CN205969102U - Arm and universal module thereof - Google Patents
Arm and universal module thereof Download PDFInfo
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- CN205969102U CN205969102U CN201620877848.7U CN201620877848U CN205969102U CN 205969102 U CN205969102 U CN 205969102U CN 201620877848 U CN201620877848 U CN 201620877848U CN 205969102 U CN205969102 U CN 205969102U
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Abstract
The utility model discloses an arm and universal module thereof. Universal module includes first carousel, middle carousel and second carousel, be equipped with the first component that resets between first carousel and the middle carousel, be equipped with the second component that resets between middle carousel and the second carousel, first carousel, the first component that resets, middle carousel, second reset component and second carousel to be passed through the connecting axle and links to each other, first reset component and second reset the reseing opposite direction of component and make and form hard and soft complex power transmission mechanism between first carousel, middle carousel and the second carousel. The utility model discloses an universal module can move in a flexible way, and can realize hardness and softness performance's conversion, and the precision is high, the security is good.
Description
Technical field
This utility model is related to a kind of mechanical arm and its general module, belongs to robot field.
Background technology
The drawbacks of cooperation robot overcomes conventional industrial robot, extends the adaptation field of automatization, by these no
The robot of protection cage frees from protecting wire net, allows them to be more easily installed and uses, and becomes increasingly popular.
At present, cooperation robot mainly sets about for the design of safety aspect in terms of following two：
The first is to control with system using sensor to match, and using flexible material parcel outside robot, works as operation
Slowed down with control realization by sensing when personnel are collided with robot or stop.This scheme sensor and control system work are steady
Qualitative be not effectively guaranteed, Given this lot of producers take multiple sensor, but this certainly will increase cost.
Another kind uses what the elastic components and parts of series connection were realized, elastic components and parts is connected in kinematic chain, works as collision
During generation, robot can stop or slow down moving with the function of support personnel's safety, such as China Patent Publication No.
Described in CN104245247A, tandem flexible member is spring steel material, has two ends, and one of and gear passes
Motivation structure output shaft connects, and another is connected with mechanical arm, for power/moment of torsion is transferred to bending joint output machine from motor
Structure, realizes joint motions.This scheme take into account the safety of robot, but elastic components and parts are directly connected on transmission
In chain, subsequent motion compensation is directed to nonlinear model and the dynamic, conversion of potential energy is difficult to accomplish precisely, to directly result in the essence of robot
Degree is not.
Utility model content
This utility model aims to provide a kind of mechanical arm and its general module, this general module energy flexible motion, and permissible
Realize the conversion of hard and soft, high precision, safety are good.
To achieve these goals, this utility model be employed technical scheme comprise that：
A kind of general module, it is structurally characterized in that, including the first rotating disk, middle rotating disk and the second rotating disk；Described first turn
It is provided with the first reset element between disk and middle rotating disk, between described middle rotating disk and the second rotating disk, be provided with the second reset element；
Described first rotating disk, the first reset element, middle rotating disk, the second reset element are connected by connecting shaft with the second rotating disk；Described
The reset of the first reset element and the second reset element is in opposite direction and make shape between the first rotating disk, middle rotating disk and the second rotating disk
Become the Poewr transmission mechanism of hard and soft cooperation.
According to embodiment of the present utility model, this utility model can also be made further optimize, below for optimizing after
The technical scheme being formed：
Be additionally provided with the first adhesive assembly between described first rotating disk and middle rotating disk, described middle rotating disk and the second rotating disk it
Between be additionally provided with the second adhesive assembly.Thus, the first rotating disk and middle rotating disk are inhaled by described first adhesive assembly in normal state
Close formation to be rigidly connected, under the improper normal condition being knocked, the first rotating disk separates with middle rotating disk, forms transmission flexible
Connect, the second rotating disk and middle rotating disk adhesive are formed and are rigidly connected by described second adhesive assembly in normal state, are being hit
Under the improper normal condition hitting, the second rotating disk separates with middle rotating disk, forms transmission flexible connection.
