CN107336222A - A kind of drive circuit board for apery mechanical arm - Google Patents
A kind of drive circuit board for apery mechanical arm Download PDFInfo
- Publication number
- CN107336222A CN107336222A CN201710679644.1A CN201710679644A CN107336222A CN 107336222 A CN107336222 A CN 107336222A CN 201710679644 A CN201710679644 A CN 201710679644A CN 107336222 A CN107336222 A CN 107336222A
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- China
- Prior art keywords
- circuit board
- drive circuit
- arm joint
- pivoted arm
- joint
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- 238000009434 installation Methods 0.000 claims abstract description 27
- 238000012546 transfer Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 210000000323 shoulder joint Anatomy 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 230000001052 transient effect Effects 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000010112 shell-mould casting Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of drive circuit board, the drive circuit board is arranged in the circuit board installation end face that pivoted arm joint is right against adjacent carry arm joint according to the shape of apery mechanical arm, when apery mechanical arm is in extended configuration, drive circuit board is arranged between adjacent pivoted arm joint and carry arm joint just, this structure saves the installing space of drive circuit board, pivoted arm joint and the length in carry arm joint are greatly shortened, add the overall flexibility of apery mechanical arm.Because drive circuit board is simultaneously close to pivoted arm joint and carry arm joint, so as to be advantageous to drive circuit board to pivoted arm joint and the arrangement of carry arm joint line.Present invention driver circuit plate installs fixation by the way of chute, and is electrically connected by connector and other parts, so as to be easily installed and debug.Drive circuit board come transmission of control signals, has that real-time response is fast, low cost and other advantages using high speed real-time bus EtherCAT.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of drive circuit board for apery mechanical arm.
Background technology
The mechanical arm of existing industrial robot is made up of multiple mutual joints at a right angle.The mechanical arm of this kind of structure is external
Shape does not have a strict limitation, and then existing mechanical arm is to the size and dimension of its drive circuit, not strict limit yet
System, can be made big, usually be positioned in an equipment box.In equipment box, driving is drawn from the driver in each joint
Line and various feedback lines, it is connected respectively to each joint motor of mechanical arm.
And in Robot Design field, with the raising of design level and the progress of industrial technology, apery machinery is
Through as more and more important developing direction, also, because apery machinery action can close to the limb action of people, because
This, apery machinery can be applied to manual working condition, along with the Electromechanical Control circuit that can design accurate control, apery
The design and manufacture of machinery have become an important directions in Robot Design field.
Because the structure of apery machinery has significant difference with conventional industrial robot, it is to mechanical structure and control electricity
The requirement on road is more accurate compared to conventional industrial robot, and the design of conventional industrial robot can not meet apery machinery
Design.
For example, for design for apery mechanical arm, because each joint needs apish hand in apery mechanical arm
Arm and be designed, so, shape, size for apery mechanical arm propose strict limitation, also, due to the arm of people
With a variety of rotational freedoms, so just require that control circuit disclosure satisfy that wanting for this rotational freedom in apery mechanical arm
Ask, avoid apery mechanical arm during various rotations are completed, circuit trace can not produce winding with apery mechanical arm.Cause
This, for apery mechanical arm, it is necessary to redesign corresponding drive circuit according to its form and freedom of motion.
The content of the invention
In view of this, the present invention provides a kind of motor driving circuit board for apery mechanical arm, with fusion and apery machine
Among the global design of tool arm, the motion of the various frees degree of apery mechanical arm is adapted to, while coordinates the reasonable cloth of control circuit
Put, avoid circuit distortion, winding.
The technical proposal of the invention is realized in this way：
A kind of drive circuit board for apery mechanical arm；
The drive circuit board is located at the pivoted arm joint in the apery mechanical arm；
The drive circuit board includes pivoted arm joint drive circuit and carry arm joint drive circuit；Wherein,
The pivoted arm joint drive circuit is electrically connected to the pivoted arm joint, to control the rotation in the pivoted arm joint；
The carry arm joint drive circuit is electrically connected to the carry arm joint adjacent with the pivoted arm joint, to control the lift
The rotation of shoulder joint.
Further, there is circuit board to install end face in the pivoted arm joint；
When the apery mechanical arm is in extended configuration, the circuit board installation end face is right against and the pivoted arm joint
Adjacent carry arm joint, and there is a receiving space between circuit board installation end face and the carry arm joint；
The drive circuit board is installed on the circuit board installation end face, and in the receiving space.
