CN101642910A - Filtering driving device and intelligent robot integrated system - Google Patents
Filtering driving device and intelligent robot integrated system Download PDFInfo
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- CN101642910A CN101642910A CN200910104663A CN200910104663A CN101642910A CN 101642910 A CN101642910 A CN 101642910A CN 200910104663 A CN200910104663 A CN 200910104663A CN 200910104663 A CN200910104663 A CN 200910104663A CN 101642910 A CN101642910 A CN 101642910A
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Abstract
The invention discloses a filtering driving device and intelligent robot integrated system, comprising a filtering driving device, a mechanical arm and a mechanical wrist; wherein rotation of the mechanical arm around self axis, pitching movement of the wrist and rotation of the mechanical wrist around self axis all adopt a filtering driving device with high precision less differential gear reducer. The mechanical arm of the invention is flexible smoothly, arm driving and transmission gear is arranged in an integrated way, assembly error can be reduced to utmost extent, transmission accuracy is improved, running state of a transmission gear is improved, bite phenomenon in running is avoided, abrasion among running components is reduced, running noise of mechanism is reduced, transmission efficiency is improved, high performance electromechanical transmission and robot integrated system with high precision, high reliability, long service life, low energy consumption, small volume and light weight is realized, and meanwhile manufacturing processing technology is simple, production manufacturing cost is low, mounting and committing are easy, and dismounting and maintenance are convenient. The invention can be widely applied to engineering equipment in fields of robot, space flight, shipping, automation, advanced manufacturing and the like.
Description
Technical field
The present invention relates to a kind of robot components, particularly a kind of filtering driving device and intelligent robot integrated system.
Background technology
Robot is the installations that automatically perform work, can accept human commander, can move the program of layout in advance again, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.The task of robot is to assist or replace human work's work, in fields such as industry, medical science, agricultural, building industry even military affairs important use is arranged all.
The transmission system of robot be guarantee the robot regular event key, particularly robot arm flexible motion whether, whether weigh robot motion especially crucial flexibly.In the prior art, robot generally adopts harmonic speed reducer and RV decelerator as the driving section.The flexbile gear of the harmonic drive of harmonic speed reducer is under long-term alternate load, and fatigue wear lost efficacy easily, and the rigidity of flexbile gear is relatively poor, and transmitted power is smaller can not to bear bigger load, occurs mechanism's bite easily; RV reducer structure complexity, manufacturability be poor, when bite appears in mechanism, dynamic property is inferior and mechanical efficiency reduces, additional dynamic load is big, particularly transmits when more high-power, vibration and noise are big; Cause plant equipment to have problems such as bigger friction, wearing and tearing, vibration, noise, idle energy consumption, and the transmission accuracy that machine driven system caused, combination property and poor reliability, problems such as the shortening in service life of equipment.
Therefore need a kind of robot mechanical arm arm, can flexible operation freely, arm drives and transmission mechanism is wholely set, can reduce rigging error as far as possible, improve transmission accuracy, improve the transmission mechanism running status, the bite phenomenon appears when avoiding moving, alleviate the wearing and tearing between the running gear, reduce mechanism's running noises, improve transmission efficiency.
Summary of the invention
In view of this, purpose of the present invention provides a kind of filtering driving device and intelligent robot integrated system, flexible operation freely, arm drives and transmission mechanism is wholely set, and can reduce rigging error as far as possible, improve transmission accuracy, improve the transmission mechanism running status, occur the bite phenomenon when avoiding moving, alleviate the wearing and tearing between the running gear, reduce mechanism's running noises, improve transmission efficiency.
