CN101913150B - Robot revolute joint module with single degree of freedom - Google Patents

Robot revolute joint module with single degree of freedom Download PDF

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Publication number
CN101913150B
CN101913150B CN2010102422086A CN201010242208A CN101913150B CN 101913150 B CN101913150 B CN 101913150B CN 2010102422086 A CN2010102422086 A CN 2010102422086A CN 201010242208 A CN201010242208 A CN 201010242208A CN 101913150 B CN101913150 B CN 101913150B
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China
Prior art keywords
joint
speed reducer
output
harmonic speed
module
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Expired - Fee Related
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CN2010102422086A
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Chinese (zh)
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CN101913150A (en
Inventor
李湛初
朱海飞
管贻生
张宪民
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention relates to a robot revolute joint module with single degree of freedom. The joint module is provided with a rotation degree of freedom, and a rotation shaft of the articulated module is coincident with or parallel to a central axis of the module so as to form revolute motion. A corresponding control system is matched for realizing the control on motion or torque, and a Hall switch is used for zero position detection. The joint module mainly comprises a servo motor and a photoelectric encoder assembly, a disk-type harmonic speed reducer assembly, a harmonic speed reducer output disk, a joint base, an output sleeve, a bearing and a corresponding end cover. The output shaft of the servo motor is connected with the wave generator of a harmonic speed reducer through a sleeve, the output rigid wheel of the harmonic speed reducer is fixedly connected with the output disk through screws, and the output disc is connected with the output sleeve through a spline, therefore, the transmission of motion and power is realized finally. The module has simple and compact structure and convenient connection with other modules or parts, and can be used in combination way to structure various robots or other electromechanical systems.

