CN107825458A - A kind of integral joint device and mechanical arm - Google Patents
A kind of integral joint device and mechanical arm Download PDFInfo
- Publication number
- CN107825458A CN107825458A CN201710826316.XA CN201710826316A CN107825458A CN 107825458 A CN107825458 A CN 107825458A CN 201710826316 A CN201710826316 A CN 201710826316A CN 107825458 A CN107825458 A CN 107825458A
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- China
- Prior art keywords
- gear
- motor
- shell
- transmission mechanism
- screw
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Classifications
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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
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides integral joint device and mechanical arm, including：Shell, transmission mechanism, arrestment mechanism, drive device；The shell both ends are provided for the interface of connecting joint transfer link；The transmission mechanism, the arrestment mechanism and the drive device may be contained within the shell, wherein, the sensor gear of the transmission mechanism engages with the motor gear of the transmission mechanism, and the spragging gear of the arrestment mechanism engages with the motor gear of the transmission mechanism.Integral joint device has the characteristics that load is conducted oneself with dignity than big, small volume, integrated level is high, can quickly connect into mechanical arm.
Description
Technical field
The invention belongs to robot research and field of engineering technology, more particularly to a kind of integral joint device and machinery
Arm.
Background technology
Robot is the cross discipline for integrating the subjects such as control, machinery, electronics, material, with robot technology
Rapid development, higher index request is proposed to each part of system.Joint is that composition robot is especially mechanical
The important core part of arm, its overall structure, exercise performance directly influence the integrated operation space of robot, load capacity with
And Mission Capability.Industrial machinery arm under modern industry scene needs the completion that cooperated in limited working space with worker
Related work, therefore it is required that mechanical arm body has larger load capacity in the case of less deadweight and own vol.
Meanwhile existing demand also requires that mechanical arm constantly shortens from the cycle for being designed into delivery, and the integrated speed of mechanical arm is also carried
Go out higher requirement.The existing joint generally existing weight for building mechanical arm is big, load is small, volume is big, integrated level is low,
The problem of cost is high, so as to limit the promotion and application of mechanical arm and robot.
Therefore, in order to solve existing joint of mechanical arm load deadweight than it is low, volume is big, integrated level is low, cost is high, can not
Quick the problem of connecting into mechanical arm, it is necessary to design a kind of load deadweight than greatly, small volume, integrated level is high, can quickly connect into
The integral joint of mechanical arm.
The content of the invention
The invention provides a kind of integral joint device and mechanical arm, to solve existing joint of mechanical arm load certainly
Again than it is low, volume is big, integrated level is low, cost is high, can not quickly connect into the problem of mechanical arm.
Technical scheme provided by the invention is as follows：
A kind of integral joint device, including：Shell, transmission mechanism, arrestment mechanism, drive device；Shell both ends are set
Interface for connecting joint transfer link；Transmission mechanism, the arrestment mechanism and the drive device may be contained within described outer
In shell, wherein, the sensor gear of transmission mechanism engages with the motor gear of transmission mechanism, the spragging gear and biography of arrestment mechanism
The motor gear engagement of motivation structure.
Further, shell includes upper shell, lower house, bottom, hollow tube, and upper shell is consolidated with lower house by screw
Even, bottom is connected with lower house, and hollow tube is connected with lower house by screw；Transmission mechanism includes servomotor, harmonic reduction
Device, motor shaft, bearing, stator and the upper shell of servomotor are connected, and the rotor of servomotor is connected with motor shaft by screw,
Bearing is installed between motor shaft and upper shell, bearing, motor shaft and harmonic speed reducer are installed between motor shaft and lower house
Wave producer be connected, the part being made up of firm gear and flexbile gear of harmonic speed reducer is connected by screw and upper shell.
Further, transmission mechanism also includes motor position sensor and position sensing gear train, position sensing gear train
It is made up of intermeshing motor gear and sensor gear；Motor gear is fixedly connected with a motor shaft, sensor gear and motor position
Put sensor to be connected by screw, bearing is installed between sensor gear and lower house.
Further, motor position sensor uses multi-turn absolute value encoder.
Further, arrestment mechanism includes brake and spragging gear group, and brake is made up of brake disc, coil, braking
Gear train is made up of intermeshing motor gear, spragging gear；Spragging gear is connected with brake disc, motor shaft and motor gear
It is connected, brake disc is connected with spragging gear by screw, and coil is connected with bottom, and axle is provided between spragging gear and upper shell
Hold, bearing is installed between spragging gear and bottom.
Further, drive device includes：Drive circuit board, interface card, first support, second support；Driving electricity
Road plate is connected by first support and lower house, and interface card is connected by second support and drive circuit board.
Further, the hollow tube for cabling is installed in shell.
Further, the interface for connecting joint transfer link is flange screw thread.
A kind of mechanical arm, including some integral joint devices, each integral joint device pass through joint transfer link
Connection.
Integral joint device provided by the invention uses integrated, modularized design, when building mechanical arm, only need by
The interface at integral joint shell both ends is connected with joint transfer link, shorten R＆D cycle of mechanical arm with safeguard into
This；Also, transmission mechanism, arrestment mechanism, drive device are integrated in shell, and sensor gear engages with motor gear, braking
Gear engages with motor gear, compared to the mode of sensor in the prior art, brake and motor arranged in series, is greatly decreased
Joint size, improves space availability ratio.
Brief description of the drawings
Fig. 1 is the outer surface view of integral joint device provided by the invention；
Fig. 2 is the main sectional view of integral joint device provided by the invention；
Fig. 3 is the main sectional view of the transmission mechanism of integral joint device provided by the invention；
Fig. 4 is the main sectional view of the arrestment mechanism of integral joint device provided by the invention；
Fig. 5 is the stereochemical structure view of the drive device of integral joint device provided by the invention；
Fig. 6 is the installation position of transmission mechanism, arrestment mechanism and drive device in a kind ofization joint arrangement provided by the invention
Put schematic diagram.
In figure, upper shell 1-1, lower house 1-2, bottom 1-3, hollow tube 1-4, servomotor 1-5, harmonic speed reducer 1-6,
Motor shaft 1-7, bearing 1-8, motor position sensor 1-9, position sensing gear train 1-10, motor gear 1-10-1, sensor
Gear 1-10-2, sleeve 1-11, brake 1-12, brake disc 1-12-1, coil 1-12-2, spragging gear group 1-13, brake tooth
Take turns 1-13-1, drive circuit board 1-14, interface card 1-15, first support 1-16, second support 1-17, screw 1-18, spiral shell
Follow closely 1-19, screw 1-20, bearing 1-21, screw 1-22, screw 1-23, bearing 1-24, screw 1-25, bearing 1-26, bearing 1-
27。
Embodiment
The invention provides integral joint device and mechanical arm, the integral joint device have load deadweight than it is big,
Small volume, integrated level are high, can quickly connect into the features such as mechanical arm.
It is described in detail with reference to embodiment and accompanying drawing.
Referring to Fig. 1-Fig. 5, the integral joint device that the present embodiment provides includes：Shell, transmission mechanism, arrestment mechanism,
Drive device.Shell is made up of upper shell 1-1, lower house 1-2, bottom 1-3, hollow tube 1-4.Transmission mechanism is by servomotor 1-
5th, harmonic speed reducer 1-6, motor shaft 1-7, bearing 1-8, motor position sensor 1-9, position sensing gear train 1-10, sleeve 1-
11 compositions；Servomotor is made up of stator 1-5-1, rotor 1-5-2, and harmonic speed reducer is by wave producer 1-6-1, firm gear and flexbile gear
The part 1-6-2 compositions of composition；Position sensing gear train includes motor gear 1-10-1 and sensor gear 1-10-2.Brake
Structure is made up of brake 1-12, spragging gear group 1-13, and brake is made up of brake disc 1-12-1, coil 1-12-2, brake tooth
Wheel group is made up of motor gear 1-10-1, spragging gear 1-13-1.Drive device is by drive circuit board 1-14, interface card 1-
15th, first support 1-16, second support 1-17 are formed.
Shell is in the most external of integral joint device, by transmission mechanism, the arrestment mechanism and the drive device
Cladding, fix and form joint.The concrete structure of shell is as follows：Upper shell 1-1 and lower house 1-2 is connected by screw 1-18,
Bottom 1-3 is connected with lower house 1-2, and hollow tube 1-4 and lower house 1-2 is connected by screw 1-19.
The both ends of shell are provided for the interface of connecting joint transfer link, for example, being closed using flange screw thread as connection
Save the interface of transfer link, some integral joint devices are connected with joint transfer link by flange, can fast construction go out not
The mechanical arm of isomorphism type.
It is preferred that the wire that mechanical arm uses, including power line and signal wire, pass through from hollow tube.
The linkage section construction for the integral joint device that the present embodiment provides is as follows：Servomotor 1-5 stator
It is connected with upper shell 1-1 by gluing, servomotor 1-5 rotor is connected with motor shaft 1-7 by screw 1-20, motor shaft 1-
Bearing 1-21 is installed between 7 and upper shell 1-1, bearing 1-8, motor shaft 1- are installed between motor shaft 1-7 and lower house 1-2
7 are connected with harmonic speed reducer 1-6 wave producer, and the harmonic speed reducer 1-6 part being made up of firm gear and flexbile gear passes through screw
1-22 is connected with upper shell 1-1；Wherein, for flexbile gear on harmonic speed reducer 1-6 wave producer, firm gear passes through right-angled intersection axle
It is housed on flexbile gear, firm gear and flexbile gear form a whole part.
By above-mentioned connected mode, servomotor direct drive harmonic speed reducer is rotated, is eliminated used in traditional joint
Shaft coupling, be reduced joint axial dimension.
Another part construction of the transmission mechanism for the integral joint device that the present embodiment provides is as follows：Motor position sensing
Device 1-9 and position sensing gear train 1-10, position sensing gear train 1-10 are by intermeshing motor gear 1-10-1 and sensing
Device gear 1-10-2 is formed；Motor gear 1-10-1 is connected with motor shaft 1-7, sensor gear 1-10-2 and motor position sensing
Device 1-9 is connected by screw 1-23, and bearing 1-24 is provided between sensor gear 1-10-2 and lower house 1-2.
Motor position encoder selected by motor position sensor is multi-turn absolute value encoder, still can be deposited after power-off
Current location numerical value is stored up, current location can be remembered after upper electricity, therefore joint can be obtained by conversion from an encoder
Outgoing position, while be not required to as traditional joint to be required to return to zero-bit after electricity and could sense current location.Due to using only
One multi-turn absolute value encoder can derive that joint exports as motor position sensor by measurement motor end position
Position, substantially reduce joint cost.
The arrestment mechanism construction for the integral joint device that the present embodiment provides is as follows：Spragging gear 1-13-1 and brake disc
1-12-1 is connected, and motor shaft 1-7 is connected with motor gear 1-10-1, and brake disc 1-12-1 and spragging gear 1-13-1 passes through screw
1-25 is connected, and coil 1-12-2 is connected with bottom 1-3, and bearing 1-26 is provided between spragging gear 1-13-1 and upper shell 1-1,
Bearing 1-27 is installed between spragging gear 1-13-1 and bottom 1-3.
Brake 1-12 realizes the braking with locked wheels to motor shaft 1-7 by one group of intermeshing spragging gear group 1-13.
Brake 1-12 can be opened when electric on joint, and be automatically locked joint after the power down of joint, avoids the generation of contingency.
Existing motor position sensor, brake and motor are arranged in series, so as to considerably increase the chi in joint
It is very little.The present invention is arranged in parallel by position sensing gear train, perceives motor position, and being arranged in parallel realization by spragging gear group closes
Restraining is dynamic, therefore space availability ratio is higher.
The drive device construction for the integral joint device that the present embodiment provides is as follows：Drive circuit board 1-14 passes through first
Support 1-16 is connected with lower house 1-2, and interface card 1-15 is connected by second support 1-17 and drive circuit board 1-14.
As shown in fig. 6, arrestment mechanism, drive device, motor position sensor are installed on inside lower house, it is each occupied
Lower house volume about 1/3rd, so as to substantially increase the compactness of intra articular.
Present invention also offers a kind of mechanical arm, by the way that some integral joint devices are connected by joint transfer link
Formed, the power line and signal wire of mechanical arm pass through from the hollow tube of integral joint.
In summary, the invention provides integral joint device and mechanical arm, integral joint device using it is integrated,
Modularized design, R＆D cycle and the maintenance cost of mechanical arm are shortened, had using the mechanical arm of integral joint device negative
Be downloaded from again than big, small volume, integrated level is high, can quickly connect the advantages of.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
1. a kind of integral joint device, including：Shell, transmission mechanism, arrestment mechanism, drive device, it is characterised in that
The shell both ends are provided for the interface of connecting joint transfer link；
The transmission mechanism, the arrestment mechanism and the drive device may be contained within the shell, wherein, the driver
The sensor gear of structure engages with the motor gear of the transmission mechanism, the spragging gear of the arrestment mechanism and the driver
The motor gear engagement of structure.
2. device as claimed in claim 1, it is characterised in that
The shell includes upper shell (1-1), lower house (1-2), bottom (1-3), hollow tube (1-4), and upper shell (1-1) is with
Housing (1-2) is connected by screw (1-18), and bottom (1-3) is connected with lower house (1-2), hollow tube (1-4) and lower house (1-
2) it is connected by screw (1-19)；
The transmission mechanism includes servomotor (1-5), harmonic speed reducer (1-6), motor shaft (1-7), bearing (1-8), servo
The stator of motor (1-5) is connected with upper shell (1-1), and rotor and the motor shaft (1-7) of servomotor (1-5) pass through screw (1-
20) it is connected, bearing (1-21), motor shaft (1-7) and lower house (1-2) is installed between motor shaft (1-7) and upper shell (1-1)
Between bearing (1-8) is installed, the wave producer of motor shaft (1-7) and harmonic speed reducer (1-6) is connected, harmonic speed reducer (1-
6) be connected by the part that firm gear and flexbile gear form by screw (1-22) and upper shell (1-1).
3. device as claimed in claim 2, it is characterised in that the transmission mechanism also includes motor position sensor (1-9)
With position sensing gear train (1-10), position sensing gear train (1-10) is by intermeshing motor gear (1-10-1) and sensing
Device gear (1-10-2) forms；
Motor gear (1-10-1) is connected with motor shaft (1-7), sensor gear (1-10-2) and motor position sensor (1-9)
It is connected by screw (1-23), bearing (1-24) is installed between sensor gear (1-10-2) and lower house (1-2).
4. device as claimed in claim 3, it is characterised in that motor position sensor (1-9) uses multi-turn absolute encoder
Device.
5. device as claimed in claim 2, it is characterised in that the arrestment mechanism includes brake (1-12) and spragging gear
Group (1-13), brake (1-12) are made up of brake disc (1-12-1), coil (1-12-2), and spragging gear group (1-13) is by mutual
Motor gear (1-10-1), spragging gear (1-13-1) composition of engagement；
Spragging gear (1-13-1) is connected with brake disc (1-12-1), and motor shaft (1-7) is connected with motor gear (1-10-1), system
Moving plate (1-12-1) is connected with spragging gear (1-13-1) by screw (1-25), and coil (1-12-2) is connected with bottom (1-3),
Bearing (1-26), spragging gear (1-13-1) and bottom (1-3) are installed between spragging gear (1-13-1) and upper shell (1-1)
Between bearing (1-27) is installed.
6. device as claimed in claim 1, it is characterised in that the drive device includes：Drive circuit board (1-14), interface
Circuit board (1-15), first support (1-16), second support (1-17)；
Drive circuit board (1-14) is connected by first support (1-16) and lower house (1-2), and interface card (1-15) passes through
Second support (1-17) is connected with drive circuit board (1-14).
7. device as claimed in claim 1, it is characterised in that the hollow tube (1-4) for cabling is installed in the shell.
8. device as claimed in claim 1, it is characterised in that the interface for connecting joint transfer link is flange spiral shell
Line.
9. a kind of mechanical arm, it is characterised in that including the integral joint device described in some any one of claim 1-7, respectively
Individual integral joint device is connected by joint transfer link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710826316.XA CN107825458A (en) | 2017-09-13 | 2017-09-13 | A kind of integral joint device and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710826316.XA CN107825458A (en) | 2017-09-13 | 2017-09-13 | A kind of integral joint device and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825458A true CN107825458A (en) | 2018-03-23 |
Family
ID=61643847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710826316.XA Pending CN107825458A (en) | 2017-09-13 | 2017-09-13 | A kind of integral joint device and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825458A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN115157300A (en) * | 2022-06-16 | 2022-10-11 | 谙布尔(北京)科学技术有限公司 | Crank slider manipulator |
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|---|---|---|---|---|
| EP0146783A2 (en) * | 1983-12-21 | 1985-07-03 | Westinghouse Electric Corporation | Improved lightweight electric robotic actuator |
| JP2799416B2 (en) * | 1989-05-24 | 1998-09-17 | 工業技術院長 | Multi-actuator brake device |
| CN103481293A (en) * | 2013-10-14 | 2014-01-01 | 哈尔滨工业大学 | Arm modularized joint of service robot |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
-
2017
- 2017-09-13 CN CN201710826316.XA patent/CN107825458A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0146783A2 (en) * | 1983-12-21 | 1985-07-03 | Westinghouse Electric Corporation | Improved lightweight electric robotic actuator |
| JP2799416B2 (en) * | 1989-05-24 | 1998-09-17 | 工業技術院長 | Multi-actuator brake device |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN103481293A (en) * | 2013-10-14 | 2014-01-01 | 哈尔滨工业大学 | Arm modularized joint of service robot |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108374877A (en) * | 2018-04-18 | 2018-08-07 | 睿尔曼智能科技（北京）有限公司 | A kind of bearing and the integrated microminiature harmonic speed reducer of harmonic wave |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN115157300A (en) * | 2022-06-16 | 2022-10-11 | 谙布尔(北京)科学技术有限公司 | Crank slider manipulator |
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Application publication date: 20180323 |
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