CN107186751B - Modularized ball joint of cooperative robot - Google Patents
Modularized ball joint of cooperative robot Download PDFInfo
- Publication number
- CN107186751B CN107186751B CN201710593268.4A CN201710593268A CN107186751B CN 107186751 B CN107186751 B CN 107186751B CN 201710593268 A CN201710593268 A CN 201710593268A CN 107186751 B CN107186751 B CN 107186751B
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- type brake
- shell
- joint
- band
- ball joint
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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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a mechanical arm joint, in particular to a modularized ball joint of a cooperative robot. The spherical joint driving device comprises a shell and a spherical joint driving module, wherein a module supporting piece is fixedly installed on the shell, a spherical shell cover is further installed on the shell, a first installation position and a second installation position are arranged on the module supporting piece, the spherical joint driving module is fixedly installed on the first installation position and the second installation position, and the spherical joint driving module is packaged inside the shell through the spherical shell cover. The invention has the advantages that the hollow motor is adopted for driving and the speed is reduced by the harmonic speed reducer, so that high torque transmission is realized, the transmission precision is ensured, and the structure is compact and light; and in the aspect of braking, the synchronous pulley is used for transmission, so that the driving part and the braking part are isolated, the space is saved, the braking performance is ensured, and the difficulty of joint internal installation is reduced.
Description
Technical Field
The invention relates to a mechanical arm joint, in particular to a modularized ball joint of a cooperative robot.
Background
The cooperative robot is used as a light robot, has high safety and reliability, can realize the common operation with human on the basis of not needing a safety fence, and solves the problem that the accuracy is difficult to achieve by the human or the human is far away from dangerous environment and work. The joint structure of the cooperative robot serves as a core component of the cooperative robot, and the performance of the joint structure plays a key role in the whole movement process of the cooperative robot. At present, the cooperative robot mostly adopts a serial joint structure, the structure can only realize single-degree-of-freedom rotation, two-degree-of-freedom operation of the same joint cannot be realized, the number of joints is increased, and the compactness, the movement space and the stability of the whole robot adopting the joint form are greatly influenced by connecting arms among the joints. If the reasonable arrangement of the internal driving structure of the ball joint can be utilized and the two-degree-of-freedom operation of the same joint can be realized, the problems existing in the application process of the traditional modularized serial joint cooperation robot can be solved.
Disclosure of Invention
The invention aims to solve the problem of overcoming the defects in the prior art and providing a modularized ball joint of a cooperative robot.
The technical scheme adopted by the invention for achieving the purpose is as follows: the utility model provides a cooperation robot modularization ball joint, includes casing and ball joint drive module, fixed mounting has module support piece on the casing, still install spherical cap on the casing, be equipped with first installation position and second installation position on the module support piece, all fixed mounting has on first installation position and the second installation position ball joint drive module, ball joint drive module encapsulates through spherical cap inside the casing, ball joint drive module's output all is established outside the casing, each ball joint drive module can independently move under control system effect.
Further, the ball joint driving module comprises a driving support, a hollow motor, a hollow transmission mechanism, a speed reducer, an output mechanism and a braking device, wherein the driving support is of a shell type structure, the hollow motor and the speed reducer are adjacently and fixedly arranged in the driving support, the hollow transmission mechanism is connected with the hollow motor, the input end and the output end of the speed reducer are respectively connected with the hollow transmission mechanism and the output mechanism, and the braking device is arranged outside the driving support.
Further, arresting gear includes band-type brake support, brake shaft and no excitation type stopper, band-type brake support fixed connection is on the drive bracket, the band-type brake support is for installing no excitation type stopper's shell type structure, the brake shaft passes through antifriction bearing and installs in the band-type brake support, no excitation type stopper installs on the brake shaft, the one end of brake shaft pass through the hold-in range with cavity drive mechanism end connection, the brake shaft other end is connected with position detection device.
Further, the speed reduction device comprises a harmonic speed reducer.
Further, the output mechanism comprises an output flange shaft and a joint end flange, the output flange shaft is connected to the output end of the speed reducer, and the joint end flange is fixedly arranged at the outer end of the output flange shaft through bolts.
Further, a sealing device is further arranged on the driving support.
Further, the position detecting device is an absolute encoder.
The invention has the advantages that the hollow motor is adopted for driving and the speed is reduced by the harmonic speed reducer, so that high torque transmission is realized, the transmission precision is ensured, and the structure is compact and light; the synchronous pulley is used for transmission in the aspect of braking, so that the driving part and the braking part are isolated, the space is saved, the braking performance is ensured, and the difficulty of installation inside the joint is reduced; the ball joint driving modules are staggered in the same joint, so that the installation space is saved, and the joint volume is reduced; in terms of functions, the function of having two degrees of freedom of a single joint is realized by reasonably arranging the mounting mode of the driving module; in terms of structure, the number of joints of the cooperative robot is reduced, the miniaturization of the cooperative robot is realized, and the operation range of the whole machine is enlarged; the hollow structure of the ball joint driving module realizes the cable arrangement mode of the middle hole wiring, so that the wiring is convenient and reasonable, the leakage of the line can be avoided, and the stability and the reliability of the whole machine are improved. The invention adopts the joint structure with two degrees of freedom, has compact structure, low cost, simple and convenient installation, safety and reliability, and high modularization, systemization and integration degree of the whole joint internal structure, and has important significance for promoting the further development of the joint technology of the cooperative robot.
Drawings
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic overall appearance of the present invention;
FIG. 2 is a schematic view of the structure of the invention with the spherical cap 12 removed;
fig. 3 is a cross-sectional view of the internal structure of fig. 1.
Detailed Description
Fig. 1 to 3 show, a cooperation robot modularization ball joint, including casing 1 and ball joint drive module 2, fixed mounting has module support piece 11 on the casing 1, still install spherical cap 12 on the casing 1, be equipped with first installation position 111 and second installation position 112 on the module support piece 11, all fixed mounting has on first installation position 111 and the second installation position 112 ball joint drive module 2, ball joint drive module 2 encapsulates through spherical cap 12 inside casing 1, the output of ball joint drive module 2 all is established outside casing 1, each ball joint drive module 2 can independently operate under control system effect. The invention adopts a joint structure with two degrees of freedom, the whole joint internal structure can be assembled at will according to the functions and performances required to be realized by the joint, and only the structure of the module supporting piece 11 needs to be changed, namely, in the actual use process, the positions and the postures of the first mounting position 111 and the second mounting position 112 can be adjusted and selected at will so as to adapt to the whole movement requirement of the ball joint.
The ball joint driving module 2 comprises a driving support 21, a hollow motor 22, a hollow transmission mechanism 23, a speed reducer 24, an output mechanism 25 and a braking device 26, wherein the driving support 21 is of a shell type structure, the hollow motor 22 and the speed reducer 24 are adjacently and fixedly arranged in the driving support 21, the hollow transmission mechanism 23 is connected with the hollow motor 22, the input end and the output end of the speed reducer 24 are respectively connected with the hollow transmission mechanism 23 and the output mechanism 25, and the braking device 26 is arranged outside the driving support 21. The brake device 26 comprises a band-type brake support 261, a band-type brake shaft 262 and a non-excitation type brake 263, the band-type brake support 261 is fixedly connected to the driving support 21, the band-type brake support 261 is of a shell structure provided with the non-excitation type brake 263, the band-type brake shaft 262 is arranged in the band-type brake support 261 through a rolling bearing, the non-excitation type brake 263 is arranged on the band-type brake shaft 262, one end of the band-type brake shaft 262 is connected with the end portion of the hollow transmission mechanism 23 through a synchronous belt, and the other end of the band-type brake shaft 262 is connected with a position detection device 264. The reduction means 24 comprises a harmonic reducer. The output mechanism 25 comprises an output flange shaft and a joint end flange, the output flange shaft is connected to the output end of the speed reducer 24, and the joint end flange is fixedly mounted at the outer end of the output flange shaft through bolts. The driving bracket 21 is also provided with a sealing device. The position detecting device 264 is an absolute encoder. The absolute encoder is unique in each position determined by the mechanical position, does not need to be memorized, does not need to find a reference point, does not need to count all the time, can read the position state at any time, and has strong anti-interference performance and high data reliability.
In actual operation, motion angle instructions are input to the two groups of ball joint driving modules 2 respectively, and the two groups of ball joint driving modules 2 can be independently operated without mutual influence under the action of a control system to form superposition motion. After receiving the movement angle instruction, the single ball joint driving module 2 is electrified to drive the hollow motor 22 to operate the hollow transmission mechanism 23, one end of the hollow transmission mechanism 23 is connected with a wave generator of the harmonic reducer to drive an output mechanism 25 connected with an output flexible gear of the harmonic reducer to move, and finally the output mechanism is externally output to rotate through a joint end flange outside the output mechanism 25; the other end of the hollow transmission mechanism 23 is connected with a band-type brake shaft 262 in the brake device 26 through a synchronous belt, and a position detection device 264 on the brake device 26 can output a signal after the detected movement angle reaches the specified requirement, so that the excitation-free brake 263 is powered off, and emergency braking of the band-type brake shaft 262 is realized. Under the action of external signals, as the two groups of ball joint driving modules 2 are respectively arranged on the module supporting piece 1, the motions of the two groups of ball joint driving modules do not have mutual interference, and different output motions of different output ends of the same ball joint can be realized.
In the invention, the stator of the hollow motor 22 is fixed with the driving bracket 21, the rotor of the hollow motor 22 is connected with the hollow transmission mechanism 23, the structure is compact, the output torque is large, and the dynamic response is high; the hollow transmission mechanism 23 is connected with the input end of the harmonic reducer, and outputs motion to the output mechanism 25 after speed reduction, and transmits the motion to the joint end flange. The torque sensor can be arranged on the joint end flange of the output mechanism 25, the joint load torque can be fed back at any time, the structure is compact, the precision is high, and the feedback is sensitive. When overload or emergency occurs, emergency braking can be realized, and the safety protection performance of the cooperative robot is improved. Because the hollow motor 22, the hollow motor 22 and the output mechanism 25 are all of hollow structures, cables inside the ball joint can sequentially penetrate through the hollow structures to realize hollow wiring, so that space can be effectively saved, wiring is more reasonable, and wiring is more convenient.
The modularized ball joint is adopted, so that the structure is compact and smart, and the problems of heavy joint, poor interchangeability, low integration level, insufficient compactness in structure and the like of the cooperative robot are solved; the problems of slow braking response, large heating value, insufficient braking position maintaining precision and insufficient braking force are solved; the problem that a single joint of the cooperative robot can only output a single degree of freedom is solved, and two degrees of freedom of single joint output are realized; the problem that the traditional six-degree-of-freedom cooperative robot can only adopt six joints, has high production cost and cannot be miniaturized is solved. Therefore, the joint layout structure of the invention is more compact, the spherical joint of the cooperative robot is innovatively provided, the function of outputting six degrees of freedom by adopting three joints of the cooperative robot is realized, the cost is low, the safety and reliability are higher, the modularization is realized, and the integration degree is high; the brake structure is simple and easy to install, and the brake performance is reliable and stable.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides a cooperation robot modularization ball joint which characterized in that: the spherical joint driving device comprises a shell and a spherical joint driving module, wherein a module supporting piece is fixedly arranged on the shell, a spherical shell cover is further arranged on the shell, a first installation position and a second installation position are arranged on the module supporting piece, the spherical joint driving module is fixedly arranged on the first installation position and the second installation position, the spherical joint driving module is packaged inside the shell through the spherical shell cover, the output end of the spherical joint driving module is arranged outside the shell, and each spherical joint driving module can independently operate under the action of a control system;
the ball joint driving module comprises a driving bracket, a hollow motor, a hollow transmission mechanism, a speed reducer, an output mechanism and a braking device, wherein the driving bracket is of a shell type structure, the hollow motor and the speed reducer are adjacently and fixedly arranged in the driving bracket, the hollow transmission mechanism is connected with the hollow motor, the input end and the output end of the speed reducer are respectively connected with the hollow transmission mechanism and the output mechanism, and the braking device is arranged outside the driving bracket;
the brake device comprises a band-type brake support, a band-type brake shaft and a non-excitation type brake, wherein the band-type brake support is fixedly connected to the driving support, the band-type brake support is of a shell type structure provided with the non-excitation type brake, the band-type brake shaft is arranged in the band-type brake support through a rolling bearing, the non-excitation type brake is arranged on the band-type brake shaft, one end of the band-type brake shaft is connected with the end of the hollow transmission mechanism through a synchronous belt, and the other end of the band-type brake shaft is connected with the position detection device.
2. The collaborative robotic modular ball joint of claim 1, wherein: the speed reduction device comprises a harmonic speed reducer.
3. The collaborative robotic modular ball joint of claim 1, wherein: the output mechanism comprises an output flange shaft and a joint end flange, the output flange shaft is connected with the output end of the speed reducer, and the joint end flange is fixedly arranged at the outer end of the output flange shaft through bolts.
4. The collaborative robotic modular ball joint of claim 1, wherein: and a sealing device is also arranged on the driving support.
5. The collaborative robotic modular ball joint of claim 1, wherein: the position detection device is an absolute encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710593268.4A CN107186751B (en) | 2017-07-20 | 2017-07-20 | Modularized ball joint of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710593268.4A CN107186751B (en) | 2017-07-20 | 2017-07-20 | Modularized ball joint of cooperative robot |
Publications (2)
| Publication Number | Publication Date |
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| CN107186751A CN107186751A (en) | 2017-09-22 |
| CN107186751B true CN107186751B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710593268.4A Active CN107186751B (en) | 2017-07-20 | 2017-07-20 | Modularized ball joint of cooperative robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
| CN107984493A (en) * | 2017-12-29 | 2018-05-04 | 南京熊猫电子股份有限公司 | The small scale robot ancon part of gear reducer and electric machine built-in |
| CN108406843B (en) * | 2018-05-29 | 2021-01-26 | 安徽工程大学 | Mechanical joint's connection structure |
| CN108908309A (en) * | 2018-10-08 | 2018-11-30 | 哈尔滨工业大学 | A kind of mechanical arm device with eight degrees of freedom |
| CN110587194A (en) * | 2019-10-16 | 2019-12-20 | 重庆工业职业技术学院 | Bionic welding manipulator for electronic product |
| CN112621811A (en) * | 2021-01-25 | 2021-04-09 | 之江实验室 | Novel modular joint of robot |
| CN114029937B (en) * | 2021-11-23 | 2023-04-25 | 北京邮电大学 | Three-degree-of-freedom reconstruction robot module and reconstruction robot |
| CN114227664A (en) * | 2021-12-31 | 2022-03-25 | 中铭谷智能机器人(广东)有限公司 | Novel transmission device and transmission method for cooperative robot |
Citations (4)
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|---|---|---|---|---|
| JP2013248685A (en) * | 2012-05-30 | 2013-12-12 | Mayekawa Mfg Co Ltd | Articulated body of robot |
| 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 |
| CN106514697A (en) * | 2016-12-09 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm |
| CN207139843U (en) * | 2017-07-20 | 2018-03-27 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
-
2017
- 2017-07-20 CN CN201710593268.4A patent/CN107186751B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013248685A (en) * | 2012-05-30 | 2013-12-12 | Mayekawa Mfg Co Ltd | Articulated body of robot |
| 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 |
| CN106514697A (en) * | 2016-12-09 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Two-freedom-degree orthogonal type robot joint module and six-freedom-degree mechanical arm |
| CN207139843U (en) * | 2017-07-20 | 2018-03-27 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
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| CN107186751A (en) | 2017-09-22 |
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