Manipulator driving hand joint structure for remote control operation and driving joint robot

Abstract

The utility model discloses a manipulator driving hand joint structure for remote control operation and a driving joint robot, and the manipulator driving hand joint structure comprises a first arm, a second arm, a power-off brake and a power-on retainer; the first outer wall of the power-off brake and the second arm are relatively fixed, the first inner shaft of the power-off brake and the first arm are relatively fixed, when the power-off brake is powered on, the first outer wall and the first inner shaft can rotate relatively, and when the power-off brake is not powered on, the second outer wall and the first inner shaft are relatively fixed; the second outer wall of the power-on retainer is relatively fixed with the second arm, the second inner shaft of the power-on retainer is relatively fixed with the first arm, and when the power-on retainer is powered on, a magnetic field is generated between the second inner shaft and the second outer wall to generate retarding torque. By arranging the power-off brake and the power-on retainer which are connected in series, the first arm and the second arm can be kept at the original positions no matter in the power-on state or the power-off state, and operation is safer.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, and is specifically designed to provide an active hand joint structure of a manipulator for remote control operation and an active joint robot. Background Art

[0002] In robot applications, such as Figure 1 As shown, the robot with master-slave remote control operation function includes an active joint robot 100 and a driven joint robot 200. The active joint robot 100 is placed in a safe area for remote control, and the driven joint robot 200 is placed in a dangerous area for operation. The active joint robot 100 is a device that actively issues remote control operation commands, and the driven joint robot 200 is an operating end that works according to the actions of the active joint robot 100.

[0003] Since the active joint robot 100 does not have a torque holding function after power failure, it is usually unable to maintain its working state due to its gravity after power failure, which makes it inconvenient to use and has great operational risks. Utility Model Content

[0004] In view of the above problems, the utility model proposes an active hand joint structure of a manipulator for remote control operation.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A robot active hand joint structure for remote control operation, comprising a first arm, a second arm, a power-off brake and a power-on retainer;

[0007] The power-off brake comprises a first outer wall and a first inner shaft, wherein the first outer wall is relatively fixed to the second arm, and the first inner shaft is relatively fixed to the first arm. When the power-off brake is powered, the first outer wall and the first inner shaft can rotate relative to each other, and when the power-off brake is not powered, the second outer wall and the first inner shaft are relatively fixed.

[0008] The powered retainer is a magnetic powder brake or an eddy current brake. The powered retainer has a second outer wall and a second inner shaft. The second outer wall is relatively fixed to the second arm, and the second inner shaft is relatively fixed to the first arm. When the powered retainer is powered, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to move relative to each other. When the powered retainer is de-energized, no magnetic field is generated between the second outer wall and the second inner shaft, and the second outer wall and the second inner shaft can rotate relative to each other.

[0009] Before the main hand joint structure of the manipulator of the present application is powered on, the first arm and the second arm are in a braking state due to the action of the power-off brake. After power is on, the power-off brake is energized and the power-off brake is no longer in a braking state. The power-off brake will not hinder the movement of the first arm and the second arm. After the energized retainer is energized, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to produce relative movement. That is, after power is supplied, the first arm and the second arm are still in a state of maintaining their original postures and will not fall automatically. When the second arm is dragged by hand, the torque balance is destroyed and the second arm can rotate relative to the first arm. The present application can make the first arm and the second arm maintain their original positions regardless of whether they are powered on or off by setting a power-off brake and a power retainer connected in series, making the operation safer.

[0010] In one embodiment of the present invention, the power-off brake is an electromagnetic brake, the first inner shaft has a first braking surface, and the power-off brake further includes:

[0011] A brake member is slidably mounted on the first outer wall and fixed relative to the first outer wall in the axial direction, the brake member has a second brake surface, the brake member is sleeved on the first inner shaft, and the second brake surface corresponds to the first brake surface;

[0012] A spring, used to make the second braking surface and the first braking surface have a tendency to move closer to each other and press tightly;

[0013] The magnetic component is relatively fixed to the first outer wall. When the magnetic component is not energized, the spring causes the second braking surface and the first braking surface to be pressed against each other, and the first inner shaft and the first outer wall are relatively fixed. When the magnetic component is electrically energized, the elastic force of the spring is overcome to adsorb the braking member, so that the second braking surface and the first braking surface are separated from each other, and the first inner shaft and the first outer wall can rotate relative to each other.