Further, the circuit board installation end face is provided with chute；
The drive circuit board is installed on the circuit board by the chute and installs end face.
Further, the drive circuit board is provided with radiator；
When the drive circuit board is installed on the circuit board installation end face, the radiator presses the circuit board peace
End face is filled, the heat transfer of the drive circuit board to the circuit board is installed into end face, and then pass through the pivoted arm joint
Radiating.
Further, the drive circuit board connects provided with pivoted arm joint drive circuit connector with carry arm joint drive circuit
Device；
The pivoted arm joint drive circuit is electrically connected to the pivoted arm and closed by the pivoted arm joint drive circuit connector
Section；
The carry arm joint drive circuit is electrically connected to the carry arm and closed by the carry arm joint drive circuit connector
Section.
Further, the drive circuit board has a first side and second side relative and set, the first side and
Second side is parallel to each other and linearly；
The drive circuit board also has relatively and the 3rd side set and four side, the 3rd side and the 4th side
Side is in the arch of evagination；
The drive circuit board is plugged in the chute by the first side and second side.
Further, the apery mechanical arm includes the staggered pivoted arm in direction along the axis of the apery mechanical arm
Joint and carry arm joint；Wherein,
The pivoted arm joint includes the first decelerator end and the first motor side；
The carry arm joint includes the second decelerator end and the second motor side；Wherein,
The first decelerator end and the first motor side are using the first end face perpendicular to the axis direction as the first docking
The mutual axle in face connects, and the central shaft at the first decelerator end and the central shaft of the first motor side overlap with the axis, to turn
Produced relative rotation under the driving of shoulder joint drive circuit, in the first interface around central shaft；
The second decelerator end and the second motor side along the second end face that the axis direction extends as second to dock
The mutual axle in face is connect, and the direction of the central shaft at the second decelerator end and the central shaft of the second motor side with the axis is hung down
Directly, with the driving of the carry arm joint drive circuit, in the second interface surround in the axis direction
Mandrel produces relative rotation；
Each first decelerator end is fixedly connected with the second decelerator end adjacent thereto, each first motor side and and its
The second adjacent motor side is fixedly connected.
Further, the circuit board installation end face is located at first motor side.
Further, when the apery mechanical arm is in extended configuration：
The axis of the apery mechanical arm is linearly；
The central shaft at the first decelerator end in the apery mechanical arm in all pivoted arm joints and the first motor side
Central shaft overlaps with the axis；
The central shaft at the second decelerator end in the apery mechanical arm in all carry arm joints and the second motor side
Central shaft is vertical with the axis.
Further, it is respectively mounted a drive circuit board per one-level pivoted arm joint.
From such scheme as can be seen that the present invention the drive circuit board for apery mechanical arm, according to apery mechanical arm
Shape and be arranged in pivoted arm joint be right against adjacent carry arm joint circuit board installation end face, when apery mechanical arm be in stretch
During exhibition state, drive circuit board is arranged between adjacent pivoted arm joint and carry arm joint just, and this structure saves driving
The installing space of circuit board so that the length in pivoted arm joint and carry arm joint can greatly shorten, and then increase apery mechanical arm
Overall flexibility.Further, because drive circuit board is simultaneously close to pivoted arm joint and carry arm joint, so as to be advantageous to drive
Circuit board is moved to pivoted arm joint and the arrangement of carry arm joint line.In the embodiment of the present invention, drive circuit board uses the side of chute
Formula installation is fixed, and is electrically connected by connector and other parts, so as to be easily installed and debug.Drive circuit board is adopted
With high speed real-time bus EtherCAT come transmission of control signals, have that real-time response is fast, low cost and other advantages.
Apery mechanical arm requires small volume, the in light weight, efficiency high of each joint motor drive circuit.Drive circuit board is not
Only servo-drive is provided to motor, and to receive the position feedback of Hall feedback and rotary encoder from motor, together
When will can provide braking protection etc. function.Therefore, the very little that the embodiment of the present invention can design the volume of drive circuit is simultaneously
It is hidden in each joint of apery mechanical arm so that the profile of mechanical arm is similar with the arm of ordinary people with size.
