CN106182077A - Multi-functional high pulling torque integrated robot joint - Google Patents
Multi-functional high pulling torque integrated robot joint Download PDFInfo
- Publication number
- CN106182077A CN106182077A CN201610778231.4A CN201610778231A CN106182077A CN 106182077 A CN106182077 A CN 106182077A CN 201610778231 A CN201610778231 A CN 201610778231A CN 106182077 A CN106182077 A CN 106182077A
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- Prior art keywords
- hollow
- gear
- output shaft
- wheel
- bearing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of multi-functional high pulling torque integrated robot joint, including DC servo motor, band wheels, gear train, hollow harmonic speed reducer, hollow output shaft, hollow encoder and hollow output shaft end bearing；Wherein, described band wheels include big belt wheel and small pulley；Described gear train includes little gear and gear wheel；Described DC servo motor drives described small pulley；Described small pulley drives described big belt wheel；Described big belt wheel connects described little gear by belt shaft, and described little gear engages with described gear wheel；One end of described hollow output shaft connects described gear wheel and described hollow encoder, and the other end connects described hollow harmonic speed reducer, the inner ring of described hollow output shaft end bearing.In the present invention, the preferred and combination of three grades of deceleration speed reducing ratio can realize the application demand of different places, different field.
Description
Technical field
The present invention relates to robot, in particular it relates to a kind of multi-functional high pulling torque integrated robot joint.
Background technology
Along with the use of robot is more and more extensive, the existence of the robot that grows on trees in industries such as industry, services, but
Relating to robot is all after sale to hinder one of wide variety of obstacle of robot with the factor such as maintenance, is allowed to answer on a large scale
With.The standardization of robot and modularity will be substantially reduced the cost of robot, improve the precision of robot, simplify robot
Maintenance, is trend and the focus of research of robot development.The research of modularized joint makes joint module and standardization, will carry
The reconfigurability of high robot architecture, it is simple to the selection of mechanical arm and replacement, reduces cost, alleviates weight, and improve can
By property, shorten research and development and manufacturing cycle, be suitable for the application of multi-field conglomerate, there is higher value and prospect.
Modularized joint has had certain research, is described in detail below:
Publication No. CN 105313134A, in the patent of invention of entitled light-type mechanical arm modular joint, discloses
A kind of light-type mechanical arm modular joint, including: hollow motor, have: hollow motor rotor, hollow motor stator, and
Hollow motor shaft；Decelerator；High-speed electric expreess locomotive bearing；Modularity shutdown output shaft；First encoder and the second encoder.This
Bright simple in construction, light weight.But the motor of this invention is special hollow motor, manufacture the difficulty of motor and relatively costly；Coding
Device quantity two, occupies larger space；Only one-level harmonic reduction, transmission is smaller.
Publication No. CN 103802125 A, in the patent of invention of the rotary joint module of entitled a kind of single-degree-of-freedom,
Disclose a kind of rotary joint module, including servomotor and encoder component, planetary reducer, joint pedestal, bearing,
Bearing base, bearing (ball) cover, upper rotational shell, lower rotational shell, controller circumference equipped system, controller shaft are to equipped system
Deng.This inventive structure is the compactest, and upper and lower rotary joint is separable, convenient for assembly and dismounting.Joint pedestal and upper rotational shell
It is equipped with the position, hole connected with other parts, conveniently builds different robot modelings or system.But this invention uses row
Star gear reduction unit, volume is relatively big, heavier-weight, joint transport, installs comparatively laborious, is difficult to realize standardization, and price
Can be higher；Encoder is not described, it is understood that there may be cannot zero setting and position cannot be judged after mechanical joint accident power-off
Problem.
Publication No. CN 103273499 A, entitled compact machines people's modularized joint and the patent of invention of robot
In, disclosing a kind of compact joint, this compact machines people's modularized joint makes this joint rotation by power shaft, and passes through
First, second Bevel Gear Drive being meshed drives tumbler to rotate, and forms T-shaped knot between its supporting part and rotation section
Structure.This inventive structure is compact, takes up room little, but its structure includes two motors, increases control difficulty；And due to it
Construction features, limits its reconfigurable multiformity.
