CN106564070A - Serialization small-sized robot joint structure - Google Patents
Serialization small-sized robot joint structure Download PDFInfo
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- CN106564070A CN106564070A CN201510653196.9A CN201510653196A CN106564070A CN 106564070 A CN106564070 A CN 106564070A CN 201510653196 A CN201510653196 A CN 201510653196A CN 106564070 A CN106564070 A CN 106564070A
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- motor
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Abstract
The invention discloses a serialization small-sized robot joint structure. The serialization small-sized robot joint structure comprises a gear case, an output arm, a motor driver, a motor, a PLC and an encoder. The shaft outlet and inlet end of the gear case is connected with a motor shaft of the motor. The output arm is connected with an output shaft of the gear case. According to the serialization small-sized robot joint structure, the efficient brushless motor and the angle encoder are adopted to overcome the defects that a brush motor is large in friction and loss, high in heating amount, short in service life, low in efficiency, small in power and the like.
Description
Technical field
The present invention relates to robot application technology field, specially a kind of seriation small scale robot articulation structure.
Background technology
With the development and the progress of society of science and technology, the utilization of robot is increasingly popularized, manipulator is widely used in all trades and professions, the research of manipulator is achieved and developed on a large scale very much, manipulator joint also has very important status as the vitals of manipulator, manipulator joint is responsible for the energy transmission of the interphase interaction of energy, machine and external environment, and they have become the system-based of manipulator.Current manipulator joint is mainly by the way of pneumatic, hydraulic pressure.Traditional manipulator joint has very big rigidity, when these manipulators are interacted with people, people may be damaged.Therefore, a kind of light-duty, dexterous, compact, high security, the manipulator joint that can produce submissive effect just seem in this respect extremely important.
The content of the invention
It is an object of the invention to provide a kind of seriation small scale robot articulation structure, it can effectively solve the problem that problem present in background technology.
For achieving the above object, the present invention provides following technical scheme：A kind of seriation small scale robot articulation structure, including gear-box, output arm, motor driver, motor, programmable PLC and encoder；The gear-box discrepancy shaft end is connected with the motor shaft of motor；The output arm is connected with the output shaft of gear-box.
Further, motor driver is installed on the motor；After the programmable PLC and encoder are electrically connected with, it is electrically connected with by programmable PLC and motor driver.
Further, the encoder is also connected with motor control.
Preferably, the motor is brushless electric machine, and the encoder is angular encoder.
Compared with prior art, the invention has the beneficial effects as follows：The seriation small scale robot articulation structure, using efficient brushless electric machine and angular encoder, solve that brush motor friction is big, loss is big, caloric value height, short life, the shortcomings of efficiency is low, power is little；Brushless electric machine eliminates brush, and the electric spark produced when most directly change is exactly and operates without brush motor thus greatly reduces interference of the electric spark to remote-control radio electric equipment, and frictional force is greatly reduced during operating, and operation is smooth, and noise is low；Overall structure is simple, practical, it is easy to promote the use of.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the control principle schematic diagram of the present invention；
In reference：1- gear-boxes；2- output arms；3- motor drivers；4- motors；5- programmable PLCs；6- and encoder.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, all other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention.
Fig. 1 ~ 2 are referred to, the present invention provides a kind of technical scheme：
A kind of seriation small scale robot articulation structure, including gear-box 1, output arm 2, motor driver 3, motor 4, programmable PLC 5 and encoder 6；The discrepancy of the gear-box 1 shaft end is connected with the motor shaft of motor 4；The output arm 2 is connected with the output shaft of gear-box 1.
Further, motor driver 3 is installed on the motor 4；After the programmable PLC 5 and encoder 6 are electrically connected with, it is electrically connected with motor driver 3 by programmable PLC 5.
Further, the encoder 6 is also connected with the control of motor 4.
Preferably, the motor 4 is brushless electric machine, and the encoder is angular encoder.
The present invention action principle be：Programmable PLC sends instruction after internal processes computing to motor driver, wherein give one enabling signal of pulse plate, after pulse plate Program computing, pulse plate sends a pulse signal to motor driver, the rotation of pulse signal controlled motor Jing after motor driver process, and the rotating speed of controlled motor, the frequency of pulse signal is faster, the rotating speed of motor is also faster；In addition PLC gives motor driver one direction control signal, the direction of direction control signal controlled motor Jing after motor driver process, rotates forward or inverts.So, the enabling signal for being given by PLC and direction control signal, it is possible to the rotating speed and rotation direction of controlled motor.
Drive the rotation of gear-box after motor is rotated, the effect of gear-box is that the power produced by the rotation motor passes to output arm and it is rotated accordingly.
Still further aspect, the rotation data of angular encoder real-time detection motor, to programmable PLC encoder feedback signal is sent, when rotating speed and the abnormal direction appearance of motor, programmable PLC sends instruction by enabling signal to pulse plate, and pulse plate sends pulse signal, leaves the motor off work.The security of joint of robot is set to be improved by the encoder.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, it is appreciated that various changes, modification, replacement and modification can be carried out to these embodiments without departing from the principles and spirit of the present invention, the scope of the present invention be defined by the appended.
Claims (4)
1. a kind of seriation small scale robot articulation structure, including gear-box, output arm, motor driver, motor, programmable PLC and encoder；It is characterized in that：The gear-box discrepancy shaft end is connected with the motor shaft of motor；The output arm is connected with the output shaft of gear-box.
2. a kind of seriation small scale robot articulation structure according to claim 1, it is characterised in that：Motor driver is installed on the motor；After the programmable PLC and encoder are electrically connected with, it is electrically connected with by programmable PLC and motor driver.
3. a kind of seriation small scale robot articulation structure according to claim 1, it is characterised in that：The encoder is also connected with motor control.
4. a kind of seriation small scale robot articulation structure according to claim 1, it is characterised in that：The motor is brushless electric machine, and the encoder is angular encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653196.9A CN106564070A (en) | 2015-10-12 | 2015-10-12 | Serialization small-sized robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653196.9A CN106564070A (en) | 2015-10-12 | 2015-10-12 | Serialization small-sized robot joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106564070A true CN106564070A (en) | 2017-04-19 |
Family
ID=58507465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510653196.9A Pending CN106564070A (en) | 2015-10-12 | 2015-10-12 | Serialization small-sized robot joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106564070A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0074882A2 (en) * | 1981-09-15 | 1983-03-23 | Regie Nationale Des Usines Renault | Directional wrist with three rotational axes for an industrial robot |
| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
| CN104245242A (en) * | 2012-03-30 | 2014-12-24 | 电装波动株式会社 | Control device for controlling rotation of robotic joint |
| CN204094798U (en) * | 2014-07-17 | 2015-01-14 | 苏州华数节能科技有限公司 | Joint of robot power drive system |
-
2015
- 2015-10-12 CN CN201510653196.9A patent/CN106564070A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0074882A2 (en) * | 1981-09-15 | 1983-03-23 | Regie Nationale Des Usines Renault | Directional wrist with three rotational axes for an industrial robot |
| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN104245242A (en) * | 2012-03-30 | 2014-12-24 | 电装波动株式会社 | Control device for controlling rotation of robotic joint |
| CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
| CN204094798U (en) * | 2014-07-17 | 2015-01-14 | 苏州华数节能科技有限公司 | Joint of robot power drive system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170419 |