Filtering driving device of the present invention and intelligent robot integrated system, comprise mechanical arm and wrist, described mechanical arm one end is provided with and drives the arm drive unit that it rotates around self axis, the other end is hinged by wrist joint and wrist single-degree-of-freedom, described wrist joint is provided with wrist and drives assembly, comprises that being used for wrist that the driving device wrist rotates around hinge axes faces upward and bow drive unit and be used for the wrist rotating driving device that the driving device wrist rotates around self axis;
The arm drive unit comprises that arm drives servomotor, and described arm drives the servomotor power output shaft and passes through little tooth difference speed reducer I driving device arm around self axis rotation;
Wrist is faced upward the drive unit of bowing and is comprised that wrist faces upward the driving servomotor of bowing, and described wrist is faced upward to bow and driven servomotor and be fixedly installed on the mechanical arm and rotate around hinge axes by little tooth difference speed reducer II driving device wrist;
The wrist rotating driving device comprises that wrist rotates the driving servomotor, and described wrist rotation drives servomotor and passes through little tooth difference speed reducer III driving device wrist around self axis rotation;
Described little tooth difference speed reducer I, little tooth difference speed reducer II and little tooth difference speed reducer III comprise reducer shell respectively, power input shaft and power output shaft, on the described power input shaft eccentric bushing is set, described eccentric bushing cylindrical is rotatably assorted and is with the duplex external gear, on the reducer shell with the concentric fixed annulus that fixedly installs of power input shaft, on the power output shaft the circumferencial direction transmission cooperate and with the concentric power output inner gear that is provided with of power input shaft, the few tooth difference engagement of an external gear and fixed annulus in the duplex external gear, the few tooth difference engagement of another external gear and power output inner gear.
Further, described wrist joint comprises the joint shell that is fixedly installed on the mechanical arm end, shell interior being rotatably assorted with it in described joint is provided with turning set, described turning set cooperates with the power output shaft transmission of little tooth difference speed reducer II, and described wrist radially passes turning set and its single-degree-of-freedom is rotatably assorted; Wrist rotation drive bevel gear pair also is set in the shell of joint, and the driving wheel of described bevel gear pair cooperates with the power output shaft transmission of little tooth difference speed reducer III, and driven pulley and wrist are in the circumferencial direction secure fit; The joint shell is provided with the radially groove greater than 1/2 circular arc, and wrist passes the joint shell by fan groove;
Further, the case of transmission of described little tooth difference speed reducer II and little tooth difference speed reducer III is wholely set and is fixedly installed on the mechanical arm, cooperates by chain transmission, band transmission or gears engaged auxiliary driving between the power output shaft of little tooth difference speed reducer II and little tooth difference speed reducer III and drive sleeve and the driving wheel; Described wrist is faced upward to bow and is driven servomotor and wrist rotation and drive servomotor and be fixedly installed on respectively in the case of transmission corresponding with it;
Further, the cross section of described mechanical arm is the decussate texture of hollow;
Further, described arm drives servomotor and is fixedly installed in the reducer shell of little tooth difference speed reducer I, the power output shaft of little tooth difference speed reducer I by hollow connecting axle and mechanical arm in the circumferencial direction secure fit, described hollow connecting axle is provided with radially groove with its hollow connection, power lead passes the reducer shell of little tooth difference speed reducer I successively, groove radially, hollow connecting axle is hollow and mechanical arm is hollow, radially pass back connection wrist by mechanical arm and face upward bow driving servomotor and wrist rotation driving servomotor, the central angle of described radially groove is more than or equal to the anglec of rotation of mechanical arm;
Further, the power output shaft of little tooth difference speed reducer I, little tooth difference speed reducer II and little tooth difference speed reducer III by power output gear frame and power output inner gear in the circumferencial direction secure fit, be rotatably assorted by first rolling bearing between power output gear frame cylindrical and the reducer shell, be rotatably assorted by second rolling bearing between power input shaft cylindrical and the reducer shell;
Further, described bevel gear pair is positioned at drive sleeve, driving wheel and the coaxial setting of drive sleeve;
Further, described eccentric bushing cylindrical is provided with corresponding ball annular groove respectively with the interior circle of duplex external gear, is rotatably assorted by the ball that is arranged in the ball annular groove between eccentric bushing and the duplex external gear.