[0014] In one embodiment of the present invention, it also includes a first sensor for detecting the rotation of the second arm relative to the first arm. The first sensor has a third outer wall and a third inner shaft that can rotate relative to the third outer wall. The third outer wall is fixed relative to the second arm, and the third inner shaft is fixed relative to the first arm.

[0015] In actual use, the slave joint robot can be enlarged in proportion. The first arm and the second arm of the slave joint robot are driven by a rotary drive motor. The rotary drive element can be a motor, a pneumatic motor, a hydraulic motor, etc.

[0016] When the second arm and the first arm rotate relative to each other, the first sensor can measure information such as position, speed and acceleration, and can calculate the rotation angle, speed and acceleration of the second arm relative to the first arm in real time and uniquely, and send the information to the slave joint robot to control the synchronous movement of the slave joint robot.

[0017] In one embodiment of the present invention, the first inner shaft, the second inner shaft and the third inner shaft are connected to each other and can rotate synchronously. In actual use, the first inner shaft, the second inner shaft and the third inner shaft are connected by a key shaft.

[0018] In one embodiment of the present invention, the first sensor is a rotary transformer, an encoder, a tachometer generator or a potentiometer.

[0019] In actual use, the first sensor can also be an LVDT sensor or a linear grating sensor set on the first arm and the second arm. In this case, the movement distance of the second arm relative to the first arm can be converted into the rotation angle of the second arm relative to the first arm through the existing algorithm.

[0020] In one embodiment of the present invention, an axial positioning member is further included. The axial positioning member is disposed on the first arm and is used to position and fix the first inner shaft.

[0021] The present application also discloses a robot active hand joint structure for remote control operation, comprising a first arm, a second arm, a second sensor, a power-off brake, and a power-on retainer;

[0022] The second arm is hinged to the first arm, and a second sensor for detecting movement of the second arm relative to the first arm is arranged between the second arm and the first arm;

[0023] The power-off brake comprises a first outer wall and a first inner shaft, wherein the first outer wall is relatively fixed to the second arm, and the first inner shaft is relatively fixed to the first arm. When the power-off brake is powered, the first outer wall and the first inner shaft can rotate relative to each other, and when the power-off brake is not powered, the second outer wall and the first inner shaft are relatively fixed.

[0024] The powered retainer is a magnetic powder brake or an eddy current brake. The powered retainer has a second outer wall and a second inner shaft. The second outer wall is relatively fixed to the second arm, and the second inner shaft is relatively fixed to the first arm. When the powered retainer is powered, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to move relative to each other. When the powered retainer is de-energized, no magnetic field is generated between the second outer wall and the second inner shaft, and the second outer wall and the second inner shaft can rotate relative to each other.

[0025] In actual use, the slave joint robot can be enlarged in proportion, and the first arm and the second arm of the slave joint robot are driven by a linear drive element, which can be an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, etc. The second sensor can detect the displacement information of the first arm and the second arm, which can be sent to the slave joint robot, thereby controlling the synchronous movement of the slave joint robot.

[0026] In one embodiment of the present invention, the second sensor is an LVDT sensor or a linear grating sensor.

[0027] In one embodiment of the present invention, the power-off brake is an electromagnetic brake, the first inner shaft has a first braking surface, and the power-off brake further includes:

[0028] A brake member is slidably mounted on the first outer wall and fixed relative to the first outer wall in the axial direction, the brake member has a second brake surface, the brake member is sleeved on the first inner shaft, and the second brake surface corresponds to the first brake surface;

[0029] A spring, used to make the second braking surface and the first braking surface have a tendency to move closer to each other and press tightly;

[0030] The magnetic component is relatively fixed to the first outer wall. When the magnetic component is not energized, the spring causes the second braking surface and the first braking surface to be pressed against each other, and the first inner shaft and the first outer wall are relatively fixed. When the magnetic component is electrically energized, the elastic force of the spring is overcome to adsorb the braking member, so that the second braking surface and the first braking surface are separated from each other, and the first inner shaft and the first outer wall can rotate relative to each other.

