CN106272535A - A kind of robot integral type articulation structure - Google Patents
A kind of robot integral type articulation structure Download PDFInfo
- Publication number
- CN106272535A CN106272535A CN201610916595.4A CN201610916595A CN106272535A CN 106272535 A CN106272535 A CN 106272535A CN 201610916595 A CN201610916595 A CN 201610916595A CN 106272535 A CN106272535 A CN 106272535A
- Authority
- CN
- China
- Prior art keywords
- main shaft
- electric
- rotor axis
- speed reducer
- harmonic speed
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a kind of robot integral type articulation structure, it makes the compact conformation in whole joint, and volume is little, lightweight, and pipeline of rationally arranging so that threading is convenient, expands the joint of robot scope of application and occasion.It includes main shaft, shell, main shaft runs through the center installing cavity of shell, it is characterized in that: be provided with without frame motor in installation cavity body, electromagnetic brake, harmonic speed reducer, main shaft runs through without frame motor, centre bore corresponding to harmonic speed reducer, motor without frame includes rotor axis of electric, motor cabinet without frame, it is set with electromagnetic brake on the wherein outer ring surface of a section of rotor axis of electric, the deferent segment of rotor axis of electric is fastenedly connected the importation of harmonic speed reducer, the output part of harmonic speed reducer is installed in the output part of main shaft, the input section of rotor axis of electric externally protrudes out in shell, the part of rotor evagination is set with encoder, main shaft is hollow spindle, cavity in main shaft is used for cabling.
Description
Technical field
The present invention relates to the technical field of robot joint structure, be specially a kind of robot integral type articulation structure.
Background technology
One of form of modal industrial robot in current industrial circle during articulated robot, it is adaptable to many industry
The machine automatization equalization in field, such as: Automated assembly, spray paint, carry, the work such as welding.
Existing joint of robot, it assembles for mo(u)lded piece, and the weight of whole parts is big and heat radiation is slow, easily makes
Obtain parts because poor heat radiation impact running stationarity, bulk life time are short；And existing joint of robot, motor, brake with
Encoder needs different cavitys independently to arrange from decelerator, and total is complicated, volume is big, and due to multiple structure independence cloth
Putting so that joint threading is difficult, joint of robot various control pipeline easily receives the impact that angle rotates, and limits joint of robot
Range and occasion.
Summary of the invention
For the problems referred to above, the invention provides a kind of robot integral type articulation structure, its by motor, brake and encode
Device and decelerator combine together formula so that the compact conformation in whole joint, and volume is little, lightweight, and pipeline of rationally arranging so that
Threading is convenient, expands the joint of robot scope of application and occasion.
A kind of robot integral type articulation structure, its technical scheme is such that it and includes main shaft, shell, described main shaft
Run through the center installing cavity of described shell, it is characterised in that: it is provided with in described installation cavity body and stops without frame motor, electromagnetism
Car, harmonic speed reducer, described main shaft runs through without the centre bore corresponding to frame motor, harmonic speed reducer, and described motor without frame includes
Rotor axis of electric, without frame motor cabinet, the wherein outer ring surface of a section of described rotor axis of electric is set with described electromagnetic brake, institute
The deferent segment stating rotor axis of electric is fastenedly connected the importation of described harmonic speed reducer, the output part of described harmonic speed reducer
Being installed in the output part of described main shaft, the input section of described rotor axis of electric externally protrudes out in described shell, outside described rotor
Convex part is set with encoder, and described main shaft is hollow spindle, and the cavity in described main shaft is used for cabling, described electromagnetic brake
Power interruption braking, energising depart from rotor axis of electric.
It is further characterized by described shell, and to include that front sleeve, rear end cap, the inwall of described front sleeve are fixed with described
The main part of harmonic speed reducer, described rotor axis of electric runs through described rear end cap, and the outer ring surface of described rotor axis of electric is relative
End positions in the length direction of described rear end cap is set with clutch shaft bearing；
The outer ring surface of described main shaft is set with the second axle relative to the end positions of the length direction of described rotor axis of electric
Hold；
The output unit of described main shaft is divided into output end cap, described output end cap fixed cover to be loaded on described main shaft exposing to described
The part of housing, attaching nut is fastenedly connected the output part of described output end cap, harmonic speed reducer；
Described front sleeve, rear end cap are aluminium alloy workpiece, and it makes, and total is lightweight, good heat dissipation.
