Space bearing type modular mechanical arm joint and combination thereof

A componentized, robotic arm technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of small end load, positioning accuracy control of the end of the manipulator and complicated internal wiring, etc., achieve small size, increase real-time control performance, The effect of high reduction ratio

Inactive Publication Date: 2014-03-19
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, since each joint of the robotic arm has two degrees of freedom, the self-weight and structural characteristics of the long mechanical h

Method used

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  • Space bearing type modular mechanical arm joint and combination thereof

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Effect test

Embodiment 1

[0029] Such as figure 1 As shown, this embodiment provides a space-bearing componentized mechanical arm joint, including a load-bearing connection mechanism, an incremental encoder, a servo motor, a planetary reduction mechanism, a bevel gear, an absolute encoder, a cross roller bearing, Output shaft, harmonic reducer, rotating load-bearing mechanism, fixed load-bearing mechanism, EtherCAT bus drive, wherein, the load-bearing connection mechanism is fixedly connected to the fixed load-bearing mechanism, and the fixed load-bearing mechanism is connected to the rotating load-bearing mechanism through the harmonic reducer and the cross roller bearing , one end of the servo motor is connected to the incremental encoder, and the other end of the servo motor is connected to the planetary reduction mechanism. The encoder is fixedly connected to the output shaft, and the EtherCAT bus driver is connected with the servo motor to perform servo control on the servo motor.

[0030] Furthe...

Embodiment 2

[0037] This embodiment provides a componentized space-bearing componentized manipulator joint, including a plurality of space-bearing componentized manipulator joints provided in Embodiment 1 that are combined and connected.

[0038] Further, two of the plurality of space-bearing componentized robotic arm joints are fixedly connected by a load-bearing connection mechanism.

[0039]Further, the load-bearing connection mechanism is used to bear the connection strength between two interconnected space-bearing componentized mechanical arm joints, and the length and strength of the load-bearing connection mechanism determine the components of the space-bearing componentized mechanical hip joint. performance.

[0040] Furthermore, the joints of multiple space-bearing componentized manipulators are connected through the EtherCAT bus, which greatly reduces the complexity of wiring in the manipulator and effectively improves the speed of real-time control.

[0041] The course of work ...

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Abstract

The invention provides a space bearing type modular mechanical arm joint. A bearing connection mechanism is fixedly connected with a fixed bearing mechanism which is connected with a rotary bearing mechanism through a harmonic reducer and a cross roller bearing, one end of a servo motor is connected with an incremental encoder, the other end of the servo motor is connected with a planetary speed reduction mechanism which is connected with the harmonic reducer through a bevel gear, the cross roller bearing is connected with the rotary bearing mechanism through an output shaft, an absolute encoder is fixedly connected onto the output shaft, and an EtherCAT bus driver is connected with the servo motor and performs servo control on the servo motor. The invention further discloses a modular space bearing type modular mechanical arm joint which includes a plurality of space bearing type modular mechanical arm joints which are combined together. The modular space bearing type modular mechanical arm joint is applicable to the maintenance environment with small inlets of magnetic confinement fusion (MCF) devices, long distance and large rotation space, and has the advantages of being light, compact in structure, large in bearing capacity, convenience in wiring, good in real-time communication and the like.

Description

technical field [0001] The invention relates to the technical field of nuclear power plant construction, operation and maintenance, in particular to a space-bearing componentized mechanical arm joint. Background technique [0002] The construction, operation and maintenance of MCF (Magnetic Confinement Fusion) equipment in the ITER (International Thermonuclear Experimental Reactor) project are affected by factors such as high radiation intensity, high temperature, relatively narrow entrance and internal cross-section, large radius of gyration, and inaccessibility of personnel. The long-distance remote control robotic arm has become one of the necessary facilities for MCF equipment maintenance. The LORA robotic arm (also known as AIA robot) developed by the CEALIST Interactive Robotics Laboratory is responsible for the maintenance task of sealing the hot chamber inside the Tokamak cavity. However, since each joint of the robotic arm has two degrees of freedom, the self-weigh...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 曹其新王鹏飞顾凯白卫邦何明超
Owner SHANGHAI JIAO TONG UNIV
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