CN206825460U - Redundant degree of freedom mechanical arm modular joint - Google Patents
Redundant degree of freedom mechanical arm modular joint Download PDFInfo
- Publication number
- CN206825460U CN206825460U CN201720532444.9U CN201720532444U CN206825460U CN 206825460 U CN206825460 U CN 206825460U CN 201720532444 U CN201720532444 U CN 201720532444U CN 206825460 U CN206825460 U CN 206825460U
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- CN
- China
- Prior art keywords
- fixing shell
- speed reducer
- harmonic speed
- joint
- motor
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses a kind of redundant degree of freedom mechanical arm modular joint, and it includes arthrodesis part, power assembly and electric part composition；The arthrodesis part includes arthrodesis end cap, driver rack, brake fixing shell, motor fixing shell harmonic decelerator fixing shell；The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, harmonic speed reducer output adpting flange and joint output end cap；The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder.Redundant degree of freedom mechanical arm modular joint of the present utility model is compact to design, small volume；Also cause that its weight is smaller, has higher integrated level simultaneously；And also there is higher load deadweight ratio.
Description
Technical field
It the utility model is related to a kind of mechanical arm modular joint, more particularly to a kind of redundant degree of freedom mechanical arm modular
Joint.
Background technology
With the development of robot technology, mechanical arm application field is increasingly extensive, is expanded to from industrial automation production
The fields such as Aero-Space, military affairs and household services.The continuous extension of mechanical arm application field, is proposed to the performance of mechanical arm
Higher requirement.But the mechanical arm product having been commercialized at present, in the prevalence of volume is big, weight is big, load deadweight than it is low,
The problems such as joint integrated level is low, largely limit the popularization of mechanical arm.
Utility model content
The utility model purpose is to provide a kind of lightweight redundant degree of freedom mechanical arm modular with hollow structure and closed
Section, with least solve volume existing for current mechanical arm is big, weight is big, load deadweight than the low, problem such as joint integrated level is low it
One.
The utility model solves technical problem and adopted the following technical scheme that：A kind of redundant degree of freedom mechanical arm modular closes
Section, it includes arthrodesis part, power assembly and electric part composition；
The arthrodesis part is fixed outer including arthrodesis end cap, driver rack, brake fixing shell, motor
Shell harmonic decelerator fixing shell；
The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, humorous
Ripple decelerator exports adpting flange and joint output end cap；
The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder；
The arthrodesis end cap is fixed on the left end of the brake fixing shell, the right side of the brake fixing shell
The left end of the motor fixing shell is fixed at end, and the harmonic speed reducer fixing shell is fixed on the motor fixing shell
Right-hand member；
The joint permanent magnet brake is fixedly mounted on the left end of the brake fixing shell, and is connected by brake
Flange is connected to hollow drive shaft；The DC servo motor is fixed in motor fixing shell, and drives the hollow transmission
Axle；
The both ends of the hollow drive shaft are supported in braking by the first deep groove ball bearing and the second deep groove ball bearing respectively
Inside device fixing shell and motor fixing shell；
The right-hand member of the hollow drive shaft exports adpting flange by harmonic speed reducer and harmonic speed reducer and is connected, institute
Harmonic speed reducer is stated to be fixed on inside the harmonic speed reducer fixing shell；
The boss that the joint output end cap exports adpting flange right-hand member by screw with harmonic speed reducer is connected；
The driver rack is fixed on the left end of the brake fixing shell by screw, and joint driver is fixed on
On driver rack, the Hall sensor is fixed on the left end of motor stator.
Optionally, the motor stator of the DC servo motor is fixed in motor fixing shell；Motor pressing cover is fixed on
The left end of the motor fixing shell, and between the brake fixing shell and motor fixing shell；The motor pressure
Lid coordinates with the shaft shoulder inside motor fixing shell, so as to which motor stator to be fixed on to the shaft shoulder and the institute of the motor fixing shell
State between motor pressing cover；The rotor of the DC servo motor is fixed on the hollow drive shaft.
Optionally, there is positioning shaft shoulder at the hollow drive shaft both ends, respectively with the first deep groove ball bearing and the second deep-groove ball
Bearing inner ring is engaged；The inside shaft shoulder of the brake fixing shell is engaged with the first deep groove ball bearing outer shroud, and motor is solid
The inside shaft shoulder and the second deep groove ball bearing outer shroud for determining shell coordinate, so as to realize the axially position to hollow drive shaft.