After using technique scheme, with or without frame motor, electromagnetic brake, harmonic reduction in the installation cavity body that shell is formed
Device, encoder is arranged at the outside of shell, and under "on" position, encoder controls the input of the rotor axis of electric without frame motor, motor
Armature spindle drives harmonic speed reducer to slow down and operates, and harmonic speed reducer output drives main shaft output, and under off-position, electromagnetic brake closes
Close, its formula that motor, brake and encoder and decelerator are combined together so that the compact conformation in whole joint, volume is little, weight
Gently, and main shaft is hollow spindle, and the cavity in described main shaft is used for cabling, pipeline of rationally arranging so that threading is convenient, expands
The joint of robot scope of application and occasion.
Accompanying drawing explanation
Fig. 1 is the front view structural representation of the present invention；
Fig. 2 is that the A-A of Fig. 1 cuts open structural representation；
In figure, the title corresponding to sequence number is as follows:
Main shaft 1, shell 2, install cavity 3, without frame motor 4, electromagnetic brake 5, harmonic speed reducer 6, rotor axis of electric 7, nothing
Frame motor cabinet 8, importation 9, output part 10, encoder 11, cavity 12, front sleeve 13, rear end cap 14, main part 15,
Clutch shaft bearing the 16, second bearing 17, output end cap 18, attaching nut 19.
Detailed description of the invention
A kind of robot integral type articulation structure, is shown in Fig. 1, Fig. 2: it includes main shaft 1, shell 2, and main shaft 1 runs through shell 2
Installing the center of cavity 3, be provided with without frame motor 4, electromagnetic brake 5, harmonic speed reducer 6 in installing cavity 3, main shaft 1 runs through nothing
Centre bore corresponding to frame motor 4, harmonic speed reducer 6, includes rotor axis of electric 7 without frame motor 4, without frame motor cabinet 8, and motor turns
Being set with electromagnetic brake 5 on the wherein outer ring surface of a section of sub-axle 7, the deferent segment of rotor axis of electric 7 is fastenedly connected harmonic reduction
The importation 9 of device 6, the output part 10 of harmonic speed reducer 6 is installed in the output part of main shaft 1, the input of rotor axis of electric 7
Section externally protrudes out in shell 2, and the part of the evagination of rotor axis of electric 7 is set with encoder 11, and main shaft 1 is hollow spindle, in main shaft 1
Cavity 12 departs from rotor axis of electric 7 for cabling, electromagnetic brake 5 power interruption braking, energising.
Shell 2 includes front sleeve 13, rear end cap 14, and the inwall of front sleeve 13 is fixed with the main part of harmonic speed reducer 5
15, rotor axis of electric 7 runs through rear end cap 14, and the outer ring surface of rotor axis of electric 7 is relative to the two ends of the length direction of rear end cap 14
Position is set with clutch shaft bearing 16；
The outer ring surface of main shaft 1 is set with the second bearing 17 relative to the end positions of the length direction of rotor axis of electric 7；
The output unit of main shaft 1 is divided into output end cap 18, output end cap 18 fixed cover to be loaded on main shaft 1 and expose to the portion of housing 2
Point, attaching nut 19 is fastenedly connected output end cap 18, the output part 10 of harmonic speed reducer 6；
Front sleeve 13, rear end cap 14 are aluminium alloy workpiece, and it makes, and total is lightweight, good heat dissipation.
Its operation principle is as follows: under "on" position, and encoder 11 controls without frame motor 4 according to design programming, encoder 11
The input of rotor axis of electric 7, rotor axis of electric 7 drives harmonic speed reducer 6 to slow down operating, and harmonic speed reducer 6 output drives main
Axle 1 exports, and under off-position, electromagnetic brake 5 closes；By using the aluminum alloy materials work entirely processed part, use lighter in weight
For shell, not only alleviate the weight of whole joint of robot, moreover it is possible to reach rapid heat dissipation, stable；Motor, encoder, stop
Car uses inserted design so that more compact structure, thus it is lighter to reach weight；The core of main shaft 1 uses hollow design,
Solve a difficult problem for threading, be applicable to the work of any track or angle；The complicated occasion that manually can not complete can be replaced；Raw
Product efficiency is high, can control error rate；Freely programmable, completes full-automatic must work.
Above the specific embodiment of the present invention is described in detail, but content has been only the preferable enforcement of the invention
Example, it is impossible to be considered the practical range for limiting the invention.All impartial changes made according to the invention application range
Change and improvement etc., within all should still belonging to this patent covering scope.
Claims (5)
1. a robot integral type articulation structure, it includes that main shaft, shell, described main shaft run through the installation cavity of described shell
Center, it is characterised in that: being provided with in described installation cavity body without frame motor, electromagnetic brake, harmonic speed reducer, described main shaft passes through
Wearing without the centre bore corresponding to frame motor, harmonic speed reducer, described motor without frame includes rotor axis of electric, without frame motor cabinet, institute
State and be set with described electromagnetic brake on the wherein outer ring surface of a section of rotor axis of electric, the deferent segment fastening of described rotor axis of electric
Connecting the importation of described harmonic speed reducer, the output part of described harmonic speed reducer is installed in the output unit of described main shaft
Point, the input section of described rotor axis of electric externally protrudes out in described shell, and the part of described rotor evagination is set with encoder, institute
Stating main shaft is hollow spindle, and the cavity in described main shaft is used for cabling, and described electromagnetic brake power interruption braking, energising depart from motor and turn
Sub-axle.
2. a kind of robot as claimed in claim 1 integral type articulation structure, it is characterised in that: described shell includes protheca
Cylinder, rear end cap, the inwall of described front sleeve is fixed with the main part of described harmonic speed reducer, and described rotor axis of electric runs through institute
Stating rear end cap, the outer ring surface of described rotor axis of electric is set with first relative to the end positions of the length direction of described rear end cap
Bearing.
3. a kind of robot as claimed in claim 1 integral type articulation structure, it is characterised in that: the outer ring surface phase of described main shaft
End positions for the length direction of described rotor axis of electric is set with the second bearing.
4. a kind of robot as claimed in claim 1 integral type articulation structure, it is characterised in that: the output part of described main shaft
For output end cap, described output end cap fixed cover is loaded on described main shaft and exposes to the part of described housing, and attaching nut fastens even
Connect the output part of described output end cap, harmonic speed reducer.
5. a kind of robot as claimed in claim 2 integral type articulation structure, it is characterised in that: described front sleeve, rear end cap
It is aluminium alloy workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916595.4A CN106272535A (en) | 2016-10-21 | 2016-10-21 | A kind of robot integral type articulation structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610916595.4A CN106272535A (en) | 2016-10-21 | 2016-10-21 | A kind of robot integral type articulation structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272535A true CN106272535A (en) | 2017-01-04 |
Family
ID=57719034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610916595.4A Pending CN106272535A (en) | 2016-10-21 | 2016-10-21 | A kind of robot integral type articulation structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272535A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175682A (en) * | 2017-05-24 | 2017-09-19 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107718039A (en) * | 2017-09-29 | 2018-02-23 | 珂伯特机器人（天津）有限公司 | A kind of joint for robot |
| CN107775662A (en) * | 2017-10-20 | 2018-03-09 | 大族激光科技产业集团股份有限公司 | A kind of articulated robot and the module for building articulated robot |
| WO2018130154A1 (en) * | 2017-01-12 | 2018-07-19 | 杭州宇树科技有限公司 | High power mass density linear driving device of simplified structure |
| CN108326830A (en) * | 2018-03-28 | 2018-07-27 | 中国科学院宁波材料技术与工程研究所 | A kind of human synovial power assisting device |
| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
| CN111993463A (en) * | 2020-07-10 | 2020-11-27 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN113815014A (en) * | 2021-10-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Joint device and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120279338A1 (en) * | 2009-09-22 | 2012-11-08 | Gm Global Technology Operations, Inc. | Rotary series elastic actuator |
| 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 |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN105313134A (en) * | 2015-07-20 | 2016-02-10 | 中科新松有限公司 | Lightweight mechanical arm modular joint |
| CN105437255A (en) * | 2015-12-12 | 2016-03-30 | 常州大学 | Mechatronics joint with hollow wiring |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN206230537U (en) * | 2016-10-21 | 2017-06-09 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
-
2016
- 2016-10-21 CN CN201610916595.4A patent/CN106272535A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120279338A1 (en) * | 2009-09-22 | 2012-11-08 | Gm Global Technology Operations, Inc. | Rotary series elastic actuator |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| 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 |
| CN105313134A (en) * | 2015-07-20 | 2016-02-10 | 中科新松有限公司 | Lightweight mechanical arm modular joint |
| CN105437255A (en) * | 2015-12-12 | 2016-03-30 | 常州大学 | Mechatronics joint with hollow wiring |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN206230537U (en) * | 2016-10-21 | 2017-06-09 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018130154A1 (en) * | 2017-01-12 | 2018-07-19 | 杭州宇树科技有限公司 | High power mass density linear driving device of simplified structure |
| CN107175682B (en) * | 2017-05-24 | 2019-11-05 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107175682A (en) * | 2017-05-24 | 2017-09-19 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107662221B (en) * | 2017-07-12 | 2024-04-05 | 哈尔滨工大特种机器人有限公司 | Mechanical arm joint |
| CN107718039A (en) * | 2017-09-29 | 2018-02-23 | 珂伯特机器人（天津）有限公司 | A kind of joint for robot |
| CN107775662A (en) * | 2017-10-20 | 2018-03-09 | 大族激光科技产业集团股份有限公司 | A kind of articulated robot and the module for building articulated robot |
| CN108326830A (en) * | 2018-03-28 | 2018-07-27 | 中国科学院宁波材料技术与工程研究所 | A kind of human synovial power assisting device |
| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
| CN111993463A (en) * | 2020-07-10 | 2020-11-27 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN111993463B (en) * | 2020-07-10 | 2023-10-13 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN113815014A (en) * | 2021-10-19 | 2021-12-21 | 珠海格力智能装备有限公司 | Joint device and robot |
| CN113815014B (en) * | 2021-10-19 | 2023-09-15 | 珠海格力智能装备有限公司 | Joint device and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106272535A (en) | A kind of robot integral type articulation structure | |
| CN206230537U (en) | A kind of robot integral type articulation structure | |
| CN105173066B (en) | Electrically-driven nose wheel steering device for unmanned aerial vehicle | |
| CN206263958U (en) | Industrial robot with least one driver | |
| CN201511369U (en) | Modular robot motion arm | |
| KR101683325B1 (en) | articulated robot wrist | |
| KR102025416B1 (en) | Articulated structure of a multiple-axis robot and robot comprising such a structure | |
| JP2007296631A (en) | Scholar robot structure and corresponding robot | |
| CS235067B2 (en) | Brake equipment for vehicles especially for rail vehicles | |
| CN107848123B (en) | Robot with energy pipe bundle | |
| CA2144833A1 (en) | Geared motor | |
| CN111152258A (en) | Mechanical integrated joint with force sensing function | |
| CN106837047A (en) | Automatic opening mechanism of vehicle trunk cover based on Four-connecting-rod hinge | |
| CN106426264A (en) | Robot wrist with built-in driving shaft | |
| CN108422442A (en) | A kind of ultra-small integrated servo joint | |
| CN208451630U (en) | A kind of full-automatic manipulator | |
| CN204036470U (en) | A kind of Joint Manipulator of five-axle linkage | |
| CN111002260B (en) | Hand-held electric tool for installing clamp | |
| CN109304729A (en) | A kind of folding Torque Control multi-function robot end effector and its application in parallel | |
| CN107097008B (en) | Welding clamping device | |
| JP5301934B2 (en) | Robot hand drive mechanism | |
| CN208841448U (en) | A kind of duplex bearing brace type robot joint structure with T-type shell | |
| CN209599109U (en) | A kind of thin-wall bush assembly tool | |
| CN102962388A (en) | Buffer structure for adjusting axial direction of worm of hammerhead of precision forging machine | |
| CN215942807U (en) | Driving mechanism for electric tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215101 19 Mu Xu Road, Mu Du Town, Wuzhong District, Suzhou, Jiangsu Applicant after: Suzhou Green Harmonic Drive Technology Co., Ltd. Address before: 215101 19 Mu Xu Road, Mu Du Town, Wuzhong District, Suzhou, Jiangsu Applicant before: Suzhou Lvdi Harmonic Transmission Technology Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
|
| RJ01 | Rejection of invention patent application after publication |