Some other modularized joint, such as " Modularized joint of space manipulator " (CN 1807032 A), " integrated flexible
Rotary joint " (CN 203371554 U) etc., it is disadvantageous in that and is only applicable to specific occasion, it is impossible to multi-field conglomerate should
With, it is difficult to realize inter-trade modularity and promote.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of multi-functional high pulling torque integrated robot and close
Joint.
According to the present invention provide multi-functional high pulling torque integrated robot joint, including DC servo motor, band wheels,
Gear train, hollow harmonic speed reducer, hollow output shaft, hollow encoder and hollow output shaft end bearing；
Wherein, described band wheels include big belt wheel and small pulley；Described gear train includes little gear and gear wheel；
Described DC servo motor drives described small pulley；Described small pulley drives described big belt wheel；Described big belt wheel leads to
Crossing belt shaft and connect described little gear, described little gear engages with described gear wheel；One end of described hollow output shaft connects institute
Stating gear wheel and described hollow encoder, the other end connects described hollow harmonic speed reducer, described hollow output shaft end bearing
Inner ring.
Preferably, motor shaft end bearing is also included；
The axle of described DC servo motor connects the inner ring of motor shaft end bearing.
Preferably, also include that bearing adjusts pad and axle jump ring；
Bearing adjusts pad and is used for adjusting the end-play of motor shaft end bearing, and described axle jump ring is used for carrying out motor shaft
The axial restraint of end bearing.
Preferably, described hollow harmonic speed reducer includes wave producer, steel wheel, flexbile gear and cross roller axle
Hold；
Described generator is connected with gear wheel by hollow output shaft；
Described flexbile gear is connected with outer ring, the input of described cross roller bearing；
Described steel wheel is connected with the described inner ring of cross roller bearing, outfan.
Preferably, also include driving panel；Described driving panel electrical connection described DC servo motor, described hollow
Harmonic speed reducer, described hollow encoder.
Preferably, the electricity of the DC servo described in feedback control of the described hollow encoder described in driving panel acceptance
Machine.
Compared with prior art, the present invention has a following beneficial effect:
1, in the present invention, the connection of DC servo motor outfan has band wheels, gear train, hollow harmonic speed reducer three grades to subtract
Speed, while improving speed reducing ratio, adds the output torque of integrated robot joint.Hollow harmonic speed reducer is positioned at the 3rd
Level is slowed down, and according to advantages such as the distinctive return difference of harmonic reduction are little, precision is high, improves the output essence of integrated robot joint
Degree；Meanwhile, the preferred and combination of three grades of deceleration speed reducing ratio can realize the application demand of different places, different field；
2, in the present invention, hollow encoder is joined directly together with hollow output shaft, while realizing movement position feedback, protects
Demonstrate,proved the record to absolute location information in the case of accident power-off so that system re-power after without repeating zero setting；
3, in the present invention, hollow encoder, hollow output shaft ensure that integrated robot joint has hollow wiring merit
Can, it is simple and reliable for structure, it is to avoid integrated robot joint assembles produced wiring challenge；Meanwhile, control is driven
Plate has EtherCAT bus functionality, succinct circuit and hollow wiring and ensure that 360 degree between integrated robot joint
Rotate；
4, input in the present invention, outfan have modularity input, output interface, in that context it may be convenient to and other joints or
Mechanical arm is connected, and has stronger reconfigurability, connects and convenient disassembly is quick；Meanwhile, also there is convenient manufacture to process, it is easy to
The features such as assembly or disassembly maintenance；
5, the present invention drives panel may be arranged in integrated robot joint inner free space, utilize dexterously
Inner free space so that whole articulation structure is compact, it is easy to accomplish modularity is connected, and easy accessibility；
6, due to the fact that three grades of speed reducing ratio have multiple preferably possible, and outfan precision is good, reliability is high, can be used for
Industrial circle or service occupation, meet modularity and the standardization demand, beneficially large-scale production of integrated robot joint.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is that the structure of the present invention arranges schematic diagram；
In figure: 101 is outfan；102 is input；2 is DC servo motor；3 is motor shaft end bearing；4 is hollow
Encoder；501 is little gear；502 is gear wheel；6 is hollow harmonic speed reducer；601 is wave producer；602 is flexbile gear；603
For just wheel；604 is cross roller bearing；7 is hollow output shaft；8 is hollow output shaft end bearing；9 is belt shaft bearing；
10 is big belt wheel；1101,1102 it is axle sleeve.