The supporting reset element of this utility model and being applied in combination of corresponding adhesive assembly ensure the suitable, inverse time in twisted planar
Pin both direction all energy flexible motion, meanwhile, combine realization by the twisting resistance of reset element with the different conditions of adhesive assembly
The conversion of hard and soft.
According to embodiment of the present utility model, described first rotating disk is provided with the first Magnet peace towards the end face of middle rotating disk
Dress block, described second rotating disk is provided with the 4th Magnet mounting blocks, two ends of described middle rotating disk towards the end face of middle rotating disk
Face is provided with the second Magnet mounting blocks being coordinated adhesive respectively with described first Magnet mounting blocks and is installed with described 4th Magnet
Block coordinates the 3rd Magnet mounting blocks of adhesive；Described first Magnet mounting blocks and the second Magnet mounting blocks form the first adhesive group
Part, described 3rd Magnet mounting blocks and the 4th Magnet mounting blocks form the second adhesive assembly.
Peace in described first Magnet mounting blocks, the second Magnet mounting blocks, the 3rd Magnet mounting blocks and the 4th Magnet mounting blocks
Form corresponding electric magnet mounting blocks equipped with electric magnet.
The adjustable electric magnet of magnetic force size is installed in described electric magnet mounting blocks.
Described first reset element is used for install block reset because of the detached first Magnet mounting blocks of external force and the second Magnet
It is pulled together, described second reset element is used for will be multiple because of the detached 3rd Magnet mounting blocks of external force and the 4th Magnet mounting blocks
Position is pulled together.
Preferably, with reference to Figure of description Fig. 1, described second Magnet mounting blocks and the 3rd Magnet mounting blocks are symmetrical in 180 °
It is distributed on two sides of middle rotating disk.
In order to ensure that general module reaches out the effect of a conjunction when receiving external force collision, described first reset element and
Second reset element is torsion spring, and the permission torsional direction of two torsion spring settings is contrary.Thus, two torsion springs are respectively to two
Magnet mounting blocks are clamped from lateral surface.
Described torsion spring is contained in described connecting shaft by connecting bushing, described first rotating disk, middle rotating disk and the second rotating disk
All it is contained in described connecting shaft by corresponding rolling bearing.
Work process of the present utility model is as follows：
When mechanical arm is in normal operating conditions, described first rotating disk passes through the first adhesive assembly with middle rotating disk and inhales
Formed and be rigidly connected by the second adhesive assembly adhesive between conjunction, simultaneously middle rotating disk second rotating disk；
When extraneous impact force is more than suction and torsion sum between corresponding first adhesive assembly, the first rotating disk with
Between rotating disk separated, middle rotating disk and the second rotating disk are clamped by the second reset element, or middle rotating disk and the second rotating disk are separated,
First rotating disk is clamped by the first reset element with middle rotating disk, does not transmit and touch between the first rotating disk, middle rotating disk and the second rotating disk
Hit power, when extraneous impact force is released from, corresponding first adhesive assembly or the second adhesive assembly are in the presence of reset element
Adhesive resets.
When mechanical arm is in normal operating conditions, by the between described first rotating disk, middle rotating disk and the second rotating disk
One Magnet mounting blocks, the second Magnet mounting blocks, the 3rd Magnet mounting blocks and the 4th Magnet mounting blocks coordinate adhesive to form rigidity
Connect；When being more than suction and the torsion sum between corresponding Magnet mounting blocks when extraneous impact force, the first rotating disk is turned with middle
Disk is separated, and middle rotating disk and the second rotating disk are reset members clamp, or middle rotating disk and the second rotating disk are separated, the first rotating disk
It is reset members clamp with middle rotating disk, between the first rotating disk, middle rotating disk and the second rotating disk, do not transmit impact force, when the external world is touched
When the power of hitting is released from, the adhesive in the presence of reset element of corresponding Magnet mounting blocks resets.