Optionally, the right-hand member of the hollow drive shaft is connected with the wave producer of harmonic speed reducer；Harmonic speed reducer
Wave producer is arranged on inside the flexbile gear of harmonic speed reducer；The steel wheel of harmonic speed reducer is arranged on outside the flexbile gear of harmonic speed reducer
Portion, and be fixed on inside harmonic speed reducer fixing shell.
Optionally, the flexbile gear of the harmonic speed reducer is connected by screw with the left end of harmonic speed reducer output adpting flange
Connect, absolute optical encoder is installed between harmonic speed reducer output adpting flange and harmonic speed reducer fixing shell.
Optionally, the brush of the absolute optical encoder is fixed on the right-hand member of harmonic speed reducer fixing shell, described
The code-disc of absolute optical encoder is fixed on the ring flange of the harmonic speed reducer output adpting flange, the absolute optical
The code-disc of photoelectric coder constitutes joint output end position detection means with brush.
Optionally, the redundant degree of freedom mechanical arm modular joint also include be installed on harmonic speed reducer fixing shell with
Crossed roller bearing between joint output end cap, the crossed roller bearing by the shaft shoulder of harmonic speed reducer fixing shell with
The shaft shoulder of joint output end cap carries out axially position.
Optionally, the base of the joint permanent magnet brake is fixedly mounted on the left end of brake fixing shell；Permanent magnetism system
The output end of dynamic device is connected with hollow drive shaft by brake adpting flange.
The utility model has the advantages that：Redundant degree of freedom mechanical arm modular joint design of the present utility model
It is compact, small volume；Also cause that its weight is smaller, has higher integrated level simultaneously；And higher load deadweight ratio.
Brief description of the drawings
Fig. 1 is the stereogram of redundant degree of freedom mechanical arm modular joint of the present utility model；
Fig. 2 is the sectional view of redundant degree of freedom mechanical arm modular joint of the present utility model；
Fig. 3 is the sectional view of hollow drive shaft of the present utility model.
Fig. 4 is the structural representation of brake adpting flange of the present utility model.
Fig. 5 is that harmonic speed reducer of the present utility model exports connecting flange structure schematic diagram.
Embodiment
The technical solution of the utility model is further elaborated with reference to embodiment and accompanying drawing.
Embodiment 1
With reference to figure 1- Fig. 5, a kind of redundant degree of freedom mechanical arm modular joint is present embodiments provided, especially a kind of tool
Have the lightweight redundant degree of freedom mechanical arm modular joint of hollow structure, it include arthrodesis part, power assembly and
Electric part forms；
It is solid that the arthrodesis part includes arthrodesis end cap 1, driver rack 3, brake fixing shell 4, motor
Determine the harmonic decelerator fixing shell 15 of shell 12.
The arthrodesis end cap 1 is fixed on the left end of the brake fixing shell 4, is fixed with closing the brake
The left end of shell 4, and in the present embodiment, the left end of the brake fixing shell 4 is the redundant degree of freedom mechanical arm mould
The power intake in block joint；The right-hand member of the brake fixing shell 4 is fixed on the left end of the motor fixing shell 12,
The harmonic speed reducer fixing shell 15 is fixed on the right-hand member of the motor fixing shell 12.
The power assembly includes joint permanent magnet brake 5, hollow drive shaft 8, DC servo motor 11, harmonic speed reducer
14th, harmonic speed reducer output adpting flange 16 and joint output end cap 19.
The base of the joint permanent magnet brake 5 is fixedly mounted on the left end of brake fixing shell 4；Permanent magnet brake 5
Output end be connected with hollow drive shaft 8 by brake adpting flange 6, the motor stator 11-2 of DC servo motor 11 is fixed
In motor fixing shell 12；The motor pressing cover 9 is fixed on the left end of the motor fixing shell 12, and is located at the braking
Between device fixing shell 4 and motor fixing shell 12；The motor pressing cover 9 coordinates with the shaft shoulder inside motor fixing shell 12,
So as to which motor stator 11-2 is fixed between the shaft shoulder and the motor pressing cover 9 of the motor fixing shell 12.
The both ends of the hollow drive shaft 8 are supported in system by the first deep groove ball bearing 7, the second deep groove ball bearing 13 respectively
Inside dynamic device fixing shell 4 and motor fixing shell 12, there is positioning shaft shoulder at the both ends of hollow drive shaft 8, deep with first respectively
The inner ring of 7 and second deep groove ball bearing of ditch ball bearing 8 is engaged, the inside shaft shoulder of brake fixing shell 4 and the first deep-groove ball axle
Hold 7 outer shrouds to be engaged, the inside shaft shoulder and the outer shroud of the second deep groove ball bearing 13 of motor fixing shell 12 coordinate, so as to realize centering
The axially position of empty power transmission shaft 8.
The hollow drive shaft 8 is fixedly connected by the way of bonding with rotor 11-1, to cause the direct current to watch
Taking motor 11 can drive the hollow drive shaft 8 to rotate.
The right-hand member of the hollow drive shaft 8 is connected with the wave producer 14-1 of harmonic speed reducer, the ripple of harmonic speed reducer
Generator 14-1 is arranged on inside harmonic reducer flexible wheel 14-3, and harmonic speed reducer steel wheel 14-2 is arranged on harmonic reducer flexible wheel
Outside 14-3 and it is fixed on inside harmonic speed reducer fixing shell 15.
The left end that the harmonic reducer flexible wheel 14-3 exports adpting flange 16 by screw with harmonic speed reducer is connected,
Harmonic speed reducer exports and is provided with absolute optical encoder 18 between adpting flange 16 and harmonic speed reducer fixing shell 15, absolutely
The right-hand member of harmonic speed reducer fixing shell 15, the code of absolute optical encoder are fixed on to the brush 18-1 of formula photoelectric encoder
Disk 18-2 is fixed on the ring flange of harmonic speed reducer output adpting flange 16, the code-disc 18-2 of the absolute optical encoder
Joint output end position detection means is constituted with brush 18-1.
The boss that the joint output end cap 19 exports the right-hand member of adpting flange 16 by screw with harmonic speed reducer is connected,
Crossed roller bearing 17 is installed between harmonic speed reducer fixing shell 15 and joint output end cap 19, is consolidated by harmonic speed reducer
The shaft shoulder for determining the shaft shoulder and joint output end cap 19 of shell 15 carries out axially position.
The electric part includes driver rack 3, joint driver 2, Hall sensor 10, absolute optical encoder
18。
The driver rack 3 is fixed on the left end of the brake fixing shell 4 by screw, and joint driver 2 is solid
Due on driver rack 3, the Hall sensor 10 is fixed on motor stator 11-2 left end.
Subtract along the joint permanent magnet brake 5, braking adpting flange 6, hollow rotary shaft 8, the harmonic of harmonic speed reducer 14
The central axis of fast device output adpting flange 16 offers through hole, and the through hole is used to make power line and order wire wear therefrom
Cross, in the present embodiment, due to the joint permanent magnet brake 5, braking adpting flange 6, hollow rotary shaft 8, harmonic speed reducer 14
Harmonic decelerator output adpting flange 16 employs Large central aperture design, when joint series, can make power line and lead to
Letter line passes through from centre bore, so as to play the protective effect to cable, avoids that wiring caused by outside cabling is mixed and disorderly and line
The abrasion of cable.
The left end of the hollow drive shaft 8 is connected by brake adpting flange 6 with joint permanent magnet brake 5, works as permanent magnetism
During brake power-off brake, braking moment is delivered to by hollow rotary shaft 8 by brake adpting flange 6, so as to realize joint
Braking and holding.
The rotor 11-1 is fixedly connected with hollow drive shaft 8, what the right-hand member of hollow drive shaft 8 was fastened by screw
Mode is fixedly connected with harmonic speed reducer wave producer 14-1, and passes through harmonic speed reducer wave producer 14-1, harmonic speed reducer
The harmonic speed reducer unit 14 of steel wheel 14-2, decelerator flexbile gear 14-3 composition carries out primary speed-down, decelerator flexbile gear 14-3 conducts
The output par, c of harmonic speed reducer 14, adpting flange 16 is exported by decelerator and is fixedly connected with joint output end cap 19, so as to real
The now power output in whole joint.