Fig. 2 is DC servo motor and motor shaft end bearing connection diagram in the present invention；
In figure: 2 DC servo motors；3 motor shaft end bearings.
Fig. 3 is harmonic speed reducer and hollow outfan connection diagram in the present invention；
In figure: 601 is wave producer；602 is flexbile gear；603 is just to have taken turns；604 is cross roller bearing；8 is hollow
Output shaft end bearing.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
In the present embodiment, the multi-functional high pulling torque integrated robot joint that the present invention provides, including DC servo electricity
Machine 2, band wheels, gear train, hollow harmonic speed reducer 6, hollow output shaft 7, hollow encoder 4, hollow output shaft end bearing 8,
And driving panel；
Wherein, described band wheels include big belt wheel 10 and small pulley；Described gear train includes little gear 501 and gear wheel
502；
Described DC servo motor 2 drives described small pulley；Described small pulley drives described big belt wheel 10；Described big belt wheel
10 connect described little gear 501 by belt shaft, and described little gear 501 engages with described gear wheel 502；Described hollow output shaft
One end of 7 connects described gear wheel 502 and described hollow encoder 4, and the other end connects described hollow harmonic speed reducer 6, described
The inner ring of hollow output shaft end bearing 8；
Described driving panel electrically connects described DC servo motor 2, described hollow harmonic speed reducer 6, described hollow volume
Code device 4.
The multi-functional high pulling torque integrated robot joint that the present invention provides, also includes motor shaft end bearing 3；
The axle of described DC servo motor 2 connects the inner ring of motor shaft end bearing 3.
The multi-functional high pulling torque integrated robot joint that the present invention provides, also includes that bearing adjusts pad and axle card
Spring；
Bearing adjusts pad and is used for adjusting the end-play of motor shaft end bearing, and described axle jump ring is used for carrying out motor shaft
The axial restraint of end bearing.
Described hollow harmonic speed reducer includes wave producer 601, steel wheel, flexbile gear and cross roller bearing；
Described generator 601 is connected with gear wheel 501 by hollow output shaft 7；
Described flexbile gear 602 is connected with outer ring, the input 102 of described cross roller bearing 604；
Described steel wheel 603 is connected with the described inner ring of cross roller bearing 604, outfan 101.
In the present embodiment, the profile size of input 101 and outfan 102 determines according to its internal structure design,
Reduce the overall volume in joint；；Input 101, outfan 102, hollow harmonic speed reducer 6 and hollow encoder 4 all use
Hollow structure, facilitates centre bore to connect up；Changed the direction of motor shaft output by belt wheel, belt wheel is by axle and bearing and little gear
Being connected, gear wheel is connected with harmonic speed reducer；Encoder is arranged on hollow output shaft lower end, and the position of detection output shaft, for absolutely
To encoder, can be with zero setting the record of position in the case of ensureing accident power-off.
Described DC servo motor 2 is connected with described motor shaft end bearing 3, decreases belt wheel transmission to described straight
The Moment Influence of flow servo motor 2 axle head, it can be ensured that described DC servo motor smoothly exports rotation torque.
Described gear wheel 502 is connected with described hollow output shaft 7, simultaneously described in hollow output shaft compile with described hollow
Code device 4 is connected, it is ensured that described hollow encoder measurement to the anglec of rotation can feed back to drive panel to revolve for motor
Turn and control and zero setting demand.
