CN107263526A - A kind of multifunctional light quantification service joint of robot module - Google Patents
A kind of multifunctional light quantification service joint of robot module Download PDFInfo
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- CN107263526A CN107263526A CN201710416122.2A CN201710416122A CN107263526A CN 107263526 A CN107263526 A CN 107263526A CN 201710416122 A CN201710416122 A CN 201710416122A CN 107263526 A CN107263526 A CN 107263526A
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- 238000011002 quantification Methods 0.000 title claims abstract description 27
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 24
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 12
- 229910052802 copper Inorganic materials 0.000 claims description 12
- 239000010949 copper Substances 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Brushless Motors (AREA)
Abstract
The invention provides a kind of multifunctional light quantification service joint of robot module, it is adaptable to the quick manufacture of service robot mechanical arm.Include output end, harmonic speed reducer, flange, hollow DC brushless motor, hollow cabling pipe dish, Hall-type and definitely determine zero degree disk, photo-electric reflection type relative encoder and control device；Control device includes control panel, driven by Brush-Less DC motor plate, communication part and multiple sensors；Hollow DC brushless motor drives the output end to rotate by hollow harmonic speed reducer；Photo-electric reflection type relative encoder is used for the output speed for measuring hollow DC brushless motor；Control device is used to control hollow DC brushless motor to operate.Mechanism size of the present invention is driven close to human dimension using unit, compact conformation; and combined with multiple intelligent sensor, be easy to serve trades application and intelligent integrated, solve existing integral joint volume big; heavy, the problems such as safety protection function is not good enough.
Description
Technical field
The present invention relates to joint of robot technical field, and in particular to a kind of multifunctional light quantification service joint of robot mould
Block, lightweight, multi-functional, the inexpensive design and production of the service humanoid robot that is particularly suitable for use in.
Background technology
With the development of modern society, the demand of people is continuously increased, and the growth of service trade is also increasingly rapider, personnel's
Demand is growing, but the demographic dividend of China fades away, and the cost of service trade is also gradually being lifted, and introduces clothes
Business humanoid robot just becomes a kind of inevitable trend.But traditional service humanoid robot cost is higher, and function is single,
Structural redundancy is heavy, and these all limit the large-scale application of service robot to a certain extent.Integrated service robot
There has been certain research in joint at present, is found by retrieval：
Patent publication No. is the A of CN 105313134, and the Chinese invention of entitled " light-type mechanical arm modular joint " is special
In profit, a kind of light-type mechanical arm modular joint, including hollow motor, decelerator, high-speed electric expreess locomotive bearing, modularization are disclosed
Shut down output shaft, encoder.The invention is thoroughly optimized and improved on the basis of modularized joint, with quality
Gently, high transmission accuracy, the advantage of small volume, and simplified to structure.But system is still sufficiently complex, inadequate light weight
Change.
Patent announcement number is the A of CN 105437255, the China in entitled " a kind of electromechanical integration joint of hollow cabling "
In utility model patent, a kind of electromechanical integration joint of hollow cabling is disclosed, including torque sensor, hollow motor are fixed
It is son, hollow motor rotor, electromagnetic brake, drive control device, motor support shell, hollow actuating shaft, hollow harmonic speed reducer, big
Span bearing.This system is mounted with torque sensor, it is ensured that certain security, but kind of sensor is single, is not enough to
Meet growing user's request.
The content of the invention
For defect of the prior art, the technical problems to be solved by the invention are that design one kind being capable of efficient stable
Operation, close to human dimension, unit transmission, multiple intelligent sensing is combined, and is easy to serve trades application and intelligent integrated, is had
There is multi-functional lightweight service robot joint module.
The present invention is achieved by the following technical solutions.
A kind of multifunctional light quantification service joint of robot module, including output end, hollow DC brushless motor, flange 2,
Hollow harmonic speed reducer 1, Hall-type definitely determine zero degree disk 8, photo-electric reflection type relative encoder 7 and control device 12；Wherein：
The hollow harmonic speed reducer 1 is connected with output end, and drives hollow brush DC electricity by drive output
Machine is rotated；
The photo-electric reflection type relative encoder 7 is arranged at hollow DC brushless motor, for measure hollow direct current without
The output speed of brush motor；
The control device is connected with hollow DC brushless motor, for controlling hollow DC brushless motor to operate；
The flange 2 is arranged on the input shaft of hollow harmonic speed reducer 1, for connecting hollow DC brushless motor with
Empty harmonic speed reducer 1；
The Hall-type definitely determines zero degree disk 8 and is arranged at output end, is determined for the zero-bit to joint.