Brief description of the drawings
Fig. 1 is the localized design structure chart of apery mechanical arm in the embodiment of the present invention；
Fig. 2 is the drive circuit board example structure figure of the present invention；
Fig. 3 is the drive circuit board embodiment schematic diagram of the present invention；
Fig. 4 is the drive circuit figure of the brake in the embodiment of the present invention；
The overall structure for the apery mechanical arm that Fig. 5 is applicable for the drive circuit board embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, develop simultaneously embodiment referring to the drawings,
The present invention is described in further detail.
As shown in figure 1, the localized design structure chart for apery mechanical arm in the present invention.Shown in Figure 1, the present invention is implemented
In example, the overall structure that the drive circuit board 41 for apery mechanical arm is incorporated into apery mechanical arm is designed.Wherein, drive
Circuit board 41 is located at the pivoted arm joint 10 in the apery mechanical arm.As shown in Fig. 2 the drive circuit board embodiment for the present invention
Manage structure chart.Wherein, the drive circuit board includes pivoted arm joint drive circuit 411 and carry arm joint drive circuit 412.Its
In, the pivoted arm joint drive circuit 411 is electrically connected to the pivoted arm joint 10, to control the rotation in the pivoted arm joint 10.
The carry arm joint drive circuit 412 is electrically connected to the carry arm joint 20 adjacent with the pivoted arm joint 10, to control the lift
The rotation of shoulder joint 20.
As shown in figure 1, the pivoted arm joint 10 has circuit board installation end face, when the apery mechanical arm is in stretch-like
During state, the circuit board installation end face is right against the carry arm joint 20 adjacent with the pivoted arm joint 10, and the circuit board
There is a receiving space between installation end face and the carry arm joint.The drive circuit board 41 is installed on the circuit board installation
End face, and in the receiving space.
For the ease of the Installation And Test of drive circuit board 41, the circuit board installation end face is provided with chute, the drive
Dynamic circuit board 41 is installed on the circuit board by the chute and installs end face.Meanwhile in order to be advantageous to the drive circuit board
41 radiating, the drive circuit board are provided with radiator, and the radiator is fixed on pivoted arm joint drive circuit 411 and carry arm
On joint drive circuit 412, when the drive circuit board 41 is installed on the circuit board installation end face, the radiator presses
The circuit board installs end face, and the heat transfer of the drive circuit board 41 to the circuit board is installed into end face, Jin Ertong
The pivoted arm joint 10 is crossed to radiate.
In addition, for the ease of connection and dismounting with pivoted arm joint and carry arm joint, in the embodiment of the present invention, the driving
Circuit board is provided with pivoted arm joint drive circuit connector and carry arm joint drive circuit connector.The pivoted arm joint drive circuit
411 are electrically connected to the pivoted arm joint 10, the carry arm joint drive circuit by the pivoted arm joint drive circuit connector
412 are electrically connected to the carry arm joint 20 by the carry arm joint drive circuit connector.
With continued reference to shown in Fig. 2, for the chute of match circuit plate installation end face, it is easy to the installation of drive circuit board 41,
The drive circuit board 41 has first side 413 and second side 414 relative and set, the first side 413 and second
Side 414 is parallel to each other and linearly, and then, the drive circuit board 41 can pass through the side of first side 413 and second
Side 414 is plugged in the chute.Meanwhile in order to match the profile of apery mechanical arm so that the end of drive circuit board 41 is unlikely to
Lean out on the outside of apery mechanical arm, to keep the overall appearance of apery mechanical arm, the drive circuit board also has relative and set
3rd side 415 and four side 416, the 3rd side 415 and four side 416 are in the arch of evagination, the arch of evagination
Shape design on the one hand gripping when being easy to plug drive circuit board 41 in chute, on the other hand also with apery mechanical arm
Outer arcuate surface is similar, enables to the end of drive circuit board 41 to be unlikely to lean out on the outside of apery mechanical arm, moreover it is possible to keep apery
The overall appearance of mechanical arm.
