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Anti-impact flexible joint suitable for mechanical arm

A flexible joint and impact-resistant technology, applied in the field of robotics, can solve the problems of complex structure, small flexibility, and large volume of flexible realization mechanisms, and achieve the effects of compact joint structure, good impact resistance characteristics, large load and self-weight ratio

Active Publication Date: 2017-05-31
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention not only solves the safety problem of the interaction between the robot and the human and the environment, but also solves the problems of the traditional flexible joints such as small flexibility, large volume and complex structure of the flexible realization mechanism, etc.

Method used

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  • Anti-impact flexible joint suitable for mechanical arm
  • Anti-impact flexible joint suitable for mechanical arm
  • Anti-impact flexible joint suitable for mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0022] Specific implementation mode one: combine figure 1 , figure 2 , Figure 5 and Figure 6Explain, an impact-resistant flexible joint suitable for a mechanical arm, which includes a drive transmission system, a sensor system, and a power-off brake. The drive transmission system includes a joint output end shell 1, a joint input end shell 15, and an output end cover 2 , limit block 16, deep groove ball bearing 1 (6706) 5, series elastic body 6, connecting flange 7, harmonic reducer 10, flexible wheel lock nut 11, deep groove ball bearing 2 (6707) 17, Cross roller bearing (RA7008) 14, bearing outer ring baffle 13, bearing inner ring baffle 12, C-shaped ring 25, hollow cable shaft 21, deep groove ball bearing three (6705) 22 and motor, the motor includes Motor rotor 18, motor stator 34 and motor central shaft 20, described sensing system comprises the first joint position magnetic encoder 3, the first magnetic ring holder 4, the second joint position magnetic encoder 8, t...

specific Embodiment approach 2

[0025] Specific implementation mode two: combination Figure 2 ~ Figure 4 To illustrate, the impact-resistant flexible joint suitable for mechanical arms described in the first embodiment, the series elastic body 6 includes an inner ring 6-1, an outer ring 6-2 and two sets of flexible beams 6-3, the The inner ring 6-1 and the outer ring 6-2 are arranged concentrically, and two groups of flexible beams 6-3 are symmetrically connected between the inner ring 6-1 and the outer ring 6-2 along the circumferential direction, and the inner ring 6-1 (through bolts) It is fixedly connected with the output end cover 2, the outer ring 6-2 is fixedly connected with the limit block 16 and the first magnetic ring holder 4 (through bolts respectively), and the deep groove ball bearing-5 is installed on the inner ring 6- 1 and the first magnetic ring fixing frame 4, the outer ring 6-2 (through bolts) is respectively (through bolts) fixedly connected with the limit block 16 and the outer ring f...

specific Embodiment approach 3

[0027] Specific implementation mode three: combination figure 2 To illustrate, the specific embodiment 1 or 2 describes an impact-resistant flexible joint suitable for a mechanical arm. The first joint position magnetic encoder 3 includes a first joint circuit board 3-1 and a first joint magnetic ring 3- 2. The first joint circuit board 3 - 1 is fixedly connected to the output end cover 2 , and the first joint magnetic ring 3 - 2 is fixedly connected to the first magnetic ring fixing frame 4 .

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Abstract

The invention discloses an anti-impact flexible joint suitable for a mechanical arm, and belongs to the technical field of robots. An output end cover is fixedly connected with a joint output end shell and a series connection elastic body, and a limiting block is fixedly connected with the series connection elastic body. A first joint position magnetic encoder is fixed to the part between the output end cover and a first magnetic ring fixing frame. A harmonic reducer is fixedly connected with a joint output end shell. A connecting flange plate is fixedly connected with the series connection elastic body. A motor center shaft is fixedly connected with the harmonic reducer and fixedly connected with a brake disc. A motor position magnetic encoder is fixed to the part between a third magnetic ring fixing frame and a power-off brake shell. A first silicon steel sheet is fixedly connected with the joint input end shell. A second silicon steel sheet is fixedly connected with the power-off brake shell. The power-off brake shell is fixedly connected with the joint input shell and a power-off brake end cover. An electromagnet is fixed into the power-off brake shell. A spring ring is arranged between the power-off brake shell and a friction disc, and a friction column is fixedly connected with the brake disc. The anti-impact flexible joint is used for a robot and the mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an impact-resistant flexible joint suitable for a mechanical arm. Background technique [0002] As an important actuator of robots, the robotic arm plays an important role in industrial production, medical services and military exploration. As an important part of the robot system, the joints of the manipulator directly affect the overall performance of the robot system. The traditional mechanical arm joint adopts the rigid design method of "motor + reducer + load". Although the mechanical arm can meet the speed and position accuracy requirements in the operating space, this joint design lacks flexible units. In an unstructured environment, The joints of the manipulator are vulnerable to external shocks, resulting in reduced precision or damage, which directly affects the normal operation of the robot. In recent years, people have begun to pay attention to the design...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 李扬刘伊威崔士鹏刘宏
Owner HARBIN INST OF TECH
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