Beneficial effect of the present invention: filtering driving device of the present invention and intelligent robot integrated system, adopt the eccentric reducing gear of being made up of eccentric wheel, planet duplicate gear, at first the high frequency waves of elimination drive motors high speed rotating; Adopt simultaneously by the planet duplicate gear, the little gear difference planetary driving mechanism that fixed annulus and output inner gear are formed, the high frequency of elimination duplicate gear revolution ripple once more, and output low frequency rotates, make arm operation nimbly and freely, arm drives and transmission mechanism is wholely set, can reduce rigging error as far as possible, improve transmission accuracy, improve the transmission mechanism running status, the bite phenomenon appears when avoiding moving, alleviate the wearing and tearing between the running gear, reduce mechanism's running noises, improve transmission efficiency, realize the mechanical arm high accuracy, high reliability, long-life, low energy consumption, small size, the high-accuracy driving of light-weighted high rigidity, manufacturing processing technic is easy simultaneously, and manufacturing cost is low, and Installation and Debugging are easy and dismantle easy to maintenance.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a little tooth difference speed reducer structural representation of the present invention;
Fig. 3 be Fig. 1 along A-A to cutaway view;
Fig. 4 be Fig. 1 along B-B to cutaway view;
Fig. 5 be Fig. 1 along C-C to cutaway view;
Fig. 6 be Fig. 1 along D-D to cutaway view;
Fig. 7 is a wrist joint cross-sectional outer schematic diagram.
The specific embodiment
Fig. 1 is a structural representation of the present invention, Fig. 2 is a little tooth difference speed reducer structural representation of the present invention, Fig. 3 be Fig. 1 along A-A to cutaway view, Fig. 4 be Fig. 1 along B-B to cutaway view, Fig. 5 be Fig. 1 along C-C to cutaway view, Fig. 6 be Fig. 1 along D-D to cutaway view, Fig. 7 is a wrist joint cross-sectional outer schematic diagram, as shown in the figure: the filtering driving device of present embodiment and intelligent robot integrated system, comprise mechanical arm 10 and wrist 11, described mechanical arm 10 1 ends are provided with and drive the arm drive unit 1 that it rotates around self axis, the other end is hinged by wrist joint 8 and wrist 11 single-degree-of-freedoms, described wrist joint 8 is provided with wrist and drives assembly, comprises that being used for wrist that the driving device wrist rotates around hinge axes faces upward and bow drive unit 9 and be used for the wrist rotating driving device 7 that the driving device wrist rotates around self axis;
Wrist is faced upward the drive unit 9 of bowing and is comprised that wrist is faced upward to bow and drive servomotor 22 and face upward the transmission mechanism of bowing, and described wrist is faced upward to bow and driven servomotor 22 and be fixedly installed on the mechanical arm 10 and rotated around hinge axes by transmission mechanism driving device wrist 11 by little tooth difference speed reducer II 28;
The wrist rotating driving device comprises that wrist rotates driving servomotor 26, and described wrist rotation drives servomotor 26 and passes through little tooth difference speed reducer III24 driving device wrist 11 around self axis rotation;
Described little tooth difference speed reducer I 4, little tooth difference speed reducer II 28 and little tooth difference speed reducer III24 comprise reducer shell respectively, power input shaft 15 and power output shaft 19, on the described power input shaft 15 eccentric bushing 15a is set, described eccentric bushing 15a cylindrical is rotatably assorted and is with duplex external gear 13, on the reducer shell with the power input shaft 15 concentric fixed annulus 12 that fixedly install, on the power output shaft 19 the circumferencial direction transmission cooperate and with the power input shaft 15 concentric power output inner gears that are provided with, an external gear and fixed annulus 21 few tooth difference engagements in the duplex external gear 13, another external gear and the 20 few tooth difference engagements of power output inner gear; Because little tooth difference speed reducer I 4, little tooth difference speed reducer II 28 are identical with the structure of little tooth difference speed reducer III24, so only represent a kind of structure among the figure.
Described eccentric bushing 15a cylindrical is provided with corresponding ball annular groove respectively with duplex external gear 13 interior circles, is rotatably assorted by the ball 17 that is arranged in the ball annular groove between eccentric bushing 15a and the duplex external gear 13, reduces friction and reactive loss, improves transmission accuracy.
In the present embodiment, described wrist joint 8 comprises the joint shell 31 that is fixedly installed on the mechanical arm end, shell 31 interior being rotatably assorted by rolling bearing with it in described joint are provided with turning set 30, described turning set 30 cooperates with the power output shaft transmission of little tooth difference speed reducer II 28, described wrist 11 radially passes turning set 30 and is rotatably assorted with its single-degree-of-freedom, in the present embodiment, wrist is provided with axial axostylus axostyle 11a, be rotatably assorted by rolling bearing by axostylus axostyle 11a and turning set 30, the shaft shoulder that forms between axostylus axostyle 11a and the wrist 11 is positioned at turning set 30 outer surfaces, the axially-movable that limit mechanical wrist 11 is inside; Wrist rotation drive bevel gear pair also is set in the joint shell 31, the driving wheel 32 of described bevel gear pair cooperates with the power output shaft transmission of little tooth difference speed reducer III24, driven pulley 34 and wrist 11 are in the circumferencial direction secure fit, driven pulley 34 is by reaching the purpose that cooperates with wrist 11 with axostylus axostyle 11a in the present embodiment in the circumferencial direction secure fit, simultaneously, driven pulley also limits the outside axially-movable of wrist 11; Joint shell 31 is provided with radially groove 31a, and wrist passes the joint shell by groove 31a radially, and radially the central angle of groove 31a is more than or equal to the angle of pitch of wrist 11, and present embodiment prevents to rotate and disturbs; Simple and compact for structure, further improve the reliability of transmission, adopt the bevel gear pair transmission, can guarantee that wrist rotation and wrist face upward the power input of bowing and be positioned at same direction, avoid arranged in a crossed manner, to improve carpal intensity.
In the present embodiment, the case of transmission of described little tooth difference speed reducer II 28 and little tooth difference speed reducer III24 is wholely set and is fixedly installed on (housing 25 as shown in Figure 3 and housing 29) on the mechanical arm, and is simple and compact for structure, improves coupling stiffness; Cooperate by chain transmission, band transmission or gears engaged auxiliary driving between the power output shaft of little tooth difference speed reducer II 28 and little tooth difference speed reducer III24 and drive sleeve 30 and the driving wheel 32, present embodiment adopts the band transmission, as shown in the figure, the power output shaft of little tooth difference speed reducer II28 cooperates with belt wheel 35 transmissions of drive sleeve by belt wheel 27, and the power output shaft of little tooth difference speed reducer III24 cooperates with belt wheel 33 transmissions of driving wheel 32 by belt wheel 23; Described wrist is faced upward to bow and is driven servomotor 22 and wrist rotation and drive servomotor 26 and be fixedly installed on respectively in the case of transmission corresponding with it (being respectively housing 29 and housing 25 in the way), further reduce rigging error, thereby the minimizing driving error is avoided reactive loss.
In the present embodiment, the cross section of described mechanical arm 10 is the decussate texture of hollow, can make simple easily by the reinforcing rib structure of the mutual interleaved set across of two boards metallographic in the practice; The cross hollow-core construction not only can weight reduction, can also increase mechanical arm bending resistance square ability.
In the present embodiment, described arm drives servomotor 5 and is fixedly installed in the reducer shell 6 of little tooth difference speed reducer I 4, the power output shaft of little tooth difference speed reducer I 4 by hollow connecting axle 2 and mechanical arm 10 in the circumferencial direction secure fit (in the present embodiment, hollow connecting axle 2 is the power output shaft of little tooth difference speed reducer I 4), described hollow connecting axle 2 is provided with radially groove 3 with its hollow connection, power lead passes the reducer shell of little tooth difference speed reducer I successively, groove radially, hollow shaft is hollow and mechanical arm is hollow, and the gearbox case that passes little tooth difference speed reducer II and little tooth difference speed reducer III after radially being passed by mechanical arm is connected wrist and faces upward bow driving servomotor and wrist rotation driving servomotor; Radially the central angle of groove 3 is more than or equal to the corner of mechanical arm 10, present embodiment be greater than, prevent that power lead from disturbing mechanical arm 10 to rotate, simple in structure, wiring is rationally avoided and frame for movement produces motion artifacts.
In the present embodiment, the power output shaft 19 of little tooth difference speed reducer I 4, little tooth difference speed reducer II 28 and little tooth difference speed reducer III24 by power output gear frame 18 and power output inner gear 20 circumferencial direction secure fit (present embodiment medium power output gear frame 18 is made one with power output inner gear 20), be rotatably assorted by first rolling bearing 16 between power output gear frame 18 cylindricals and the reducer shell, be rotatably assorted by second rolling bearing 14 between power input shaft 15 cylindricals and the reducer shell; Promptly realize radially good location, can make rotation smooth and easy again, the reducing mechanism friction; The gear frame structure can alleviate rotary inertia, and the kinematic accuracy of mechanical arm and wrist is further improved.
In the present embodiment, described bevel gear pair is positioned at drive sleeve 30, and driving wheel 32 and drive sleeve 30 coaxial settings can further reduce the volume of wrist joint 8, improve the operational flexibility of mechanism.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1. filtering driving device and intelligent robot integrated system, it is characterized in that: comprise filtering driving device, mechanical arm and wrist, described mechanical arm one end is provided with and drives the arm drive unit that it rotates around self axis, the other end is hinged by wrist joint and wrist single-degree-of-freedom, described wrist joint is provided with wrist and drives assembly, comprises that being used for wrist that the driving device wrist rotates around hinge axes faces upward and bow drive unit and be used for the wrist rotating driving device that the driving device wrist rotates around self axis;
The arm drive unit comprises that arm drives servomotor, and described arm drives the servomotor power output shaft and passes through little tooth difference speed reducer I driving device arm around self axis rotation;
Wrist is faced upward the drive unit of bowing and is comprised that wrist faces upward the driving servomotor of bowing, and described wrist is faced upward to bow and driven servomotor and be fixedly installed on the mechanical arm and rotate around hinge axes by little tooth difference speed reducer II driving device wrist;
The wrist rotating driving device comprises that wrist rotates the driving servomotor, and described wrist rotation drives servomotor and passes through little tooth difference speed reducer III driving device wrist around self axis rotation;
Described little tooth difference speed reducer I, little tooth difference speed reducer II and little tooth difference speed reducer III comprise reducer shell respectively, power input shaft and power output shaft, on the described power input shaft eccentric bushing is set, described eccentric bushing cylindrical is rotatably assorted and is with the duplex external gear, on the reducer shell with the concentric fixed annulus that fixedly installs of power input shaft, on the power output shaft the circumferencial direction transmission cooperate and with the concentric power output inner gear that is provided with of power input shaft, the few tooth difference engagement of duplex external gear first one external gear and fixed annulus, the few tooth difference engagement of another external gear and power output inner gear.
2. filtering driving device according to claim 1 and intelligent robot integrated system, it is characterized in that: described wrist joint comprises the joint shell that is fixedly installed on the mechanical arm end, shell interior being rotatably assorted with it in described joint is provided with turning set, described turning set cooperates with the power output shaft transmission of little tooth difference speed reducer II, and described wrist radially passes turning set and its single-degree-of-freedom is rotatably assorted; Wrist rotation drive bevel gear pair also is set in the shell of joint, and the driving wheel of described bevel gear pair cooperates with the power output shaft transmission of little tooth difference speed reducer III, and driven pulley and wrist are in the circumferencial direction secure fit; The joint shell is provided with radially groove, and wrist passes the joint shell by fan groove, and radially the central angle of groove is more than or equal to the angle of pitch of wrist.
3. filtering driving device according to claim 1 and intelligent robot integrated system, it is characterized in that: the case of transmission of described little tooth difference speed reducer II and little tooth difference speed reducer III is wholely set and is fixedly installed on the mechanical arm, cooperates by chain transmission, band transmission or gears engaged auxiliary driving between the power output shaft of little tooth difference speed reducer II and little tooth difference speed reducer III and drive sleeve and the driving wheel; Described wrist is faced upward to bow and is driven servomotor and wrist rotation and drive servomotor and be fixedly installed on respectively in the case of transmission corresponding with it.
4. filtering driving device according to claim 3 and intelligent robot integrated system is characterized in that: the cross section of described mechanical arm is the decussate texture of hollow.
5. filtering driving device according to claim 4 and intelligent robot integrated system, it is characterized in that: described arm drives servomotor and is fixedly installed in the reducer shell of little tooth difference speed reducer I, the power output shaft of little tooth difference speed reducer I by hollow connecting axle and mechanical arm in the circumferencial direction secure fit, described hollow connecting axle is provided with radially groove with its hollow connection, power lead passes the reducer shell of little tooth difference speed reducer I successively, groove radially, hollow connecting axle is hollow hollow with mechanical arm, radially passes back connection wrist by mechanical arm and faces upward bow driving servomotor and wrist rotation driving servomotor; The central angle of described radially groove is more than or equal to the anglec of rotation of mechanical arm.
6. filtering driving device according to claim 5 and intelligent robot integrated system, it is characterized in that: the power output shaft of little tooth difference speed reducer I, little tooth difference speed reducer II and little tooth difference speed reducer III by power output gear frame and power output inner gear in the circumferencial direction secure fit, be rotatably assorted by first rolling bearing between power output gear frame cylindrical and the reducer shell, be rotatably assorted by second rolling bearing between power input shaft cylindrical and the reducer shell.
7. filtering driving device according to claim 6 and intelligent robot integrated system is characterized in that: described bevel gear pair is positioned at drive sleeve, driving wheel and the coaxial setting of drive sleeve.
8. filtering driving device according to claim 7 and intelligent robot integrated system, it is characterized in that: described eccentric bushing cylindrical is provided with corresponding ball annular groove respectively with the interior circle of duplex external gear, is rotatably assorted by the ball that is arranged in the ball annular groove between eccentric bushing and the duplex external gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101046637A CN101642910B (en) | 2009-08-21 | 2009-08-21 | Filtering driving device and intelligent robot integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101046637A CN101642910B (en) | 2009-08-21 | 2009-08-21 | Filtering driving device and intelligent robot integrated system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101642910A true CN101642910A (en) | 2010-02-10 |
| CN101642910B CN101642910B (en) | 2011-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101046637A Expired - Fee Related CN101642910B (en) | 2009-08-21 | 2009-08-21 | Filtering driving device and intelligent robot integrated system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102136777A (en) * | 2011-03-08 | 2011-07-27 | 重庆大学 | Intelligent filtering and driving device |
| CN103994308A (en) * | 2014-06-03 | 2014-08-20 | 江苏甬金金属科技有限公司 | Cantilever structure of operation stable |
-
2009
- 2009-08-21 CN CN2009101046637A patent/CN101642910B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102136777A (en) * | 2011-03-08 | 2011-07-27 | 重庆大学 | Intelligent filtering and driving device |
| CN103994308A (en) * | 2014-06-03 | 2014-08-20 | 江苏甬金金属科技有限公司 | Cantilever structure of operation stable |
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| Publication number | Publication date |
|---|---|
| CN101642910B (en) | 2011-10-05 |
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