机械臂球铰锁紧结构设计与预紧力分析  

Analysis of Pretightening Force of Ball Hinge Structure with Mechanical Arm Joint Locking

作　　者：钟志豪 崔建昆[1] 吕嗣孝 Zhong Zhihao;Cui Jiankun;LüSixiao(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海市200093

出　　处：《农业装备与车辆工程》2021年第5期51-53,共3页Agricultural Equipment & Vehicle Engineering

摘　　要：针对机械臂关节锁紧,采用了球铰结构,使用碟形弹簧进行预紧,并建立三维模型。通过合理的条件假设,对球铰结构中球碗球头部分进行受力分析,根据球碗、球盖对球头的锁紧力矩须大于小臂所受最大扭矩的要求,且为满足严苛的使用环境,对球碗、球盖、球头表面喷涂防滑涂料,最后计算出碟形弹簧需要施加的最小预紧力。In order to shut down and lock the robot arm,a ball-hinge structure is adopted,the disc spring is used for pretightening,and a 3D model is established.Based on reasonable conditions and assumptions,the force analysis of ball bowl and ball head in ball hinge structure is carried out.According to that the locking torque of ball bowl and ball cover to the ball head must be greater than the maximum torque of forearm,and the surface of ball bowl,ball cover and ball head should be sprayed with anti-skid paint to meet the strict use environment.Then the minimum pretension force to be applied to the spring is calculated.

关 键 词：机械臂 关节锁紧 球铰结构 碟形弹簧 预紧力 

分 类 号：TH122[机械工程—机械设计及理论]