CN103481293A - Arm modularized joint of service robot - Google Patents
Arm modularized joint of service robot Download PDFInfo
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- CN103481293A CN103481293A CN201310475779.8A CN201310475779A CN103481293A CN 103481293 A CN103481293 A CN 103481293A CN 201310475779 A CN201310475779 A CN 201310475779A CN 103481293 A CN103481293 A CN 103481293A
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Abstract
The invention discloses an arm modularized joint of a service robot, and relates to the technical field of robots. The arm modularized joint of the service robot aims to solve the problems that an existing robot has many specifications, is in small batch, adopts parts with poor universality, is high in cost, is unstable in both quality and reliability, and can not be easily commercialized. The arm modularized joint of the service robot comprises a joint assembly, a driving assembly and an electric assembly. The axes of an output shaft of a direct current motor, a shaft of a brake and a shaft of an encoder are distributed in parallel, the output shaft of the direct current motor, the shaft of the brake and the shaft of the encoder are connected with a gear respectively through a first gear sleeve, a second gear sleeve and a third gear sleeve, a top cover, a second base, a first base, a base barrel and a bottom cover are fixedly connected in sequence from top to bottom, the gear is connected with the first base through a locking nut, and a first thin-wall bearing and a second thin-wall bearing are arranged between the gear and the first base. The arm modularized joint of the service robot is used for making robots.
Description
Technical field
The present invention relates to a kind of arm joint of robot.
Background technology
Along with the development of Robotics, the field of robot application and scope be constantly expansion, and people wish that robot can complete more complicated task.Yet traditional robot is all the requirement of answering the user, a user, once redesign.Therefore have that product specification is many, batch versatility little, part is poor, delivery cycle is long, cost is high, and quality and reliability unsettled problem all.China starts late to the research of modularization robot, although a lot of colleges and universities and research institution have carried out correlative study, does not reach at present commercialization.
Summary of the invention
The object of the invention is to provide a kind of arm modularized joint of service robot, in order to solve, the specification that has the existence of service robot arm modularized joint now is many, versatility little, part is poor in batches, and quality and reliability is all unstable, cause being difficult to realize commercial problem.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: a kind of arm modularized joint of service robot, and this service robot modularized joint comprises the joint assembly, drives assembly and electric assembly; Wherein, the joint assembly comprises the first pedestal, the second pedestal, gear, the first thin-wall bearing, the second thin-wall bearing, the 3rd bearing, the 4th bearing, harmonic speed reducer, locking nut, cushion block, clutch shaft bearing back-up ring, the second end ring, top cover, bottom and pedestal cylinder; Drive assembly to comprise direct current generator, the first geared sleeve and brake; Electric assembly comprises driver, driver bracing frame and rotary transformer, between top cover, the second pedestal, the first pedestal, pedestal cylinder and bottom, from top to bottom is fixedly connected sequentially; Gear is connected with the first pedestal by locking nut, is provided with the first thin-wall bearing and the second thin-wall bearing between gear and the first pedestal; Be provided with the 3rd bearing and the 4th bearing between top cover and the second pedestal; Cushion block is fixedly connected with top cover, and cushion block and top cover and clutch shaft bearing back-up ring are realized the axial location of the first thin-wall bearing outer ring jointly; The second end ring is fixedly connected with the second pedestal, realizes the axial location of the second thin-wall bearing inner ring, and harmonic speed reducer is fixed between gear, the second pedestal and top cover; Direct current generator is fixed on the first pedestal, and the motor shaft of direct current generator is connected with gear by the first geared sleeve; Driver is fixedly connected with bottom by driver rack, and brake is fixed between gear and the first pedestal; The axis run-in index of the output shaft of direct current generator, brake shaft and photoelectric encoder axle distributes, and the output shaft of direct current generator passes through, and the first geared sleeve is connected with gear, brake shaft is connected with gear by the second geared sleeve, and the photoelectric encoder axle is connected with gear by the 3rd geared sleeve.
The arm modularized joint of service robot of the present invention has following beneficial effect:
1, by direct current generator, brake, the parallel distribution of photoelectric encoder axis, be connected respectively compact conformation with same gear by geared sleeve, take full advantage of space, reduced the size in whole joint, whole joint short transverse only has 150mm simultaneously, and pedestal cylinder diameter is no more than 110mm.
2, modular design philosophy is applied in the mechanical arm design, mechanical arm is assembled by the standardized module of some alternative seriations, only need once design, save required time of design iterations and cost, reliability be improved (fault rate reduce by 50%), also greatly shortened the research and production cycle (cycle shortens 30%), can need to carry out reasonable disposition to system according to client's difference, to meet the different market demands simultaneously.