Preferably, the control device 12 includes upper strata pcb board, lower floor's pcb board, copper post 13, sensor cluster, controller
And communication part, connected between the upper strata pcb board and lower floor's pcb board by copper post 13；The sensor cluster, controller
And communication part is integrally disposed on upper strata pcb board and lower floor's pcb board.
Preferably, the copper post 13 is vertically installed between upper strata pcb board and lower floor's pcb board.
Preferably, the sensor cluster include it is following any one or appoint multiple sensors：
- temperature sensor；
- humidity sensor；
- voltage sensor；
- current sensor；
- gyroscope accelerometer.
Preferably, the controller is using the serial control chips of stm32f4xx.
Preferably, the communication part is connected by gtherCat bus systems with other joint modules and/or host computer.
Preferably, the hollow DC brushless motor is fixed including hollow motor shaft 10, hollow motor rotor 4 and hollow motor
Son 3, the hollow motor rotor 4 is set in hollow motor shaft 10 and fixed with flange 2, and the hollow motor stator 3 is set
Between hollow motor shaft 10 and hollow motor rotor 4；The hollow motor shaft 10 as it is hollow walk spool, walk drum with center
Manage the coaxial heart..
Preferably, the hollow harmonic speed reducer 1 includes harmonic reducer flexible wheel, the generation of harmonic speed reducer steel wheel harmonic
Device, the harmonious wave producer of the harmonic speed reducer steel wheel is connected with harmonic reducer flexible wheel respectively.
Preferably, in addition to casing assembly；
The casing assembly includes upper shell, lower casing and bonnet, and the upper shell and lower casing be setting up and down, it is described after
Lid is arranged at the bottom of lower casing；
The control device 12 is arranged in lower casing；
The hollow DC brushless motor is arranged in shell；
The output end, hollow harmonic speed reducer 1, Hall-type definitely determine the outside that zero degree disk 8 is respectively arranged at shell；
The photo-electric reflection type relative encoder 7 is arranged between shell and hollow DC brushless motor.
The multifunctional light quantification service joint of robot module that the present invention is provided, including hollow harmonic speed reducer, flange, in
Empty DC. brushless electric machine stator, hollow brushless DC motor, upper shell, lower casing, photo-electric reflection type relative encoder, suddenly
Your formula definitely determine zero degree disk, hollow cabling pipe dish, hollow motor shaft (as it is hollow walk spool), bonnet, control device：
Hollow motor, has：Hollow motor rotor, hollow motor stator and hollow motor shaft；Photo-electric reflection type is relative
Encoder, between the upper shell and hollow DC brushless motor, for the relative of detection module joint output shaft
Position；Hall-type definitely determines zero degree disk, is arranged at output end, the zero-bit for determining joint；Hollow motor rotor is fixed on method
Lan Shang, hollow motor stator is connected with lower casing.
The multifunctional light quantification service joint of robot module that the present invention is provided, decelerator is harmonic speed reducer, is had：It is humorous
Ripple decelerator flexbile gear, and the harmonic speed reducer steel wheel and wave producer being connected with the harmonic reducer flexible wheel.
The multifunctional light quantification service joint of robot module that the present invention is provided, employs two kinds of encoders, the Hall
Formula definitely determines zero degree disk, and the zero-bit in joint is determined using Hall sensor, and joint zero-bit is carried out using Hall element
Measurement, thickness is reduced much compared to traditional absolute grating encoder, and price significantly declines, and is conducive to work
The control of cost in industry production；The photo-electric reflection type relative encoder, carries out motor speed between shell and motor
Determination, it is to avoid be arranged on the increase of the axial length brought in hollow motor shaft.
The multifunctional light quantification service joint of robot module that the present invention is provided, hollow cabling coil pipe with it is hollow walk spool be total to
Axle center, installed in multifunctional light quantification service joint of robot module output end.