The drive circuit board embodiment of the present invention, its principle is as shown in figure 3, install two insert card type electricity on drive circuit board
Machine driver, pivoted arm joint drive circuit 411 are mainly made up of tumbler motor driver and its supporting accessory circuit, carry arm joint
Drive circuit 412 is mainly made up of carry arm motor driver and its supporting accessory circuit, and then is driven carry arm joint respectively and turned
The motor of shoulder joint.Direct current 48V provides electrical source of power for driver, and direct current 24V provides logic control power supply for driver.Joint
End absolute value encoder and the motor that feeds back of the Hall sensor of motor side relative value encoder and motor and joint
Position signalling is input to corresponding motor driver, motor driver output three phase electric machine power current by respective connector
To motor.
In order that mechanical arm remain powered off in the case of no power supply before state, it is also necessary to prevent electricity with brake
Machine rotates when power is off.Motor is when being powered, releasing of brake, and motor is rotated by the requirement of driver.Because brake needs
Electric current it is larger, and brake control signal is Transistor-Transistor Logic level, therefore drives brake using circuit as shown in Figure 4.Wherein,
U8 is the MOSFET relay (open type) of photoelectric coupling, and relay maximum output current is 1A, pressure-resistant 60V.Optocoupler lights
The driving current of diode is 5~10mA.To prevent brake coil in surge voltage voltage breakdown caused by shutdown transient
MOSFET relay, (Transient Voltage Suppress, TVS) diode D10 is suppressed using bidirectional transient voltage
Absorb instantaneous high pressure.As a specific embodiment, TVS diode D10 model SMF30CA, in MOSFET relay
Pin 3,4 both end voltages when being more than 33.3V can transient switching, so as to surge voltage caused by absorption brake coil.
Fig. 5 shows the overall structure for the apery mechanical arm that present invention driver circuit plate embodiment is applicable.Referring also to
Shown in Fig. 1 and Fig. 5.The apery mechanical arm includes the staggered pivoted arm in direction along the axis 30 of the apery mechanical arm
Joint 10 and carry arm joint 20.
Each pivoted arm joint 10 includes the first decelerator end 12 and the first motor side 14.Wherein, described first slows down
Device end 12 has the central shaft 122 along the extension of the direction of axis 30 and the first end face 124 perpendicular to the central shaft 122, described
First motor side 14 has the central shaft 142 along the extension of the direction of axis 30 and the first end face perpendicular to the central shaft 142
144；The motor side 14 of first decelerator end 12 and first is with perpendicular to the first end face 124 and 144 in the direction of axis 30
Connect for 16 mutual axle of the first interface, the central shaft 142 of the motor side 14 of central shaft 122 and first at the first decelerator end 12
Overlapped with the axis 30, to surround central shaft under the driving of pivoted arm joint drive circuit 411, in the first interface 16
122nd, 124 produce relative rotation.
Each carry arm joint 20 includes the second decelerator end 22 and the second motor side 24.Wherein, described second slows down
Device end 22 has the second end face 224 along the extension of the direction of axis 30 and the central shaft 222 perpendicular to second end face 224, described
Second motor side 24 has the second end face 244 along the extension of the direction of axis 30 and the central shaft perpendicular to second end face 244
242.Second end face 224 and 244 of the motor side 24 of second decelerator end 22 and second to extend along the direction of axis 30
Connect for 26 mutual axle of the second interface, the central shaft 242 of the motor side 24 of central shaft 222 and second at the second decelerator end 22
It is vertical with the direction of the axis 30, with the driving of the carry arm joint drive circuit 412, in the second interface 26
Produced relative rotation around the central shaft 222,242 perpendicular to the direction of axis 30.
Each first decelerator end 12 is fixedly connected with the second decelerator end 22 adjacent thereto, each first motor side 14
It is fixedly connected with the second motor side 24 adjacent thereto, so that a part produces rotation to two be fixedly connected part wherein
When drive another part to rotate.Specifically, as shown in figure 5, in any one pivoted arm joint 10, its first deceleration
The second decelerator end 22 in device end 12 and adjacent thereto carry arm joint 20 is adjacent, and with another carry arm adjacent thereto
Separated between the second decelerator end 22 in joint 20 by first motor side 14 in the pivoted arm joint 10, therefore, the pivoted arm joint 10
The first decelerator end 12 be fixedly connected with the second decelerator end 22 adjacent thereto.Similarly, in the pivoted arm joint 10, its
By the first of the pivoted arm joint 10 between first motor side 14 and second motor side 24 in adjacent thereto carry arm joint 20
Decelerator end 12 separates, then it is fixedly connected with second motor side 24 adjacent thereto.
