CN105345840A - Rotary driving joint - Google Patents
Rotary driving joint Download PDFInfo
- Publication number
- CN105345840A CN105345840A CN201510934193.2A CN201510934193A CN105345840A CN 105345840 A CN105345840 A CN 105345840A CN 201510934193 A CN201510934193 A CN 201510934193A CN 105345840 A CN105345840 A CN 105345840A
- Authority
- CN
- China
- Prior art keywords
- arm
- motor
- sleeve
- rotary driving
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention proposes a rotary driving joint. The rotary driving joint comprises an arm I, an arm II and a motor, wherein the arm I and the arm II are oppositely mounted horizontally or vertically; the motor is embedded in a space formed by the arm I and the arm II; the arm I is fixed; and the arm II is driven by the motor to rotate corresponding to the arm I along the axis of an output shaft of the motor. One end of the arm I is connected with a sleeve I, and the other end is a fixed end; the motor is fixed on the fixed end; a speed reducer connected with an output end of the motor is mounted below the fixed end; an end cover fixedly connected with the arm II is mounted at an output end of the speed reducer; and the output end of the speed reducer drives the arm II to rotate. The invention proposes another two embodiments capable of reducing a joint height or a joint diameter to adapt to multiple places. Compared with a traditional driving joint, the rotary driving joint is small in size, compact in structure, beautiful in appearance, simple in connection, convenient for installation, high in transmission precision, sensitive in response and long in service life.
Description
Technical field
The present invention relates to mechanical field, be specially adapted to operating robot field joint size and joint profile and aesthetics being had to particular/special requirement.
Background technology
Joint is mechanically operated basic components, and the quality of its performance directly affects mechanically operated performance.At present, the articulation structure of domestic Robot industry overwhelming majority design is too fat to move, bulky heaviness, and complex structure, needs the transmission of axle system, and mechanical inertia is large, causes the defects such as robot precision's error is large, transmission efficiency is low, response speed is slow, dismounting maintenance difficult.Robot both domestic and external most at use traditional mechanism as gear transmission mode and synchronous belt drive mode, cause loss and the gear of robot frame for movement in the middle of use procedure or the defect such as synchronous belt consumption is serious, life of product is short.
The execution of operating robot to surgical action has very high accuracy, flexibility, stability and security requirement, 3 ~ 4 mechanical arm co-operatings are generally in execution operative process, mutually interfere in execution operative process for preventing mechanical arm, a kind of joint size must be had little, compact conformation, good looking appearance, connect succinct, transmission accuracy is high, is quick on the draw, and joint mechanics distribution rationally, driving torque is large, motor is easy for installation, and heat radiation is good, the driving joint of long service life.
Summary of the invention
For above-mentioned technological deficiency, the present invention proposes a kind of rotary driving joint, has joint size little, compact conformation, good looking appearance, connect succinct, transmission accuracy is high, is quick on the draw, and joint mechanics distribution rationally, driving torque is large, and motor is easy for installation, and heat radiation is good, the features such as long service life.
The technical solution adopted in the present invention is:
A kind of rotary driving joint, comprise arm I, arm II and motor, described arm I, arm about II or be mounted opposite up and down, described motor embedding is arranged in the space of arm I and arm II formation, and arm I maintains static, arm II rotates along the axis of motor output shaft relative to arm I under the driving of motor.
Further, one end of described arm I is connected with sleeve, the other end is stiff end, motor is fixed on stiff end, the reductor be connected with motor output end is installed under stiff end, the output of described reductor installs an end cap be fixedly linked with arm II, and the output actuating arm II of described reductor rotates.
Further, the stiff end of described arm I is installed on outside reductor, and described arm II is sleeved on the stiff end of arm I, and is provided with bearing I between arm II and arm I.
Further, described sleeve one end is connected with arm I, and the other end is sleeved in arm II, and is provided with bearing I I between arm II and sleeve.
Further, in order to reduce the height in joint, described bearing I I and described sleeve are arranged in outside described motor, and all the other structural configuration are identical with described technical scheme, and being applicable to joint height is the application scenario of major requirement.