In described hollow harmonic speed reducer 6, described wave producer 601 is carried out by described middle outage output shaft 7
Torque transmitting, described flexbile gear 602 is connected with described cross roller bearing 604 outer ring and described input 102,
Ensure that integrated robot joint can bear and hand over big output moment of flexure.Described steel wheel 603 rolls with described decussation
Sub-bearing 604 inner ring, outfan 101 are connected, it is ensured that the smooth transport of outfan and stable operation.
Described hollow output shaft 7, it is simple to centre bore connects up, it is to avoid to cable in integrated robot joint motor process
Particular/special requirement, it is achieved 360 degree of revolute functions.Described hollow encoder 4 is connected with described hollow output shaft 7, can be anti-
The position of rotation of output shaft in feedback, moreover it is possible to carry out location records under the states such as accident power-off, and make integrated robot joint
Without zero setting again after recovering to power on.
The feedback of the described hollow encoder 4 described in driving panel acceptance, in order to the DC servo electricity described in control
Machine 2 realize steady, reverse demand reliably.Power adapting module, EtherCAT bus is comprised on described driving panel
Interface etc., between simplification integrated robot joint while wiring complexity, are effectively improved the quick of control in real time
Property and stability.
Above-described embodiment can be according to the real needs of field of employment, to band wheels, gear train, hollow harmonic speed reducer structure
The speed reducing ratio of the three grades of decelerations become is adjusted correspondingly, it is ensured that its applicable multiple fields, the extensive application of many occasions.Meanwhile,
Described hollow harmonic speed reducer is that the third level is slowed down, it is ensured that the advantages such as it is little that outfan has return difference, and transmission accuracy is high.Also may be used
So that three grades of decelerations to be selected the combination of grade different order, flexible Application is to meet concrete place demand.
The one multi-functional high pulling torque integrated robot joint that the present invention provides, by EtherCAT, (open is real-time
Ethernet communications protocol) bus carries out real-time feedback control to modular integratedization joint of robot, and improve mechanical arm and make
Carrying smooth operation in industry and real-time operation.The present invention had both selected for industrial circle modularized joint and had provided a kind of fitting
The integrated robot joint closed, provides one for non-industrial trade demand again and has moment of torsion multi-functional, multiple selection scheme.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (6)
1. a multi-functional high pulling torque integrated robot joint, it is characterised in that include DC servo motor (2), band wheels,
Gear train, hollow harmonic speed reducer (6), hollow output shaft (7), hollow encoder (4) and hollow output shaft end bearing (8)；
Wherein, described band wheels include big belt wheel (10) and small pulley；Described gear train includes little gear (501) and gear wheel
(502)；
Described DC servo motor (2) drives described small pulley；Described small pulley drives described big belt wheel (10)；Described big belt wheel
(10) connecting described little gear (501) by belt shaft, described little gear (501) is engaged with described gear wheel (502)；In described
One end of empty output shaft (7) connects described gear wheel (502) and described hollow encoder (4), and it is humorous that the other end connects described hollow
Ripple decelerator (6), the inner ring of described hollow output shaft end bearing (8).
Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include motor shaft
End bearing (3)；
The axle of described DC servo motor (2) connects the inner ring of motor shaft end bearing (3).
Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include that bearing is adjusted
Whole pad and axle jump ring；
Bearing adjusts pad and is used for adjusting the end-play of motor shaft end bearing, and described axle jump ring is used for carrying out motor shaft end axle
The axial restraint held.
Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that described hollow is humorous
Ripple decelerator includes wave producer (601), steel wheel, flexbile gear and cross roller bearing；
Described generator (601) is connected with gear wheel (501) by hollow output shaft (7)；
Described flexbile gear (602) is connected with outer ring, the input (102) of described cross roller bearing (604)；
Described steel wheel (603) is connected with the described inner ring of cross roller bearing (604), outfan (101).
Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include driving control
Making sheet；Described driving panel electrically connects described DC servo motor (2), described hollow harmonic speed reducer (6), described hollow volume
Code device (4).