In the present embodiment, each pivoted arm joint 10 can be rotated centered on the axis 30 of apery mechanical arm, be had
Rotational freedom within 360 °, it rotates the twisting action similar to human arm.And carry arm joint 20 adjacent thereto is then
To be rotated centered on the direction of axis 30, there is the rotational freedom within 360 °, its rotation is similar to the mankind
Arm praises action.Further, adjacent pivoted arm joint 10 and carry arm joint 20 necessarily pass through motor side or decelerator
End is fixedly connected, so as to be mutually perpendicular to or the rotation of orthogonal both direction is combined, so as in three-dimensional space
The combination of multi-angle, position is inside realized, to meet that apery mechanical arm can rest on the requirement of either direction and angle.And wherein
Drive circuit board 41 no matter how apery mechanical arm rotates, the rotation without prejudice to pivoted arm joint and carry arm joint, also, drive
Dynamic circuit board 41 is located at pivoted arm joint towards on the end face in carry arm joint, therefore, for pivoted arm joint and carry arm joint, no
It must be designed long as existing machinery arm in order to cater to the size of drive circuit board 41.And then on the one hand beautify imitative
The outward appearance of people's mechanical arm, on the other hand because pivoted arm joint and carry arm joint need not design it is long and for rotating, the control of position
System is finer, and moveable covering area range is bigger.
In embodiment illustrated in fig. 5, it can be achieved almost by the combination in a pivoted arm joint 10 and a carry arm joint 20
The covering of full angle, position in four frees degree, it is preferable that apery mechanical arm transfer shoulder joint 10 and carry arm in the present embodiment
The sum in joint 20 is at least seven, by multigroup combination in the pivoted arm joint 10 and carry arm joint 20 that connect two-by-two, to meet
The requirement that six degree of freedom moves in three-dimensional space, improve the performance accuracy of mechanical arm.Wherein, the circuit board installation end face
The first motor side 12 positioned at pivoted arm joint 10, a drive circuit board 41 is respectively mounted per one-level pivoted arm joint 10, i.e., it is every
First motor side 14 in individual pivoted arm joint 10 is respectively provided with one piece of drive circuit board 41, and drive circuit board 41 is arranged on the pivoted arm joint
In 10 the first motor side 14.First motor side 14 and the second motor side 24 in two adjacent joints are fixed together,
Therefore relative motion is not present between it, when being arranged in drive circuit board 41 in the first motor side 14, the drive circuit board
41 and the first line (for example, the motor line of force, line of codes etc.) between motor side 14 and the second motor side 24 can be in the first electricity
The inside of the motor side 24 of generator terminal 14 and second is carried out, such as is realized by fixed wire casing.Meanwhile drive circuit board 41 and first
Line between the decelerator 22 of decelerator 12 and second is considerably less, is only that sensor line is a kind of mostly, therefore, drive circuit board
41 are arranged on the connecting line construction and distributing that can simplify in first motor side 14 in the pivoted arm joint 10 between joint.
In embodiment illustrated in fig. 5, when the apery mechanical arm is in extended configuration.The axis 30 of the apery mechanical arm
Linearly, the motor of central shaft 122 and first at the first decelerator end 12 in pivoted arm joint 10 all in apery mechanical arm
The central shaft 142 at end 14 overlaps with the axis 30, second subtracting in all carry arm joints 20 in the apery mechanical arm
The central shaft 242 of the motor side 24 of central shaft 222 and second at fast device end 22 is vertical with the axis 30.And then apery machinery
Arm is in integrally straight state.
In order to copy the structure of human arm, a kind of apery machinery can be realized by seven articulated mechanical arms as shown in Figure 5
Arm.Wherein, a pivoted arm joint 10 and the combination of carry arm joint 20 forms wrist joint W, a pivoted arm joint 10 and one
The combination of carry arm joint 20 forms shoulder joints S, two pivoted arm joints 10 and a carry arm joint 20 combination shape being disposed between
Into ancon joint E, ancon joint E is arranged between wrist joint W and shoulder joints S, and is closed according to pivoted arm joint 10 and carry arm
Save 20 staggered orders to be configured, you can realize and be similar to, even beyond the free degree of human arm.