The multifunctional light quantification service joint of robot module that the present invention is provided, employs multiple sensors to be believed
The collection of breath, sensor main will include temperature sensor, humidity sensor, voltage sensor, current sensor, gyroscope and accelerate
Degree is counted to enter the collection of row information.
The multifunctional light quantification service joint of robot module that the present invention is provided, main controller is using Yi Fa companies
Stm32f4xx series control chips are handled the information received, and the control chip uses the side that EtherCat is communicated
Formula is communicated with host computer.
The multifunctional light quantification service joint of robot module that the present invention is provided, is used between joint module and joint module
The modes of EtherCat buses is communicated.
Compared with prior art, the present invention has following beneficial effect：
1st, mechanism deft design of the invention is practical, and space-consuming is smaller.The diameter of the present invention can reach 81mm at present,
Length reaches 119.5mm, and more traditional integral joint is more compact, and performance is more superior.
2nd, the present invention can realize higher control accuracy.The present invention uses stm32 as controller, and employs autonomous
Control device (motor driving plate) is researched and developed to be accurately controlled motor, and the present invention passes through the relative volume of photo-electric reflection type
Code device carries out the feedback of position, by EtherCat buses carries out the transmission of signal.
3rd, the present invention has very high safety and reliability.The present invention aims at service humanoid robot and designed, and takes
Business humanoid robot is various due to its use condition, and different user often has different demands, and the present invention has a variety of sensings
Device, can be obtained such as：The much informations such as temperature, humidity, voltage, electric current, acceleration, facilitate user to be carried out according to use condition
Adjustment.
4th, the present invention can realize the quick joining between modularization.Communication modes between module and module of the present invention are
EtherCat bus communication modes, have bigger bandwidth, it is possible to achieve more quick compared to traditional CAN mode
Communication, meanwhile, present invention optimizes the structure of connector, facilitate user to carry out interarticular connection, user is only needed to correspondence
EtherCat joints and power connection connect i.e. complete between module hardware connection.
5th, the present invention can realize the modularized production in joint, realize light-weighted design, reduce the weight in joint, together
When the mechanical arm for servicing humanoid robot need not be redesigned, it is only necessary to select suitable integral joint to carry out assembled,
The R＆D cycle is shortened, cost is reduce further, while the present invention has multiple sensors, different user can be met not
Same demand.
6th, invention increases being optimized for structure, the mode of hollow cabling is employed, the base in traditional joint
Structure is significantly simplified on plinth so that the present invention is more flexible, and lightly, in addition, the system also add a variety of sensings
Device, can gather more information, and sensor main will include temperature sensor, humidity sensor, voltage sensor, current sense
Device, gyroscope accelerometer.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the external structure schematic diagram of the multifunctional light quantification service joint of robot module of the present invention.
Fig. 2 is the diagrammatic cross-section of the multifunctional light quantification service joint of robot module of the present invention.
In figure：1 is hollow harmonic speed reducer；2 be flange；3 be hollow DC. brushless electric machine stator；4 be hollow direct current without
Brush motor rotor；5 be shell one；6 be shell two；7 be photo-electric reflection type relative encoder；8 be that Hall-type definitely determines zero degree disk；
9 be hollow cabling pipe dish；10 be hollow motor shaft；11 be bonnet；12 be control device；13 be copper stud.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
Embodiment
A kind of multifunctional light quantification service joint of robot module of the present embodiment, including output end, hollow brush DC electricity
Machine, flange 2, hollow harmonic speed reducer 1, Hall-type definitely determine zero degree disk 8, photo-electric reflection type relative encoder 7 and control dress
Put 12；Wherein：
The hollow harmonic speed reducer 1 is connected with output end, and drives hollow brush DC electricity by drive output
Machine is rotated；
The photo-electric reflection type relative encoder 7 is arranged at hollow DC brushless motor, for measure hollow direct current without
The output speed of brush motor；
The control device is connected with hollow DC brushless motor, for controlling hollow DC brushless motor to operate；
The flange 2 is arranged on the input shaft of hollow harmonic speed reducer 1, for connecting hollow DC brushless motor with
Empty harmonic speed reducer 1；
The Hall-type definitely determines zero degree disk 8 and is arranged at output end, is determined for the zero-bit to joint.
Further, the control device 12 includes upper strata pcb board, lower floor's pcb board, copper post 13, sensor cluster, control
Device and communication part, are connected between the upper strata pcb board and lower floor's pcb board by copper post 13；The sensor cluster, control
Device and communication part are integrally disposed on two layers of pcb board up and down of control device 12.
Further, the copper post 13 is vertically installed between upper strata pcb board and lower floor's pcb board.
Further, the sensor cluster include it is following any one or appoint multiple sensors：
- temperature sensor；
- humidity sensor；
- voltage sensor；
- current sensor；
- gyroscope accelerometer.
Further, the controller is using the serial control chips of stm32f4xx.
Further, the communication part is connected by EtherCat bus systems and other joint modules and/or host computer
Connect.
Further, the hollow DC brushless motor includes hollow motor shaft 10, hollow motor rotor 4 and hollow motor
Stator 3, the hollow motor rotor 4 is set in hollow motor shaft 10 and fixed with flange 2, and the hollow motor stator 3 is set
It is placed between hollow motor shaft 10 and hollow motor rotor 4；The hollow motor shaft 10 as it is hollow walk spool, with center cabling
The coaxial heart of coil pipe..
Further, the hollow harmonic speed reducer 1 includes harmonic reducer flexible wheel, harmonic speed reducer steel wheel harmonic hair
Raw device, the harmonious wave producer of the harmonic speed reducer steel wheel is connected with harmonic reducer flexible wheel respectively.
Further, in addition to casing assembly；
The casing assembly includes upper shell, lower casing and bonnet, and the upper shell and lower casing be setting up and down, it is described after
Lid is arranged at the bottom of lower casing；
The control device 12 is arranged in lower casing；
The hollow DC brushless motor is arranged in shell；
The output end, hollow harmonic speed reducer 1, Hall-type definitely determine the outside that zero degree disk 8 is respectively arranged at shell；
The photo-electric reflection type relative encoder 7 is arranged between shell and hollow DC brushless motor.
The present embodiment is further described below in conjunction with the accompanying drawings.
As shown in figure 1, the structure of the present embodiment mainly includes torque sensor (sensor cluster), hollow harmonic reduction
Device, flange, hollow DC. brushless electric machine stator, hollow brushless DC motor, upper shell, lower casing, photo-electric reflection type phase
Encoder, Hall-type are definitely determined zero degree disk, hollow cabling pipe dish, hollow motor shaft (as it is hollow walk spool), bonnet, control
Device, copper stud.
As shown in Fig. 2 control section includes principal states processing system (controller) and communication system.
Principal states processing system, is responsible for handling the status information in joint, and pass through communication system and host computer
Communicated with drive system, its major control chip is the serial control chips of stm32f4xx of Yi Fa companies, concrete model
For stm32f407VG.
Communication system, principal states processing system is EtherCat communication modes with the mode that host computer is communicated, main
Want status processing system to obtain order from host computer and enter transmission and the feedback of line command, joint with drive system after treatment
Between communication also using EtherCat by the way of, compared to traditional CAN mode with bigger bandwidth, it is possible to achieve more
Plus quickly communication.
The control process of the present embodiment is, after the order of joint pose adjustment is sent, and principal states processing system can be with
Motion planning is promptly made, and sends a command to control device, controller realizes alternating current and direct current by inverter circuit
The conversion of electricity, exports six road PWM square waves, and alternately changes the PWM angle of flow, passes through photo-electric reflection type relative encoder and electric current
The feedback information of sensor is to the position of multifunctional light quantification service joint of robot module, speed progress detection in real time and controls
System, when the position in joint reaches setting value, termination system immediately.
The safeguard measure that the present embodiment is used, main using sensor cluster institute feedack, respectively torque is passed
Sensor, current sensor and Hall-type definitely determine zero degree disk, and cardinal principle is comprehensive according to sensor cluster institute feedack
It is worthwhile go out impact in exceed set threshold values when, then judge joint encounter barrier, now hard stop, prevents accident
Generation.