[0031] The present application also discloses an active joint robot, comprising the active hand joint structure of the manipulator for remote control operation as described above.

[0032] The beneficial effects of the utility model are as follows: before the main hand joint structure of the manipulator of the present application is powered on, the first arm and the second arm are in a braking state due to the action of the power-off brake. After power is on, the power-off brake is powered on, and the power-off brake is no longer in a braking state. The power-off brake will not hinder the movement of the first arm and the second arm. After the power-on retainer is powered on, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque, and an external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to produce relative movement, that is, after power is supplied, the first arm and the second arm are still in a state of maintaining their original postures and will not fall automatically. When the second arm is dragged by hand, the torque balance is destroyed, and the second arm can rotate relative to the first arm. The present application can make the first arm and the second arm maintain their original positions regardless of whether they are powered on or off by setting a power-off brake and a power-on retainer connected in series, making the operation safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1is a schematic diagram of a robot having a master-slave remote control operation function;

[0034] Figure 2 It is the active hand joint structure of the manipulator used for remote control operation;

[0035] Figure 3 It is a cross-sectional view of the active hand joint structure of the manipulator for remote control operation;

[0036] Figure 4 Another schematic diagram of the active hand joint structure of a robot for remote control operation.

[0037] The reference numerals in the figures are:

[0038] 100. Active joint robot; 200. Driven joint robot; 1. First arm; 2. Second arm; 3. Power-off brake; 31. First outer wall; 32. First inner shaft; 321. First braking surface; 33. Braking member; 331. Second braking surface; 34. Spring; 35. Magnetic component; 4. Power-on retainer; 5. First sensor; 6. Axial positioning member; 7. Second sensor. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] The utility model is described in detail below in conjunction with the accompanying drawings.

[0043] like Figure 2 and 3 As shown, a robot active hand joint structure for remote control operation includes a first arm 1, a second arm 2, a power-off brake 3 and a power-on retainer 4;

[0044] The power-off brake 3 has a first outer wall 31 and a first inner shaft 32. The first outer wall 31 is relatively fixed to the second arm 2, and the first inner shaft 32 is relatively fixed to the first arm 1. When the power-off brake 3 is powered, the first outer wall 31 and the first inner shaft 32 can rotate relative to each other. When the power-off brake 3 is not powered, the second outer wall and the first inner shaft 32 are relatively fixed.

[0045] The powered retainer 4 is a magnetic powder brake or an eddy current brake. The powered retainer 4 has a second outer wall and a second inner shaft. The second outer wall is relatively fixed to the second arm 2, and the second inner shaft is relatively fixed to the first arm 1. When the powered retainer 4 is powered, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to move relative to each other. When the powered retainer 4 is de-energized, no magnetic field is generated between the second outer wall and the second inner shaft, and the second outer wall and the second inner shaft can rotate relative to each other.

[0046] Before the main hand joint structure of the manipulator of the present application is powered on, the first arm 1 and the second arm 2 are in a braking state due to the action of the power-off brake 3. After power is on, the power-off brake 3 is energized, and the power-off brake 3 is no longer in a braking state. The power-off brake 3 will not hinder the movement of the first arm 1 and the second arm 2. After the energized retainer 4 is energized, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque, and an external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to produce relative movement, that is, after power is supplied, the first arm 1 and the second arm 2 are still in a state of maintaining their original postures and will not fall automatically. When the second arm 2 is dragged by hand, the torque balance is destroyed, and the second arm 2 can rotate relative to the first arm 1. The present application can enable the first arm 1 and the second arm 2 to maintain their original positions regardless of whether they are powered on or off by setting a power-off brake 3 and a power retainer 4 connected in series, making the operation safer.

[0047] like Figure 3 As shown, in this embodiment, the power-off brake 3 is an electromagnetic brake, the first inner shaft 32 has a first braking surface 321, and the power-off brake 3 also includes:

[0048] The brake member 33 is slidably mounted on the first outer wall 31 and fixed relative to the first outer wall 31 in the axial direction. The brake member 33 has a second brake surface 331. The brake member 33 is sleeved on the first inner shaft 32, and the second brake surface 331 corresponds to the first brake surface 321.

[0049] The spring 34 is used to make the second braking surface 331 and the first braking surface 321 tend to be close to each other and pressed against each other;

[0050] The magnetic component 35 is relatively fixed to the first outer wall 31. When the magnetic component 35 is not energized, the spring 34 causes the second braking surface 331 and the first braking surface 321 to be pressed against each other, and the first inner shaft 32 and the first outer wall 31 are relatively fixed. When the magnetic component 35 is electrically excited, the elastic force of the spring 34 is overcome to adsorb the braking member 33, so that the second braking surface 331 and the first braking surface 321 are separated from each other, and the first inner shaft 32 and the first outer wall 31 can rotate relative to each other.

[0051] like Figure 3 As shown, in this embodiment, it also includes a first sensor 5 for detecting the rotation of the second arm 2 relative to the first arm 1. The first sensor 5 has a third outer wall and a third inner axis that can rotate relative to the third outer wall. The third outer wall is relatively fixed to the second arm 2, and the third inner axis is relatively fixed to the first arm 1.

[0052] In actual use, the slave joint robot can be enlarged in proportion. The first arm 1 and the second arm 2 of the slave joint robot are driven by a rotary drive motor. The rotary drive element can be a motor, a pneumatic motor, a hydraulic motor, etc.

[0053] When the second arm 2 and the first arm 1 rotate relative to each other, the first sensor 5 can measure information such as position, speed and acceleration, and can calculate the rotation angle, speed and acceleration of the second arm 2 relative to the first arm 1 in real time and uniquely, and send the information to the slave joint robot, thereby controlling the synchronous movement of the slave joint robot.

[0054] In this embodiment, the first inner shaft 32, the second inner shaft and the third inner shaft are connected to each other and can rotate synchronously. In actual use, the first inner shaft 32, the second inner shaft and the third inner shaft are connected by a key shaft.

[0055] In this embodiment, the first sensor 5 is a rotary transformer, an encoder, a tachometer generator or a potentiometer. In actual use, the first sensor 5 can also be an LVDT sensor or a linear grating sensor arranged on the first arm 1 and the second arm 2. In this case, the moving distance of the second arm 2 relative to the first arm 1 can be converted into the rotation angle of the second arm 2 relative to the first arm 1 through the existing algorithm.

[0056] In this embodiment, an axial positioning member 6 is further included. The axial positioning member 6 is disposed on the first arm 1 and is used to position and fix the first inner shaft 32 .

[0057] like Figure 4As shown, in actual application, the first sensor 5 may not be set, but may be replaced by the second sensor 7. The second sensor 7 is an LVDT sensor or a linear grating sensor. The second sensor 7 can detect the displacement information of the first arm 1 and the second arm 2, which can be sent to the driven joint robot, thereby controlling the synchronous movement of the driven joint robot.

[0058] This embodiment also discloses an active joint robot, including the active hand joint structure of the manipulator for remote control operation of this embodiment.

[0059] The above description is only a preferred embodiment of the utility model, and does not limit the patent protection scope of the utility model. Any equivalent structural transformation made using the contents of the utility model specification and drawings, directly or indirectly used in other related technical fields, is also included in the protection scope of the utility model.

Claims

1. A robot active hand joint structure for remote control operation, characterized in that: It includes a first arm, a second arm, a power-off brake and a power-on retainer; The power-off brake comprises a first outer wall and a first inner shaft, wherein the first outer wall is relatively fixed to the second arm, and the first inner shaft is relatively fixed to the first arm. When the power-off brake is powered, the first outer wall and the first inner shaft can rotate relative to each other, and when the power-off brake is not powered, the second outer wall and the first inner shaft are relatively fixed. The powered retainer is a magnetic powder brake or an eddy current brake. The powered retainer has a second outer wall and a second inner shaft. The second outer wall is relatively fixed to the second arm, and the second inner shaft is relatively fixed to the first arm. When the powered retainer is powered, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to move relative to each other. When the powered retainer is de-energized, no magnetic field is generated between the second outer wall and the second inner shaft, and the second outer wall and the second inner shaft can rotate relative to each other.