3, adopted 19 photo-electric absolute encoders as the joint absolute position transducer, have resolution ratio high (1/524288), signal process simple, without advantages such as data fusion.
4, adopt direct current generator to combine the mode of driving with harmonic speed reducer, there is simple in structure, reliable transmission.
5, for cable and plug are easily passed through from the service robot arm modularized joint, in the harmonic speed reducer centre bore, sleeve is housed, all wires and the plug of robot all pass in sleeve, the problem of having avoided outside cabling circuit in a jumble, easily to interfere and damage.
The accompanying drawing explanation
Fig. 1 is the surface structure stereogram of the arm modularized joint of service robot of the present invention.
Fig. 2 is the internal structure stereogram of the arm modularized joint of service robot of the present invention.
Fig. 3 is the profile of the arm modularized joint of service robot of the present invention.
Fig. 4 is another angular profile of the arm modularized joint of service robot of the present invention.
The specific embodiment
Below in conjunction with embodiment, the modularized joint of service robot of the present invention is specifically described:
The specific embodiment one: in conjunction with Fig. 1 to Fig. 4, present embodiment is described, the modularized joint of this service robot comprises the joint assembly, drives assembly and electric assembly; Wherein,
The joint assembly comprises the first pedestal 1-1-3, the second pedestal 1-1-4, gear 1-5, the first thin-wall bearing 1-2-1, the second thin-wall bearing 1-2-2, the 3rd bearing 1-2-3, the 4th bearing 1-2-4, harmonic speed reducer 1-6, locking nut 1-4, cushion block 1-3-3, clutch shaft bearing back-up ring 1-3-1, the second end ring 1-3-2, top cover 1-1-5, bottom 1-1-1 and pedestal cylinder 1-1-2;
Drive assembly to comprise direct current generator 2-1, the first geared sleeve 2-2 and brake 3;
Electric assembly comprises driver 5-1, driver bracing frame 5-2 and rotary transformer 2, it is characterized in that, between top cover 1-1-5, the second pedestal 1-1-4, the first pedestal 1-1-3, pedestal cylinder 1-1-2 and bottom 1-1-1, from top to bottom is fixedly connected sequentially; Gear 1-5 is connected with the first pedestal 1-1-3 by locking nut 1-4, is provided with the first thin-wall bearing 1-2-1 and the second thin-wall bearing 1-2-2 between gear 1-5 and the first pedestal 1-1-3; Be provided with the 3rd bearing 1-2-3 and the 4th bearing 1-2-4 between top cover 1-1-5 and the second pedestal 1-1-4; Cushion block 1-3-3 is fixedly connected with top cover 1-1-5, and cushion block 1-3-3 and top cover 1-1-5 and clutch shaft bearing back-up ring 1-3-1 realize the axial location of the first thin-wall bearing 1-2-1 outer ring jointly; The second end ring 1-3-2 is fixedly connected with the second pedestal 1-1-4, realizes the axial location of the second thin-wall bearing 1-2-2 inner ring, and harmonic speed reducer 1-6 is fixed between gear 1-5, the second pedestal 1-1-4 and top cover 1-1-5; It is upper that direct current generator 2-1 is fixed on the first pedestal 1-1-3, and the motor shaft of direct current generator 2-1 is connected with gear 1-5 by the first geared sleeve 2-2; Driver 5-1 is fixedly connected with bottom 1-1-1 by driver rack 5-2, and brake 3 is fixed between gear 1-5 and the first pedestal 1-1-3; Rotary transformer 2, the axis run-in index of the output shaft of direct current generator 2-1, brake shaft 3-2 and photoelectric encoder axle 4-4 distributes, and the output shaft of direct current generator 2-1 passes through, and the first geared sleeve 2-2 is connected with gear 1-5, brake shaft 3-2 is connected with gear 1-5 by the second geared sleeve 3-3, and photoelectric encoder axle 4-4 is connected with gear 1-5 by the 3rd geared sleeve 4-3.