The design of current ring of the present embodiment, the output torque of motor shaft is directly proportional to the winding current of motor stator, according to
KCL electric current theorems, it is only necessary to gather the electric current of two-phase it is known that the magnitude of current of three-phase, the present embodiment passes through the two of motor
Upper current sensor is connected in the circuit of road to realize the collection for current value, and information is transmitted to by master by AD digital analog converters
Want status processing system.
The speed and position ring design of the present embodiment, speed and position ring have very important make in the control of motor
With its accuracy detected directly influences the control accuracy to motor, and the present embodiment is compiled using a photo-electric reflection type is relative
Code device realizes motor speed, and motor is turned to and rotor is relative to the detection of position of stator, the photoelectricity that the present invention is used
Reflective relative encoder is arranged between motor and shell one, it is to avoid be arranged on the axial direction brought in hollow motor shaft long
The increase of degree, Hall-type of the present invention definitely determines zero degree disk, and the measurement of joint zero-bit is carried out using Hall element, thick
Degree is reduced much compared to traditional absolute grating encoder, and price significantly declines, and is conducive in industrial production
The control of cost.
In the present embodiment：
Hollow DC brushless motor, including hollow motor rotor 4, hollow motor shaft 10, hollow motor stator 3 are constituted；
The photo-electric reflection type relative encoder 7 is used for the output speed for measuring hollow DC brushless motor；
The hollow DC brushless motor is rotated by the hollow drive output of harmonic speed reducer 1；
The control device 12 is connected by upper and lower two layers of pcb board by copper stud 13, for control the hollow direct current without
Brush motor is operated.
Described control device 12, including multiple sensors, are responsible for the status information in collection joint；
The hollow DC brushless motor is the brush DC band hall electric machine with hollow motor shaft.
Multiple sensors are employed to enter the collection of row information, sensor main to include temperature sensor, humidity sensor,
Voltage sensor, current sensor, gyroscope accelerometer enter the collection of row information.
The decelerator is harmonic speed reducer, is had：Harmonic reducer flexible wheel, and be connected with the harmonic reducer flexible wheel
The harmonic speed reducer steel wheel and wave producer connect.
Two kinds of encoders are employed, the Hall-type definitely determines zero degree disk, and the zero-bit in joint is entered using Hall sensor
Row determines that the photo-electric reflection type relative encoder carries out the determination of motor speed between shell and motor.
Principal states processing system, its controller is using the serial control chips of stm32f4xx of Yi Fa companies come to receiving
To information handled.
The communication modes of communication system (communication component), its single-chip microcomputer and host computer are EtherCat communication systems.
A kind of multifunctional light quantification service joint of robot module that the present embodiment is provided, it is adaptable to service robot machinery
The quick manufacture of arm.Include output end, harmonic speed reducer, flange, hollow DC brushless motor, hollow cabling pipe dish, Hall
Formula definitely determines zero degree disk, photo-electric reflection type relative encoder and control device；Control device includes stm32 control panels, direct current
Brushless electric machine driving plate, EtherCat communication modules and multiple sensors；The hollow DC brushless motor passes through hollow humorous
Ripple decelerator drives the output end to rotate；The photo-electric reflection type relative encoder is used to measure hollow DC brushless motor
Output speed；The control device is used to control hollow DC brushless motor to operate.Mechanism size of the present invention is close to human body chi
It is very little, it is driven using unit, compact conformation, and combined with multiple intelligent sensor, it is easy to serve trades application and intelligence collection
Into it is big to solve existing integral joint volume, heavy, the problems such as safety protection function is not good enough.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of multifunctional light quantification service joint of robot module, it is characterised in that including output end, hollow brush DC electricity
Machine, flange (2), the hollow hollow harmonic speed reducer of cabling coil pipe (1), that Hall-type definitely determines zero degree disk (8), photo-electric reflection type is relative
Encoder (7) and control device (12)；Wherein：
The hollow harmonic speed reducer (1) is connected with output end, and by hollow driven by Brush-Less DC motor, drives output end
Rotate；
The photo-electric reflection type relative encoder (7) is arranged at hollow DC brushless motor, for measuring hollow brush DC
The output speed of motor；
The control device is connected with hollow DC brushless motor, for controlling hollow DC brushless motor to operate；
The flange (2) is arranged on the input shaft of hollow harmonic speed reducer (1), for connecting hollow DC brushless motor with
Empty harmonic speed reducer (1)；
The hollow cabling coil pipe is arranged at output end；
The Hall-type definitely determines zero degree disk (8) and is arranged at output end, is determined for the zero-bit to joint.