Based on the design of same utility model, this utility model additionally provides a kind of mechanical arm, and it includes base, goes here and there successively
It is associated in the multiple joint arm assemblies on described base, at least one of multiple joint arm assemblies joint arm assembly is built with least one institute
The general module stated.In other words, general module can only be loaded in a joint arm assembly it is also possible in multiple joint arm assemblies all
Install.
Thus, mechanical arm also has the function of hard and soft conversion, improves the positioning precision of mechanical arm it is ensured that mechanical arm
Safety.
According to embodiment of the present utility model, each the joint arm assembly equipped with described general module includes and described second
The first joint disk that rotating disk cooperation is connected, the first connecting rod being fixedly linked with the first joint disk, and the hinged phase with first connecting rod
Building L even；Described first rotating disk is fixedly linked with the second joint disk by second connecting rod, and this second joint disk is used for and the section that is connected
The Building L of arm component is fixedly linked；The Building L of the joint arm assembly of described next stage is contained on described base.
Compared with prior art, the beneficial effects of the utility model are：
1st, this utility model allows the robot installing this module can meet flexibility requirements from safety perspective, and
Can guarantee that precision in normal operation.
2nd, the modularity of functional realiey both can allow flexible robot's design objective be simplified, also for existing tradition machine
Device people's flexibility transformation provides one kind and instructs thinking.
Brief description
Fig. 1 is a kind of structure principle chart of the general module of embodiment of this utility model；
Fig. 2 is a kind of structure principle chart of the mechanical arm of embodiment of this utility model.
Specific embodiment
To describe this utility model in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the embodiment in this utility model and the feature in embodiment can be mutually combined.For sake of convenience, hereinafter such as
Occur " on ", D score, "left", "right" printed words, only represent consistent with the upper and lower, left and right direction of accompanying drawing itself, not to structure
Play restriction effect.
A kind of general module, by the way of firm, soft coexisting, on the one hand ensures certain flexibility, it is to avoid right from structure
People damages, and on the other hand improves positioning precision.
As shown in figure 1, rigidity adjustable universal module includes the first rotating disk 1, torsion spring 4,5, rotating disk connecting shaft 10, rolling bearing
11,13, connecting bushing axle 12, electric magnet 14 and the second rotating disk 3.On described first rotating disk 1, first Magnet mounting blocks 6 are installed,
4th Magnet mounting blocks 9 are provided with described second rotating disk 3, two sides of middle rotating disk 2 are provided with the second Magnet mounting blocks 7
With the 3rd Magnet mounting blocks 8, two Magnet mounting blocks 7,8 are in two sides of middle rotating disk 2 and symmetrical in 180 ° respectively,
Wherein the second Magnet mounting blocks 7 of side and the first Magnet mounting blocks 6 of the first rotating disk 1 coordinate, the 3rd Magnet peace of opposite side
Dress block 8 is coordinated with the 4th Magnet mounting blocks 9 of the second rotating disk 3.Assume rotating disk 2 in the middle of fixing, two mating surface energy FREE TORSION
In opposite direction, two cooperation define binding faces be medial surface, non-binding face be lateral surface.Two torsion springs are respectively arranged in centre
Between rotating disk 2 and the first rotating disk 1 and the second rotating disk 3, respectively two Magnet mounting blocks are clamped from lateral surface.
In the present embodiment, the big I of magnetic force of described electric magnet mounting blocks is carried out according to the grade size of extraneous impact force
Adjust, improve safety.
It is provided with rolling bearing 13 in middle rotating disk 2 and the second rotating disk 3.Rotating disk connecting shaft 10 sequentially passes through connection the first rotating disk
1st, torsion spring 4, the rolling bearing of middle rotating disk 2, connecting bushing axle 12, torsion spring 5, the rolling bearing 12 of the second rotating disk 3.Connecting bushing
12 are connected between middle rotating disk 2 and two rolling bearings 12 of the second rotating disk 3 in torsion spring 5.
A kind of mechanical arm, as shown in Fig. 2 including base 16 and multiple joint arm assembly 17,18, at least one section in mechanical arm
At least one described general module 15 is installed in arm component 17,18, connects between the arm component of each joint and connect with base 16
Connect composition mechanical arm.Mechanical arm is not limited to it several joint arms, and Fig. 2 example is two sections.Each joint arm assembly 17,18 includes and institute
State the first joint disk 21 that the second rotating disk 3 cooperation is connected, the first connecting rod 20 being fixedly linked with the first joint disk 21, and with the
The Building L 19 that one connecting rod 20 is hinged and connected；Described first rotating disk 1 is fixedly linked with the second joint disk 23 by second connecting rod 22, should
Second joint disk 23 is used for being fixedly linked with the Building L 19 of the joint arm assembly that is connected, and the Building L 19 of the joint arm assembly of described next stage fills
On described base 16.
Operation principle is：
1st, during normal operating conditions, two torsion springs clamp two Magnet mounting blocks in different directions, and meanwhile, electric magnet is inhaled
Close, transmission is rigidly connected；
2nd, the electric magnet installed between each two rotating disk has two, when extraneous impact force be more than electromagnet suction and torsion it
And when, and using the first rotating disk 1 for upper end as reference, impact force is clockwise, the first rotating disk 1 is separated with middle rotating disk 2, in
Between rotating disk 2 and the second rotating disk 3 be clamped, conversely, when impact force is counterclockwise, the first rotating disk 1 and middle rotating disk 2 are clamping shape
State, middle rotating disk 2 and the second rotating disk 3 are separated.Rotating disk is not separately transmitted impact force, it is to avoid human body is damaged.When touching
When the power of hitting is released from, in the presence of torsion spring, close up, now, electromagnetic actuation.
Rigidity adjustable universal module is serially connected with robot transmission chain.
The content that above-described embodiment illustrates should be understood to that these embodiments are only used for being illustrated more clearly that this utility model,
Rather than limit scope of the present utility model, after having read this utility model, those skilled in the art are new to this practicality
The modification of the various equivalent form of values of type each falls within the application claims limited range.
Claims (10)
1. a kind of general module is it is characterised in that include the first rotating disk（1）, middle rotating disk（2）With the second rotating disk（3）；Described
One rotating disk（1）With middle rotating disk（2）Between be provided with the first reset element, described middle rotating disk（2）With the second rotating disk（3）Between set
There is the second reset element；Described first rotating disk（1）, the first reset element, middle rotating disk（2）, the second reset element and second turn
Disk（3）By connecting shaft（10）It is connected；The reset of described first reset element and the second reset element is in opposite direction and makes first
Rotating disk（1）, middle rotating disk（2）With the second rotating disk（3）Between form the Poewr transmission mechanism of hard and soft cooperation.
2. general module according to claim 1 is it is characterised in that described first rotating disk（1）With middle rotating disk（2）Between
It is additionally provided with the first adhesive assembly, described middle rotating disk（2）With the second rotating disk（3）Between be additionally provided with the second adhesive assembly.
3. general module according to claim 2 is it is characterised in that described first rotating disk（1）Towards middle rotating disk（2）'s
End face is provided with the first Magnet mounting blocks（6）, described second rotating disk（3）Towards middle rotating disk（2）End face be provided with the 4th magnetic
Ferrum mounting blocks（9）, described middle rotating disk（2）Two end faces be provided with respectively with described first Magnet mounting blocks（6）Cooperation is inhaled
The the second Magnet mounting blocks closing（7）And with described 4th Magnet mounting blocks（9）3rd Magnet mounting blocks of cooperation adhesive（8）；Institute
State the first Magnet mounting blocks（6）With the second Magnet mounting blocks（7）Form the first adhesive assembly, described 3rd Magnet mounting blocks（8）
With the 4th Magnet mounting blocks（9）Form the second adhesive assembly.
