CN108789479A - A kind of joint structure of modular mechanical arm - Google Patents
A kind of joint structure of modular mechanical arm Download PDFInfo
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- CN108789479A CN108789479A CN201810674602.3A CN201810674602A CN108789479A CN 108789479 A CN108789479 A CN 108789479A CN 201810674602 A CN201810674602 A CN 201810674602A CN 108789479 A CN108789479 A CN 108789479A
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- support frame
- face
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- mechanical arm
- joint
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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
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Abstract
The present invention provides a kind of joint structures of modular mechanical arm, its support frame upper end is formed as the bonding pad of arch, lower end surface is formed as the fixed area of rectangle, middle part is provided with driver, the driver output shaft that side is interlocked positioned at the support frame is equipped with driving wheel, the support frame other side opposite with the driving wheel is formed as driving side, support frame top close to the bonding pad is provided with retarder, it is provided with connecting traction wheel on the reducer input shaft of driving wheel homonymy, it is provided with reducer output shaft on the retarder of the driving side, retarder is equipped with mounting disc close to the side of reducer output shaft, the driving wheel is connected with connecting traction wheel by the belt transmission of closure；Support frame lower part is provided with joint integrated manipulator, and the joint integrated manipulator is connect with driver；Fixed area close to support frame one side edge is equipped with connector, and not accurate to solve the rotation of existing machinery arm, it is inconvenient to safeguard, controls the defect of very complicated.
Description
Technical field
The present invention relates to mechanical arm technical fields, more particularly to a kind of joint structure of modular mechanical arm.
Background technology
The appearance of mechanical arm helps the production process modernized to have more kinds of modes of operation, in some special necks
In domain, such as electronic field, mechanical arm can realize electronic building brick and more accurately install, in some technical field of biochemistry,
In the environment that specific detection place should not have personnel on the scene, mechanical arm can help people to realize the real time monitoring to scene,
But there is many inconveniences for mechanical arm in the prior art.Such as
Chinese patent (publication number " CN107803830A "), discloses a kind of seven freedom force feedback fro hydraulic driving machinery
Arm, including Hydraulic Conirol Unit and link assembly, link assembly include six first connecting rods for passing sequentially through rotary joint connection
Component, second connecting rod component, third connecting rod component, fourth link component, the 5th link assembly and six-bar linkage component, Mei Gexuan
Turn joint to connect with a hydraulic cylinder, encoder is mounted on each rotary joint；The front end of 5th link assembly fills
The front end of force sensor, six-bar linkage component is provided with double finger grips, and the finger of handgrip passes through link mechanism and a clamp hand
Oil cylinder connects；The oil circuit of each hydraulic cylinder is connect with Hydraulic Conirol Unit.Although the scope of application of above-mentioned mechanical arm is very wide,
But due to the relationship by hydraulic-driven, but also the mechanical arm is complicated, weight is very big, and cost is higher, and dismounts
It is not easy, once some parts damages, it is necessary to entire infrastructure fractionation is repaired.For another example
Chinese patent (publication number：CN107053156A), a kind of bionical body-sensing mechanical arm of seven freedom, including are disclosed
One to the 7th steering engine, the described first to the 7th steering engine is sequentially connected by connector, and the rotation axis of two neighboring steering engine
It is mutually perpendicular to；Gripper is connect with the 7th steering engine, is opened or is clamped by the 7th steering engine rotary driving machine machinery claw；It is used
Property system body-sensing system, be arranged on human arm, to detect the movement of human arm；Controller, with the inertial system body
Sensing system connects, and obtains the movement of human arm, and seven tunnels of output control signal, and seven steering engine coordinated movements of various economic factors of control are to realize simulation
Human arm motion.Although the technical solution structure operation precision that this application is announced is high, flexibility is strong, the technical solution
There are some defects, such as the technical solution in order to realize high-freedom degree, therefore, is mutually connected vertically by multiple steering engines, still
This connection must be dismantled once going wrong when repairing on the whole, extremely inconvenient.