2. The active hand joint structure of the manipulator for remote control operation according to claim 1, characterized in that: The power-off brake is an electromagnetic brake, the first inner shaft has a first braking surface, and the power-off brake further includes: A brake member is slidably mounted on the first outer wall and fixed relative to the first outer wall in the axial direction, the brake member has a second brake surface, the brake member is sleeved on the first inner shaft, and the second brake surface corresponds to the first brake surface; A spring, used to make the second braking surface and the first braking surface have a tendency to move closer to each other and press tightly; The magnetic component is relatively fixed to the first outer wall. When the magnetic component is not energized, the spring causes the second braking surface and the first braking surface to be pressed against each other, and the first inner shaft and the first outer wall are relatively fixed. When the magnetic component is electrically energized, the elastic force of the spring is overcome to adsorb the braking member, so that the second braking surface and the first braking surface are separated from each other, and the first inner shaft and the first outer wall can rotate relative to each other.

3. The active hand joint structure of a manipulator for remote control operation according to claim 1, characterized in that: It also includes a first sensor for detecting the rotation of the second arm relative to the first arm. The first sensor has a third outer wall and a third inner shaft that can rotate relative to the third outer wall. The third outer wall is fixed relative to the second arm, and the third inner shaft is fixed relative to the first arm.

4. The active hand joint structure of the manipulator for remote control operation as claimed in claim 3, characterized in that: The first inner shaft, the second inner shaft and the third inner shaft are connected to each other and can rotate synchronously.

5. The active hand joint structure of the manipulator for remote control operation as claimed in claim 3, characterized in that: The first sensor is a rotary transformer, an encoder, a tachometer generator or a potentiometer.

6. The active hand joint structure of a manipulator for remote control operation according to claim 1, characterized in that: It also includes an axial positioning member, which is arranged on the first arm and is used to position and fix the first inner shaft.

7. A robot active hand joint structure for remote control operation, characterized in that: It includes a first arm, a second arm, a second sensor, a power-off brake, and a power-on retainer; The second arm is hinged to the first arm, and a second sensor for detecting movement of the second arm relative to the first arm is arranged between the second arm and the first arm; The power-off brake comprises a first outer wall and a first inner shaft, wherein the first outer wall is relatively fixed to the second arm, and the first inner shaft is relatively fixed to the first arm. When the power-off brake is powered, the first outer wall and the first inner shaft can rotate relative to each other, and when the power-off brake is not powered, the second outer wall and the first inner shaft are relatively fixed. The powered retainer is a magnetic powder brake or an eddy current brake. The powered retainer has a second outer wall and a second inner shaft. The second outer wall is relatively fixed to the second arm, and the second inner shaft is relatively fixed to the first arm. When the powered retainer is powered, a magnetic field is generated between the second inner shaft and the second outer wall, generating a blocking torque. An external force is required to destroy the balance in order to allow the second inner shaft and the second outer wall to move relative to each other. When the powered retainer is de-energized, no magnetic field is generated between the second outer wall and the second inner shaft, and the second outer wall and the second inner shaft can rotate relative to each other.

8. The active hand joint structure of a manipulator for remote control operation according to claim 7, characterized in that: The second sensor is an LVDT sensor or a linear grating sensor.

9. The active hand joint structure of a manipulator for remote control operation according to claim 7, characterized in that: The power-off brake is an electromagnetic brake, the first inner shaft has a first braking surface, and the power-off brake further includes: A brake member is slidably mounted on the first outer wall and fixed relative to the first outer wall in the axial direction, the brake member has a second brake surface, the brake member is sleeved on the first inner shaft, and the second brake surface corresponds to the first brake surface; A spring, used to make the second braking surface and the first braking surface have a tendency to move closer to each other and press tightly; The magnetic component is relatively fixed to the first outer wall. When the magnetic component is not energized, the spring causes the second braking surface and the first braking surface to be pressed against each other, and the first inner shaft and the first outer wall are relatively fixed. When the magnetic component is electrically energized, the elastic force of the spring is overcome to adsorb the braking member, so that the second braking surface and the first braking surface are separated from each other, and the first inner shaft and the first outer wall can rotate relative to each other.

10. An active joint robot, characterized in that: The invention comprises the active hand joint structure of a manipulator for remote control operation as described in any one of claims 1 to 9.

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