4. general module according to claim 3 is it is characterised in that described first Magnet mounting blocks（6）, second Magnet peace
Dress block（7）, the 3rd Magnet mounting blocks（8）With the 4th Magnet mounting blocks（9）Electric magnet is inside installed（14）And form electricity accordingly
Magnet mounting blocks.
5. general module according to claim 4 is it is characterised in that be provided with magnetic force size in described electric magnet mounting blocks
Adjustable electric magnet.
6. the general module according to claim 3 or 4 it is characterised in that described first reset element be used for will be because of external force
Detached first Magnet mounting blocks（6）With the second Magnet mounting blocks（7）Reset is pulled together, and described second reset element is used for
Will be because of the detached 3rd Magnet mounting blocks of external force（8）With the 4th Magnet mounting blocks（9）Reset is pulled together.
7. the general module according to claim 3 or 4 is it is characterised in that described second Magnet mounting blocks（7）With the 3rd magnetic
Ferrum mounting blocks（8）It is symmetrically distributed in middle rotating disk in 180 °（2）Both sides on.
8. the general module according to one of claim 1-4 is it is characterised in that described first reset element and second resets
Element is torsion spring（4,5）, and two torsion springs（4,5）The permission torsional direction of setting is contrary.
9. a kind of mechanical arm, including base（16）, it is sequentially connected in series in described base（16）On multiple joint arm assemblies（17,18）,
It is characterized in that, multiple joint arm assemblies（17,18）At least one of joint arm assembly built with least one as claim 1-8
One of described in general module（15）.
10. mechanical arm according to claim 9 is it is characterised in that equipped with described general module（15）Joint arm assembly
（17,18）Including with described second rotating disk（3）The first joint disk that cooperation is connected（21）, with the first joint disk（21）It is fixedly linked
First connecting rod（20）, and and first connecting rod（20）The Building L being hinged and connected（19）；Described first rotating disk（1）By second even
Bar（22）With the second joint disk（23）It is fixedly linked, this second joint disk（23）For the Building L with the joint arm assembly that is connected（19）Gu
Fixed connected；The Building L of the joint arm assembly of described next stage（19）It is contained in described base（16）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620877848.7U CN205969102U (en) | 2016-08-11 | 2016-08-11 | Arm and universal module thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620877848.7U CN205969102U (en) | 2016-08-11 | 2016-08-11 | Arm and universal module thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969102U true CN205969102U (en) | 2017-02-22 |
Family
ID=59977788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620877848.7U Active CN205969102U (en) | 2016-08-11 | 2016-08-11 | Arm and universal module thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969102U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078793A (en) * | 2016-08-11 | 2016-11-09 | 湖南瑞森可机器人科技有限公司 | A kind of adjustable general module of rigidity, mechanical arm and method of work |
| CN112719844A (en) * | 2021-01-23 | 2021-04-30 | 李春梅 | Wall-mounted electronic product assembling and producing device and assembling and producing method |
-
2016
- 2016-08-11 CN CN201620877848.7U patent/CN205969102U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078793A (en) * | 2016-08-11 | 2016-11-09 | 湖南瑞森可机器人科技有限公司 | A kind of adjustable general module of rigidity, mechanical arm and method of work |
| CN106078793B (en) * | 2016-08-11 | 2018-04-17 | 湖南瑞森可机器人科技有限公司 | A kind of rigidity adjustable general module, mechanical arm and method of work |
| CN112719844A (en) * | 2021-01-23 | 2021-04-30 | 李春梅 | Wall-mounted electronic product assembling and producing device and assembling and producing method |
| CN112719844B (en) * | 2021-01-23 | 2023-05-09 | 深圳市顿泽慧科技有限公司 | Wall-mounted electronic product assembly production device and assembly production method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |