CN207240248U - A kind of joint of mechanical arm structure - Google Patents
A kind of joint of mechanical arm structure Download PDFInfo
- Publication number
- CN207240248U CN207240248U CN201721270575.0U CN201721270575U CN207240248U CN 207240248 U CN207240248 U CN 207240248U CN 201721270575 U CN201721270575 U CN 201721270575U CN 207240248 U CN207240248 U CN 207240248U
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- Prior art keywords
- joint
- circuit
- mechanical arm
- pulling force
- communication module
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- 238000004891 communication Methods 0.000 claims abstract description 35
- 238000012423 maintenance Methods 0.000 abstract description 18
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The utility model discloses a kind of joint of mechanical arm structure, restrict including first rotating shaft, the second shaft, fixing end, movable end and driving, pulling force sensor is provided with driving rope, the both ends of pulling force sensor are connected with rope body respectively, the joint structure further includes circuit part, circuit part includes comparison circuit, microcontroller, communication module and power supply, the input terminal of the output terminal connection comparison circuit of pulling force sensor, the signal input part of the output terminal connection microcontroller of comparison circuit, communication module connect the communication interface of microcontroller.The joint of mechanical arm on every driving rope by installing pulling force sensor additional, the level of stretch of driving rope is checked, and produce warning message when driving rope to be excessively stretched, abnormal driving rope is accurately informed into maintenance personal by way of voice broadcast, network service, so as to greatly convenient maintenance, additionally realize that the tracking of the condition in damaged to every driving rope is fed back by counting the technological means of display, easy to maintenance and management.
Description
Technical field
Robotic technology field is the utility model is related to, more specifically, it relates to a kind of joint of mechanical arm structure.
Background technology
Ultra-redundant degree of freedom mechanical arm puts forward to solve the problems, such as that conventional serial robot dexterity is poor, it is logical
Crossing increases substantial amounts of Joint motion, the dimension of joint space is much larger than task space dimension, the introducing of Joint motion makes machinery
Arm can more neatly realize desired terminal position.However, ultra-redundant degree of freedom mechanical arm uses discrete mostly at present
Motor and driver, motor is directly installed at cradle head, and driver is fixed in switch board, the two is carried out with cable
Connection, can so bring many shortcomings, for example, the electric wiring of mechanical arm is very cumbersome, be unfavorable for repair and maintenance；Add machine
The inertia and quality of tool arm, are unfavorable for high-speed motion and quick response；In order to realize that multifreedom motion will inevitably be led
Cause the complication of control system.
To overcome above-mentioned drawback, the Chinese patent of Application No. CN201510629272.2 discloses a kind of rope driver tool
Shoulder joint, the joint include first rotating shaft and the second shaft, and first rotating shaft and the second shaft are in right-angled intersection, including fixing end,
Movable end is restricted with driving, and movable end can be relatively fixed end rotating around first rotating shaft, the second shaft and rotate, and driving rope, which is at least, to be located,
Along the circumferentially distributed of movable end；One end of driving rope and movable end are affixed, and the other end can independently pull work under the effect of external force
Moved end rotates.The patent greatly mitigates the weight in joint, so as to further increase the bearing capacity of mechanical arm, is advantageously implemented
The high-speed mobile and quick response of mechanical arm；Meanwhile eliminate the arrangement work of electric wiring.
But this kind of joint of mechanical arm, due to being driven driving force by rope, the tensile strength of rope is limited, in machinery
During arm high-speed cruising（When especially mechanical arm clamping weight is run）, under the action of larger movement inertia and inertia, machinery
The rope of shoulder joint can bear very big pulling force, so the situation that rope is pulled off is unavoidable.Since mechanical arm is high
Precision mechanical device, it is more complicated that it constructs assembling, breaks down or during damage when it is internal, maintenance personnel be difficult often
The component of damage or failure is known at the first time, therefore the maintenance of mechanical arm is a very difficult thing.It is special corresponding to this
Joint in profit, its flimsy component is rope, even disconnected when there is rope to be damaged since the quantity of rope is at least 3
When splitting, it is which root rope goes wrong that can accurately inform maintenance personal, is extremely necessary for rapid-maintenance.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model is to provide a kind of joint of mechanical arm structure, should
The damage situations of joint structure detection driving rope, greatly convenient maintenance.
To achieve the above object, the utility model provides following technical solution：
A kind of joint of mechanical arm structure, including first rotating shaft, the second shaft, fixing end, movable end are restricted with driving, the drive
Pulling force sensor is provided with running rope, the both ends of pulling force sensor are connected with rope body respectively, which further includes circuit portion
Point, circuit part includes comparison circuit, microcontroller, communication module and power supply, the output terminal connection ratio of the pulling force sensor
Compared with the input terminal of circuit, the signal input part of the output terminal connection microcontroller of comparison circuit, the communication module connects microcontroller
Communication interface.
Using the above scheme, when driving rope stress produces stretching, pulling force passes sensor and detects pulling force and export pulling force
Signal is detected, when driving rope to be excessively stretched, microcontroller generation warning message, and can be by communication module by warning message
Maintenance personal is sent to, it is which root driving rope is damaged or is broken that maintenance personal, which just can learn, so that greatly convenient maintenance.
Preferably：Circuit part further includes voice IC and loudspeaker, the signal output part connection of the microcontroller
The signal output part connection loudspeaker of voice IC, voice IC.
Using the above scheme, when driving rope to be excessively stretched, microcontroller sends control instruction to voice IC, and voice IC connects
Controlling loudspeaker plays alarm voice after receiving the control instruction, timely easy to personnel on the scene to remind the staff at scene
Take counter-measure.
Preferably：Circuit part further includes counting circuit, display driver circuit and display screen, and counting circuit touches
Originator is connected with the output terminal of comparison circuit, the input terminal of the output terminal connection display driver circuit of counting circuit, display driving
The output terminal connection display screen of circuit.
Using the above scheme, when driving rope to be excessively stretched, counting circuit is counted after receiving high level signal with regard to cumulative
Once, the accumulative numerical value remembered is shown screen and shows number, and monitoring personnel is by checking that display screen can just understand machinery at any time
The loss situation of each driving rope in shoulder joint.
Preferably：The communication module includes network communication module and wireless communication module.
Using the above scheme, warning message can be sent to custodian by way of wire communication and wireless communication
Member.
Preferably：The network communication module is RS485 communication modules.
Preferably：The wireless communication module is ZIGBEE modules.
Preferably：The both ends of the pulling force sensor are connected by the rope body of the anchor ear and driving rope of open loop type
Connect.
Using the above scheme, when driving rope to be stretched, anchor ear will occur to slide relatively with driving rope, so as to avoid drawing
Force snesor is subject to the pulling force of bigger, prevents pulling force sensor to be damaged.
Compared with prior art, the utility model has the advantages that：The joint of mechanical arm on every driving rope by installing additional
Pulling force sensor, checks the level of stretch of driving rope, and produces warning message when driving rope to be excessively stretched, and passes through
Abnormal driving rope is accurately informed maintenance personal by voice broadcast, the mode of network service, so that greatly convenient maintenance, additionally
Technological means by counting display realizes that the tracking of the condition in damaged to every driving rope is fed back, easy to maintenance and management.
Brief description of the drawings
Fig. 1 is the schematic diagram of joint structure in embodiment one；
Fig. 2 is the A portions enlarged drawing in Fig. 1；
Fig. 3 is the circuit diagram in embodiment one；
Fig. 4 is the connection diagram of the sensor in embodiment two.
Description of reference numerals:1st, first rotating shaft；2. the second shaft；3 fixing ends；4th, movable end；5th, driving rope；6th, pulling force
Sensor；7th, retainer ring；8th, anchor ear.
Embodiment
Embodiment one：
With reference to Fig. 1, a kind of joint of mechanical arm structure, including first rotating shaft 1, the second shaft 2, fixing end 3, movable end 4 with
Driving rope 5, wherein 1 and second shaft 2 of first rotating shaft use right-angled intersection structure, movable end 4 can rotating around first rotating shaft 1,
Second shaft 2 is relatively fixed 3 flexible rotatings of end, and driving rope 5 is at least at 3, along the circumferentially distributed of movable end 4, specifically, driving
One end of rope 5 and movable end are affixed, and the other end can be in external force（The usually driving of motor）Under the action of independently pull movable end 4
Rotate, by tensing and loosening driving rope 5, can realize rotation of the movable end 4 on two free degree directions.
With reference to Fig. 2, pulling force sensor 6 is provided with every driving rope, the both ends of pulling force sensor 6 connect two respectively
A retainer ring 7, two retainer rings 7 are coated and fixed on the outer wall of driving rope 5.The pressure sensor 6 senses for tension strain formula
The spacing of two retainer rings 7, is arranged to appropriate value so that in an initial condition by device --- when i.e. driving rope 5 is not stretched,
Pulling force sensor 6 and once drives rope 5 to be stretched from the effect of pulling force, then pulling force sensor 6 will under tension work
With.
With reference to Fig. 3, which further includes circuit part, circuit part include comparison circuit, microcontroller, voice IC,
Loudspeaker, network communication module and wireless communication module.Wherein, the input of the output terminal connection comparison circuit of pulling force sensor
End, the signal input part of the output terminal connection microcontroller of comparison circuit, signal output part connection the voice IC, voice IC of microcontroller
Signal output part connection loudspeaker, network communication module and wireless communication module are all connected with the communication interface of microcontroller.This reality
Apply in example, network communication module is RS485 communication modules, and wireless communication module is ZIGBEE modules.Pulling force sensor, compare
Circuit, microcontroller, network communication module, wireless communication module, voice IC and loudspeaker are all connected with respective working power.
Under normal circumstances --- when i.e. driving rope 5 is not stretched, pulling force sensor 6 is without pulling force signal output.
In abnormal cases --- the movement inertia of mechanical arm is very big at this time, causes very big drawing force to driving rope 5, drives
Running rope 5 is stretched, and the effect of 6 under tension of pulling force sensor simultaneously exports pull force calculation signal.
Comparison circuit by pull force calculation signal compared with reference signal set in advance, when the former is more than the latter,
Comparison circuit exports a high level signal, is judged as that driving rope 5 is excessively stretched at this time, driving rope 5 starts to be damaged.Compare electric
The high level signal is sent to microcontroller, microcontroller generation warning message and simultaneously sends control instruction, voice IC to voice IC by road
Controlling loudspeaker plays alarm voice after receiving the control instruction, to remind the staff at scene.Microcontroller also passes through net
Network communication module and wireless communication module send warning message to host computer or other receiving devices, so as to fulfill long-range report
It is alert.
After maintenance personal receives warning device or alarm voice, can know be which root driving rope it is impaired or
Fracture, so as to it is targeted, accurately carry out maintenance, bring great convenience to maintenance.
The present embodiment adds the function of counting display on the basis of such scheme.
With reference to Fig. 3, circuit part further includes counting circuit, display driver circuit and display screen.Wherein counting circuit is tactile
Originator is connected with the output terminal of comparison circuit, the input terminal of the output terminal connection display driver circuit of counting circuit, display driving
The output terminal connection display screen of circuit.
When comparison circuit exports high level signal --- when driving rope 5 is excessively stretched, counting circuit receives height
After level signal with regard to accumulated counts once, the numerical value for adding up to remember is shown screen and shows, monitoring personnel is by checking display
Screen can just understand the loss situation of each driving rope in joint of mechanical arm at any time.The numeral that display screen is shown is bigger, illustrates pair
The situation that the driving rope answered is damaged is more serious, and intra-articular each driving rope can be so managed with personnel tracking easy to repair.
Embodiment two：
The difference between this embodiment and the first embodiment lies in pulling force sensor 6 is different from the connection mode of driving rope 5.
With reference to Fig. 4, substitute the retainer ring 7 in embodiment one with the anchor ear 8 of open loop structure, anchor ear 8 clamp driving rope 5 so as to
It is fixed on driving rope 5.Grip friction power between anchor ear 8 and driving rope 5 is less than the stress limit of pulling force sensor 6.In this way,
When driving rope 5 is stretched, when the pulling force that pulling force sensor 6 is subject to is not up to its stress limit, anchor ear 8 will restrict with driving
5 occur opposite slip, so as to avoid pulling force sensor 6 from being subject to the pulling force of bigger, prevent that pulling force sensor 6 is impaired.
The above is only the preferred embodiment of the utility model, and the scope of protection of the utility model is not limited merely to
Above-described embodiment, all technical solutions belonged under the utility model thinking belong to the scope of protection of the utility model.It should refer to
Go out, for those skilled in the art, some improvement under the premise of the utility model principle is not departed from and
Retouching, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (7)
1. a kind of joint of mechanical arm structure, including first rotating shaft, the second shaft, fixing end, movable end are restricted with driving, its feature
It is：Pulling force sensor is provided with the driving rope, the both ends of pulling force sensor are connected with rope body respectively, which also wraps
Circuit part is included, circuit part includes comparison circuit, microcontroller, communication module and power supply, the output of the pulling force sensor
The input terminal of end connection comparison circuit, the signal input part of the output terminal connection microcontroller of comparison circuit, the communication module connect
Connect the communication interface of microcontroller.
2. joint of mechanical arm structure according to claim 1, it is characterized in that：Circuit part further includes voice IC and raises one's voice
Device, the signal output part connection loudspeaker of signal output part connection the voice IC, voice IC of the microcontroller.
3. joint of mechanical arm structure according to claim 1, it is characterized in that：Circuit part further includes counting circuit, display
Drive circuit and display screen, the triggering end of counting circuit and the output terminal of comparison circuit connect, the output terminal connection of counting circuit
The input terminal of display driver circuit, the output terminal connection display screen of display driver circuit.
4. joint of mechanical arm structure according to claim 1, it is characterized in that：The communication module includes network communication module
And wireless communication module.
5. joint of mechanical arm structure according to claim 4, it is characterized in that：The network communication module communicates for RS485
Module.
6. joint of mechanical arm structure according to claim 4, it is characterized in that：The wireless communication module is ZIGBEE moulds
Block.
7. joint of mechanical arm structure according to claim 1, it is characterized in that：The both ends of the pulling force sensor are by opening
The anchor ear of ring type is connected with the rope body of driving rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270575.0U CN207240248U (en) | 2017-09-29 | 2017-09-29 | A kind of joint of mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270575.0U CN207240248U (en) | 2017-09-29 | 2017-09-29 | A kind of joint of mechanical arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240248U true CN207240248U (en) | 2018-04-17 |
Family
ID=61890445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721270575.0U Expired - Fee Related CN207240248U (en) | 2017-09-29 | 2017-09-29 | A kind of joint of mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207240248U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942958A (en) * | 2018-07-13 | 2018-12-07 | 哈尔滨工业大学（深圳） | A kind of mechanical arm carrying out pull force calculation |
| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN112945720A (en) * | 2020-12-29 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Tension test method and device for power transmission line |
-
2017
- 2017-09-29 CN CN201721270575.0U patent/CN207240248U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942958A (en) * | 2018-07-13 | 2018-12-07 | 哈尔滨工业大学（深圳） | A kind of mechanical arm carrying out pull force calculation |
| CN108942958B (en) * | 2018-07-13 | 2020-09-08 | 哈尔滨工业大学（深圳） | Mechanical arm capable of detecting tension |
| CN111015645A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN111015645B (en) * | 2019-12-25 | 2022-09-20 | 中国科学院沈阳自动化研究所 | Rope-driven continuous flexible mechanical arm |
| CN112945720A (en) * | 2020-12-29 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Tension test method and device for power transmission line |
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Legal Events
| 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: 20180417 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |