CN106863349A - A kind of modular mechanical arm flexible joint - Google Patents
A kind of modular mechanical arm flexible joint Download PDFInfo
- Publication number
- CN106863349A CN106863349A CN201710265203.7A CN201710265203A CN106863349A CN 106863349 A CN106863349 A CN 106863349A CN 201710265203 A CN201710265203 A CN 201710265203A CN 106863349 A CN106863349 A CN 106863349A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 56
- 239000003638 chemical reducing agent Substances 0.000 claims description 44
- 230000006698 induction Effects 0.000 claims description 13
- 230000001939 inductive effect Effects 0.000 claims description 7
- 238000013461 design Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of modular mechanical arm flexible joint, including joint input unit, deceleration device, series elastic driver, joint output device, articular shell and base, one end of the joint input unit is connected with deceleration device, the other end is connected with base, the deceleration device is connected with series elastic driver, the series elastic driver is connected with joint output device, and the joint output device is connected with articular shell.Be dissolved into modularization idea in the design of flexible mechanical arm by the present invention, the flexible mechanical arm of the different frees degree can be carried out being arbitrarily made with according to actual needs, estimate that joint exports end moment by measuring disc type spring Internal and external cycle anglec of rotation difference, disc type spring Internal and external cycle anglec of rotation difference is converted into direct slide displacement transducer and measures.
Description
Technical field
The invention belongs to robotics, more particularly to a kind of module machine arm flexible joint.
Background technology
Traditional Industrial Robot Technology comparative maturity, can realize track following and the power control of degree of precision.
The applicable situation of industrial robot is fairly simple, and part producing informant's machine level of interaction is low, and the requirement to security is than relatively low.Closely
Several years, man-machine collaboration robot turned into one of main direction of studying of robot.Scholar around robot how directly and the mankind
Man-machine interaction is carried out, cooperation together completes certain task and expands substantial amounts of research.It is main that limitation cooperation robot develops
Factor is occasion polytropy, and security performance is difficult to ensure that.In order to realize reliability and security of the robot under circumstances not known,
The concept of flexible robot is proposed both at home and abroad, and wherein series elastic driver is exactly the important composition of flexible robot.
For traditional industrial robot, it is desirable to which driver is rigidly the bigger the better, The faster the better for response speed.But for
Man-machine collaboration robot, new requirement is had also been proposed to security.A man-machine collaboration robot part is using certain at this stage
Control algolithm cause improve robot security, some is that spring is introduced in mechanical structure, is being collided
When, not only protect robot in itself, the safety of operator is also protected simultaneously.Meanwhile, flexible mechanical shoulder joint is also embodied
Carry out many advantages, such as energy ezpenditure is low, export the advantages of responding fast, applied widely.Above-mentioned advantage causes that flexible mechanical arm is closed
Section turns into the focus of research both at home and abroad.
The mechanical arm of current studies in China, because each articulation structure all differs widely, each joint cannot complete to combine and replace
Change, flexibility is poor, mechanical arm is used and is rigidly connected so that security is low, and environmental suitability is low, while to motor output end power
Square measurement uses torque sensor mostly, expensive.
The content of the invention
Shortcoming and deficiency it is an object of the invention to overcome prior art, there is provided a kind of modular mechanical arm is flexible to close
Section, using modular design philosophy, solves existing machinery shoulder joint structure and all differs widely, and each joint cannot complete combination
And replacement, flexibility is poor, and mechanical arm is using being rigidly connected so that security is low, and environmental suitability is low, while being exported to motor
End moment measurement uses torque sensor, expensive problem mostly.
The purpose of the present invention is achieved through the following technical solutions：A kind of modular mechanical arm flexible joint, including joint is defeated
Enter device 1, deceleration device 2, series elastic driver 3, joint output device 4, articular shell 5 and base 6；The joint input
One end of device 1 is connected with deceleration device 2, and the other end is connected with base 6, the deceleration device 2 and the phase of series elastic driver 3
Even, the series elastic driver 3 is connected with joint output device 4, and the joint output device 4 is connected with articular shell 5；
The joint input unit 1 includes that rimless hollow motor rotor 111, rimless hollow motor stator 112, motor are exported
Axle 113, rimless hollow motor fixed cover 114, motor stator pressing plate set 115, rotor pressing plate 116, magnetic coder sensing tooth
Wheel fixed mount 121, magnetic coder induction gear 122, magnetic coder inductive head 123, magnetic coder sense head frame 124, connect
Connect disk 1, terminal pad 2 132 and terminal pad 3 133；
The deceleration device 2 includes that harmonic speed reducer wave producer 21, harmonic reducer flexible wheel 22 and harmonic speed reducer are firm
Wheel 23；
The series elastic driver 3 includes harmonic speed reducer backing plate 31, disc type spring 32, direct slide displacement transducer
Link 331, direct slide displacement transducer adjustment block 332, direct slide displacement transducer 333 and direct slide displacement transducer are fixed
Frame 334；
The joint output device 4 includes joint output shaft 41, output flange 42 and right-angled intersection bearing 43；
The articular shell 5 includes articular shell 1 and articular shell 2 52.
Preferably, the magnetic coder induction gear 122 is installed on magnetic coder induction gear fixed mount by screw
121, magnetic coder induction gear fixed mount 121 and motor output shaft 113 carry out circumferentially fixed, magnetic coder by holding screw
Inductive head 123 is installed on magnetic coder and senses head frame 124 by screw, and magnetic coder sensing head frame 124 is sticked in
Motor stator pressing plate set 115, rimless one end of hollow motor rotor 111 is by the shaft shoulder axial restraint of motor output shaft 113, the other end
Compressed by rotor pressing plate 116, rimless one end of hollow motor stator 112 is by the rimless shaft shoulder of hollow motor fixed cover 114
Axial restraint, the other end covers 115 and compresses by motor stator pressing plate；The motor stator pressing plate set 115 leads to terminal pad 1
Bolt connection is crossed, terminal pad 1, terminal pad 2 132 and terminal pad 3 133 are sequentially connected for connecting joint input unit 1
With base 6.
Preferably, the harmonic speed reducer wave producer 21 is fixed by screw and motor output shaft 113, harmonic speed reducer
Flexbile gear 22 is fixed by screw and rimless motor fixed cover 114.
Preferably, the disc type spring 32, Rigid Gear of Harmonic Reducer 23, the three of decelerator backing plate 31 are fixed by screw
Together, together with the one end of direct slide displacement transducer fixed mount 334 is pasted with decelerator backing plate 31, the other end and direct slide position
Displacement sensor 333 is pasted together, and direct slide displacement transducer adjustment block 332 and direct slide displacement transducer 333 are pasted one
Rise, direct slide displacement transducer link 331 and joint output shaft 41 are carried out circumferentially fixed by holding screw.
Preferably, the joint output shaft 41 is fixed together by screw and disc type spring 32, joint output shaft 41
It is fixed together by screw and output flange 42, output flange 42 is fixed on one by screw and articular shell 1
Rise, articular shell 1 is fixed together by bolt and articular shell 2 52, and the inner ring of right-angled intersection bearing 43 is respectively adopted nothing
The shaft shoulder of frame hollow motor fixed cover 114 and motor stator pressing plate cover 115 shaft shoulders carries out axial restraint, the outer ring of right-angled intersection bearing 43
The shaft shoulder of articular shell 1 and the shaft shoulder of articular shell 2 52 is respectively adopted carries out axial restraint.
Preferably, the joint input unit 1 uses rimless hollow motor as power source, using magnetic coder to joint
Position measures, magnetic coder, rimless hollow motor, the three of motor output shaft 113 linkage, using hollow type structure；Institute
State joint input unit 1, deceleration device 2, series elastic driver 3 and joint output device 4 and be axiality.
Preferably, harmonic speed reducer wave producer 21 is fixed by screw and motor output shaft 113 in the deceleration device 2
Used as the input of harmonic speed reducer, harmonic reducer flexible wheel 22 is fixed by screw and rimless hollow motor fixed cover 114 and made
It is the fixing end of harmonic speed reducer, Rigid Gear of Harmonic Reducer 23, decelerator backing plate 31, the three of disc type spring 32 are solid by screw
It is scheduled on the output end together as harmonic speed reducer.
Preferably, the Internal and external cycle differential seat angle of the disc type spring 32 is calculated by being converted into straight-line displacement, and its is straight
Displacement of the lines is measured by direct slide displacement transducer 333, by disc type spring Internal and external cycle anglec of rotation difference to motor
The torque of output end carries out estimation calculating.
Preferably, the direct slide displacement transducer 333 is tangential on the outer ring light hole site of disc type spring 32 all the time.
Due to taking above technical scheme, it has advantages below to the present invention：
1st, the present invention devises a kind of new mechanical arm flexible joint, modularization idea is dissolved into New Type of Robot Arm soft
In the design in property joint, enabling be arbitrarily spliced into the modular mechanical arm of the different frees degree.Rational mentality of designing, will
The all parts in joint are integrated in intra articular, by encoder and sensor arrangement in remaining space, are closed space
The utilization of reason.Series elastic driver is introduced in motor reducer output end, the rigidity of mechanical arm is reduced so that man-machine collaboration
Security be improved.
2nd, the present invention is overall uses hollow structure, and such as encoder, motor, decelerator uses hollow structure, convenient interior
Portion's cabling.
3rd, motor output end torque, disc type are estimated present invention employs measurement disc type spring Internal and external cycle anglec of rotation difference
Spring Internal and external cycle positional information is to be converted into straight-line displacement information by by rotation information, is entered using direct slide displacement transducer
Row survey calculation, so that certainty of measurement gets a promotion, is also more convenient to carry out power control to joint of mechanical arm, while using straight
Gliding style displacement transducer, torque gradient sensor cheaper.Compared to the mechanical arm of Universal Robots companies, we
Advantage be to employ at flexible joint introducing disc type spring so that mechanical arm has flexibility mechanically, and UR is mechanical
Arm controls joint end torque size using the side of control electric current, and, per se with destabilizing factor, precision is relatively poor, Shandong for electric current
Rod is poor.
4th, the present invention is by the way of direct slide displacement transducer fixed mount and decelerator backing plate are using gluing, and assembling is simple
It is single.
5th, the present invention is exported using the ring flange of special construction, convenient to dismantle and assemble.
6th, it is elastomeric material, high resilience and resilience that the present invention uses sealing ring material, and easy processing shaping, performance is steady
It is fixed.
7th, the present invention uses compact overall structure, easy for installation, and shell uses duralumin, quality small volume.
8th, the present invention is driven using motor, and power is provided without bulky equipments such as external cylinders.
Brief description of the drawings
Fig. 1 is modular mechanical arm flexible joint entirety sectional view of the present invention；
Fig. 2 is modular mechanical arm flexible joint entirety shaft side figure of the present invention；
Fig. 3 is disc type spring structure figure in modular mechanical arm flexible joint of the present invention；
Fig. 4 is direct slide displacement transducer scheme of installation in modular mechanical arm flexible joint of the present invention；
Fig. 5 is direct slide displacement transducer test philosophy figure in modular mechanical arm flexible joint of the present invention；
Fig. 6 is the structural representation of terminal pad three in modular mechanical arm flexible joint of the present invention；
Specific embodiment
The technical scheme in the embodiment of the present invention is carried out below in conjunction with the accompanying drawing in the embodiment of the present invention clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, the scope of protection of the invention is belonged to.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 6, a kind of modular mechanical arm flexible joint, including joint input unit 1,
Deceleration device 2, series elastic driver 3, joint output device 4, articular shell 5 and base 6；The joint input unit 1
One end is connected with deceleration device 2, and the other end is connected with base 6, and the deceleration device 2 is connected with series elastic driver 3, described
Series elastic driver 3 is connected with joint output device 4, and the joint output device 4 is connected with articular shell 5；
The joint input unit 1 includes that rimless hollow motor rotor 111, rimless hollow motor stator 112, motor are exported
Axle 113, rimless hollow motor fixed cover 114, motor stator pressing plate set 115, rotor pressing plate 116, magnetic coder sensing tooth
Wheel fixed mount 121, magnetic coder induction gear 122, magnetic coder inductive head 123, magnetic coder sense head frame 124, connect
Connect disk 1, terminal pad 2 132 and terminal pad 3 133；
The deceleration device 2 includes that harmonic speed reducer wave producer 21, harmonic reducer flexible wheel 22 and harmonic speed reducer are firm
Wheel 23；
The series elastic driver 3 includes harmonic speed reducer backing plate 31, disc type spring 32, direct slide displacement transducer
Link 331, direct slide displacement transducer adjustment block 332, direct slide displacement transducer 333 and direct slide displacement transducer are fixed
Frame 334；
The joint output device 4 includes joint output shaft 41, output flange 42 and right-angled intersection bearing 43；
The articular shell 5 includes articular shell 1 and articular shell 2 52.
The magnetic coder induction gear 122 is installed on magnetic coder induction gear fixed mount 121, magnetic coding by screw
Device induction gear fixed mount 121 and motor output shaft 113 carry out circumferentially fixed, magnetic coder inductive head 123 by holding screw
Magnetic coder is installed on by screw and senses head frame 114, magnetic coder sensing head frame 114 sticks in motor stator pressure
Sleeve-board 115, rimless one end of hollow motor rotor 111 is turned by the shaft shoulder axial restraint of motor output shaft 113, the other end by motor
Sub- pressing plate 116 is compressed, rimless one end of hollow motor stator 112 by the shaft shoulder axial restraint of rimless hollow motor fixed cover 114, separately
One end covers 115 and compresses by motor stator pressing plate；The motor stator pressing plate set 115 is bolted with terminal pad 1,
Terminal pad 1, terminal pad 2 132 and terminal pad 3 133 are sequentially connected for connecting joint input unit 1 and base 6；Connection
It is bolted between disk 1, terminal pad 2 132 and the three of terminal pad 3 133, terminal pad 3 133 is connected with base 6.
The harmonic speed reducer wave producer 21 is fixed by screw and motor output shaft 113, harmonic reducer flexible wheel 22
Fixed by screw and rimless motor fixed cover 114.
The disc type spring 32, Rigid Gear of Harmonic Reducer 23, the three of decelerator backing plate 31 are fixed by screws in together,
Together with the one end of direct slide displacement transducer fixed mount 334 is pasted with decelerator backing plate 31, the other end and direct slide displacement sensing
Device 333 is pasted together, straight sliding together with direct slide displacement transducer adjustment block 332 is pasted with direct slide displacement transducer 333
Formula displacement transducer link 331 and joint output shaft 41 are carried out circumferentially fixed by holding screw.
The joint output shaft 41 is fixed together by screw and disc type spring 32, and joint output shaft 41 passes through screw
It is fixed together with output flange 42, output flange 42 is fixed together by screw and articular shell 1, outside joint
Shell 1 is fixed together by bolt and articular shell 2 52, and the inner ring of right-angled intersection bearing 43 is respectively adopted rimless hollow motor
The shaft shoulder of fixed cover 114 and motor stator pressing plate cover 115 shaft shoulders carries out axial restraint, and the outer ring of right-angled intersection bearing 43 is respectively adopted pass
The section shaft shoulder of shell 1 and the shaft shoulder of articular shell 2 52 carry out axial restraint.
The joint input unit 1, as power source, is entered using magnetic coder using rimless hollow motor to joint position
Row measurement, magnetic coder, rimless hollow motor, the three of motor output shaft 113 linkage, using hollow type structure；The joint
Input unit 1, deceleration device 2, series elastic driver 3 and joint output device 4 are axiality.
In the deceleration device 2 harmonic speed reducer wave producer 21 fixed by screw and motor output shaft 113 be used as it is humorous
The input of ripple decelerator, harmonic reducer flexible wheel 22 is fixed and is used as harmonic wave by screw and rimless hollow motor fixed cover 114
The fixing end of decelerator, Rigid Gear of Harmonic Reducer 23, decelerator backing plate 31, the three of disc type spring 32 are fixed by screws in one
Rise as the output end of harmonic speed reducer.
The Internal and external cycle differential seat angle of the disc type spring 32 is calculated by being converted into straight-line displacement, and its straight-line displacement is
Measured by direct slide displacement transducer 333, by disc type spring Internal and external cycle anglec of rotation difference to motor output end
Torque carries out estimation calculating.
The direct slide displacement transducer 333 is tangential on the outer ring light hole site of disc type spring 32 all the time.
Above-mentioned installation annexation can be bolted and be fixed.
Principle of the invention is：
The magnetic coder of rimless hollow motor and motor end realizes the control to joint terminal position.Magnetic coder senses
Gear 122 is fixed together by screw and magnetic coder fixed mount 121, and magnetic coder inductive head 123 is compiled by screw and magnetic
Code device sensing head frame 124 is fixed together, and motor output shaft 113 is solid by holding screw and magnetic coder fixed mount 121
It is scheduled on together, rimless rotor 111 causes that rotor pressing plate 116 and the shaft shoulder of motor output shaft 113 are pressed on by screw
Together, rimless motor stator 112 covers 115 shaft shoulders and is pressed together by screw motor fixed cover 114 and motor stator pressing plate, when
During rimless motor rotation, the drive motor output shaft 113 of rimless hollow motor rotor 111 is operated.Motor output shaft 113 passes through screw
Harmonic decelerator wave producer 21 is fixed together, and used as the input of harmonic speed reducer, harmonic reducer flexible wheel 22 passes through
Bolt and rimless hollow motor fixed cover 114 are fixed together, used as the fixing end of harmonic speed reducer, Rigid Gear of Harmonic Reducer 23
It is installed together by screw and decelerator pad 31, the outer ring three of disc type spring 32, as the output end of harmonic speed reducer.
Movable information and the moment information transmission of rimless motor give Rigid Gear of Harmonic Reducer 23 and export, as shown in figure 5, dy represents straight cunning
The straight-line displacement of the measurement of formula displacement transducer 333, dx represents direct slide displacement transducer link 331 in radius as on the circle of r
Arc length, corresponding rotation center corner d θ, because the anglec of rotation of disc type spring 32 is minimum, so just having dx=dy, d θ
=dy/r.The inner ring of disc type spring 32 is fixed together by screw and joint output shaft 41, and output flange 42 passes through screw
It is fixed together with joint output shaft 41, output flange 42 is fixed together by screw and articular shell 1, outside joint
Shell 1 and articular shell 2 52 are fixed by screws in together, are exported as joint, impart power to next joint.
In order to preferably carry out power control to joint, so joint output torque must be obtained, here it is introducing disc type
The reason for spring 32, on the one hand joint output torque can be estimated according to the Internal and external cycle anglec of rotation difference of disc type spring 32, separately
On the one hand when the external world is impacted, the foreign impacts to motor, decelerator can preferably be slowed down.Spring is introduced to cause entirely
Joint has certain compliance, but the coefficient of elasticity of spring is constant in motion process, is most to start to be answered according to specific
It is designed what is calculated with occasion.Joint output torque is that the rigidity of disc type spring 32 is multiplied by the interior of disc type spring
The outer ring anglec of rotation is poor, and the Internal and external cycle anglec of rotation of disc type spring 32 is larger due to spring stiffness by itself value, causes inner ring to change
Small, so cannot accurately be measured by rotating class encoder, we are converted into direct slide displacement transducer 333 and enter here
Row measurement.In the anglec of rotation hour, arc length can just regard straight line, i.e. arc length as and be multiplied by radius equal to radian.Direct slide displacement is passed
Sensor 333 is pasted on direct slide displacement transducer fixed mount 334, and direct slide displacement transducer fixed mount 334 is pasted and slowed down
On device backing plate 31, joint output shaft 41 is fixed together by holding screw and direct slide displacement transducer connector 331, joint
Drive direct slide displacement transducer link 331 to move when output shaft 41 is moved, stir direct slide displacement transducer 333 so that
Calculate disc type spring Internal and external cycle rotation angle value.
Above to a kind of modular mechanical arm flexible joint provided by the present invention, it is described in detail, herein should
Principle of the invention and implementation method are set forth with specific case, the explanation of above example is only intended to help and manages
The solution method of the present invention and its core concept；Simultaneously for those of ordinary skill in the art, according to thought of the invention,
Be will change in specific embodiment and range of application, in sum, this specification content should not be construed as to this hair
Bright limitation.
