Modularization mechanical arm joint with variable freedom

A degree of freedom and modular technology, applied in the field of robotic arms, can solve problems such as poor flexibility, inability to complete combination and replacement of joints, and different structural forms of joints, etc., to achieve cost reduction, compact overall structure design, and convenient internal wiring Effect

Active Publication Date: 2015-09-16
AUBO BEIJING ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the different structural forms of each joint, each joint cannot be combined and replaced arbitrarily, and the flexibility is poor

Method used

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  • Modularization mechanical arm joint with variable freedom
  • Modularization mechanical arm joint with variable freedom
  • Modularization mechanical arm joint with variable freedom

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0041] The modular mechanical arm joint with variable degrees of freedom of the present invention includes an output flange shaft 1, a harmonic reducer 2, a hollow shaft motor 3, a brake device 4, a double code disc positioning mechanism 5 and a housing 6, such as figure 1 shown.

[0042] The output flange shaft 1 is an integral structure composed of two parts, the output flange 101 and the output shaft 102, such as figure 2 As shown, the output flange 101 is coaxially connected with the front end of the output shaft 102 . Wherein, the output shaft 102 is coaxially sleeved with a harmonic reducer 2 , a hollow shaft motor 3 , a braking device 4 and a double-code disc positioning mechanism 5 sequentially from front to back. The above-mentioned harmonic reducer 2, hollow shaft motor 3, braking device 4, and double code disc positioning mechanism 5 are all loc...

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Abstract

The invention discloses a modularization mechanical arm joint with variable freedom. Modularization design idea is introduced into the design of a light mechanical arm, and through a plurality of mechanical arm joints, modularization mechanical arms with different freedom degrees can be formed by splicing. The modularization mechanical arm joint comprises an output flange shaft formed by an output flange and an output shaft, a harmonic wave speed reducer, a hollow shaft motor, a braking device and a double-coded-disc locating mechanism. The harmonic wave speed reducer and the output flange are fixed. Meanwhile, the harmonic wave speed reducer and a hollow shaft of the hollow shaft motor are fixed. The hollow shaft rotates, and after speed reducing through the harmonic wave speed reducer, the output flange is driven to rotate. The braking device is used for carrying out emergency braking during an emergency situation. The double-coded-disc locating mechanism is used for obtaining the speed information of the hollow shaft and the position information of the output shaft. Control of the parts is achieved through a servo driving circuit. The modularization mechanical arm joint has the advantages that the mechanical arm can have strong environment adaptation capacity, and high function expandability, flexibility and adaptability are achieved.

Description

technical field [0001] The invention relates to a mechanical arm, specifically, a modular mechanical arm joint with variable degrees of freedom, which is composed of a plurality of independent modular monomers and connectors, and has typical modular characteristics. Background technique [0002] With the development of mechatronics technology, industrial products are developing in the direction of intelligence, systematization, miniaturization and modularization. Especially in the field of light manipulators, the manipulators have the development trend of high precision, modularization, light weight and multi-axis. For the traditional manipulator, due to its relatively fixed configuration, the structural form of each degree of freedom is different, it is not replaceable, and the composition method is relatively simple. Due to the limitation of its own structure, its single function is determined. and cannot adapt to complex and changeable environments and tasks. [0003] T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
Inventor 陶宁
Owner AUBO BEIJING ROBOTICS TECH CO LTD
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