CN103341864A - Robot joint module with self-locking function and robot - Google Patents
Robot joint module with self-locking function and robot Download PDFInfo
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- CN103341864A CN103341864A CN2013101679087A CN201310167908A CN103341864A CN 103341864 A CN103341864 A CN 103341864A CN 2013101679087 A CN2013101679087 A CN 2013101679087A CN 201310167908 A CN201310167908 A CN 201310167908A CN 103341864 A CN103341864 A CN 103341864A
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Abstract
The invention discloses a modularized joint robot with a self-locking function. A worm and gear transmission method is adopted in robot joints, and a mechanism has the reverse self-locking function. Compared with a robot manufactured in a traditional method, the modularized joint robot with the self-locking function has the advantages of being large in transmission ratio, strong in bearing capacity, steady in transmission, compact in structure and low in cost, and a band-type brake device is not needed; flexibility, expandability and interchangeability of a system are high due to modularized design. The modularized joint robot with the self-locking function is suitable for occasions where dynamic and static poses need to be kept or the requirements for location accuracy, reliability and safety are high.
Description
Technical field
The present invention relates to the robot design field, especially a kind of joint module of robot and use the robot of this joint module.
Background technology
Robot in industrially developed country development rapidly, the industrial robot of China has very big gap at aspect such as reliability, application, constant product quality and developed country.Articulated robot, also claim joint arm robot or joint mechanical arm, be one of form of modal industrial robot in the current industrial circle, be suitable for the mechanical automation operation of many industrial circles, such as assemble automatically, spray paint, work such as carrying, welding.Articulated robot mainly is made up of several parts such as base, big arm, forearm, wrist, executing agencies, corresponding waist revolution, big revolution of arm, little revolution of arm, wrist revolution, wrist swinging, wrist rotate this several frees degree, advantage such as have that working space is big, flexible movements, obstacle are good.
Structural design is very important content in the robot research, is related to the performance of himself and is human ability of serving, and for articulated robot, joint designs is the link of most critical.Application number is that 201110194977.8 Chinese patent application discloses that a kind of three shaft gear tooth bars are compound owes to drive the doublejointed robot finger, the joint is made up of gear drive and the spring of motor, the different gearratio of multiaxis multichannel, have and control simple, compact conformation, low cost and other advantages.During real work, motor is connected power supply, and while electromagnetic brake coil gets electric, the armature adhesive, and the pulling force that overcomes spring separates the brake shoe of brake and brake wheel, and motor runs well; Disconnect contactor, the motor dead electricity, while electromagnetic brake coil is dead electricity also, and armature separates with iron core under the spring tension effect, and makes the brake shoe of brake tightly embrace brake wheel, and motor is braked and stall.The shortcoming of electromagnetic brake is that volume is big, brake wear is serious and is attended by vibration when fast braking.Application number is that 200610038946.2 Chinese patent application has been announced a kind of self-locking high precision rotation drive motor, and its embodiment is: at first, apply negative electric field to telescopic element, adjust the spacing of telescopic element and friction disc, they are just contacted; Then, fixedly telescopic element is removed negative electric field and is made telescopic element recover former length, promotes friction plate and produces enough thrusts at friction disc.This self-locking mode is to realize under the effect of stiction, has defectives such as complex structure, power consumption height.
At above-mentioned present situation, be necessary to play and simplify control logic, safeguard protection and pinpoint effect not proposing the auto-lock function that new method realizes joint of robot to increase under the prerequisite that structure complexity and system power dissipation are cost.
Summary of the invention
In order to address the above problem, the invention provides and a kind ofly have the joint of robot module of auto-lock function and use this robot with joint of robot module of auto-lock function, this joint of robot module with auto-lock function has simple in structure, low in energy consumption, stable transmission effect.
For achieving the above object, the joint of robot module that the present invention has auto-lock function can adopt following technical scheme:
A kind of joint of robot module with auto-lock function, comprise worm screw, connect worm screw and drive motor that worm screw rotates, with the worm gear of worm engaging and the support column that is connected the output shaft of worm gear, output flange is fixedly arranged on the described support column; The lead angle of described worm screw is less than the equivalent friction angle of worm and gear meshing wheel between cog.