The specific embodiment two: in conjunction with Fig. 2, Fig. 3, Fig. 4, present embodiment is described, the joint short transverse is 150mm, and the diameter of pedestal cylinder 1-1-2 is less than 110mm.The output shaft of direct current generator 2-1, brake shaft 3-2 and encoder axle 4-4 are connected with same gear 1-5 with the 3rd geared sleeve 4-3 by the first geared sleeve 2-2, the second geared sleeve 3-3 respectively, and such design takes full advantage of space, makes compact conformation.Other annexation is identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 2, Fig. 3, Fig. 4, present embodiment is described, harmonic speed reducer comprises flexbile gear 1-6-1, wave producer 1-6-2 and steel wheel 1-6-3; It is upper that wave producer 1-6-2 is installed on gear 1-5, and it is upper that the end of flexbile gear 1-6-1 is arranged on wave producer 1-6-2, and steel wheel 1-6-3 is arranged on flexbile gear 1-6-1 above and is fixedly connected with the second pedestal 1-1-4, and the other end of flexbile gear 1-6-1 is fixedly connected with top cover 1-1-5.Other annexation is identical with the specific embodiment two.
The specific embodiment four: in conjunction with Fig. 2, Fig. 3, Fig. 4, present embodiment is described, brake 3 comprises brake shaft 3-2, the second geared sleeve 3-3, non-excitation actuating formula brake 3-1, the 5th bearing 3-4, the 6th bearing 3-5 and brake support frame 3-6; Brake shaft 3-2 is connected with gear 1-5 by the second geared sleeve 3-3, non-excitation actuating formula brake 3-1 is fixed on the first pedestal 1-1-3 by brake support frame 3-6, the 5th bearing 3-4 realizes axial location by the first pedestal 1-1-3 and brake shaft 3-2, and the 6th bearing 3-5 realizes axial location by brake support frame 3-6 and brake shaft 3-2.Other annexation is identical with the specific embodiment three.
The specific embodiment five: in conjunction with Fig. 2, Fig. 3, Fig. 4, present embodiment is described, photoelectric encoder 2 comprises encoder 4-2, encoder axle 4-4, the 3rd geared sleeve 4-3, encoder support 4-1, the 7th bearing 4-5, pad 4-7 and the 8th bearing 4-6; The encoder axle 4-4 of photoelectric encoder is connected with gear 1-5 by the 3rd geared sleeve 4-3; It is upper that encoder 4-2 is fixed on the first pedestal 1-1-3 by encoder support 4-1, and the 7th bearing 4-5 and the 8th bearing 4-6 realize axial location by the first pedestal 1-1-3, pad 4-7 and encoder axle 4-4.Other annexation is identical with the specific embodiment four.
The transmittance process of service robot modularized joint moment of the present invention is:
Direct current generator 2-1, the first pedestal 1-1-3 are connected with the second pedestal 1-1-4, the motor shaft of direct current generator 2-1 and the first geared sleeve 2-2 are connected, geared sleeve one 2-2 and gear 1-5 engagement, thereby pass torque to gear 1-5, gear 1-5 is delivered to moment on wave producer 1-6-2 again, deceleration by the harmonic speed reducer that is comprised of wave producer 1-6-2, steel wheel 1-6-3 and flexbile gear 1-6-1 is delivered to moment flexbile gear 1-6-1 from wave producer 1-6-2, flexbile gear 1-6-1 passes to top cover 1-1-5 to moment again, thereby has realized the moment transmission in whole joint.
The arm modularized joint of service robot of the present invention is by direct current generator, brake, the parallel distribution of photoelectric encoder axis, by geared sleeve, with same gear, be connected respectively, compact conformation, take full advantage of space, reduced the size in whole joint simultaneously, whole joint short transverse only has 150mm, and maximum gauge is no more than 110mm.Modular design philosophy is applied in the mechanical arm design, make mechanical arm assembled by the standardized module of some alternative seriations, only need once design, save required time of design iterations and cost, reliability be improved (fault rate reduce by 50%), also greatly shortened the research and production cycle (cycle shortens 30%), can need to carry out reasonable disposition to system according to client's difference, to meet the different market demands simultaneously.Adopt 19 photo-electric absolute encoders as the joint absolute position transducer, have resolution ratio high (1/524288), signal process simple, without advantages such as data fusion.Adopt direct current generator to combine the mode of driving with harmonic speed reducer, there is simple in structure, reliable transmission.For cable and plug are easily passed through from the service robot arm modularized joint, in the harmonic speed reducer centre bore, sleeve is housed, all wires and the plug of robot all pass in sleeve, the problem of having avoided outside cabling circuit in a jumble, easily to interfere and damage.
The arm modularized joint of service robot of the present invention also can be used for industrial robot or other occasions.