The mechanical arm of above-mentioned two patent disclosure technical solution simultaneously is by a control system respectively to each machinery
The joint (steering engine) of arm is controlled, so achieve the purpose that it is mobile, and between the joint (steering engine) of mechanical arm only machinery even
Relationship is connect, in this case, on the one hand will appear phenomenon slow in reacting, on the other hand, in the state that mechanical arm moves, meter
The scheme of calculating is also less, under complex environment or in the case of having barrier, it is difficult to calculate more particularly suitable mechanical arm
Scheme of rotation.
Invention content
The present invention makes in view of the above problems, by providing a kind of joint structure of mechanical arm, to improve mechanical arm
Later maintenance effect and mechanical arm rotational efficienty and adaptability.And there is independent controller on each joint,
To promoted respectively each joint fine rotational angle or restore speed, and encountering have the complex environments such as barrier
Under, the scheme of rotation of a variety of adaptations can be made.Multiple joint concurrently-actings at runtime quickly finish set action and want
It asks.Specifically, including support frame, the support frame is placed longitudinally, and the upper end of the support frame is formed as arch
Bonding pad, the lower end surface of the support frame is formed as the fixed area of rectangle, the left and right sides end face of the support frame
Articular shell is respectively set, the articular shell is semi-enclosed to be covered on support frame, and the articular shell includes outside left side
Shell and right side shell, the left housing chamber between the left side shell and support frame are formed as the driving side of support frame, the right side
Right shell chamber between side shell and support frame is formed as the gearing side of support frame；
It is provided with the driver for crossing support frame in the middle part of the support frame, the driver is provided with stationary end and drive
Dynamic device output shaft, the stationary end of the driver are located at the driving side of support frame, the driving opposite with the static end position
Device output shaft is located at the gearing side of support frame, and the driver output shaft is provided with driving wheel, the outboard end of the stationary end
The vertical line distance of the vertical side face where the center in face to support frame center line and the center of the end face outside of driving wheel to branch
The vertical line of the vertical side face where support bone frame center line is apart from equal；
The support frame top of the bonding pad is provided with the retarder for crossing support frame, the retarder setting
There are reducer input shaft and reducer output shaft, the reducer input shaft to be respectively positioned on the gearing side of support frame with driving wheel,
And the reducer input shaft is provided with connecting traction wheel, the reducer output shaft is respectively positioned on the drive of support frame with the stationary end
Dynamic side, and the reducer output shaft is provided with mounting disc, the center of the mounting disc end face outside to support frame center line
Vertical end of the vertical line distance of the vertical side face at place where with the center to support frame center line of the end face outside of connecting traction wheel
The vertical line in face is apart from equal；
The driving wheel is connected with connecting traction wheel by the belt transmission of closure；Support between the fixed area and driver
Skeleton lower part is provided with joint integrated manipulator, and the joint integrated manipulator is connected in a manner of so that driving wheel is rotated with driver
It connects；
The right side shell and support frame are contour, and right side outer casing bottom end face is concordant with the end face of fixed area, institute
It states right side cover top portion and is formed as the corresponding areas Xuan Hu in and position consistent with the bonding pad radian of arch, the left side outer cover height
Less than right side shell, the left side cover top portion is plane and the lower section positioned at the mounting disc, left side outer casing bottom end
Face is concordant with the end face of fixed area, and left side outer casing bottom end face and right side outer casing bottom end face are formed as described with fixed area
The bottom face of joint structure；
The vertical line of the vertical side face in the end face outside of the left side shell where any point to support frame center line away from
From for H, the vertical line distance of the vertical side face in the end face outside of the right side shell where any point to support frame center line
For L, H > L；
It lets droop equipped with connector on the fixed area of support frame one side edge, the longitudinal end of the connector
The longitudinal terminal surface of vertical plane and support frame where face intersects vertically, and any point is to support frame center line on the connector
The vertical line distance of the vertical side face at place and the vertical side face where any point to support frame center line in the mounting disc
Distance is complementary, after making two adjacent shutdown structure connections, the external end surface side of the joint structure of top and the joint structure of lower section
Edge lengthwise position is corresponding.
Preferably, the support frame from top to bottom successively be equipped with first perforation and second perforation, it is described first perforation and
On the center line of the support frame, the retarder passes perpendicularly through the first perforation and is fixed with support frame for second perforation
Connection, the reducer input shaft and reducer output shaft are coaxial, and parallel with driver output shaft.
Preferably, first perforation is round hole, and there are three auxiliary for setting on the support frame around first perforation
Help slot, second perforation is rectangular opening, and the second perforation is more than the first perforation, the driver be fixed on the it is biperforate in
Portion；
The vertical line distance of the center of first perforation to bonding pad is M, and fixed area is arrived at biperforate center
Vertical line distance is N, M < N.
Preferably, the connector includes linking arm and fixed arm, and the upper and lower ends of the linking arm are respectively fixedly connected with
Fixed area and fixed arm, the fixed arm be formed as with the consistent structure of the installation disk shape, and with adjacent another pass
The mounting disc of section structure is fixedly connected.
Preferably, the vertical line distance on the axle center of the reducer output shaft to the top of bonding pad is more than fixed arm central point
To the vertical line distance of fixed area.
Preferably, the locking mechanism coaxial with driver, the locking mechanism are equipped between the driver and driving wheel
In a manner of powering off locking axis connection is exported with driver.
Preferably, strainer is provided between the locking mechanism and driver, the strainer is tensioning plate, is leaned on
The position of four apex angles of the nearly tensioning plate is equipped with strip unthreaded hole, and the tensioning plate passes through four unthreaded holes and support frame
It connects, driver and locking mechanism is respectively fixedly connected in the middle part of the tensioning plate.
Preferably, the support frame around the retarder is equipped with limited post, and the limited post is along far from support rib
The column that the direction of frame extends, the limited post by with connect arm contact to limit the rotation direction of connector.
Preferably, there are two the limited posts, being arranged in the both sides of retarder, and two limited posts respectively symmetrically
Center be located at the lower section in reducer output shaft axle center.
Preferably, the shaft core position of the reducer output shaft is equipped with magnet, and the support frame is equipped with and the magnetic
The corresponding angular encoder in iron position
Beneficial effects of the present invention：
1, the joint of mechanical arm of above structure, first, each joint size of tradition machinery arm differ, and parts is selected also all to be
It is calculated according to special working environment, and there is modular convenience.And it is mainly used in the machine on mobile platform
Tool arm, it is smaller to the output requirement of end torque, built modular can be carried out.Thus, the mechanical arm of the technical solution of the application
Applicability it is very wide.
2, compact-sized.In order to realize that big retarding ratio and compact structure, modularized joint use deceleration first simultaneously
Device, retarder have reduction ratio big, and precision is high, it is compact-sized the features such as.But it in order to further reduce axial space, originally sets
Meter uses synchronous pulley and carries out torque transmission, and such design can greatly reduce axial space, more effectively utilizes pass
The length space of section.
3, precise positioning.First, from the perspective of movement is transmitted, retarder and belt can keep higher positioning
Precision.Secondly, it is mounted with the encoder for measuring joint angles in reducer output shaft, and then realizes control closed loop, it can be with
Further control positional precision.
4, electrical connection cable is few, and interface is convenient.Modularized joint greatlies simplify the design of inlet wire and leading-out terminal, simultaneously
Inverse plugging design has been carried out, has only externally remained power interface and bus interface.Simplifying design in this way facilitates mechanical arm to carry out mould
Blockization is spliced, and has not only improved the beauty of overall routing, but also reduce the possibility of wiring error.The easy inlet and outlet connectors design of connection
Greatly facilitate the extension and connection in joint.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System.
Fig. 1 is the schematic diagram of the joint structure of modular mechanical arm of the present invention.
Fig. 2 is the front view of the joint structure of modular mechanical arm of the present invention.
Fig. 3 is the rearview of the joint structure of modular mechanical arm of the present invention.
Fig. 4 is the right view of the joint structure of modular mechanical arm of the present invention.
Fig. 5 is the schematic diagram of the joint structure combined machine arm of modular mechanical arm of the present invention.
Include in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5：
1 --- support frame；
11 --- bonding pad；
12 --- fixed area；
13 --- interlock side；
14 --- driving side；
15 --- the first perforation；
16 --- the second perforation；
17 --- auxiliary tank；
101 --- left side shell；
102 --- right side shell；
103 --- the areas Xuan Hu；
2 --- driver；
21 --- driver output shaft；
22 --- driving wheel；
23 --- stationary end；
3 --- retarder；
31 --- reducer input shaft；
32 --- reducer output shaft；
33 --- connecting traction wheel；
34 --- mounting disc；
4 --- joint integrated manipulator；
5 --- connector；
51 --- linking arm；
52 --- fixed arm；
6 --- locking mechanism；
7 --- tensioning plate；
8 --- limited post；
9 --- magnet；
10 --- angular encoder.
Specific implementation mode
The invention will be further described with the following Examples：
Embodiment 1
A kind of one of the joint structure embodiment of modular mechanical arm of the present invention, as shown in Fig. 1 to 5, the present embodiment
A kind of joint structure of modular mechanical arm, including support frame 1 are provided, the support frame is placed longitudinally, the support
The upper end of skeleton 1 is formed as the bonding pad 11 of arch, and the lower end surface of the support frame 1 is formed as the fixed area of rectangle
12, articular shell is respectively set in the left and right sides end face of the support frame 1, and the articular shell is semi-enclosed to be covered in support
On skeleton 1, the articular shell includes left side shell 101 and right side shell 102, the left side shell 101 and support frame 1 it
Between left housing chamber be formed as the driving side 14 of support frame, the right shell chamber between the right side shell 102 and support frame 1 is formed
For the gearing side 13 of support frame；
1 middle part of the support frame is provided with the driver 2 for crossing support frame 1, and the driver 2 is provided with stationary end
23 and driver output shaft 21, the stationary end of the driver 2 be located at the driving side 14 of support frame 1, with the stationary end position
The gearing side 13 that opposite driver output shaft 21 is located at support frame 1 is set, the driver output shaft 21 is provided with driving wheel
22, the vertical line distance of the vertical side face where the center to 1 center line of support frame of the end face outside of the stationary end 23 and drive
The vertical line of the vertical side face where the center of the end face outside of driving wheel 22 to 1 center line of support frame is apart from equal；
1 top of support frame close to the bonding pad 11 is provided with the retarder 3 for crossing support frame 1, the deceleration
Device 3 is provided with reducer input shaft 31 and reducer output shaft 32, and the reducer input shaft 31 is respectively positioned on branch with driving wheel 22
The gearing side of support bone frame 1, and the reducer input shaft 31 is provided with connecting traction wheel 33, the reducer output shaft 32 with it is described quiet
Not-go-end 23 is respectively positioned on the driving side 14 of support frame 1, and the reducer output shaft 32 is provided with mounting disc 34, the mounting disc
The end face outside of the vertical line distance and connecting traction wheel 33 of the vertical side face where the center of 34 end face outsides to 1 center line of support frame
Center to 1 center line of support frame where the vertical side face vertical line apart from equal；
The driving wheel 22 is connected with connecting traction wheel 33 by the belt transmission of closure；The fixed area 12 and driver 2 it
Between support frame lower part be provided with joint integrated manipulator 4, the joint integrated manipulator 4 so that driving wheel 22 rotate side
Formula is connect with driver 2；
The right side shell 102 and support frame 1 are contour, the end of right side shell 102 bottom end face and fixed area 12
Face is concordant, and the top of the right side shell 102 is formed as the corresponding areas Xuan Hu in and position consistent with 11 radian of the bonding pad of arch
103,101 height of left side shell is less than right side shell 102, and 101 top of the left side shell is plane and is located at the peace
The lower section of sabot 34,101 bottom end face of left side shell is concordant with the end face of fixed area 12,101 bottom of left side shell
End face and 102 bottom end face of right side shell are formed as the bottom face of the joint structure with fixed area 12；
The vertical side face in the end face outside of the left side shell 101 where any point to 1 center line of support frame is hung down
Linear distance is H, and the vertical side face in the end face outside of the right side shell 102 where any point to support frame center line is hung down
Linear distance is L, H > L；
It lets droop equipped with connector 5 on the fixed area 12 of 1 one side edge of support frame, the connector 5
The longitudinal terminal surface of vertical plane and support frame 1 where longitudinal terminal surface intersects vertically, and the longitudinal terminal surface of connector 5 is connector 5
The end face that breadth where top to the length distance of bottom end is formed；
The vertical line distance of the vertical side face on the connector 5 where any point to 1 center line of support frame and the peace
The distance of the vertical side face in sabot 34 where any point to 1 center line of support frame is complementary, and two adjacent shutdown structures is made to connect
After connecing, the external end face edge longitudinal position of the joint structure of top and the joint structure of lower section is corresponding.
Further, the driving side 14 of the support frame 1 and gearing side 13 are respectively arranged with the outer of covering support frame 1
Shell, in driver 2, joint integrated manipulator 4 and retarder 3 are covered in by the shell, to ensure the leakproofness of intra articular
It can, it is preferred that the shell is plastic material or metal material can reduce the weight in joint when the shell is plastic material
Amount, promotes flexible performance, and when being metal material, can effective radiation-screening, promote the precision of articulation.
Further, driver 2 is the power unit in joint, preferably stepper motor, and driver 2 is by joint integrated control
The pulse signal driving that device 4 generates, by transmission mechanism (belt), by power transmission to retarder 3.
Further, transmission mechanism (belt) is from stepper motor by power when being transferred to retarder, while to transmission
Process is controlled.
Further, the main function of retarder 3 is to reduce stepper motor (driver) rotating speed, promotes reducer output shaft
32 torque, retarder 3 is preferably harmonic speed reducer or planetary reduction gear in the present embodiment, can effectively improve deceleration
Than reducing joint integrally required space, the setting of connecting traction wheel can reduce intra articular axial space, can make the zero of intra articular
Component layouts are more reasonable, while being driven more accurate.Meanwhile the distance setting of the component outside intra articular and joint, it can be effective
The dynamic balancing in raising joint can effectively ensure mechanical arm operation stability when multiple joints are in turn connected into mechanical arm,
And the distance is at a distance from routine and differs, but setting exclusive in modular joint structure, such setting
After multiple joints can be made to connect, a complete entirety is formed, in mass activity, because of one of action or will not be failure to actuate
And other are influenced, avoid the generation of error.
Further, in traditional mechanical arm, the not built-in joint integrated manipulator 4 in each joint, it is therefore desirable to from
A large amount of cables are drawn in joint, to obtain angle information and control driver (stepper motor), cause number of cables with
The linear positive correlation of amount of articulation, master controller need to control the original paper of each intra articular, this allows for answering for system
Polygamy, either hardware or software, as amount of articulation increases and rapid growth, and in the technical solution of the application, often
The built-in joint integrated manipulator 4 of a intra articular, the joint integrated manipulator are equipped with microcontroller, microcontroller
Each sensor is controlled stepper motor and read, while passing through data between all microcontrollers and bus transceiver
Bus communication is highly convenient for extension amount of articulation, and the quantity of cable only needs two, and the number of computations of software is also distributed to each
In joint, you can multiple joints calculate simultaneously, reduce the computational load of master controller.
Embodiment 2
A kind of one of the embodiment of joint structure of modular mechanical arm of the present invention, as shown in Fig. 1 to 5, this implementation
The main technical schemes of example are substantially the same manner as Example 1, the feature not laid down a definition in the present embodiment, using in embodiment 1
It explains, is no longer repeated herein.The present embodiment and embodiment 1 difference lies in：The support frame 1 is set successively from top to bottom
There are the first perforation 15 and second perforation 16, first perforation, 15 and second perforation 16 to be located at the center line of the support frame 1
On, the retarder 3 passes perpendicularly through the first perforation 15 and is fixedly connected with support frame 1, the reducer input shaft 31 and subtracts
Fast device output shaft 32 is coaxial, and parallel with driver output shaft 21.
First perforation 15 is round hole, and there are three auxiliary for setting on the support frame 1 around first perforation 15
Slot 17,17 self-supporting skeleton of auxiliary tank, 1 surface are recessed inwardly.Described second perforates 16 as rectangular opening, and the second perforation 16
More than the first perforation 15, the driver 2 is fixed on the middle part of the second perforation 16.
Further, first perforation 15 design in order to make retarder 3 that can more accurately be rotated under the drive of belt,
And provide stable 1 structure of support frame.And auxiliary tank 17 is under the premise of reducing the installation strength of support frame 1,
The weight of support frame can effectively be reduced so that joint is whole lighter, and movement is more flexible.
And the second perforation 16 is rectangle, stepper motor is mounted on 16 middle part of the second perforation, stepper motor both sides there are gap,
Good radiating condition can be provided when stepper motor rotates, and do not influence the rock-steady structure of support frame entirety.
Embodiment 3
A kind of one of the embodiment of joint structure of modular mechanical arm of the present invention, as shown in Fig. 1 to 5, this implementation
The main technical schemes and embodiment 1 or embodiment 2 of example are essentially identical, the feature not laid down a definition in the present embodiment, use
Explanation in embodiment 1 or embodiment 2, is no longer repeated herein.The area of the present embodiment and embodiment 1 or embodiment 2
It is not：The connector 5 includes linking arm 51 and fixed arm 52, and the upper and lower ends of the linking arm 51 are respectively fixedly connected with admittedly
Determine area 12 and fixed arm 52, the fixed arm 52 is formed as the structure consistent with 34 shape of the mounting disc, and and mounting disc
34 are fixedly connected.
The vertical line distance on the axle center of the reducer output shaft 32 to the top of bonding pad 11 is more than 52 central point of fixed arm
To the vertical line distance of fixed area 12.The structure can guarantee after connector is fixedly connected with the retarder in next joint, realize
The stable rotation of joint of mechanical arm, the phenomenon that stopping without card.
Further, linking arm 51 extends outwardly, and after so that joint is connect with joint, can freely rotate, and according to
Shown in attached drawing, the shape design of linking arm reduces the overall weight in joint, keeps joint movement more flexible；
The purpose consistent with 34 structure of mounting disc of fixed arm 52 is that fixed arm is fixedly connected with mounting disc, and largest face
Long-pending connects with mounting disc, can ensure the high-precision of rotation on the basis of being bonded.Avoid shaking or displacement.It is preferred that
, fixed arm is formed as coating mounting disc and being secured to the shape of connection close to the side of mounting disc.
Embodiment 4
A kind of one of the embodiment of joint structure of modular mechanical arm of the present invention, as shown in Fig. 1 to 5, this implementation
Either embodiment 2 or embodiment 3 are essentially identical with embodiment 1 for the main technical schemes of example, do not lay down a definition in the present embodiment
Feature no longer repeated herein using the explanation in embodiment 1 either embodiment 2 or embodiment 3.The present embodiment with
Embodiment 1 either embodiment 2 or embodiment 3 difference lies in：It is equipped between the driver 2 and driving wheel 22 and driver
2 coaxial locking mechanisms 6, the locking mechanism 6 export axis connection in a manner of powering off locking with driver 2.
After power is turned off, stepper motor locking can be recorded and stop number the mechanical arm being made of multiple joints by locking mechanism
According to after being again started up, data when can be according to locking carry out restoring execution or reset, improve the overall precision of mechanical arm.
Strainer is provided between the locking mechanism 6 and driver 2, the strainer is tensioning plate 7, close to institute
The position for stating 7 four apex angles of tensioning plate is equipped with strip unthreaded hole, and the tensioning plate is connected by four unthreaded holes and support frame 1
It connects, the middle part of the tensioning plate 7 is respectively fixedly connected with driver 2 and locking mechanism 6.The joint integrated manipulator 4 and locking
Mechanism 6 is electrically connected；
Further, locking mechanism can promote the security performance of joint entirety, avoid the inertia after power-off to joint into making
At damage, while under the connection of locking mechanism, joint movement can be more accurate, when each power-off stops or is powered mobile,
Stepper motor can all be recorded in locking, in order to ensure that each joint movement is all controllable, ensure that joint
Mobile accuracy.
Support frame 1 around the retarder 3 is equipped with limited post 8, and the limited post 8 is along far from support frame 1
Direction extend column, the limited post 8 with linking arm 51 by contacting to limit the rotation direction of connector 5.
There are two the limited posts 8, being arranged in the both sides of retarder 3, and in two limited posts 8 respectively symmetrically
The heart is located at the lower section in 32 axle center of reducer output shaft.
Further, when being rotated under drive of the linking arm 51 in retarder 3, the joint being connect with linking arm 51 can be driven
It rotates together, at this moment with regard to needing the joint to the rotation to carry out physics limit, to ensure that joint will not rotate excessively, the present embodiment
Two limited posts angle that connector is limited be the angle of connector rotation be α≤± 110 °.
The shaft core position of the reducer output shaft 32 is equipped with magnet 9, and the support frame 1 is equipped with and the magnet 9
The corresponding angular encoder in position 10.10 outside of the angular encoder is equipped with electromagnetic shielding case.The magnet 9 be it is round and with
Reducer output shaft is concentric.
Further, angular encoder 10 can calculate the angle of articulation by the rotation of circular magnet, protect
Each joint for having demonstrate,proved mechanical arm is rotated all in accordance with set angle, ensure that the accurate performance of mechanical arm, while outer
Portion's electromagnetic shielding case can effectively promote angle encoder accuracy, the external disturbance prevented.
As shown in figure 5, the present embodiment additionally provides a kind of mechanical arm being made of above-mentioned joint, the mechanical arm further includes
Bus, power supply and client (not shown), the bus is in parallel with multiple joints, and the power supply is in parallel with multiple joints,
The bus is connect with client, and bus connects the joint integrated manipulator in each joint.Pass through the control respectively to each joint
System, can be with any point in any posture arrival 3d space to complete mechanical arm.
Concrete operating principle is as follows：
User is inputted predetermined posture and the relative position of point by client first, and client is according to current mechanical arm
State and target point and predetermined Attitude Calculation go out the motion path of mechanical arm.Later, according to the path, client is periodical
It sends and orders to bus.All types of joints receive initial angle angle value after order according to itself, retarder transmission ratio to stepping
Motor is controlled, and reducer output shaft is made to turn to desired location.Finally, mechanical arm tail end reaches target with predetermined posture
Point.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than is protected to the present invention
The limitation of range, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art should manage
Solution, technical scheme of the present invention can be modified or replaced equivalently, without departing from technical solution of the present invention essence and
Range.
Claims (10)
1. a kind of joint structure of modular mechanical arm, it is characterised in that：Including support frame, the support frame is longitudinally put
It sets, the upper end of the support frame is formed as the bonding pad of arch, and the lower end surface of the support frame is formed as rectangle
Fixed area, articular shell, the semi-enclosed covering of articular shell is respectively set in the left and right sides end face of the support frame
On support frame, the articular shell includes left side shell and right side shell, between the left side shell and support frame
Left housing chamber is formed as the driving side of support frame, and the right shell chamber between the right side shell and support frame is formed as support frame
Gearing side；
It is provided with the driver for crossing support frame in the middle part of the support frame, the driver is provided with stationary end and driver
Output shaft, the stationary end of the driver are located at the driving side of support frame, and the driver opposite with the static end position is defeated
Shaft is located at the gearing side of support frame, and the driver output shaft is provided with driving wheel, the end face outside of the stationary end
The vertical line distance of the vertical side face where center to support frame center line and the center of the end face outside of driving wheel to support rib
The vertical line of the vertical side face where frame center line is apart from equal；
Support frame top close to the bonding pad is provided with the retarder for crossing support frame, and the retarder, which is provided with, to be subtracted
Fast device input shaft and reducer output shaft, the reducer input shaft are respectively positioned on the gearing side of support frame, and institute with driving wheel
It states reducer input shaft and is provided with connecting traction wheel, the reducer output shaft is respectively positioned on the driving of support frame with the stationary end
Side, and the reducer output shaft is provided with mounting disc, the center of the mounting disc end face outside to support frame center line institute
The vertical side face vertical line distance with the center to support frame center line of the end face outside of connecting traction wheel where the vertical side face
Vertical line apart from equal；
The driving wheel is connected with connecting traction wheel by the belt transmission of closure；Support frame between the fixed area and driver
Lower part is provided with joint integrated manipulator, and the joint integrated manipulator is connect in a manner of so that driving wheel is rotated with driver；
The right side shell and support frame are contour, and right side outer casing bottom end face is concordant with the end face of fixed area, the right side
Side cover top portion is formed as the corresponding areas Xuan Hu in and position consistent with the bonding pad radian of arch, and the left side outer cover height is less than
Right side shell, the left side cover top portion be plane and positioned at the mounting disc lower section, left side outer casing bottom end face with
The end face of fixed area is concordant, and left side outer casing bottom end face and right side outer casing bottom end face are formed as the joint with fixed area
The bottom face of structure；
The vertical line distance of the vertical side face in the end face outside of the left side shell where any point to support frame center line is
The vertical line distance of H, the vertical side face in the end face outside of the right side shell where any point to support frame center line are L, H
> L；
It lets droop equipped with connector on the fixed area of support frame one side edge, the longitudinal terminal surface institute of the connector
Vertical plane and the longitudinal terminal surface of support frame intersect vertically, on the connector where any point to support frame center line
The vertical side face vertical line distance at a distance from the vertical side face where any point to support frame center line in the mounting disc
Complementation, after making two adjacent shutdown structure connections, the external end face edge of the joint structure of top and the joint structure of lower section is vertical
It is corresponding to position.
2. a kind of joint structure of modular mechanical arm according to claim 1, it is characterised in that：The support frame is certainly
Successively equipped with the first perforation and the second perforation under above, described first perforates with the second perforation positioned at the center of the support frame
On line, the retarder passes perpendicularly through the first perforation and is fixedly connected with support frame, the reducer input shaft and retarder
Output shaft is coaxial, and parallel with driver output shaft.
3. a kind of joint structure of modular mechanical arm according to claim 2, it is characterised in that：Described first, which perforates, is
Round hole, there are three auxiliary tank, second perforation is rectangular opening for setting on the support frame around first perforation, and the
Two perforation are more than the first perforation, and the driver is fixed on biperforate middle part；
The vertical line distance of the center of first perforation to bonding pad is M, the vertical line at biperforate center to fixed area
Distance is N, M < N.
4. a kind of joint structure of modular mechanical arm according to claim 1 or 2, it is characterised in that：The connector
Including linking arm and fixed arm, the upper and lower ends of the linking arm are respectively fixedly connected with fixed area and fixed arm, the fixed arm
Be formed as the structure consistent with the installation disk shape, and be fixedly connected with the mounting disc of adjacent another joint structure.
5. a kind of joint structure of modular mechanical arm according to claim 3, it is characterised in that：The retarder output
The vertical line distance on the axle center of axis to the top of bonding pad is more than fixed arm central point to the vertical line distance of fixed area.
6. according to claim 3 or a kind of joint structure of modular mechanical arm, it is characterised in that：The driver with
The locking mechanism coaxial with driver is equipped between driving wheel, the locking mechanism exports in a manner of powering off locking with driver
Axis connection.
7. according to claim 6 or a kind of joint structure of modular mechanical arm, it is characterised in that：The locking mechanism
Strainer is provided between driver, the strainer is tensioning plate, close to the position of four apex angles of the tensioning plate
Equipped with strip unthreaded hole, the tensioning plate is connect by four unthreaded holes with support frame, the middle part difference of the tensioning plate
It is fixedly connected with driver and locking mechanism.
8. a kind of joint structure of modular mechanical arm according to claim 3, it is characterised in that：Around the retarder
Support frame be equipped with limited post, the limited post be along far from support frame direction extend column, the limit
Column by with connect arm contact to limit the rotation direction of connector.
9. a kind of joint structure of modular mechanical arm according to claim 8, it is characterised in that：The limited post has two
It is a, being arranged in the both sides of retarder respectively symmetrically, and the center of two limited posts is located at reducer output shaft axle center
Lower section.
10. a kind of joint structure of modular mechanical arm according to claim 8 or claim 9, it is characterised in that：The retarder
The shaft core position of output shaft is equipped with magnet, and the support frame is equipped with angular encoder corresponding with the magnet positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810674602.3A CN108789479A (en) | 2018-06-27 | 2018-06-27 | A kind of joint structure of modular mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810674602.3A CN108789479A (en) | 2018-06-27 | 2018-06-27 | A kind of joint structure of modular mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789479A true CN108789479A (en) | 2018-11-13 |
Family
ID=64071942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810674602.3A Pending CN108789479A (en) | 2018-06-27 | 2018-06-27 | A kind of joint structure of modular mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN108789479A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113334423A (en) * | 2021-06-07 | 2021-09-03 | 核工业西南物理研究院 | Long-arm unfolding mechanical arm joint in large-magnetic-field high-vacuum strong-radiation environment |
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