this has resulted in mechanical arm is larger, structure is too fat to move etc.
Disadvantage.So many joint of mechanical arm also will increase the probability for joint damage occur, the disassembly and dimension of mechanical arm after damage occurs
Repair is also to become sufficiently complex.One of solution for these current disadvantages is exactly to design a kind of joint mould of mechanical arm
Block also provides biggish convenience so that the driving and communication of each section are mutually indepedent in terms of detachable maintaining.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of revolution rocking type mechanical arm joint module,
The revolution of mechanical arm and oscillating motion are integrated in a joint, complete the communication control between each joint using bus,
To reduce the occupied space and quality of joint of mechanical arm, the flexibility of the movement of joint of mechanical arm is increased, it is logical for mechanical arm
It is laid the foundation with change, miniaturization and modularization.
The revolution rocking type mechanical arm joint module provided according to the present invention, including drive control unit, exterior oscillations connect
Order member, external revolution connection unit and power communications unit；
Wherein, the power communications unit is electrically connected the drive control unit；The drive control unit is electrically connected institute
State the first driving motor of exterior oscillations connection unit, the second driving motor of external revolution connection unit；
The drive control unit is swung and/or is controlled outside described for controlling the exterior oscillations connection unit
Portion's revolution connection unit is rotated.
Preferably, the exterior oscillations connection unit includes T-type swing arm, curved support part, worm screw, worm gear and the first drive
Dynamic motor；
Wherein, the T-type swing arm is arranged on worm gear, can rotate and swing with the worm gear；
The arc support, which sets up separately, sets in the downside of T-type swing arm, is used to support the T-type swing arm；First driving
Motor passes sequentially through the swing of T-type swing arm described in worm screw, worm-gear driven；
Preferably, the external turning unit includes revolving platform, conducting slip ring and the second driving motor；
Wherein, the revolving platform is arranged in the shaft of second driving motor, and the conducting slip ring is set in described
In the shaft of second driving motor；
The power communications unit electricity is electrically connected the drive control unit by conducting slip ring.
Preferably, the drive control unit includes the first encoder of the first driving motor of drive control, drive control
The second encoder and drive control circuit of second driving motor；
The drive control circuit connects first encoder, the second encoder；The drive control circuit is used
It is driven in by the first encoder-driven control first driving motor and/or by described in second encoder drive control second
Dynamic motor；
Preferably, the power communications unit includes the first aviation plug, the second aviation plug and conducting wire group；
Wherein, first aviation plug is arranged in the T-type swing arm；Second aviation plug is arranged at described time
On turntable；
First aviation plug is electrically connected the drive control circuit by conducting wire group；Second aviation plug passes through
The conducting slip ring connects the drive control circuit.
Preferably, the conducting wire group includes control transmission line of information and supply lines；
First aviation plug is electrically connected the drive control circuit by control transmission line of information and supply lines.
Preferably, the quantity of the curved support part is two；
Two arc supports point are oppositely arranged to form the installation ontology；The worm screw, the worm gear and the first driving
Motor is arranged on the inside of the installation ontology.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the advantages that present invention has compact-sized, simple and easy, and replacement is convenient, and the degree of modularity is high is mechanical arm system
The development of system provides supports conditions；
2, the revolution of mechanical arm and oscillating motion are integrated in a joint by this law, using bus complete each joint it
Between communication control increase the flexible of the movement of joint of mechanical arm to reduce the occupied space and quality of joint of mechanical arm
Property, it lays the foundation for mechanical arm generalization, miniaturization and modularization.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural diagram of the present invention.
In figure:
1 is the first aviation plug, and 2 be T-type swing arm, and 3 be conducting wire group, and 4 be worm screw, and 5 be the first driving motor, and 6 be second
Driving motor, 7 be the second aviation plug, and 8 be conducting slip ring, and 9 be revolving platform, and 10 be joint module rack, and 11 be motor driven
Circuit, 12 be worm gear, and 13 be curved support part.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the present embodiment, revolution rocking type mechanical arm joint module provided by the invention, including it is drive control unit, outer
Portion swings connection unit, external revolution connection unit and power communications unit；
Wherein, the power communications unit is electrically connected the drive control unit；The drive control unit is electrically connected institute
State the first driving motor 5 of exterior oscillations connection unit, the second driving motor 6 of external revolution connection unit；
The drive control unit is swung and/or is controlled outside described for controlling the exterior oscillations connection unit
Portion's revolution connection unit is rotated.
The exterior oscillations connection unit includes T-type swing arm 2, curved support part 13, worm screw 4, worm gear 12 and the first drive
Dynamic motor 5；
Wherein, the T-type swing arm 2 is arranged on worm gear 12, can rotate and swing, i.e., the described T-type with the worm gear 12
Swing arm has one degree of freedom.
The downside of T-type swing arm 2 is arranged in the curved support part 13, is used to support the T-type swing arm 2, and be entire
Inside modules provide closed protective；First driving motor 5 passes sequentially through worm screw 4, worm gear 12 drives the T-type swing arm 2 to put
It is dynamic；
The external turning unit includes revolving platform 9, conducting slip ring 8 and the second driving motor 6；
Wherein, the revolving platform 9 is arranged in the shaft of second driving motor 6, and the conducting slip ring 8 is set in institute
In the shaft for stating the second driving motor 6.The revolving platform 9 has one degree of freedom.
Second driving motor 6 controls the rotation of revolving platform 9, the communication under the driving of the drive control unit
Power supply unit electricity is electrically connected the drive control unit by conducting slip ring 8.The conducting slip ring 8 is the power communications unit
Electrical connection is provided.
The drive control unit includes the first encoder of the first driving motor of drive control 5, the drive of drive control second
The second encoder and drive control circuit 11 of dynamic motor 6；
The drive control circuit 11 connects first encoder, the second encoder；The drive control circuit
11 for controlling first driving motor 5 by the first encoder-driven and/or by described in second encoder drive control
Second driving motor 6.Drive control circuit changes the shape and angle of mechanical arm according to the requirement driving motor of operator.
First driving motor can change the direction of rotation of the worm gear under the driving of the drive control unit
To control the swaying direction and angle of T-type swing arm.
The power communications unit includes the first aviation plug 1, the second aviation plug 7 and conducting wire group 3；
Wherein, first aviation plug 1 is arranged in the T-type swing arm 2；Second aviation plug 7 is arranged in institute
It states on revolving platform 9；
First aviation plug 1 is electrically connected the drive control circuit 11 by conducting wire group 3；Second aviation plug
7 connect the drive control circuit 11 by the conducting slip ring 8.
The conducting wire group includes control transmission line of information and supply lines；
First aviation plug 1 is electrically connected the drive control circuit 11 by control transmission line of information and supply lines.
The quantity of the curved support part 13 is two；
Two curved support parts 13 are oppositely arranged to form the installation ontology；The worm screw 4, the worm gear 12 and first
Driving motor 5 is arranged on the inside of the installation ontology.
In the present embodiment, external connection unit is mechanical arm joint module interface unit interconnected, in building machine
When tool arm entirety, the outside waves connection unit and is connected with each other composition one two certainly with the external revolution connection unit
By the joint of mechanical arm spent, the revolving platform central axes of the turning unit are also the central axes of entire module.
The power communications unit includes two aviation plugs and one group of conducting wire.Two aviation plugs form machine in multimode
It can link together when tool arm system, guarantee that the communication of system and power supply are unobstructed.It include control transmission line of information in conducting wire
And supply lines, supply lines provide the energy for modules, transmission line of information provides control information for modules.It is described conductive sliding
Ring provides electrical connection for the power communications unit, and prevent rotated as revolving platform caused by conducting wire winding problem.
The drive control unit includes the drive control circuit of driving motor, and driving circuit can be according to the requirement of operator
The shape and angle of driving motor change mechanical arm.In specific implement, operator controls two groups of motors by driving circuit
Rotation direction and velocity of rotation or revolving platform can be changed to change direction of rotation and the rotation angle of the T-type swing arm
Gyratory directions and angle of revolution.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (6)
1. a kind of revolution rocking type mechanical arm joint module, which is characterized in that single including drive control unit, exterior oscillations connection
Member, external revolution connection unit and power communications unit；
Wherein, the power communications unit is electrically connected the drive control unit；The drive control unit electrical connection is described outer
Portion swings the second driving motor (6) of the first driving motor (5) of connection unit, external revolution connection unit；
The drive control unit is swung and/or is controlled the outside go back to for controlling the exterior oscillations connection unit
Turn connection unit to be rotated；
The exterior oscillations connection unit includes T-type swing arm (2), curved support part (13), worm screw (4), worm gear (12) and
One driving motor (5)；
Wherein, the T-type swing arm (2) is arranged on worm gear (12), can rotate and swing with the worm gear (12)；
The curved support part (13) is arranged in the downside of T-type swing arm (2), is used to support the T-type swing arm (2)；Described
One driving motor (5) passes sequentially through worm screw (4), worm gear (12) drives the T-type swing arm (2) to swing.
2. revolution rocking type mechanical arm joint module according to claim 1, which is characterized in that the external turning unit
Including revolving platform (9), conducting slip ring (8) and the second driving motor (6)；
Wherein, the revolving platform (9) is arranged in the shaft of second driving motor (6), and the conducting slip ring (8) is set in
In the shaft of second driving motor (6)；
The power communications unit electricity is electrically connected the drive control unit by conducting slip ring (8).
3. revolution rocking type mechanical arm joint module according to claim 1, which is characterized in that the drive control unit
The second encoder of the first encoder, the second driving motor of drive control (6) including the first driving motor of drive control (5) with
And drive control circuit (11)；
The drive control circuit (11) connects first encoder, the second encoder；The drive control circuit
(11) for controlling first driving motor (5) by the first encoder-driven and/or passing through second encoder drive control
Second driving motor (6).
4. revolution rocking type mechanical arm joint module according to claim 1, which is characterized in that
The power communications unit includes the first aviation plug (1), the second aviation plug (7) and conducting wire group (3)；
Wherein, first aviation plug (1) is arranged on the T-type swing arm (2)；Second aviation plug (7) setting exists
On the revolving platform (9)；
First aviation plug (1) is electrically connected the drive control circuit (11) by conducting wire group (3)；Second aviation is inserted
Head (7) connects the drive control circuit (11) by the conducting slip ring (8).
5. revolution rocking type mechanical arm joint module according to claim 4, which is characterized in that the conducting wire group includes control
Transmission line of information and supply lines processed；
First aviation plug (1) is electrically connected the drive control circuit (11) by control transmission line of information and supply lines.
6. revolution rocking type mechanical arm joint module according to claim 1, which is characterized in that the curved support part
(13) quantity is two；
Two curved support parts (13) are oppositely arranged to form installation ontology；The worm screw (4), the worm gear (12) and first drive
Dynamic motor (5) are arranged on the inside of the installation ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610605739.4A CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610605739.4A CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142128A CN106142128A (en) | 2016-11-23 |
| CN106142128B true CN106142128B (en) | 2019-09-03 |
Family
ID=58060965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610605739.4A Active CN106142128B (en) | 2016-07-28 | 2016-07-28 | Turn round rocking type mechanical arm joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142128B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| 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 |
| CN110480677B (en) * | 2019-09-11 | 2020-06-09 | 安徽人和智能制造有限公司 | A installation joint structure that is used for arm to rotate junction and rotates festival |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2549916A1 (en) * | 1983-07-25 | 1985-02-01 | Onera (Off Nat Aerospatiale) | COMPLIANCE ACTIVE ARTICULATION DEVICE |
| CN2492352Y (en) * | 2001-08-22 | 2002-05-22 | 北京航空航天大学 | Two-freedom knuckle mechanism |
| CN102233583A (en) * | 2011-05-13 | 2011-11-09 | 清华大学 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
-
2016
- 2016-07-28 CN CN201610605739.4A patent/CN106142128B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2549916A1 (en) * | 1983-07-25 | 1985-02-01 | Onera (Off Nat Aerospatiale) | COMPLIANCE ACTIVE ARTICULATION DEVICE |
| CN2492352Y (en) * | 2001-08-22 | 2002-05-22 | 北京航空航天大学 | Two-freedom knuckle mechanism |
| CN102233583A (en) * | 2011-05-13 | 2011-11-09 | 清华大学 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
| CN102862165A (en) * | 2012-09-25 | 2013-01-09 | 杭州电子科技大学 | Double-degree-of-freedom robot shoulder joint steering engine |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106142128A (en) | 2016-11-23 |
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