Foregoing is only preferred embodiment of the present invention; not for limiting embodiment of the present invention; those of ordinary skills are according to main design of the present invention and spirit; can carry out very easily corresponding flexible or modification, therefore protection scope of the present invention should be as the criterion with the desired protection domain of claims.
Claims (5)
1. the arm modularized joint of a service robot, this service robot modularized joint comprises the joint assembly, drives assembly and electric assembly; Wherein,
The joint assembly comprises the first pedestal (1-1-3), the second pedestal (1-1-4), gear (1-5), the first thin-wall bearing (1-2-1), the second thin-wall bearing (1-2-2), the 3rd bearing (1-2-3), the 4th bearing (1-2-4), harmonic speed reducer (1-6), locking nut (1-4), cushion block (1-3-3), clutch shaft bearing back-up ring (1-3-1), the second end ring (1-3-2), top cover (1-1-5), bottom (1-1-1) and pedestal cylinder (1-1-2);
Drive assembly to comprise direct current generator (2-1), the first geared sleeve (2-2) and brake (3);
Electric assembly comprises driver (5-1), driver bracing frame (5-2) and rotary transformer (2), it is characterized in that, from top to bottom be fixedly connected sequentially between top cover (1-1-5), the second pedestal (1-1-4), the first pedestal (1-1-3), pedestal cylinder (1-1-2) and bottom (1-1-1); Gear (1-5) is connected with the first pedestal (1-1-3) by locking nut (1-4), is provided with the first thin-wall bearing (1-2-1) and the second thin-wall bearing (1-2-2) between gear (1-5) and the first pedestal (1-1-3); Be provided with the 3rd bearing (1-2-3) and the 4th bearing (1-2-4) between top cover (1-1-5) and the second pedestal (1-1-4); Cushion block (1-3-3) is fixedly connected with top cover (1-1-5), and cushion block (1-3-3) is realized the axial location of the first thin-wall bearing (1-2-1) outer ring jointly with top cover (1-1-5) and clutch shaft bearing back-up ring (1-3-1); The second end ring (1-3-2) is fixedly connected with the second pedestal (1-1-4), realize the axial location of the second thin-wall bearing (1-2-2) inner ring, harmonic speed reducer (1-6) is fixed between gear (1-5), the second pedestal (1-1-4) and top cover (1-1-5); It is upper that direct current generator (2-1) is fixed on the first pedestal (1-1-3), and the motor shaft of direct current generator (2-1) is connected with gear (1-5) by the first geared sleeve (2-2); Driver (5-1) is fixedly connected with bottom (1-1-1) by driver rack (5-2), and brake (3) is fixed between gear (1-5) and the first pedestal (1-1-3); The axis run-in index of the output shaft of rotary transformer (2), direct current generator (2-1), brake shaft (3-2) and photoelectric encoder axle (4-4) distributes, and the output shaft of direct current generator (2-1) is connected with gear (1-5) by the first geared sleeve (2-2), brake shaft (3-2) is connected with gear (1-5) by the second geared sleeve (3-3), and photoelectric encoder axle (4-4) is connected with gear (1-5) by the 3rd geared sleeve (4-3).
2. the arm modularized joint of service robot according to claim 1, is characterized in that, the height of described service robot arm modularized joint is 150mm, and the diameter of pedestal cylinder (1-1-2) is less than 110mm.
3. the arm modularized joint of service robot according to claim 2, is characterized in that, harmonic speed reducer (1-6) comprises flexbile gear (1-6-1), wave producer (1-6-2) and steel wheel (1-6-3); Wave producer (1-6-2) is installed on gear (1-5), flexbile gear (1-6-1) end is arranged on wave producer (1-6-2), steel wheel (1-6-3) is arranged on flexbile gear (1-6-1) above and is fixedly connected with the second pedestal (1-1-4), and the other end of flexbile gear (1-6-1) is fixedly connected with top cover (1-1-5).
4. the arm modularized joint of service robot according to claim 3, it is characterized in that, brake (3) comprises brake shaft (3-2), the second geared sleeve (3-3), non-excitation actuating formula brake (3-1), the 5th bearing (3-4), the 6th bearing (3-5) and brake support frame (3-6); Brake shaft (3-2) is connected with gear (1-5) by the second geared sleeve (3-3), non-excitation actuating formula brake (3-1) is fixed on the first pedestal (1-1-3) by brake support frame (3-6), the 5th bearing (3-4) is realized axial location by the first pedestal (1-1-3) and brake shaft (3-2), and the 6th bearing (3-5) is realized axial location by brake support frame (3-6) and brake shaft (3-2).