Further, one end of described arm I is directly connected with arm II by bearing, the other end is stiff end, motor is fixed on stiff end, under stiff end, install the reductor be connected with motor output end, the output of described reductor is set with a sleeve II, and the end of sleeve II is connected with arm II, be set with one outward at sleeve II and the sleeve III be connected with arm I stiff end is installed, between described sleeve II, sleeve III, bearing III is installed.
Further, described motor is connected with encoder.
Further, described arm I offers through wires hole.
Further, sleeve I and arm II are provided with limit switch; Or arm I and arm II is provided with limit switch.
Further, described bearing I, bearing I I bearing I II are radial thrust bearing, and it bears gravity and the moment of flexure of mechanical arm, described decelerator transmitting torque, and joint mechanics distribution rationally.
The course of work of the present invention is as follows:
Motor, as Power output, drives described decelerator to rotate, and drives described end cap and described arm to rotate after described decelerator slows down; Realize the rotation of arm II opposing arms I.
The invention has the beneficial effects as follows:
The rotary driving joint that the present invention proposes, joint size is little, compact conformation, good looking appearance, connect succinct, transmission accuracy is high, be quick on the draw, avoid joint and produce accumulated error in motion process, improve transmission accuracy, joint mechanics distribution rationally, driving torque is large, described motor is easy for installation, motor side is not by arm II or arm I " surrounding parcel ", surrounding major part space, motor side is " opening wide ", be conducive to motor radiating, heat radiation is good, extend service life, be specially adapted to operating robot field joint size and joint profile and aesthetics being had to particular/special requirement.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments in the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the planar structure schematic diagram of a kind of rotary driving joint technical scheme of the present invention.
Fig. 2 and Fig. 3 is a kind of embodiment two of rotary driving joint technical scheme of the present invention and the planar structure schematic diagram of embodiment three respectively.
In figure: 1 arm, 2 arms, 3 motors, 4 encoders, 5 decelerators, 6 limit switches, 7 radial thrust bearings, 8 end caps, 9 radial thrust bearings, 10 end caps, 11 sleeves, 12 bolts.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
As shown in Figure 1, rotary driving joint, comprise: motor 3, encoder 4, limit switch 6, decelerator 5, radial thrust bearing 7, radial thrust bearing 9, arm 1, arm 2, sleeve 11, end cap 8, end cap 10 etc., described arm 1, the symmetrical installation of arm 2, and motor embedding is arranged in the space of arm 1 and arm 2 formation, and arm 1 maintains static, arm 2 rotates along the axis of motor output shaft relative to arm 1 under the driving of motor, the axis vertical of motor 3 described in described joint is placed, wherein, when the axis vertical of motor 3 described in described joint is placed, described motor 3 embeds the top being arranged on the stiff end of described arm 1, described motor 3 connects described decelerator 5, described decelerator 5 one end is arranged on the below of the stiff end of described arm 1, described decelerator 5 other end is arranged on described end cap 10, described sleeve 11 is arranged on described arm 1, described radial thrust bearing 7 is arranged on described sleeve 11 and described arm 2 and described end cap 8 junction, described radial thrust bearing 9 is arranged on described arm 1 and described arm 2 and described end cap 10 junction, described encoder 4 is arranged in the extended axis of described motor 3, described limit switch 6 is arranged on described sleeve 11 with on described arm 2, limit switch comprises two parts, be arranged on two parts of relative motion respectively, the part so just following two relative motions moves together, when two part contact of limit switch are to time together, just notice control motor no longer continues to rotate, allow the part stop motion of two relative motions, described end cap 8 is arranged on described arm 2 with described end cap 10, is fixed by bolt 12.Described in described joint during electric 3 arbor line horizontal positioned, relative constant when in described joint, each parts relative position keeps vertically placing with electrical axis described in described joint.Described arm 1 has through wires hole, and joint pipeline can pass easily from the through wires hole described arm 1, optimizes pipeline layout.Described motor 3 can move to installation site from described arm 1 side, easy for installation.Safety protection function requirement that if driving joint has " power-off brake ", can select with the motor of built-in brake or add brake on this programme architecture basics.
Further, the inner ring of described bearing 7 fixed by described sleeve 11, and described arm 1 fixes the inner ring of described bearing 9, and described end cap 8 and described arm 2 fix the outer ring of described bearing 7, and described end cap 10 and described arm 2 fix the outer ring of described bearing 9.
Further, described motor 3, as Power output, drives described decelerator 5 to rotate, after described decelerator 5 slows down, drive described end cap 10 and described arm 2 to rotate.Described radial thrust bearing 7 and described radial thrust bearing 9 bear gravity and the moment of flexure of mechanical arm, described decelerator 5 transmitting torque, and joint mechanics distribution rationally.
The rotary driving joint that the present invention proposes can change to following other two kinds of example structure, can obtain different design features, to adapt to different application scenarios more neatly, as Fig. 2 and Fig. 3, specific as follows:
Embodiment 2
2 structures embodiment illustrated in fig. 2, radial thrust bearing 7 described in described technical scheme and described sleeve 11 are arranged in outside described motor 3, all the other structural configuration are identical with described technical scheme, can reduce joint height, and being applicable to joint height is the application scenario of major requirement.
Embodiment 3
Three structures embodiment illustrated in fig. 3, described sleeve 11 and described end cap 10 are removed in described technical scheme basis, allow described arm 1 and described arm 2 directly coordinate with described bearing 7, add the described sleeve 10 in embodiment three and described sleeve 11 two sleeves in addition, described sleeve 10 one end is arranged on below described decelerator 5, described sleeve 10 other end is arranged on described arm 2, described radial thrust bearing 9 is arranged in outside described sleeve 10, the inner ring of described bearing 9 fixed by described sleeve 10, described sleeve 11 one end is arranged on the below of the stiff end of described arm 1, described sleeve 11 other end fixes the outer ring of described bearing 9, all the other structural configuration are identical with described technical scheme, radial thrust bearing 7 described in described embodiment three and described radial thrust bearing 9 diameter are not subject to the restriction of the diameter of described motor 3 and described decelerator 5, the described radial thrust bearing 7 that diameter can be selected less and described radial thrust bearing 9, reduce joint diameter, being applicable to joint diameter is the application scenario of major requirement.
As shown in Figures 2 and 3, the described embodiment two that the present invention proposes and the rotary driving joint structure of described embodiment 3 two kinds can reduce joint height or reduce joint diameter, to adapt to different application scenarios more neatly on described technical scheme basis.
Further, embodiment 1, embodiment 2, the arm 1 described in embodiment 3, arm 2, can also be that arm 2 is motionless, motor actuating arm 1 rotates.
Rotary driving joint in technical scheme disclosed in the present invention, go for universal machine particularly operating robot field in having on the driving joint of particular/special requirement joint size and joint profile and aesthetics.Rotary driving joint syndeton in technical scheme disclosed in the present invention, joint size is little, compact conformation, good looking appearance, connect succinct, transmission accuracy is high, be quick on the draw, avoid joint and produce accumulated error in motion process, improve transmission accuracy, joint mechanics distribution rationally, driving torque is large, described motor is easy for installation, and heat radiation is good, extends service life.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. a rotary driving joint, comprise arm I, arm II and motor, it is characterized in that, described arm I, arm about II or be mounted opposite up and down, described motor embedding is arranged in the space of arm I and arm II formation, and arm I maintains static, arm II rotates along the axis of motor output shaft relative to arm I under the driving of motor.
2. rotary driving joint as claimed in claim 1, it is characterized in that, one end of described arm I is connected with sleeve I, the other end is stiff end, motor is fixed on stiff end, under stiff end, install the reductor be connected with motor output end, the output of described reductor installs an end cap be fixedly linked with arm II, and the output actuating arm II of described reductor rotates.
3. rotary driving joint as claimed in claim 2, is characterized in that, the stiff end of described arm I is installed on outside reductor, and described arm II is sleeved on the stiff end of arm I, and is provided with bearing I between arm II and arm I.
4. rotary driving joint as claimed in claim 2, is characterized in that, described sleeve I one end is connected with arm I, and the other end is sleeved in arm II, and is provided with bearing I I between arm II and sleeve I.
5. rotary driving joint as claimed in claim 4, is characterized in that, described motor is sleeved in sleeve I.
6. rotary driving joint as claimed in claim 1, it is characterized in that, one end of described arm I is directly connected with arm II by bearing, the other end is stiff end, and motor is fixed on stiff end, installs the reductor be connected with motor output end under stiff end, the output of described reductor is set with a sleeve II, the end of sleeve II is connected with arm II, is set with one outward and installs the sleeve III be connected with arm I stiff end, install bearing III between described sleeve II, sleeve III at sleeve II.
7. the rotary driving joint as described in claim 1 or 2 or 6, it is characterized in that, described motor is connected with encoder.
8. the rotary driving joint as described in claim 1 or 2 or 6, is characterized in that, described arm I offers through wires hole.
9. rotary driving joint as claimed in claim 2, is characterized in that, sleeve I and arm II are provided with limit switch.
10. rotary driving joint as claimed in claim 6, is characterized in that, described arm I and arm II is provided with limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510934193.2A CN105345840A (en) | 2015-12-15 | 2015-12-15 | Rotary driving joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510934193.2A CN105345840A (en) | 2015-12-15 | 2015-12-15 | Rotary driving joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105345840A true CN105345840A (en) | 2016-02-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510934193.2A Pending CN105345840A (en) | 2015-12-15 | 2015-12-15 | Rotary driving joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105345840A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
| CN112247976A (en) * | 2020-09-30 | 2021-01-22 | 山东科技大学 | Five-degree-of-freedom non-planar surface additive manufacturing robot |
| CN113172655A (en) * | 2021-05-10 | 2021-07-27 | 福德机器人（成都）有限责任公司 | Integrated joint device and seven-axis robot thereof |
| CN110238834B (en) * | 2018-03-09 | 2024-04-30 | 杨锐涛 | Robot |
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| JP2011064265A (en) * | 2009-09-17 | 2011-03-31 | Denso Wave Inc | Mounting structure of reduction gear, and method for manufacturing reduction gear |
| CN201913645U (en) * | 2010-07-30 | 2011-08-03 | 华南理工大学 | Rotating joint module of single DOF (degree of freedom) robot |
| JP2012223081A (en) * | 2011-04-14 | 2012-11-12 | Jtekt Corp | Electric actuator and joint apparatus |
| CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
| CN104369194A (en) * | 2014-10-08 | 2015-02-25 | 顿向明 | Robot joint for mechanical arm |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN204221792U (en) * | 2014-10-08 | 2015-03-25 | 顿向明 | A kind of joint of robot for mechanical arm |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN104959977A (en) * | 2015-06-26 | 2015-10-07 | 天津市福臻机电工程有限公司 | Turning equipment for mechanical arm |
| CN205201561U (en) * | 2015-12-15 | 2016-05-04 | 山东大学齐鲁医院 | Rotation type drive joint |
-
2015
- 2015-12-15 CN CN201510934193.2A patent/CN105345840A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011064265A (en) * | 2009-09-17 | 2011-03-31 | Denso Wave Inc | Mounting structure of reduction gear, and method for manufacturing reduction gear |
| CN201913645U (en) * | 2010-07-30 | 2011-08-03 | 华南理工大学 | Rotating joint module of single DOF (degree of freedom) robot |
| JP2012223081A (en) * | 2011-04-14 | 2012-11-12 | Jtekt Corp | Electric actuator and joint apparatus |
| CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
| CN104369194A (en) * | 2014-10-08 | 2015-02-25 | 顿向明 | Robot joint for mechanical arm |
| CN204221792U (en) * | 2014-10-08 | 2015-03-25 | 顿向明 | A kind of joint of robot for mechanical arm |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN104959977A (en) * | 2015-06-26 | 2015-10-07 | 天津市福臻机电工程有限公司 | Turning equipment for mechanical arm |
| CN205201561U (en) * | 2015-12-15 | 2016-05-04 | 山东大学齐鲁医院 | Rotation type drive joint |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238834A (en) * | 2018-03-09 | 2019-09-17 | 贾培军 | A kind of robot |
| CN110238834B (en) * | 2018-03-09 | 2024-04-30 | 杨锐涛 | Robot |
| CN112247976A (en) * | 2020-09-30 | 2021-01-22 | 山东科技大学 | Five-degree-of-freedom non-planar surface additive manufacturing robot |
| CN113172655A (en) * | 2021-05-10 | 2021-07-27 | 福德机器人（成都）有限责任公司 | Integrated joint device and seven-axis robot thereof |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160224 |