Description

A kind of robot revolute joint module with single degree of freedom
Technical field
The present invention relates to the Robotics field, in particular to a kind of robot of single degree of freedom joint module.
Background technology
Robotics has obtained very big development so far, but also has sizable distance from a large amount of in social production and human lives and widespread usage.Trace it to its cause, key factor comprises the complexity and the sky high cost of function, performance and intelligence and the system of robot itself.Although robot has very big flexibility and elasticity to certain application, existing most robot systems often have only a kind of major function and fixed configuration to specific application target and occasion, lack the reconstruct property of function expansion property and configuration.Comprehensive and integrated multiple function is a big important trend of present and future robot system development.In addition, it is very big all to develop the cost that the particular machines people spent to each field and every application, seriously restricts applying of robot.Therefore, multi-functional, easy structure and low cost are the important goals in the new system development of robot.For this reason, modularization is effective ways, is trend and characteristics in the current robot research and development.Modularization can the simplified design manufacturing and maintenance, shortening lead time, is reduced development cost, and flexibility and elasticity when enhanced system makes up are greatly just becoming the significant design method of system development.The core concept of deformable and reconfigurable robot is exactly a modularization, and entire machine people is exactly effective combination of plurality of modules.Because robot modularized have a flexibility when setting up system; Can freely make up multivariant system; It is climbing robot and refer to often be used in the hand research and development in mobile robot, climbing robot, pipe not only more, in space robotics's system development, is also favored, and no matter be Canadian space robotics Canadarm; Still 21 frees degree, the 3 robot test beds of U.S. robot research company exploitation have all adopted the modularized design mode.
Make a general survey of design and development present situation both domestic and external, German Amtec company has developed the joint of robot module (German patent DE19939646.A1) and the commercialization of single-degree-of-freedom.Yet because the joint module type is single, contour structures is square, and the contiguous block that the needs that are connected with between the module are special-purpose is undesirable on machine configurations by the manipulator that they are built.Korea S has also developed the joint of robot module (patent No.: KR2005113975-A).At home; Harbin Institute of Technology has developed the modularized joint (patent No.: ZL1807032.A); South China Science & Engineering University has also developed first generation robot, and (patent No.: ZL200820203560.7), but its structure is complicated, the weight torque ratio is not ideal with revolute joint module.In a word; Though existing at present some joint modules are developed; But they or kind single (like the PowerCube of Amtec); Perhaps price extremely high (like the module of Robotics Research), perhaps the module free degree (like TODOM two frees degree are arranged, can only constitute the robot of the even number free degree) on the high side; Perhaps module itself is simple and easy but targetedly (like various microminiature joint modules towards reconstruction robot or snake-shaped robot), and is difficult to satisfy the widespread demand of any robot of building stock size.Therefore, be necessary the single-degree-of-freedom joint module of the conventional size that development structure is compact.
Summary of the invention
The objective of the invention is to for reducing the cost of robot design, manufacturing, debugging, operation and maintenance, the flexibility that increases the robot system structure provides a kind of simple and compact structure with rapidity, is connected and robot revolute joint module with single degree of freedom easy to use.
For realizing the object of the invention, adopt following technical scheme:
A kind of robot revolute joint module with single degree of freedom comprises servomotor and photoelectric encoder component, joint pedestal, output sleeve, needle roller single thrust bearing, end-cover axle bearing, deep groove ball bearing, harmonic speed reducer output panel, axle sleeve and disc type harmonic speed reducer assembly.The connected mode of each parts is: servomotor and photoelectric encoder component and joint pedestal are fastening with screw, and motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly through axle sleeve indirectly; Input in this assembly has just been taken turns with screw and joint pedestal and has been fastenedly connected, and output just wheel then is connected with harmonic speed reducer output panel; On the end-cover axle bearing, the one of which end is connected to transmit motion and moment of torsion with the output sleeve through spline this output panel through bearings; End-cover axle bearing and joint pedestal are connected with screw axial, and it is bearing exports the active force of sleeve through thrust bearing and deep groove ball bearing; Controller is fixed in the pedestal of joint through installing rack.All deads in line of servomotor and photoelectric encoder component, joint pedestal, disc type harmonic speed reducer assembly, harmonic speed reducer output panel, end-cover axle bearing and output sleeve etc.
The joint zero-bit adopts Hall switch to detect.Hall switch is formed by Hall element with as the small magnet piece that triggers usefulness.Hall element is fixed in glue in the radial groove of end-cover axle bearing, and the small magnet piece is embedded in the hole of output sleeve.The joint pedestal is the zero-bit of module with the relative position of output sleeve when defining both and aliging.
The central axes of the rotating shaft of joint module of the present invention and module itself or parallel forms gyration, by driven by servomotor.The rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and angular speed, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Be the weight and the axial dimension in control joint, decelerator adopts disc type harmonic speed reducer assembly, and its output steel wheel is connected with output panel and output sleeve.
Unified mechanical interface is all designed at the two ends of joint module, on the axle section, dovetail groove is arranged.Locating, use the axle section through alignment pin between the joint module is that trapezoidal snap ring is realized connection fast and locking.Alignment pin also has the in relative rotation effect of module around axis that link to each other that stop except locating.
Compared with prior art, the present invention has following advantage:
1. because reducing gear adopts the three-major-items of disc type harmonic speed reducer; Its pedestal and socket joint are designed to one; And in arranged superposed radially, thereby weight of the present invention is lighter relatively, simple and compact for structure, axial dimension is little with needle roller single thrust bearing and angular contact ball bearing.
2. owing to adopt the snap ring structure directly to be connected soon and lock, do not need other special-purpose transition or switching-over connector, connection and dismantling simply, conveniently and fast with other mould;
3. can do the complete cycle gyration, no slewing area restriction;
4. the zero-bit switch adopts Hall element, and size is little, embeds easily in other parts, installs simple and convenient; There are not machinery contact and wearing and tearing, good reliability.
Description of drawings
Fig. 1 is the outside drawing of this joint module;
Fig. 2 is the profile of this joint module;
Fig. 3 is the scheme of installation (part sectioned view) of this joint module zero-bit switch.
The specific embodiment
In order to understand the present invention better, type is done to describe further below in conjunction with accompanying drawing.
Be illustrated in figure 1 as the outside drawing of this joint module.Joint pedestal 02 among the figure does not have directly between the sleeve 07 with output and is connected, but both can relatively rotate around central axis through other part.
Be illustrated in figure 2 as the profile of this joint module.In Fig. 2, joint module relatively rotate the axle and the central axes of module itself.Parts comprise: servomotor and photoelectric encoder component 01; Joint pedestal 02; Motor hold-down screw 03; Harmonic speed reducer input axial restraint screw 04; The axial attachment screw 05 of harmonic speed reducer output; Soket head cap screw 06; Output sleeve 07; Needle roller single thrust bearing 08; End-cover axle bearing 09; Deep groove ball bearing 10; Harmonic speed reducer output panel 11; Axle sleeve 12; Outer-hexagonal nut 13; Jump ring 14; Disc type harmonic speed reducer assembly 15 (three-major-items wherein do not illustrate separately in the drawings); Key 16; Lock-screw 17; Controller installing rack 18; Controller 19; Hall element 20; Small magnet piece 21.Drive motors is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular displacement and angular velocity detection, and promptly the motor shaft rear end directly connects photoelectric encoder, becomes servomotor and photoelectric encoder component 01.The front end face of motor and joint pedestal 02 are fastening through motor hold-down screw 03; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 15 through axle sleeve 12 indirectly; Axle sleeve 12 is radially fixing by four lock-screws 17 with motor shaft; Transmit moment of torsion with the wave producer of disc type harmonic speed reducer assembly 15 through key 16, and prevent to move axially by jump ring 14; In order to obtain less joint module length; Decelerator adopts the harmonic speed reducer three-major-items 15 of flat disk; Its input just wheel is fastenedly connected through axial restraint screw 04 and joint pedestal 02, and output just wheel then is fastenedly connected with harmonic speed reducer output panel 11 through axial attachment screw 05; Harmonic speed reducer output panel 11 is supported on the end-cover axle bearing 09 through deep groove ball bearing 10; End-cover axle bearing 09 axially is being connected by six roots of sensation soket head cap screw 06 with joint pedestal 02, and it nestles up the retainer plate of needle roller single thrust bearing 08 back to a side of harmonic speed reducer assembly 15; Output sleeve 07 is connected with harmonic speed reducer output panel to transmit motion and moment of torsion through spline, and one end is unloaded pressure on the end-cover axle bearing near the moving-coil of needle roller single thrust bearing 08, and the other end is by 13 lockings and locking of two outer-hexagonal nuts; Controller 19 is fixed in the joint pedestal 02 through installing rack 18, and is adjacent with motor.All deads in line of servomotor and photoelectric encoder component 01, joint pedestal 02, disc type harmonic speed reducer assembly 15, harmonic speed reducer output panel 11, end-cover axle bearing 09 and output sleeve 07 etc.
Be illustrated in figure 3 as the scheme of installation (part sectioned view, along joint shaft to dissecing) of joint zero-bit sense switch.Hall switch is formed by Hall element 20 with as the small magnet piece 21 that triggers usefulness.Hall element 20 usefulness glue are fixed in the radial groove of end-cover axle bearing 09, and small magnet piece 21 is embedded in the hole of output sleeve 07.The relative position of joint pedestal and output sleeve was defined as the zero-bit of module when both alignd.Because reducing gear adopts the three-major-items of disc type harmonic speed reducer; Its pedestal and socket joint are designed to one; And in arranged superposed radially, thereby weight of the present invention is lighter relatively, simple and compact for structure, axial dimension is little with needle roller single thrust bearing and angular contact ball bearing.Owing to adopt the snap ring structure directly to be connected soon and lock, do not need other special-purpose transition or switching-over connector, connection and dismantling simply, conveniently and fast with other mould.

Claims (1)

1. a robot revolute joint module with single degree of freedom is characterized in that: comprise servomotor and photoelectric encoder component, joint pedestal, output sleeve, needle roller single thrust bearing, end-cover axle bearing, deep groove ball bearing, harmonic speed reducer output panel, axle sleeve and disc type harmonic speed reducer assembly; The connected mode of each parts is: servomotor and photoelectric encoder component and joint pedestal are fastening with screw, and motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly through axle sleeve; The input of disc type harmonic speed reducer assembly has just been taken turns with screw and joint pedestal and has been fastenedly connected, and output just wheel then is connected with harmonic speed reducer output panel; On the end-cover axle bearing, an end is connected to transmit motion and moment of torsion with the output sleeve through spline this output panel through bearings; End-cover axle bearing and joint pedestal are connected with screw axial; Controller is fixed in the pedestal of joint through installing rack; All deads in line of servomotor and photoelectric encoder component, joint pedestal, disc type harmonic speed reducer assembly, harmonic speed reducer output panel, end-cover axle bearing and output sleeve; The joint zero-bit of module adopts Hall switch to detect; Hall switch is formed by Hall element with as the small magnet piece that triggers usefulness; Hall element is fixed in the radial groove of end-cover axle bearing with glue; The small magnet piece is embedded in the hole of exporting sleeve in relative rotation, and the relative position of joint pedestal and output sleeve is defined as the joint zero-bit of module when Hall element and the alignment of small magnet piece.
CN2010102422086A 2010-07-30 2010-07-30 Robot revolute joint module with single degree of freedom Expired - Fee Related CN101913150B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102632500B (en) * 2012-03-27 2015-06-03 西安交通大学 Swing rod driving structure applicable to parallel robot
CN102744731B (en) * 2012-07-19 2014-07-02 北京理工大学 Integral rotary joint and method for determining zero position of integral rotary joint
CN103802125B (en) * 2014-01-27 2016-04-27 武汉大学 A kind of rotary joint module of single-degree-of-freedom
CN104354165B (en) * 2014-09-19 2016-04-13 重庆交通大学 The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom
CN106514720B (en) * 2015-09-11 2019-04-26 北京邮电大学 Embedded torque sensor and sensing device for joint module
CN106363642A (en) * 2016-11-18 2017-02-01 中国科学院合肥物质科学研究院 Humanoid robot trunk structure

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CN201913645U (en) * 2010-07-30 2011-08-03 华南理工大学 Rotating joint module of single DOF (degree of freedom) robot

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Publication number Priority date Publication date Assignee Title
DE19939646C2 (en) * 1999-08-16 2003-05-22 Amtec Automatisierungs Mes Und Modular system of positioning drives for robots with one housing
CN100369724C (en) * 2006-02-28 2008-02-20 哈尔滨工业大学 Modularized joint of space manipulator
CN100586667C (en) * 2007-06-20 2010-02-03 华中科技大学 Multi-joint flexible mechanical arm
CN201300421Y (en) * 2008-11-18 2009-09-02 华南理工大学 I-shaped joint module of a single degree-of-freedom robot

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CN201913645U (en) * 2010-07-30 2011-08-03 华南理工大学 Rotating joint module of single DOF (degree of freedom) robot

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