5. the arm modularized joint of service robot according to claim 4, it is characterized in that, rotary transformer (2) comprises photoelectric encoder (4-2), photoelectric encoder axle (4-4), the 3rd geared sleeve (4-3), photoelectric encoder support (4-1), the 7th bearing (4-5), pad (4-7) and the 8th bearing (4-6); Photoelectric encoder axle (4-4) is connected with gear (1-5) by the 3rd geared sleeve (4-3); It is upper that photoelectric encoder (4-2) is fixed on the first pedestal (1-1-3) by photoelectric encoder support (4-1), and the 7th bearing (4-5) and the 8th bearing (4-6) are realized axial location by the first pedestal (1-1-3), pad (4-7) and photoelectric encoder axle (4-4).
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| CN201310475779.8A CN103481293A (en) | 2013-10-14 | 2013-10-14 | Arm modularized joint of service robot |
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| CN104476561A (en) * | 2014-12-30 | 2015-04-01 | 浙江琦星电子有限公司 | Joint of mechanical arm |
| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
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| CN106715059A (en) * | 2014-06-05 | 2017-05-24 | 软银机器人欧洲公司 | Secure, motor-driven hinge to be provided on a humanoid robot |
| CN106945031A (en) * | 2017-03-16 | 2017-07-14 | 广东省智能制造研究所 | A kind of robot single-degree-of-freedom drive module |
| CN107635729A (en) * | 2017-07-11 | 2018-01-26 | 深圳市艾唯尔科技有限公司 | A kind of attachment structure and method in robot movable joint |
| CN107825458A (en) * | 2017-09-13 | 2018-03-23 | 航天科工智能机器人有限责任公司 | A kind of integral joint device and mechanical arm |
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| CN108309389A (en) * | 2018-02-05 | 2018-07-24 | 俞俊越 | A kind of hemostatic clamp that there is supporting rack and hemostasis step can be recorded |
| CN111844120A (en) * | 2020-07-22 | 2020-10-30 | 北京理工大学 | Torque feedback joint |
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| CN106715059A (en) * | 2014-06-05 | 2017-05-24 | 软银机器人欧洲公司 | Secure, motor-driven hinge to be provided on a humanoid robot |
| CN104476561A (en) * | 2014-12-30 | 2015-04-01 | 浙江琦星电子有限公司 | Joint of mechanical arm |
| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
| CN105818161A (en) * | 2016-03-30 | 2016-08-03 | 广东工业大学 | Internal-wiring robot revolute joint module |
| KR20180013686A (en) * | 2016-07-30 | 2018-02-07 | 유비테크 로보틱스 코프 | Servo Motor and Control Method thereof |
| US10084362B2 (en) | 2016-07-30 | 2018-09-25 | UBTECH Robotics Corp. | Servomotor and control method thereof |
| KR101908689B1 (en) * | 2016-07-30 | 2018-10-16 | 유비테크 로보틱스 코프 | Servo Motor and Control Method thereof |
| CN106208543B (en) * | 2016-07-30 | 2018-10-19 | 深圳市优必选科技有限公司 | A kind of servo motor and its control method |
| CN106208543A (en) * | 2016-07-30 | 2016-12-07 | 深圳市优必选科技有限公司 | A kind of servomotor and control method thereof |
| CN106945031A (en) * | 2017-03-16 | 2017-07-14 | 广东省智能制造研究所 | A kind of robot single-degree-of-freedom drive module |
| CN106945031B (en) * | 2017-03-16 | 2024-01-30 | 广东省智能制造研究所 | Robot single-degree-of-freedom driving module |
| CN107635729A (en) * | 2017-07-11 | 2018-01-26 | 深圳市艾唯尔科技有限公司 | A kind of attachment structure and method in robot movable joint |
| CN107825458A (en) * | 2017-09-13 | 2018-03-23 | 航天科工智能机器人有限责任公司 | A kind of integral joint device and mechanical arm |
| CN107856053A (en) * | 2017-11-23 | 2018-03-30 | 深圳市优必选科技有限公司 | Joint steering wheel and robot |
| CN108309389A (en) * | 2018-02-05 | 2018-07-24 | 俞俊越 | A kind of hemostatic clamp that there is supporting rack and hemostasis step can be recorded |
| CN111844120A (en) * | 2020-07-22 | 2020-10-30 | 北京理工大学 | Torque feedback joint |
| CN111844120B (en) * | 2020-07-22 | 2023-04-07 | 北京理工大学 | Torque feedback joint |
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Application publication date: 20140101 |