Claims (9)
1. a kind of modular mechanical arm flexible joint, it is characterised in that：Including joint input unit (1), deceleration device (2), string
Connection elastic driver (3), joint output device (4), articular shell (5) and base (6)；The one of the joint input unit (1)
End is connected with deceleration device (2), and the other end is connected with base (6), the deceleration device (2) and series elastic driver (3) phase
Even, the series elastic driver (3) is connected with joint output device (4), the joint output device (4) and articular shell
(5) it is connected；
The joint input unit (1) is defeated including rimless hollow motor rotor (111), rimless hollow motor stator (112), motor
Shaft (113), rimless hollow motor fixed cover (114), motor stator pressing plate set (115), rotor pressing plate (116), magnetic are compiled
Code device induction gear fixed mount (121), magnetic coder induction gear (122), magnetic coder inductive head (123), magnetic coder sense
Answer head frame (124), terminal pad one (131), terminal pad two (132) and terminal pad three (133)；
The deceleration device (2) includes harmonic speed reducer wave producer (21), harmonic reducer flexible wheel (22) and harmonic speed reducer
Firm wheel (23)；
The series elastic driver (3) includes harmonic speed reducer backing plate (31), disc type spring (32), direct slide displacement sensing
Device link (331), direct slide displacement transducer adjustment block (332), direct slide displacement transducer (333) and direct slide displacement are passed
Sensor fixed mount (334)；
The joint output device (4) includes joint output shaft (41), output flange (42) and right-angled intersection bearing (43)；
The articular shell (5) includes articular shell one (51) and articular shell two (52).
2. modular mechanical arm flexible joint according to claim 1, it is characterised in that：The magnetic coder induction gear
(122) magnetic coder induction gear fixed mount (121) is installed on by screw, magnetic coder induction gear fixed mount (121) and
Motor output shaft (113) carried out by holding screw it is circumferentially fixed, magnetic coder inductive head (123) by screw be installed on magnetic compile
Code device senses head frame (124), and magnetic coder senses head frame (124) and sticks in motor stator pressing plate set (115), rimless
Hollow motor rotor (111) one end passes through rotor pressing plate by motor output shaft (113) shaft shoulder axial restraint, the other end
(116) compress, rimless hollow motor stator (112) one end by rimless hollow motor fixed cover (114) shaft shoulder axial restraint, separately
One end is compressed by motor stator pressing plate set (115)；The motor stator pressing plate set (115) is with terminal pad one (131) by spiral shell
Tether and connect, terminal pad one (131), terminal pad two (132) and terminal pad three (133) are sequentially connected for connecting joint input unit
And base (6) (1).
3. modular mechanical arm flexible joint according to claim 1, it is characterised in that：The harmonic speed reducer ripple occurs
Device (21) is fixed by screw and motor output shaft (113), and harmonic reducer flexible wheel (22) is fixed by screw and rimless motor
Set (114) is fixed.
4. modular mechanical arm flexible joint according to claim 1, it is characterised in that：The disc type spring (32),
Rigid Gear of Harmonic Reducer (23), decelerator backing plate (31) three are fixed by screws in together, and direct slide displacement transducer is fixed
Together with frame (334) one end is pasted with decelerator backing plate (31), the other end and direct slide displacement transducer (333) are pasted one
Rise, direct slide displacement transducer adjustment block (332) and direct slide displacement transducer (333) are pasted together, direct slide displacement is passed
Sensor link (331) and joint output shaft (41) are carried out circumferentially fixed by holding screw.
5. modular mechanical arm flexible joint according to claim 1, it is characterised in that：The joint output shaft (41) is led to
Cross screw and disc type spring (32) is fixed together, joint output shaft (41) is fixed on by screw and output flange (42)
Together, output flange (42) is fixed together by screw and articular shell one (51), and articular shell one (51) is by bolt
It is fixed together with articular shell two (52), right-angled intersection bearing (43) inner ring is respectively adopted rimless hollow motor fixed cover
(114) shaft shoulder and motor stator pressing plate set (115) shaft shoulder carry out axial restraint, and right-angled intersection bearing (43) outer ring is respectively adopted pass
The section shaft shoulder of shell one (51) and the shaft shoulder of articular shell two (52) carry out axial restraint.
6. the modular mechanical arm flexible joint according to any one of claim 1-5, it is characterised in that：The joint is defeated
Enter device (1) using rimless hollow motor as power source, joint position is measured using magnetic coder, magnetic coder,
Rimless hollow motor, motor output shaft (113) three linkage, using hollow type structure；The joint input unit (1), subtract
Speed variator (2), series elastic driver (3) and joint output device (4) are axiality.
7. the Modular Flexible joint of mechanical arm according to any one of claim 1-5, it is characterised in that：The dress that slows down
Harmonic speed reducer wave producer (21) is fixed as the defeated of harmonic speed reducer by screw and motor output shaft (113) in putting (2)
Enter end, harmonic reducer flexible wheel (22) is fixed as harmonic speed reducer by screw and rimless hollow motor fixed cover (114)
Fixing end, Rigid Gear of Harmonic Reducer (23), decelerator backing plate (31), disc type spring (32) three are fixed by screws in together
As the output end of harmonic speed reducer.
8. the modular mechanical arm flexible joint according to any one of claim 1-5, it is characterised in that：Disc type spring
(32) Internal and external cycle differential seat angle is calculated by being converted into straight-line displacement, and its straight-line displacement is by direct slide displacement transducer
(333) measure, estimation calculating is carried out to the torque of motor output end by disc type spring Internal and external cycle anglec of rotation difference.
9. the modular mechanical arm flexible joint according to any one of claim 1-5, it is characterised in that：The direct slide
Displacement transducer (333) is tangential on the outer ring light hole site of disc type spring (32) all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710265203.7A CN106863349B (en) | 2017-04-21 | 2017-04-21 | A kind of modular mechanical arm flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710265203.7A CN106863349B (en) | 2017-04-21 | 2017-04-21 | A kind of modular mechanical arm flexible joint |
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| Publication Number | Publication Date |
|---|---|
| CN106863349A true CN106863349A (en) | 2017-06-20 |
| CN106863349B CN106863349B (en) | 2019-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710265203.7A Expired - Fee Related CN106863349B (en) | 2017-04-21 | 2017-04-21 | A kind of modular mechanical arm flexible joint |
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| CN108918008A (en) * | 2018-07-16 | 2018-11-30 | 沈阳通用机器人技术股份有限公司 | Series connection elastic mechanism and its output characteristics design method with torgue measurement ability |
| CN109262650A (en) * | 2018-10-18 | 2019-01-25 | 上海理工大学 | A kind of upper limb rehabilitation robot series connection elastic driving joint |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN109620652A (en) * | 2019-01-23 | 2019-04-16 | 上海理工大学 | A kind of elastic hip joint walk helper of series connection |
| CN110193848A (en) * | 2019-05-29 | 2019-09-03 | 北京理工大学 | A kind of robot integration driving joint reducing leg rotary inertia |
| CN112549012A (en) * | 2020-11-30 | 2021-03-26 | 武汉大学 | Series elastic driver based on flexible hinge and control method |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
| CN113649998A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Series elastic driver suitable for flexible exoskeleton robot |
| CN114505885A (en) * | 2022-03-04 | 2022-05-17 | 北京思灵机器人科技有限责任公司 | Modular parallel elastic driver |
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| CN101486192A (en) * | 2008-01-16 | 2009-07-22 | 中国科学院自动化研究所 | Single motor driven two-freedom degree joint structure |
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| CN107932095A (en) * | 2017-10-24 | 2018-04-20 | 广州市昊志机电股份有限公司 | A kind of straight drive numerical control rotating platform |
| CN108918008A (en) * | 2018-07-16 | 2018-11-30 | 沈阳通用机器人技术股份有限公司 | Series connection elastic mechanism and its output characteristics design method with torgue measurement ability |
| CN109262650A (en) * | 2018-10-18 | 2019-01-25 | 上海理工大学 | A kind of upper limb rehabilitation robot series connection elastic driving joint |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN109620652A (en) * | 2019-01-23 | 2019-04-16 | 上海理工大学 | A kind of elastic hip joint walk helper of series connection |
| CN109620652B (en) * | 2019-01-23 | 2021-07-16 | 上海理工大学 | Tandem elastic hip joint walking aid |
| CN110193848B (en) * | 2019-05-29 | 2021-01-19 | 北京理工大学 | Robot integrated driving joint capable of reducing leg rotational inertia |
| CN110193848A (en) * | 2019-05-29 | 2019-09-03 | 北京理工大学 | A kind of robot integration driving joint reducing leg rotary inertia |
| CN112549012A (en) * | 2020-11-30 | 2021-03-26 | 武汉大学 | Series elastic driver based on flexible hinge and control method |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
| CN113649998A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Series elastic driver suitable for flexible exoskeleton robot |
| CN114505885A (en) * | 2022-03-04 | 2022-05-17 | 北京思灵机器人科技有限责任公司 | Modular parallel elastic driver |
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