The self-locking structure that the present invention has a joint of robot module of auto-lock function adopts the kind of drive of worm and gear, and is simple in structure; Can obtain very big gearratio, low in energy consumption; The more important thing is the ACTIVE CONTROL self-locking behavior that do not need, this self-locking structure can need automatic self-locking under the situation of self-locking, and does not need to need in the prior art to install additional the complex component of band-type brake motor, also need not complicated control when making designs simplification of the present invention; And worm and gear processing is simple, and cost is low.Because worm-drive is equivalent to worm drive, be multiple tooth engaged transmission, therefore this articulated robot stable drive, noise are very little.
Robot of the present invention can adopt following technical scheme:
A kind of robot, comprise some interconnective joint of robot modules and end effector, described joint of robot module comprise shell, worm screw, connection worm screw and drive motor that worm screw rotates, with the worm gear of worm engaging and the support column that is connected the output shaft of worm gear, output flange is fixedly arranged on the described support column; Described shell is provided with the input flange dish; The lead angle of described worm screw is less than the equivalent friction angle of worm and gear meshing wheel between cog.
Robot of the present invention is owing to adopted the joint of robot module with auto-lock function, entire machine people can embody that said structure is simple, low in energy consumption, the stable transmission effect, and this robot adopts modularized design, can improve entire machine people's flexibility, extensibility, maintainability and interchangeability.
Description of drawings
Fig. 1 is the structural representation that the present invention has first kind of embodiment of joint of robot module of auto-lock function.
Fig. 2 is the structural representation that the present invention has second kind of embodiment of joint of robot module of auto-lock function.
Fig. 3 is robot construction schematic diagram of the present invention.
The specific embodiment
The invention discloses a kind of joint of robot module with auto-lock function.
See also shown in Figure 1, the first kind of embodiment that has the joint of robot module of auto-lock function for the present invention.This joint of robot module 100 with auto-lock function comprises shell 13, be installed on input flange dish 1, worm screw 4 on the shell 13, connect worm screw 4 and drive motor 2 that worm screw 4 rotates, the worm gear 5 that meshes with worm screw 4 and the support column 8 that is connected the output shaft 7 of worm gear 5.Be connected by shaft coupling 3 between described worm screw 4 and the motor shaft.On the described support column 8 output flange 10 is arranged fixedly.Described support column 8 is arranged at shell 13 outsides, and support column 8 comprises the supporting part 11 that carries output flange 10 and the support portion 12 of extending and being connected with the output shaft 7 of worm gear 5 from supporting part 11.The lead angle of described worm screw 4 is less than the equivalent friction angle of worm and gear meshing wheel between cog, so that worm and gear is realized reverse self-locking, namely can only drive worm gear 5 by worm screw 4, and can not drive worm screw 4 by worm gear 5.This specific character is specially adapted to the very high occasion of security, reliability requirement, lose in accident under the situation of electric power, even on the output flange 10 that the worm gear 5 of joint of robot module 100 drives heavier load is installed, also original pose can be kept owing to have self-lock ability, and dropping suddenly of drive unit unstability and load can be do not caused.In this first kind of embodiment, the installed surface of described output flange 10 is parallel with the axis of the power transmission shaft of worm gear 5
See also shown in Figure 2, the second kind of embodiment that has the joint of robot module of auto-lock function for the present invention.This joint of robot module 100 ' structure with auto-lock function is roughly the same with first kind of embodiment, unique different be the axis normal of the power transmission shaft of the installed surface of output flange 10 and worm gear 5.The corresponding free degree difference of the output flange of the joint of robot module of two kinds of embodiments selects to adopt different embodiments as required in concrete the use.
See also shown in Figure 3ly, use above-mentioned robot 200 with joint of robot module of auto-lock function for a kind of.This robot comprises some interconnective joint of robot modules and end effector 9, the joint of robot module 100 or 100 ' with auto-lock function that the optional usefulness of joint of robot module is above-mentioned, the output flange 10 of described adjacent two joint of robot modules is fixedlyed connected with input flange dish 1.。This joint of robot module 100 or 100 ' with auto-lock function can interconnect or mix use with other common joint of robot modules.Can adopt common joint of robot module as the joint of robot module that self-locking is not required, the joint of robot module 100 or 100 ' that has can adopting of self-locking requirement to have auto-lock function.End effector 9 is in order to finish the correlation function of robot.
Claims (6)
1. joint of robot module with auto-lock function, it is characterized in that: comprise worm screw, connect worm screw and drive motor that worm screw rotates, with the worm gear of worm engaging and the support column that is connected the output shaft of worm gear, output flange is fixedly arranged on the described support column; The lead angle of described worm screw is less than the equivalent friction angle of worm and gear meshing wheel between cog.
2. the joint of robot module with auto-lock function according to claim 1, it is characterized in that: the installed surface of described output flange is parallel with the axis of the power transmission shaft of worm gear.
3. the joint of robot module with auto-lock function according to claim 1 is characterized in that: the axis normal of the installed surface of described output flange and the power transmission shaft of worm gear.
4. according to claim 2 or 3 described joint of robot modules with auto-lock function, it is characterized in that: further comprise shell, described shell is provided with the input flange dish, described support column is arranged at the shell outside, and support column comprises the supporting part that carries output flange and the support portion of extending and being connected with the output shaft of worm gear from supporting part.
5. robot, it is characterized in that: comprise some interconnective joint of robot modules and end effector, described joint of robot module comprise shell, worm screw, connection worm screw and drive motor that worm screw rotates, with the worm gear of worm engaging and the support column that is connected the output shaft of worm gear, output flange is fixedly arranged on the described support column; Described shell is provided with the input flange dish; The lead angle of described worm screw is less than the equivalent friction angle of worm and gear meshing wheel between cog.
6. robot according to claim 5, it is characterized in that: the output flange of described adjacent two joint of robot modules is fixedlyed connected with the input flange dish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310167908.7A CN103341864B (en) | 2013-05-08 | 2013-05-08 | There is joint of robot module and the robot of auto-lock function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310167908.7A CN103341864B (en) | 2013-05-08 | 2013-05-08 | There is joint of robot module and the robot of auto-lock function |
Publications (2)
| Publication Number | Publication Date |
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| CN103341864A true CN103341864A (en) | 2013-10-09 |
| CN103341864B CN103341864B (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310167908.7A Expired - Fee Related CN103341864B (en) | 2013-05-08 | 2013-05-08 | There is joint of robot module and the robot of auto-lock function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN108453725A (en) * | 2018-05-14 | 2018-08-28 | 歌尔科技有限公司 | Robot and its transmission device |
| CN108638116A (en) * | 2018-05-14 | 2018-10-12 | 歌尔科技有限公司 | Robot and its transmission device |
Citations (6)
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|---|---|---|---|---|
| SU1684020A1 (en) * | 1989-07-12 | 1991-10-15 | Украинский Научно-Исследовательский Институт Станков И Инструментов | Industrial robot |
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| JP2010052079A (en) * | 2008-08-27 | 2010-03-11 | Tokai Rubber Ind Ltd | Joint device of robot |
| CN102050163A (en) * | 2010-11-01 | 2011-05-11 | 哈尔滨工程大学 | Modular driving device of elastic joints of multi-joint hopping robot |
| CN202097742U (en) * | 2011-05-11 | 2012-01-04 | 哈尔滨工程大学 | Elastic driving revolute joint |
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2013
- 2013-05-08 CN CN201310167908.7A patent/CN103341864B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1684020A1 (en) * | 1989-07-12 | 1991-10-15 | Украинский Научно-Исследовательский Институт Станков И Инструментов | Industrial robot |
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| JP2010052079A (en) * | 2008-08-27 | 2010-03-11 | Tokai Rubber Ind Ltd | Joint device of robot |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| CN102050163A (en) * | 2010-11-01 | 2011-05-11 | 哈尔滨工程大学 | Modular driving device of elastic joints of multi-joint hopping robot |
| CN202097742U (en) * | 2011-05-11 | 2012-01-04 | 哈尔滨工程大学 | Elastic driving revolute joint |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802183A (en) * | 2015-04-02 | 2015-07-29 | 西北工业大学 | Self-locking type robot joint |
| CN108453725A (en) * | 2018-05-14 | 2018-08-28 | 歌尔科技有限公司 | Robot and its transmission device |
| CN108638116A (en) * | 2018-05-14 | 2018-10-12 | 歌尔科技有限公司 | Robot and its transmission device |
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| Publication number | Publication date |
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| CN103341864B (en) | 2015-11-18 |
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