Multi-functional high pulling torque integrated robot joint the most according to claim 5, it is characterised in that described driving control
The DC servo motor (2) described in feedback control of the hollow encoder (4) described in making sheet acceptance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610778231.4A CN106182077A (en) | 2016-08-30 | 2016-08-30 | Multi-functional high pulling torque integrated robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610778231.4A CN106182077A (en) | 2016-08-30 | 2016-08-30 | Multi-functional high pulling torque integrated robot joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182077A true CN106182077A (en) | 2016-12-07 |
Family
ID=58086886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610778231.4A Pending CN106182077A (en) | 2016-08-30 | 2016-08-30 | Multi-functional high pulling torque integrated robot joint |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826790A (en) * | 2017-03-16 | 2017-06-13 | 广东省智能制造研究所 | A kind of robot double freedom drive module |
| 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 |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN107413718A (en) * | 2017-04-25 | 2017-12-01 | 上海丰禾精密机械有限公司 | Double-manipulator cleaning machine and its cleaning method |
| CN107901074A (en) * | 2016-12-30 | 2018-04-13 | 上海丰禾精密机械有限公司 | A kind of novel mechanical arm joint structure and its application method |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN109591045A (en) * | 2018-12-20 | 2019-04-09 | 杭州宇树科技有限公司 | A kind of high integration high-performance joint of robot unit |
| WO2019196723A1 (en) * | 2018-04-08 | 2019-10-17 | 深圳市东方伺服数控技术有限公司 | Robot joint using three-stage synchronous belt speed reducer and control method therefor |
| CN111071417A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一九研究所 | Compact electric watertight joint |
| CN111166481A (en) * | 2018-11-13 | 2020-05-19 | 重庆金山医疗机器人有限公司 | Instrument reducer of surgical operation auxiliary robot and instrument system |
| CN112297053A (en) * | 2020-10-26 | 2021-02-02 | 珠海一维弦机器人有限公司 | Joint driving device |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| CN115401499A (en) * | 2022-10-31 | 2022-11-29 | 沈阳马卡智工科技有限公司 | Driving mechanism for five-axis machining center swinging head |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901074A (en) * | 2016-12-30 | 2018-04-13 | 上海丰禾精密机械有限公司 | A kind of novel mechanical arm joint structure and its application method |
| CN106826790B (en) * | 2017-03-16 | 2023-06-06 | 广东省智能制造研究所 | Robot double-freedom-degree driving module |
| 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 |
| CN106826790A (en) * | 2017-03-16 | 2017-06-13 | 广东省智能制造研究所 | A kind of robot double 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 |
| CN107413718A (en) * | 2017-04-25 | 2017-12-01 | 上海丰禾精密机械有限公司 | Double-manipulator cleaning machine and its cleaning method |
| CN107398921A (en) * | 2017-06-09 | 2017-11-28 | 东南大学 | A kind of articulation structure of articulated robot |
| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| WO2019196723A1 (en) * | 2018-04-08 | 2019-10-17 | 深圳市东方伺服数控技术有限公司 | Robot joint using three-stage synchronous belt speed reducer and control method therefor |
| CN111166481A (en) * | 2018-11-13 | 2020-05-19 | 重庆金山医疗机器人有限公司 | Instrument reducer of surgical operation auxiliary robot and instrument system |
| CN111166481B (en) * | 2018-11-13 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Instrument reducer and instrument system of surgical auxiliary robot |
| CN109591045A (en) * | 2018-12-20 | 2019-04-09 | 杭州宇树科技有限公司 | A kind of high integration high-performance joint of robot unit |
| CN111071417A (en) * | 2019-12-09 | 2020-04-28 | 中国船舶重工集团公司第七一九研究所 | Compact electric watertight joint |
| CN112297053A (en) * | 2020-10-26 | 2021-02-02 | 珠海一维弦机器人有限公司 | Joint driving device |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| CN115401499A (en) * | 2022-10-31 | 2022-11-29 | 沈阳马卡智工科技有限公司 | Driving mechanism for five-axis machining center swinging head |
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Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |