CN105643657A - Driving joint - Google Patents
Driving joint Download PDFInfo
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- CN105643657A CN105643657A CN201410632175.4A CN201410632175A CN105643657A CN 105643657 A CN105643657 A CN 105643657A CN 201410632175 A CN201410632175 A CN 201410632175A CN 105643657 A CN105643657 A CN 105643657A
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- transmission shaft
- power transmission
- brake
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- power set
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Abstract
A driving joint comprises a transmission shaft, a speed reducer, a power device, a brake and a position sensor, wherein the transmission shaft, the speed reducer, the power device, the brake and the position sensor are all of a hollow structure. The speed reducer, the power device, the brake and the position sensor are sequentially and fixedly arranged on the transmission shaft in a sleeving mode. The power device drives the transmission shaft to rotate. According to the driving joint, the power device drives the transmission shaft to rotate, so that the speed reducer, the brake and the position sensor are driven to rotate jointly, and thus the driving joint can provide driving force for the outside. Cables of all the components and parts are gathered in the transmission shaft and connected to the outside through the tail end of the driving joint. While the requirement that the driving joint is hollow is met, the structure is compact, the space can be utilized sufficiently, and the actual dimension of the driving joint of a robot is decreased, so that the flexibility of the robot is improved, and the movement range and the movement space of the robot are widened. In addition, the probability that the tail end of an arm is externally connected with the cables is achieved.
Description
Technical field
The present invention relates to robot field, be specifically related to a kind of driving joint.
Background technology
Along with the development of science and technology, robot and relevant automatic equipment have come into all trades and professions, relate to multiple field, are used not only for auxiliary and produce, are also widely used in fields such as medical treatment and patients ' recoveries. Type of drive in present robot and relevant automatic equipment, the modes adopting motor acceleration and deceleration device to be combined more. For joint of robot, major part does not possess the ability of hollow cabling. The joint of non-hollow structure, its cable will pass through in outside, not only limit the range of movement of robot, also the overall dimensions of robot body be had impact, be unsuitable for the occasion in demands such as built-in external cables and apply. Part can the joint of hollow cabling, employing is that the mode of motor biasing realizes, but the hollow structure joint of motor eccentrically arranged type, is unfavorable for making full use of of space, increases the volume of articular portion, is unfavorable for that robot moves in little space.
Summary of the invention
In consideration of it, be necessary that providing one can make full use of space, the driving joint of small volume.
A kind of driving joint, including being the power transmission shaft of hollow structure, decelerator, power set, brake and position sensor, described decelerator, described power set, described brake and described position sensor are sheathed successively to be fixed on described power transmission shaft, and described power set drive described drive axis.
Wherein in an embodiment, also include cabling sheath, described cabling sheath includes the canned paragraph protecting line segment and extending to form to the outside protecting line segment from described one end protecting line segment, the described line segment that protects is hollow structure, the described line segment that protects is located at the inner chamber of described power transmission shaft, described canned paragraph and described drive that diarthrodial low speed end is fixing to be connected.
Wherein in an embodiment, also include power set mounting shell, described power set are arranged in described power set mounting shell, described power transmission shaft, described cabling sheath canned paragraph and described power set mounting shell between form the first cavity, described decelerator is positioned at described first cavity, and described power set and described decelerator are separated by described power set mounting shell.
Wherein in an embodiment, also include brake and connect shell, form the second cavity, described power set and described brake between described power set mounting shell, described power transmission shaft and described brake connection shell and be positioned at described second cavity.
Wherein in an embodiment, it is provided with clutch shaft bearing between described power set mounting shell and described power transmission shaft, described brake includes arrestment mechanism and is fixed on wheel hub on described arrestment mechanism, described wheel hub is sheathed to be fixed on described power transmission shaft, is provided with the second bearing between described arrestment mechanism and described power transmission shaft.
Wherein in an embodiment, also include sensor and connect shell, described brake connects shell, described power transmission shaft and described sensor and connects formation the 3rd cavity between shell, described position sensor is positioned at described 3rd cavity, and described brake connects shell and described brake and described position sensor separated.
Wherein in an embodiment, described brake includes arrestment mechanism and is fixed on wheel hub on described arrestment mechanism, and described wheel hub is hollow structure, and described wheel hub is set on described power transmission shaft, and described wheel hub and described power transmission shaft connect by flat key is fixing.
Wherein in an embodiment, described decelerator includes wave producer, and described wave producer is hollow structure, and described wave producer is sheathed to be fixed on described power transmission shaft.
Wherein in an embodiment, described power set are motor, and described motor includes motor mandrel, and described motor mandrel is hollow structure, and described motor mandrel is sheathed to be fixed on described power transmission shaft.
Wherein in an embodiment, described position sensor is encoder, and described encoder includes grating disc, and described grating disc is hollow structure, and described grating disc is sheathed to be fixed on described power transmission shaft.
Above-mentioned driving joint, on the decelerator of hollow structure, power set, brake and the position sensor sheathed power transmission shaft being fixed on hollow structure successively. Power set drive drive axis, thus driving decelerator, brake to rotate together with position sensor, so that driving joint externally to provide driving force. The cable of each components and parts collects in power transmission shaft, is finally connected to outside by driving diarthrodial end. This driving joint while the hollow of satisfied driving joint, compact conformation, it is possible to make full use of space, reducing the actual size of robot driving joint, thus improving the motility of robot, increasing the range of movement of robot, space. And provide the possibility by external cable for arm end.
Accompanying drawing explanation
Fig. 1 be an embodiment drive diarthrodial cross-sectional view;
Fig. 2 drives diarthrodial part section structural representation shown in Fig. 1.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage become apparent from, below in conjunction with drawings and Examples, the present invention is further elaborated. Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, the driving joint 100 of an embodiment, including being the power transmission shaft 10 of hollow structure, decelerator 20, power set, brake 40 and position sensor. Decelerator 20, power set, brake 40 and position sensor are sheathed successively to be fixed on power transmission shaft 10. Power set drive power transmission shaft 10 to rotate.
Please also refer to Fig. 2, decelerator 20 includes wave producer 22 and flexbile gear 24. Wave producer 22 is hollow structure, and wave producer 22 is sheathed to be fixed on power transmission shaft 10.
Please also refer to Fig. 2, in the present embodiment, power set are motor 30. Motor 30 includes motor mandrel 32 and motor coil 34. Motor mandrel 32 is hollow structure, and motor mandrel 32 is sheathed to be fixed on power transmission shaft 10.Concrete, motor mandrel 32 is bonded on power transmission shaft 10. Power transmission shaft 10 is used for passing out Motor torque.
Please also refer to Fig. 2, brake 40 includes arrestment mechanism 42 and the wheel hub 44 being fixed on arrestment mechanism 42. Wheel hub 44 is hollow structure, and wheel hub 44 is set on power transmission shaft 10, and wheel hub 44 and power transmission shaft 10 are connected by flat key 50.
Please also refer to Fig. 2, in the present embodiment, position sensor is encoder 50, and encoder 50 includes grating disc 52 and encoder substrate 54. Grating disc 52 is hollow structure, and grating disc 52 is sheathed to be fixed on power transmission shaft 10. Grating disc 52 relative encoder's substrate 54 is rotatable. Encoder substrate 54 can read the rotational angle of grating disc 52.
Please also refer to Fig. 2, drive joint 100 also to include cabling sheath 60. Cabling sheath 60 includes the canned paragraph 64 protecting line segment 62 and extending to form to the outside protecting line segment 62 from the one end protecting line segment 62. Protect line segment 62 for hollow structure, protect line segment 62 and be located at the inner chamber of power transmission shaft 10. The low speed end in canned paragraph 64 and driving joint 100 is fixing to be connected. The low speed end driving joint 100 refers to the outfan of the decelerator 20 driving joint 100. Concrete, in the present embodiment, the flexbile gear 24 of canned paragraph 64 and decelerator 20 is fixing to be connected. The canned paragraph 64 of cabling sheath 60 is fixed on decelerator 20 flexbile gear by screw, and the flexbile gear 24 following decelerator 20 rotates together. The cable of each components and parts collects in cabling sheath 60. Cabling sheath 60 is possible to prevent the miscellaneous part driving joint 100 abrasion to cable, effectively protects cable, improves the service life of cable.
Joint 100 is driven also to include power set mounting shell 70. Power set are arranged in power set mounting shell 70, power transmission shaft 10, cabling sheath 60 canned paragraph 64 and power set mounting shell 70 between form the first cavity. Decelerator 20 is positioned at the first cavity. Power set and decelerator 20 are separated by power set mounting shell 70. The flexbile gear 24 of canned paragraph 64 and decelerator 20 connects by screw is fixing. Space between decelerator 20 and canned paragraph 64 is provided with an O RunddichtringO 25. The space of decelerator 20 and power set mounting shell 70 is provided with the 2nd O RunddichtringO 26. Space between decelerator 20 and power transmission shaft 10 is provided with the 3rd O RunddichtringO 27. Additionally, decelerator 20 and protecting of cabling sheath 60 are provided with the first rotating seal ring 28 between line segment 62. The second rotating seal ring 29 it is provided with between power set mounting shell 70 and power transmission shaft 10. By arranging these sealing rings, so that decelerator 20 is individually isolated in the first chamber, it is possible to effectively decelerator 20 and power set are separated, it is prevented that lubricating oil in decelerator 20 or the iron filings of mechanical wear etc. pollute other parts.
Drive joint 100 also to include brake and connect shell 80. The second cavity is formed between power set mounting shell 70, power transmission shaft 10 and brake connection shell 80. Power set and brake 40 are positioned at the second cavity. It is provided with the 3rd rotating seal ring 82 between brake connection shell 80 and power transmission shaft 10. By arranging the second rotating seal ring 29 and the 3rd rotating seal ring 82, the second cavity is formed as a cavity closed. Power set mounting shell 70 and brake connect the junction of shell 80, are sealed by fluid sealant. Power set mounting shell 70 and brake connect shell 80 and can also brake 40 and power set be protected.
Clutch shaft bearing 72 it is provided with between power set mounting shell 70 and power transmission shaft 10.The second bearing 46 it is provided with between arrestment mechanism 42 and power transmission shaft 10. Clutch shaft bearing 72 and the second bearing 46 are set on power transmission shaft 10. Clutch shaft bearing 72 and the second bearing 46 are for positioning power transmission shaft 10 and support. Clutch shaft bearing 72 and the second bearing 46 are respectively positioned in the second cavity.
Power set and brake 40 are arranged in same chamber, because its impact with each other is only small, without influence on they normal operation, and are conducive to reducing the volume in whole driving joint 100. In the present embodiment, motor 30 and brake 40 are arranged in the second cavity.
Drive joint 100 also to include sensor and connect shell 90. Brake connects shell 80, power transmission shaft 10 and sensor and connects formation the 3rd cavity between shell 90. It is provided with the 4th rotating seal ring 92 between cabling sheath 60 and sensor connection shell 90. By arranging the 3rd rotating seal ring 82 and the 4th rotating seal ring 92, the 3rd cavity is formed as a cavity closed. Position sensor is positioned at the 3rd cavity. Brake connects shell 80 and brake 40 and position sensor is separated. In the present embodiment, encoder 50 is positioned at the 3rd cavity. Owing to brake 40 can produce dust when being braked due to friction, although the motion of motor 30 and brake 40 self will not be produced impact by these dust, but the optical element of encoder 50 can be polluted. Therefore, encoder 50 is individually arranged in a chamber, it is possible to avoid the dust pollution produced by brake 40, it is ensured that encoder 50 properly functioning. First cavity, the second cavity and the 3rd cavity are separate, also keep apart with external environment simultaneously.
Power set, brake 40, position sensor external diameter be less than decelerator 20 external diameter. Thus reaching the purpose of miniaturization, high integration. The internal diameter of power set, brake 40, position sensor and decelerator 20 is close simultaneously. Both it is convenient for assembling, maximally utilizes again space. In the present embodiment, the external diameter of motor 30, brake 40 and encoder 50 is less than the external diameter of decelerator 20. The internal diameter of the grating disc 52 of motor mandrel 32, the wheel hub 44 of brake 40 and encoder 50 and the internal diameter of decelerator 20 are close.
Above-mentioned driving joint 100, the grating disc 52 of the wave producer 22 of decelerator 20, the motor mandrel 32 of motor 30, the wheel hub 44 of brake 40 and encoder 50 is sheathed successively to be fixed on power transmission shaft 10. After electricity given by motor 30, motor mandrel 32 rotates, and drives power transmission shaft 10 to rotate, and drives wave producer 22, wheel hub 44, grating disc 52 to rotate together simultaneously. Due to decelerator 20 and the fixing connection of power transmission shaft 10, power can be delivered to decelerator 20, and whole driving joint 100 can externally provide driving force. It is fixed on power transmission shaft 10 simultaneously as the wheel hub 44 of brake 40 is sheathed, when to when driving joint 100 to stop power supply, brake 40 is braked, the rotation of restriction power transmission shaft 10, and now, whole driving joint 100 realizes braking. After driving joint 100 to start, it is fixed on power transmission shaft 10 owing to the grating disc 52 of encoder 50 is sheathed, the wave producer 22 of decelerator 20 is also sheathed to be fixed on power transmission shaft 10, when power transmission shaft 10 rotates, power transmission shaft 10 drives grating disc 52 to rotate together with wave producer 22, grating disc 52 is identical with the rotational angle of wave producer 22, therefore, it can realize the control to the outgoing position driving joint 100 by encoder 50.
Above-mentioned driving joint 100, each components and parts cable collects in the inside of cabling sheath 60, is finally used water joint to be connected to outside by the end driving joint 100. The flexbile gear 24 of cabling sheath 60 and decelerator 20 is fixed, and in order to the space isolating power transmission shaft 10 and Internal cable passes through, reduces the miscellaneous part friction to Internal cable, to increase the cable life-span. Meanwhile, cabling sheath 60 also acts and seals the effect driving joint 100 so that all parts in whole driving joint 100 are all integrated in a space closed, it is possible to dustproof and waterproof effectively, is conducive to driving joint 100 to use under different operating modes.
Above-mentioned driving joint 100 is a compact driver element with hollow structure, comprises the integrated unit of driven unit repertoire. Above-mentioned driving joint 100 can realize including power to provide, brakes the functions such as maintenance and position output, is conveniently applied on robot or relevant automatic equipment, it is possible to substitute traditional driver element completely and the equipment such as robot are driven.
This Integrated design in above-mentioned driving joint 100 so that original robot and on relevant automatic equipment, the separately performed type selecting such as motor, decelerator, and cannot design hollow structure or the hollow structure the designed excessive situation that takes up space is resolved. Possibility is provided for high flexibility, high environmental suitability robot arm etc. Make robot and relevant device when carrying out type selecting, it is possible to skip the type selecting mode of traditional motor and decelerator, in the position needing driving, directly select the joint that drives of this integration can meet the instructions for use of equipment according to relevant parameter. The type selecting mode that breaks traditions, simplify design simultaneously as the design of its high integration so that robot volume has and significantly reduces, and the robot for miniaturization high capacity provides possibility. By its hollow design, make the equipment being provided with this driving joint 100 will not be subject to the restriction of cable when rotated again, joint can have bigger range of activity, thus effectively increasing the range of movement of robot, the activity making mechanical arm is more flexible, so that its flexibility ratio is significantly improved compared to conventional machines people. Use the robot in above-mentioned driving joint 100, not only at range of movement, take up an area and be spatially improved, simultaneously because its bigger inside cabling space, making the whole cable of robot (including reserved cable) be built in robot interior, such design allows the robot to be operated at rugged environment. The robot and the degree of protection of relevant device that adopt above-mentioned driving shutdown 100 are higher than IP54, therefore can also carry out operation in having the more environment of water droplet, dust. Due to its encapsulation process, also it is more suitable in clean environment and uses.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. one kind drives joint, it is characterized in that, including being the power transmission shaft of hollow structure, decelerator, power set, brake and position sensor, described decelerator, described power set, described brake and described position sensor are sheathed successively to be fixed on described power transmission shaft, and described power set drive described drive axis.
2. drive joint as claimed in claim 1, it is characterized in that, also include cabling sheath, described cabling sheath includes the canned paragraph protecting line segment and extending to form to the outside protecting line segment from described one end protecting line segment, the described line segment that protects is hollow structure, the described line segment that protects is located at the inner chamber of described power transmission shaft, described canned paragraph and described drive that diarthrodial low speed end is fixing to be connected.
3. drive joint as claimed in claim 2, it is characterized in that, also include power set mounting shell, described power set are arranged in described power set mounting shell, described power transmission shaft, described cabling sheath canned paragraph and described power set mounting shell between form the first cavity, described decelerator is positioned at described first cavity, and described power set and described decelerator are separated by described power set mounting shell.
4. drive joint as claimed in claim 3, it is characterized in that, also include brake and connect shell, form the second cavity, described power set and described brake between described power set mounting shell, described power transmission shaft and described brake connection shell and be positioned at described second cavity.
5. drive joint as claimed in claim 4, it is characterized in that, it is provided with clutch shaft bearing between described power set mounting shell and described power transmission shaft, described brake includes arrestment mechanism and is fixed on wheel hub on described arrestment mechanism, described wheel hub is sheathed to be fixed on described power transmission shaft, is provided with the second bearing between described arrestment mechanism and described power transmission shaft.
6. drive joint as claimed in claim 4, it is characterized in that, also include sensor and connect shell, described brake connects shell, described power transmission shaft and described sensor and connects formation the 3rd cavity between shell, described position sensor is positioned at described 3rd cavity, and described brake connects shell and described brake and described position sensor separated.
7. drive joint as claimed in claim 1, it is characterized in that, described brake includes arrestment mechanism and is fixed on wheel hub on described arrestment mechanism, and described wheel hub is hollow structure, described wheel hub is set on described power transmission shaft, and described wheel hub and described power transmission shaft connect by flat key is fixing.
8. driving joint as claimed in claim 1, it is characterised in that described decelerator includes wave producer, described wave producer is hollow structure, and described wave producer is sheathed to be fixed on described power transmission shaft.
9. driving joint as claimed in claim 1, it is characterised in that described power set are motor, described motor includes motor mandrel, and described motor mandrel is hollow structure, and described motor mandrel is sheathed to be fixed on described power transmission shaft.
10. driving joint as claimed in claim 1, it is characterised in that described position sensor is encoder, described encoder includes grating disc, and described grating disc is hollow structure, and described grating disc is sheathed to be fixed on described power transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410632175.4A CN105643657A (en) | 2014-11-11 | 2014-11-11 | Driving joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410632175.4A CN105643657A (en) | 2014-11-11 | 2014-11-11 | Driving joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105643657A true CN105643657A (en) | 2016-06-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410632175.4A Pending CN105643657A (en) | 2014-11-11 | 2014-11-11 | Driving joint |
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| CN (1) | CN105643657A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN109986602A (en) * | 2019-03-28 | 2019-07-09 | 上海发那科机器人有限公司 | A kind of robot water-tight device |
| CN112518798A (en) * | 2020-11-24 | 2021-03-19 | 伯朗特机器人股份有限公司 | Multi-joint industrial robot |
| CN112536815A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Robot rotating joint assembly |
| CN112536814A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Routing method for robot rotating joint assembly |
| WO2022001296A1 (en) * | 2020-06-28 | 2022-01-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint and robot |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
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| CN2877987Y (en) * | 2006-03-31 | 2007-03-14 | 中国科学院沈阳自动化研究所 | Rotation joint structure for underwater electric manipulator |
| JP2011002062A (en) * | 2009-06-19 | 2011-01-06 | Yaskawa Electric Corp | Actuator with built-in speed reduction mechanism, and articulated robot using the same |
| CN102545467A (en) * | 2010-11-11 | 2012-07-04 | 株式会社安川电机 | Rotating machine, robot, method for making the rotating machine, and hollow shaft |
| CN103358316A (en) * | 2012-03-30 | 2013-10-23 | 韩国机械研究院 | Hollow driving module |
| CN203471790U (en) * | 2013-09-03 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Hollow intelligent modularization joint |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2877987Y (en) * | 2006-03-31 | 2007-03-14 | 中国科学院沈阳自动化研究所 | Rotation joint structure for underwater electric manipulator |
| JP2011002062A (en) * | 2009-06-19 | 2011-01-06 | Yaskawa Electric Corp | Actuator with built-in speed reduction mechanism, and articulated robot using the same |
| CN102545467A (en) * | 2010-11-11 | 2012-07-04 | 株式会社安川电机 | Rotating machine, robot, method for making the rotating machine, and hollow shaft |
| CN103358316A (en) * | 2012-03-30 | 2013-10-23 | 韩国机械研究院 | Hollow driving module |
| CN203471790U (en) * | 2013-09-03 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Hollow intelligent modularization joint |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN109986602A (en) * | 2019-03-28 | 2019-07-09 | 上海发那科机器人有限公司 | A kind of robot water-tight device |
| WO2022001296A1 (en) * | 2020-06-28 | 2022-01-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint and robot |
| CN112518798A (en) * | 2020-11-24 | 2021-03-19 | 伯朗特机器人股份有限公司 | Multi-joint industrial robot |
| CN112536815A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Robot rotating joint assembly |
| CN112536814A (en) * | 2020-11-24 | 2021-03-23 | 伯朗特机器人股份有限公司 | Routing method for robot rotating joint assembly |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
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