Preferably, each first decelerator end 12 has along central shaft 122 in the first of the first decelerator end 12
Cavity body 126, each first motor side 14 have the first hollow cavity 146 for running through the first motor side 14 along central shaft 142,
In a pivoted arm joint 10, the first decelerator end 12 and the axle of the first motor side 14 are connected together, therefore its first hollow cavity
126 and 146 keep alignment.
Similarly, the second decelerator end 22 in each carry arm joint 20 or the second motor side 24 have along the direction of axis 30
Through the second decelerator end 22 or the second hollow cavity 246 of the second motor side 24, as shown in Figure 1.Wherein, shown in Fig. 5
Embodiment in, the second hollow cavity 246 is located in second motor side 24 in each carry arm joint 20.
Preferably, what the second hollow cavity 246 was located at the second decelerator end 22 or the second motor side 24 deviates from second pair
The side of junction 26.
In the embodiment of the present invention, collectively formed by the drive circuit board 41 and the cable 42 being connected with drive circuit board 41
Electric mechanism 40.Wherein, cable 42 alternately pass through the first hollow cavity 126,146 and the second hollow cavity 246, with it is each
Individual pivoted arm joint 10 and carry arm joint 20 connect.
In embodiments of the present invention, pivoted arm joint 10 and carry arm joint 20 are respectively provided with hollow articulation structure, according to this hair
The characteristics of apery mechanical arm of bright embodiment is pivoted about with the direction of axis 30 of its own, its cable 42 uses center
The mode of cabling, rather than exposed to the periphery of mechanical arm.The characteristics of rotation operation of mechanical arm according to embodiments of the present invention, often
The section in individual joint is substantially rounded, if the cable of mechanical arm is placed on the shell of mechanical arm, inevitably results in shell
Moulding is non-circular, so as to improve processing cost.Further, due to being respectively provided with relative rotation between the two parts in each joint
Transhipment is dynamic, if the cable of mechanical arm is placed on the shell of mechanical arm, rotary motion necessarily causes the change of the length of cable 42
Change, therefore in order to avoid cable is pulled off, be necessarily required to provide substantial amounts of amount of redundancy.
And the embodiment of the present invention by way of the cabling of center and hollow cavity setting direction, pivoted arm joint 10 is being revolved
When turning, with its rotation acute variation will not occur for the length of cable 42, and carry arm joint 20 is when rotated, the length of cable 42
Degree change is limited, therefore only needs the rotation for each carry arm joint 10 to provide the amount of redundancy that length of cable changes.
Wherein, power supply and control signal can be provided for the motor in each joint by way of bus, then cable 42 can be
The bus cable formed by power line and controlling bus.Wherein, EtherCAT buses in real time can be used at a high speed, power line uses
Diameter after 20A power line and 5A control line, such controlling bus and power line outer layer encirclement screen layer can be 9mm.Then
Accordingly, the diameter of the first hollow cavity and the second hollow cavity is at least 11mm, so that bus cable passes through.
Preferably, in order to avoid the length in increase carry arm joint, it is connected with adjacent pivoted arm joint 10 and carry arm joint 20
A drive circuit board 41 be arranged in pivoted arm joint 10.Due to the axle for rotating against direction and mechanical arm in pivoted arm joint 20
Line direction is perpendicular or orthogonal to therefore the increase of the length in carry arm joint 20 necessarily affects the degree of flexibility and precision of whole mechanical arm
Degree, therefore be the drive together with adjacent pair pivoted arm joint 10 provides with carry arm joint 20 according to the characteristics of neighbouring structure
Dynamic circuit board 41, and the drive circuit board 41 is arranged in pivoted arm joint 10.
In order to avoid the motor that cable 42 is twisted due to the relative rotary motion in each joint and is rotated with high speed
Rotor forms friction, causes corrupted, and each pivoted arm joint 10 also includes a card line and presss from both sides 182 and a spring clip 184.Wherein,
Card line folder 182 is arranged in the first hollow cavity 146 of the first motor side 14, and cable 42 is fixed therein.Spring clip 184
It is arranged in first hollow cavity 126 at the first decelerator end 12, cable 42 is adjustably secured wherein.
Wherein, card line folder 182 is fixedly connected with cable 42, and relative move does not occur between each card line folder 182 and cable 42
Dynamic or rotation.And spring clip 184 is adjustably connected with cable 42, there is relative movement between cable 42 and spring clip 184
The free degree, under the adjustment fixation of spring clip 184, it can make in this pivoted arm joint 10, card line folder 182 and spring clip
Cable 42 between 184 can keep the form stretched, to avoid forming the problem of rubbing with rotor due to winding.
The length for the cable 42 that spring clip 184 adjusts be rotation due to carry arm joint 20 and caused by the length of cable 42
Change, therefore under the adjustment fixation of spring clip 184, in adjacent pair pivoted arm joint 10 and carry arm joint 20,
Cable 42 between two card line folders 182 can keep the form stretched, to avoid being formed and being rubbed with rotor due to winding
The problem of wiping.
The drive circuit board for apery mechanical arm of the present invention, pivoted arm pass is arranged according to the shape of apery mechanical arm
Section is right against the circuit board installation end face in adjacent carry arm joint, when apery mechanical arm is in extended configuration, drive circuit board
Just it is arranged between adjacent pivoted arm joint and carry arm joint, this structure saves the installing space of drive circuit board, makes
Obtaining the length in pivoted arm joint and carry arm joint can greatly shorten, and then increase the overall flexibility of apery mechanical arm.Further
Ground because, drive circuit board simultaneously close to pivoted arm joint and carry arm joint, so as to be advantageous to drive circuit board to pivoted arm joint and
The arrangement of carry arm joint line.In the embodiment of the present invention, drive circuit board installs fixation by the way of chute, and passes through connection
Device is electrically connected with other parts, so as to be easily installed and debug.Drive circuit board uses high speed real-time bus
EtherCAT carrys out transmission of control signals, has that real-time response is fast, low cost and other advantages.
Apery mechanical arm requires small volume, the in light weight, efficiency high of each joint motor drive circuit.Drive circuit board is not
Only servo-drive is provided to motor, and to receive the position feedback of Hall feedback and rotary encoder from motor, together
When will can provide braking protection etc. function.Therefore, the very little that the embodiment of the present invention can design the volume of drive circuit is simultaneously
It is hidden in each joint of apery mechanical arm so that the profile of mechanical arm is similar with the arm of ordinary people with size.
In addition, in the embodiment of the present invention, each pivoted arm joint can be rotated centered on the axis of apery mechanical arm, tool
There is the rotational freedom within 360 °, it rotates the twisting action similar to human arm.And carry arm joint adjacent thereto is then
Rotated centered on perpendicular to the direction of axis, there is the rotational freedom within 360 °, its rotation is similar to mankind's hand
Arm praises action.Further, adjacent pivoted arm joint and carry arm joint are necessarily fixed by motor side or decelerator end
Connection, so as to be mutually perpendicular to or the rotation of orthogonal both direction is combined, so as to be realized in three-dimensional space
Multi-angle, the combination of position, to meet that mechanical arm can rest on the requirement of either direction and angle.
The apery mechanical arm of the present embodiment can be achieved almost by the combination in a pivoted arm joint and a carry arm joint
The covering of full angle, position in four frees degree, by multigroup combination in the pivoted arm joint and carry arm joint that connect two-by-two, with full
The requirement that six degree of freedom moves in sufficient three-dimensional space, improve the performance accuracy of mechanical arm.
Further, the spy pivoted about according to the apery mechanical arm of the present embodiment with the axis direction of its own
Point, its cable is by the way of the cabling of center, rather than exposed to the periphery of mechanical arm.According to the rotation of the mechanical arm of the present embodiment
The characteristics of operation, the section in each joint is substantially rounded, inevitable if the cable of mechanical arm is placed on the shell of mechanical arm
The moulding that shell can be caused is non-circular, so as to improve processing cost.Further, due between the two parts in each joint
Relative rotary motion is respectively provided with, if the cable of mechanical arm is placed on the shell of mechanical arm, rotary motion necessarily causes cable
Length change, therefore in order to avoid cable is pulled off, be necessarily required to provide substantial amounts of amount of redundancy.And the present embodiment is in
The mode of heart cabling and the setting direction of hollow cavity, when rotated, the length of cable will not be with its rotation in pivoted arm joint
And acute variation occurs, and carry arm joint is when rotated, the length change of cable is limited, therefore only needs for each carry arm joint
Rotation provide length of cable change amount of redundancy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.
Claims (10)
- A kind of 1. drive circuit board for apery mechanical arm, it is characterised in that：The drive circuit board is located at the pivoted arm joint in the apery mechanical arm；The drive circuit board includes pivoted arm joint drive circuit and carry arm joint drive circuit；Wherein,The pivoted arm joint drive circuit is electrically connected to the pivoted arm joint, to control the rotation in the pivoted arm joint；The carry arm joint drive circuit is electrically connected to the carry arm joint adjacent with the pivoted arm joint, to control the carry arm to close The rotation of section.
- 2. drive circuit board according to claim 1, it is characterised in that：There is circuit board to install end face in the pivoted arm joint；When the apery mechanical arm is in extended configuration, the circuit board installation end face is right against adjacent with the pivoted arm joint Carry arm joint, and the circuit board installation end face and the carry arm joint between there is a receiving space；The drive circuit board is installed on the circuit board installation end face, and in the receiving space.
- 3. drive circuit board according to claim 2, it is characterised in that：The circuit board installation end face is provided with chute；The drive circuit board is installed on the circuit board by the chute and installs end face.
- 4. drive circuit board according to claim 2, it is characterised in that：The drive circuit board is provided with radiator；When the drive circuit board is installed on the circuit board installation end face, the radiator presses the circuit board installation end Face, the heat transfer of the drive circuit board to the circuit board is installed into end face, and then radiated by the pivoted arm joint.
- 5. drive circuit board according to claim 1, it is characterised in that：The drive circuit board is provided with pivoted arm joint drive circuit connector and carry arm joint drive circuit connector；The pivoted arm joint drive circuit is electrically connected to the pivoted arm joint by the pivoted arm joint drive circuit connector；The carry arm joint drive circuit is electrically connected to the carry arm joint by the carry arm joint drive circuit connector.
- 6. drive circuit board according to claim 3, it is characterised in that：The drive circuit board has first side and second side relative and set, and the first side and second side are mutual It is parallel and linearly；The drive circuit board also has relative and the 3rd side set and four side, the 3rd side and four side are equal In the arch of evagination；The drive circuit board is plugged in the chute by the first side and second side.
- 7. according to the drive circuit board described in any one of claim 2 to 6, it is characterised in that：The apery mechanical arm is included along the staggered pivoted arm joint in direction of the axis of the apery mechanical arm and carry arm Joint；Wherein,The pivoted arm joint includes the first decelerator end and the first motor side；The carry arm joint includes the second decelerator end and the second motor side；Wherein,The first decelerator end and the first motor side are using the first end face perpendicular to the axis direction as the first interface phase Mutual axle connects, and the central shaft at the first decelerator end and the central shaft of the first motor side overlap with the axis, to be closed in pivoted arm Save and produced relative rotation under the driving of drive circuit, in the first interface around central shaft；The second decelerator end and the second motor side using along the second end face that the axis direction extends as the second interface phase Mutual axle connects, and the central shaft at the second decelerator end and the central shaft of the second motor side are vertical with the direction of the axis, with The central shaft surrounded under the driving of the carry arm joint drive circuit, in the second interface perpendicular to the axis direction produces It is raw to relatively rotate；Each first decelerator end is fixedly connected with the second decelerator end adjacent thereto, each first motor side and adjacent thereto The second motor side be fixedly connected.
- 8. drive circuit board according to claim 7, it is characterised in that：The circuit board installation end face is located at first motor side.
- 9. drive circuit board according to claim 7, it is characterised in that when the apery mechanical arm is in extended configuration When：The axis of the apery mechanical arm is linearly；The central shaft at the first decelerator end in all pivoted arm joints and the center of the first motor side in the apery mechanical arm Axle overlaps with the axis；The central shaft at the second decelerator end in all carry arm joints and the center of the second motor side in the apery mechanical arm Axle is vertical with the axis.
- 10. motor driving circuit board according to claim 7, it is characterised in that：A drive circuit board is respectively mounted per one-level pivoted arm joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710679644.1A CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710679644.1A CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
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| CN107336222A true CN107336222A (en) | 2017-11-10 |
| CN107336222B CN107336222B (en) | 2024-02-13 |
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| CN201710679644.1A Active CN107336222B (en) | 2017-08-10 | 2017-08-10 | Driving circuit board for humanoid mechanical arm |
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| CN107336222B (en) | 2024-02-13 |
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