2. multifunctional light quantification service joint of robot module according to claim 1, it is characterised in that the control dress
Putting (12) includes upper strata pcb board, lower floor's pcb board, copper post (13), sensor cluster, controller and communication part, the upper strata
Connected between pcb board and lower floor's pcb board by copper post (13)；The sensor cluster, controller and communication part is integrated sets
It is placed on upper strata pcb board and lower floor's pcb board.
3. multifunctional light quantification service joint of robot module according to claim 2, it is characterised in that the copper post
(13) it is vertically installed between upper strata pcb board and lower floor's pcb board.
4. multifunctional light quantification service joint of robot module according to claim 2, it is characterised in that the sensor
Component include it is following any one or appoint multiple sensors：
- temperature sensor；
- humidity sensor；
- voltage sensor；
- current sensor；
- gyroscope accelerometer.
5. multifunctional light quantification service joint of robot module according to claim 2, it is characterised in that the controller
Using the serial control chips of stm32f4xx.
6. multifunctional light quantification service joint of robot module according to claim 2, it is characterised in that the communication group
Part is connected by EtherCat bus systems with other joint modules and/or host computer.
7. multifunctional light quantification service joint of robot module according to claim 1, it is characterised in that described hollow straight
Flowing brushless electric machine includes hollow motor shaft (10), hollow motor rotor (4) and hollow motor stator (3), and the hollow motor turns
Sub (4) are set in hollow motor shaft (10) and fixed with flange (2), and the hollow motor stator (3) is arranged at hollow motor
Between axle (10) and hollow motor rotor (4)；The hollow motor shaft (10) as it is hollow walk spool, it is common with center cabling coil pipe
Axle center.
8. multifunctional light quantification service joint of robot module according to claim 1, it is characterised in that described hollow humorous
Ripple decelerator (1) includes the harmonious wave producer of harmonic reducer flexible wheel, harmonic speed reducer steel wheel, the harmonic speed reducer steel wheel and
Harmonic oscillator is connected with harmonic reducer flexible wheel respectively.
9. multifunctional light quantification service joint of robot module according to any one of claim 1 to 8, its feature exists
In, in addition to casing assembly；
The casing assembly includes upper shell, lower casing and bonnet, and the upper shell and lower casing are setting up and down, and the bonnet is set
It is placed in the bottom of lower casing；
The control device (12) is arranged in lower casing；
The hollow DC brushless motor is arranged in shell；
The output end, hollow harmonic speed reducer (1), Hall-type definitely determine the outside that zero degree disk (8) is respectively arranged at shell；
The photo-electric reflection type relative encoder (7) is arranged between shell and hollow DC brushless motor.
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| CN201710416122.2A CN107263526A (en) | 2017-06-05 | 2017-06-05 | A kind of multifunctional light quantification service joint of robot module |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710416122.2A CN107263526A (en) | 2017-06-05 | 2017-06-05 | A kind of multifunctional light quantification service joint of robot module |
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| CN201710416122.2A Pending CN107263526A (en) | 2017-06-05 | 2017-06-05 | A kind of multifunctional light quantification service joint of robot module |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856053A (en) * | 2017-11-23 | 2018-03-30 | 深圳市优必选科技有限公司 | Joint steering wheel and robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108262742A (en) * | 2018-01-24 | 2018-07-10 | 深圳市智能机器人研究院 | The robot and its control method of a kind of modular construction |
| CN108494177A (en) * | 2018-04-09 | 2018-09-04 | 谜米机器人自动化（上海）有限公司 | The digital micro servo motor of high-precision bus-type of complex control and its application |
| CN108481365A (en) * | 2018-04-04 | 2018-09-04 | 北京钢铁侠科技有限公司 | For the absolute zero position detection device and detection method of robot, robot |
| CN110605736A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Compact modular joint and light arm for endowment service robot |
| CN110712200A (en) * | 2019-11-11 | 2020-01-21 | 天津工业大学 | Robot integration joint device |
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