The sequencing of above example only for ease of describing, does not represent the quality of embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：
It can still modify to the technical scheme described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (8)
- A kind of 1. redundant degree of freedom mechanical arm modular joint, it is characterised in that including arthrodesis part, power assembly and Electric part forms；The arthrodesis part include arthrodesis end cap, driver rack, brake fixing shell, motor fixing shell and Harmonic speed reducer fixing shell；The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, harmonic wave and subtracted Fast device output adpting flange and joint output end cap；The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder；The arthrodesis end cap is fixed on the left end of the brake fixing shell, and the right-hand member of the brake fixing shell is consolidated Due to the left end of the motor fixing shell, the harmonic speed reducer fixing shell is fixed on the right side of the motor fixing shell End；The joint permanent magnet brake is fixedly mounted on the left end of the brake fixing shell, and passes through brake adpting flange It is connected to hollow drive shaft；The DC servo motor is fixed in motor fixing shell, and drives the hollow drive shaft；The both ends of the hollow drive shaft are supported in brake by the first deep groove ball bearing and the second deep groove ball bearing respectively and consolidated Determine inside shell and motor fixing shell；The right-hand member of the hollow drive shaft exports adpting flange by harmonic speed reducer and harmonic speed reducer and is connected, described humorous Ripple decelerator is fixed on inside the harmonic speed reducer fixing shell；The boss that the joint output end cap exports adpting flange right-hand member by screw with harmonic speed reducer is connected；The driver rack is fixed on the left end of the brake fixing shell by screw, and joint driver is fixed on driving On device support, the Hall sensor is fixed on the left end of motor stator.
- 2. redundant degree of freedom mechanical arm modular joint according to claim 1, it is characterised in that the DC servo electricity The motor stator of machine is fixed in motor fixing shell；Motor pressing cover is fixed on the left end of the motor fixing shell, and is located at Between the brake fixing shell and motor fixing shell；The motor pressing cover is matched somebody with somebody with the shaft shoulder inside motor fixing shell Close, so as to which motor stator is fixed between the shaft shoulder and the motor pressing cover of the motor fixing shell；The DC servo The rotor of motor is fixed on the hollow drive shaft.
- 3. redundant degree of freedom mechanical arm modular joint according to claim 2, it is characterised in that the hollow drive shaft There is positioning shaft shoulder at both ends, are engaged respectively with the first deep groove ball bearing and the second deep groove ball bearing inner ring；The brake is fixed The inside shaft shoulder of shell is engaged with the first deep groove ball bearing outer shroud, the inside shaft shoulder of motor fixing shell and the second deep-groove ball axle Outer shroud cooperation is held, so as to realize the axially position to hollow drive shaft.
- 4. redundant degree of freedom mechanical arm modular joint according to claim 3, it is characterised in that the hollow drive shaft Right-hand member be connected with the wave producer of harmonic speed reducer；The wave producer of harmonic speed reducer is arranged on the flexbile gear of harmonic speed reducer It is internal；The steel wheel of harmonic speed reducer is arranged on outside the flexbile gear of harmonic speed reducer, and is fixed in harmonic speed reducer fixing shell Portion.
- 5. redundant degree of freedom mechanical arm modular joint according to claim 4, it is characterised in that the harmonic speed reducer Flexbile gear the left end of adpting flange exported by screw and harmonic speed reducer be connected, harmonic speed reducer export adpting flange with it is humorous Absolute optical encoder is installed between ripple decelerator fixing shell.
- 6. redundant degree of freedom mechanical arm modular joint according to claim 5, it is characterised in that the absolute type photoelectricity The brush of encoder is fixed on the right-hand member of harmonic speed reducer fixing shell, and the code-disc of the absolute optical encoder is fixed on institute On the ring flange for stating harmonic speed reducer output adpting flange, code-disc and the brush of the absolute optical encoder constitute joint Output end position detection means.
- 7. redundant degree of freedom mechanical arm modular joint according to claim 6, it is characterised in that also humorous including being installed on Crossed roller bearing between ripple decelerator fixing shell and joint output end cap, the crossed roller bearing pass through harmonic reduction The shaft shoulder of the shaft shoulder of device fixing shell and joint output end cap carries out axially position.
- 8. redundant degree of freedom mechanical arm modular joint according to claim 7, it is characterised in that the joint permanent magnet system The base of dynamic device is fixedly mounted on the left end of brake fixing shell；The output end of permanent magnet brake passes through system with hollow drive shaft Dynamic device adpting flange connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720532444.9U CN206825460U (en) | 2017-05-15 | 2017-05-15 | Redundant degree of freedom mechanical arm modular joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720532444.9U CN206825460U (en) | 2017-05-15 | 2017-05-15 | Redundant degree of freedom mechanical arm modular joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206825460U true CN206825460U (en) | 2018-01-02 |
Family
ID=60771649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720532444.9U Expired - Fee Related CN206825460U (en) | 2017-05-15 | 2017-05-15 | Redundant degree of freedom mechanical arm modular joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206825460U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
-
2017
- 2017-05-15 CN CN201720532444.9U patent/CN206825460U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180102 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |