CN107322632A - The integrated mechanical joint of integral intelligent - Google Patents
The integrated mechanical joint of integral intelligent Download PDFInfo
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- CN107322632A CN107322632A CN201710620668.XA CN201710620668A CN107322632A CN 107322632 A CN107322632 A CN 107322632A CN 201710620668 A CN201710620668 A CN 201710620668A CN 107322632 A CN107322632 A CN 107322632A
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- main shaft
- joint
- bearing
- servomotor
- rear end
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- 238000004891 communication Methods 0.000 claims description 22
- 238000002955 isolation Methods 0.000 claims description 12
- 230000003321 amplification Effects 0.000 claims description 9
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000013078 crystal Substances 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 210000000323 shoulder joint Anatomy 0.000 description 9
- 230000005611 electricity Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005622 photoelectricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention discloses a kind of integrated mechanical joint of integral intelligent, including：Joint output flange with bearing, harmonic wave speed reducing machine, main shaft, connector, joint zero point proximity switch, servomotor, braking mechanism, photoelectric encoder, bearing, rear end cap and motor servo driver, its feature is by the servomotor needed for joint of robot part, motor servo driver, harmonic wave speed reducing machine, braking mechanism and joint zero point proximity switch are all integrated in intra articular, and part is all enclosed on the concentricity for ensureing each part on main shaft, can externally it be radiated by rear end cap, make the volume of joint of robot part more compact, the integrated mechanical joint of the integral intelligent has the advantages that highly integrated.In addition, when intelligent integrated mechanical joint is by external impact force, the motor servo driver of the intelligent integrated mechanical joint can perceive suffered external force by current detecting, thus can in time be braked, reached and people's co-ordination with starting protection pattern.
Description
Technical field
The present invention relates to the integrated mechanical joint of integral intelligent, more particularly to a kind of integrated mechanical joint of integral intelligent,
Belong to robotic technology field.
Background technology
Robot is important intelligent automation equipment, wherein industrial robot be currently widely used in equipment manufacture,
Auto industry etc..Existing tradition machinery arm is that the upper arm for simulating people is constituted, in order to ensure that mechanical arm has six spaces certainly
By spending, its active joint number is generally 6, is generally all cradle head, and its first three joint concentrates on wrist,
The structure type in each joint is less identical, and this structure type is compact conformation, big with respect to working space.But this kind of machine
Device people's feature is build weight, power is big and load capacity is strong, but its complex operation, volume are larger and dangerous higher, in medical treatment
Application with the field such as home services has limitation.Conventional industrial robot joint executing agency all uses the motor of discrete
And driver, motor is arranged on joint part, and driver is fixed in switch board, and the two is attached with cable, causes to pass
Industrial robot electric wiring of uniting is cumbersome, and it is more to overhaul complicated and unknown potential safety hazard, therefore lightweight robot is future
Development trend, the harmonic speed reducer and rotor for also having integrated joint on the market generally pass through screw connection.
This lightweight industrial robot have small size, small-power, it is easy to operate, intelligent the features such as, and with perceive its by
The ability of impulsive force and shock conditions, can be good at and person cooperative work.However, this is just proposed more to the joint of robot
High requirement.It would therefore be highly desirable to solve high-performance, the design problem of the lightweight joint of robot of highly integrated property.
The content of the invention
For the defect of prior art, the purpose of the present invention is to propose to the integrated mechanical joint of integral intelligent, tradition is solved
Joint drive in robot is separated with control, harmonic speed reducer is separated with rotor, arthritic volume is big, weight is big, brake
Not in time, integrated degree is low and load deadweight is than low problem.
The object of the present invention is achieved like this, the integrated mechanical joint of described integral intelligent, including the pass with bearing
Output flange, harmonic wave speed reducing machine, main shaft, connector, joint zero point proximity switch, servomotor, braking mechanism, photoelectricity is saved to compile
Code device part, bearing two, rear end cap and motor servo driver；It is characterized in that：The described joint output flange with bearing,
Harmonic wave speed reducing machine and servomotor are sleeved on main shaft and ensure the joint output flange with bearing, harmonic wave speed reducing machine and watch
The concentricity of these parts of motor is taken, rear end cap is by the way that on the nested main shaft of bearing two, connector is fixed on harmonic wave speed reducing machine
It is connected on steel wheel and with rear end cap, semicircle drag friction wheel one, the semicircle drag friction wheel two of braking mechanism can contact main shaft
It is allowed to stop operating, the flexbile gear outer rim of harmonic wave speed reducing machine is provided with proximity switch catch, and proximity switch catch is with being arranged on connector
Side on joint zero point proximity switch coordinate and can produce zero signal；Motor servo driver, which is arranged in rear end cap, to be easy to
Externally radiated by rear end cap, the photoelectric encoder read head of photoelectric encoder part is fixed on rear end cap, photoelectric encoder is read
Head can read the signal of encoder grating disc, and the encoder grating disc of photoelectric encoder part is fixed on main shaft, can followed
Main shaft is rotated；Motor servo driver can perceive main shaft rotary state, and starting protection pattern is braked in time.
It is disposed with the nested first position of bearing on the main shaft, the second nested cam position of wave producer,
The 3rd nested position of rotor, the 4th position of fixed rotor, with semicircle drag friction wheel one, semicircle drag friction
The 5th position that wheel two is in contact, the 7th position that the 6th nested position of bearing two and encoder grating disc are fixed；The band
The joint output flange of bearing includes joint output flange and bearing, first in joint output flange and main shaft of bearing holder (housing, cover)
At the position of position, joint output flange is screwed on the flexbile gear of harmonic speed reducer；The wave producer of harmonic wave speed reducing machine
It is enclosed on the second cam position of main shaft, drives flexbile gear to rotate；Connector be fixed on the steel wheel of harmonic wave speed reducing machine and with it is rear
End cap is connected, and flexbile gear outer rim is provided with proximity switch catch, proximity switch catch and the joint zero on the side of connector
Point proximity switch, which coordinates, can produce zero signal；The rotor of servomotor be nested on the 3rd position of main shaft and with master
4th position of rotating shaft is mutually fixed, and rotor is externally provided with motor stator, and motor stator is enclosed on the medial surface of connector, servo electricity
Machine controls work by motor servo driver；Braking mechanism includes brake solenoid one, brake solenoid two, semicircle drag friction
Wheel one and semicircle drag friction wheel two, brake solenoid one is fixed on electromagnet stator one, and brake solenoid two is fixed on
On electromagnet stator two, electromagnet stator one, electromagnet stator two are nested in the inner side of rear end cap, and with connector phase
Coordinate and make electromagnet stator one and the fixation of electromagnet stator two, semicircle drag friction wheel one is by being cased with the spiral shell of spring one
Silk one is fixed on electromagnet stator one with the screw two for being cased with spring two；Semicircle drag friction wheel two is by being cased with spring three
Screw three and be cased with the screw four of spring four and be fixed on electromagnet stator two, semicircle drag friction wheel one and semicircle brake
Friction pulley two can be in contact with the 5th position of main shaft；Photoelectric encoder part includes encoder grating disc and photoelectric encoder
Read head, photoelectric encoder read head is fixed on rear end cap, and photoelectric encoder read head can read the signal of encoder grating disc, coding
Device grating disc is fixed on the 7th position of main shaft, main shaft can be followed to rotate；Bearing two is enclosed on inside rear end cap to be turned with main
6th position of axle is in contact so that bearing two can be rotated around the 6th position of main shaft.
The servomotor is permanent magnetic DC torque servomotor, belongs to a kind of hollow, slow-speed of revolution, high pulling torque, Gao Xing
Energy can be with the servomotor of stall, and motor performance is good during the slow-speed of revolution.
The main shaft is the hollow axle with cam, is cam structure with wave producer contact portion, so owns
Part can be all enclosed on main shaft, it is ensured that the concentricity for each part being sleeved on main shaft.
The motor servo driver be permanent magnetic DC torque motor driver, including circuit board mounting shell, first electricity
Road plate and second circuit board, first circuit board, second circuit board are arranged on inside circuit board mounting shell by screw, circuit board peace
Dress shell is fixed on rear end cap；Described motor servo driver includes power module of voltage regulation, crystal oscillator module, external storage mould
Block, photoelectric encoder interface, PWM three-phase bridges power amplification circuit, DSP embedded microcontrollers module, with isolation circuit
RS232 communication modules, the CAN communication module with isolation circuit or EtherCAT communication modules, high-power FET driving electricity
Road and imput output circuit, described crystal oscillator module, the RS232 communication modules with isolation circuit, the CAN communication with isolation circuit
Module or EtherCAT communication modules, photoelectric encoder interface, current detection module, outer memory module, PWM three-phase bridge power
Amplification circuit module and imput output circuit are connected with DSP embedded microcontroller modules respectively, PWM three-phase bridges power amplification electricity
Control servomotor motion after road module is connected with high-power FET drive circuit；A, B, Z tri- of photoelectric encoder read head
Phase signals are transferred to DSP embedded microcontroller modules through photoelectric encoder interface.
Input circuit in the DSP embedded microcontrollers module control input output circuit, when joint zero point is close
When switch is close proximity to switch catch, 5V input signal can be collected, this position is dead-center position；The embedded microcontrollers of DSP
When output loop in device module control input output circuit exports 24V voltages, brake solenoid one holds semicircle drag friction
Wheel one, brake solenoid two holds semicircle drag friction wheel two, is partially separated with the 5th location contacts of main shaft, makes main shaft
In free state；When imput output circuit does not have voltage output, brake solenoid one and brake solenoid two fail, semicircle
Drag friction wheel one and semicircle drag friction wheel two respectively spring one, spring two, spring three, spring four act under, fast ram compression
Firmly the 5th position of main shaft, makes main shaft be stopped and reaches the purpose of brake, it is ensured that the security of servomotor and position
Accuracy.
The signal of A, B, Z phase of the photoelectric encoder read head is transferred to servomotor by its photoelectric encoder interface and driven
Dynamic device, position of the motor servo driver according to where the signal of A, B, Z phase of photoelectric encoder read head knows servomotor.
The advantage of the invention is that：
1st, the integrated mechanical joint of integral intelligent of the present invention, integrated design thought is incorporated into the design of light-duty mechanical arm,
So significantly facilitate I＆M；
2nd, the integrated mechanical joint of integral intelligent of the present invention, using the main shaft structure at unique strap cam position, is easy to ripple
Device is directly sleeved on main shaft, it is ensured that all concentricitys for being enclosed on main shaft upper-part；
3rd, the integrated mechanical joint of integral intelligent of the present invention, the phase of joint zero point proximity switch and the photoelectric encoder collection of installation
To position, it is ensured that whenever can determine the position where the servomotor of the integrated mechanical joint of integral intelligent；
4th, in integrated machine shoulder joint of the present invention, unique brake solenoid up and down and the design of upper lower half circle drag friction wheel,
Principle is simple, and brake is promptly and accurately, it is ensured that the security of the integrated mechanical joint of integral intelligent and the accuracy of position.
5th, the integrated mechanical joint of the integral intelligent have the advantages that it is highly integrated, by watching needed for joint of robot part
Take motor, motor servo driver, harmonic wave speed reducing machine, braking mechanism and joint zero point proximity switch and be all integrated in intra articular,
And each part is all enclosed on the concentricity for ensureing each part on main shaft, it can externally be radiated by rear end cap, make joint of robot
The volume of part is more compact.In addition, when intelligent integrated mechanical joint is by external impact force, the intelligent integrated mechanical joint
Motor servo driver can perceive suffered external force by current detecting, thus can in time be braked, reached with starting protection pattern
To with people's co-ordination.
Brief description of the drawings
Fig. 1 is the profile of the integrated machine shoulder joint of the present invention.
Fig. 2 is the station diagram of the main shaft of the integrated machine shoulder joint of the present invention.
Fig. 3 is the braking machine composition of the integrated machine shoulder joint of the present invention.
Fig. 4 is the integrated machine shoulder joint photoelectric encoder mounting structure figure of the present invention.
Fig. 5 is the servomotor drive circuit board theory diagram of the integrated machine shoulder joint of the present invention.
Fig. 6 is the flow chart of the searching zero point of the integrated machine shoulder joint of the present invention.
Fig. 7 is the flow chart of the work of the integrated machine shoulder joint of the present invention.
Embodiment
For a better understanding of the present invention, present invention is described below in conjunction with the accompanying drawings.
As shown in figure 1, the integrated mechanical joint of integral intelligent of the present invention includes the schematic diagram of embodiment.In Fig. 1
In illustrated embodiment, it include joint output flange 1 of the Part I with bearing, Part II harmonic wave speed reducing machine 2, the 3rd
Point main shaft 3, Part IV connector 4, joint zero point proximity switch 4-1, servomotor 5, Part V braking mechanism 6, the
Six part photoelectric encoder parts 7, Part VII rear end cap 8, bearing 29, Part VIII motor servo driver 10.
Joint output flange 1 with bearing described in Part I includes joint output flange 1-1, bearing 1-2, bearing 1-2
At the position for being enclosed on the joint output flange 1-1 and first position 3-1 of main shaft 3, joint output flange 1-1 is screwed
On the flexbile gear 2-2 of harmonic speed reducer.
Harmonic wave speed reducing machine 2 described in Part II includes firm gear 2-1, flexbile gear 2-2 and wave producer 2-3, is prior art production
Product, the wave producer 2-3 of harmonic wave speed reducing machine 2 is enclosed on the second cam position 3-2 of main shaft 3, drives flexbile gear 2-2 to rotate, even
Fitting 4 is fixed on the steel wheel 2-1 of harmonic wave speed reducing machine 2 and is connected with rear end cap 8, and flexbile gear 2-2 outer rims are provided with proximity switch catch
2-2-1, proximity switch catch 2-2-1 coordinate with joint zero point proximity switch 4-1 can produce zero signal.
Main shaft 3 described in Part III is the hollow axle with cam, is cam structure with wave producer contact portion,
So all parts can be all enclosed on main shaft, it is ensured that the concentricity of each part of the integrated mechanical joint of integral intelligent, specifically
By the first position 3-1 that bearing 1-2 is nested, the second nested wave producer 2-3 cam position 3-2, rotor 5-1 nestings
3rd position 3-3, fixed rotor 5-1 the 4th position 3-4, with the 6-3-1 of semicircle drag friction wheel one, semicircle drag friction
The 5th position 3-5 that two 6-3-2 are in contact is taken turns, the 6th nested position 3-6 and encoder grating disc 7-1 of bearing 29 is fixed
Totally 7 positions are constituted 7th position 3-7.
Servomotor 5 described in Part IV is that a kind of hollow, slow-speed of revolution, high pulling torque, high-performance can be with the servo of stall electricity
Machine, it includes rotor 5-1 and motor stator 5-2, rotor 5-1 be nested on the 3rd position 3-3 of main shaft 3 and with
4th position 3-4 phases of main shaft 3 are fixed, and rotor 5-1 is externally provided with motor stator 5-2, the left side of connector 4 and steel wheel 2-1
Connection, motor stator 5-2 is enclosed on the right side of connector 4 the inside, and joint zero point proximity switch 4-1 is arranged on the side of connector 4
And be engaged with proximity switch catch 2-2-1, servomotor 5 is controlled work by Part VIII motor servo driver 10.
Braking mechanism 6 described in Part V includes the 6-2-1 of brake solenoid one, the 6-2-2 of brake solenoid two, semicircle brake
The 6-3-1 of friction pulley one and semicircle drag friction wheel two 6-3-2, the 6-2-1 of brake solenoid one are fixed on the 6- of electromagnet stator one
On 1-1, the 6-2-2 of brake solenoid two is fixed on the 6-1-2 of electromagnet stator two, the 6-1-1 of electromagnet stator one, electromagnet
The 6-1-2 of stator two is nested in the inner side of rear end cap 8, and is engaged with connector 4 and makes the 6-1-1 of electromagnet stator one and electromagnetism
The 6-1-2 of ferropexy piece two is fixed, the 6-3-1 of semicircle drag friction wheel one by be cased with the 6-5-1 of spring one the 6-6-1 of screw one and
The 6-6-2 of screw two for being cased with the 6-5-2 of spring two is fixed on the 6-1-1 of electromagnet stator one；The 6-3-2 of semicircle drag friction wheel two
Electromagnetism ferropexy is fixed on by the 6-6-3 of screw three that is cased with the 6-5-3 of spring three, the 6-6-4 of screw four for being cased with the 6-5-4 of spring four
On the 6-1-2 of piece two, the 6-3-1 of semicircle drag friction wheel one and the 6-3-2 of semicircle drag friction wheel two and main shaft 3 the 5th position 3-
5 are in contact；During the imput output circuit output 24V voltages of motor servo driver 10, the 6-2-1 of brake solenoid one obtains electric hold
Semicircle drag friction wheel one 6-3-1, the 6-2-2 of brake solenoid two obtain it is electric hold the 6-3-2 of semicircle drag friction wheel two, with main shaft
3 the 5th position 3-5 contact portions separation, makes main shaft 3 be in free state；When the input and output of motor servo driver 10
When circuit does not have voltage output, the 6-2-1 of brake solenoid one and the 6-2-2 dead electricity of brake solenoid two, semicircle drag friction wheel one
6-3-1 and the 6-3-2 of semicircle drag friction wheel two are respectively in the 6-5-1 of spring one, the 6-5-2 of spring two, the 6-5-3 of spring three, spring four
Under 6-5-4 effect, the 5th position 3-5 of main shaft 3 is quickly pushed down, main shaft 3 is stopped and reaches the purpose of brake, it is ensured that
The security of servomotor and the accuracy of position.
Photoelectric encoder part 7 described in Part VI includes encoder grating disc 7-1, photoelectric encoder read head 7-2, photoelectricity
Encoder head 7-2 is fixed on rear end cap 8, and photoelectric encoder read head 7-2 can read encoder grating disc 7-1 signal, is compiled
Code device grating disc 7-1 is fixed on the 7th position 3-7 of main shaft 3, follows main shaft 3 to rotate, such photoelectric encoder read head
The signal of exportable A, B, Z phases of 7-2, the signal of photoelectric encoder read head 7-2 A, B, Z phase passes through its photoelectric encoder interface
Be transferred to motor servo driver 10, motor servo driver 10 according to the signal of photoelectric encoder read head 7-2 A, B, Z phase just
Know the position where servomotor 5.
Rear end cap 8 described in Part VII and bearing 29, bearing 29 are enclosed on the 6th of the inside of rear end cap 8 and main shaft 3
Position 3-6 is in contact, and all parts of Part V braking mechanism are also nested in the inner side of rear end cap 8, and is engaged admittedly with connector 4
It is fixed.Rear end cap 8 is screwed with connector 4.
Motor servo driver 10 described in Part VIII be permanent magnetic DC torque motor driver, including circuit board install
Shell 10-1, first circuit board 10-2, second circuit board 10-3, screw 10-4, wherein permanent magnetic DC torque motor belong to a kind of
The hollow, slow-speed of revolution, high pulling torque, high-performance can be with the servomotors of stall.First circuit board 10-2, second circuit board 10-3 pass through
Screw 10-4 is arranged on inside circuit board mounting shell 10-1, and circuit board mounting shell 10-1 is fixed on rear end cap 8；Described servo
Motor driver 10 includes power module of voltage regulation, crystal oscillator module, outer memory module, photoelectric encoder interface, PWM three-phase bridges
Power amplification circuit, DSP embedded microcontrollers module, the RS232 communication modules with isolation circuit, the CAN with isolation circuit
Communication module or EtherCAT communication modules, high-power FET drive circuit, imput output circuit, described crystal oscillator mould
Block, the RS232 communication modules with isolation circuit, the CAN communication module with isolation circuit or EtherCAT communication modules, photoelectricity are compiled
Code device interface, current detection module, imput output circuit, outer memory module, PWM three-phase bridge power amplification circuits module difference
It is connected with DSP embedded microcontroller modules, PWM three-phase bridge power amplification circuit modules and high-power FET drive circuit
The input circuit in servomotor DDSM motions, DSP embedded microcontroller module control input output circuits is controlled after connection
When joint zero point proximity switch 4-1 is close proximity to switch catch 2-2-1,5V input signal can be collected, this position is exactly
The dead-center position of integrated machine shoulder joint；Output loop in DSP embedded microcontroller module control input output circuits
Output 24V voltages can control the 6-2-1 of brake solenoid one, the 6-2-2 of brake solenoid two and come into force and fail；The present invention can pass through
The current detecting of current detection module perceives suffered external force, thus can in time be braked, reached and people with starting protection pattern
Co-ordination.A, B, Z phase signals of the photoelectric encoder of servomotor are transferred to the embedded micro-controls of DSP through photoelectric encoder interface
Device module processed, the DSP embedded microcontrollers module of the present embodiment can use TMS320F2806X modules；RS232 communicates mould
Block is connected with DSP embedded microcontroller modules respectively with CAN communication module or EtherCAT communication modules.DSP insertions decline
Controller module, is the arithmetic core and control core of motor servo driver, and its function, which is mainly, explains microcontroller
Data in operating instruction and processing motion control software.RS232 communication modules can also be with center processing with CAN communication module
Device computer is connected, and carries out data communication.
Claims (7)
1. a kind of integrated mechanical joint of integral intelligent, including the joint output flange with bearing, harmonic wave speed reducing machine, main shaft,
Connector, joint zero point proximity switch, servomotor, braking mechanism, photoelectric encoder part, bearing two, rear end cap and servo
Motor driver；It is characterized in that：Described joint output flange, harmonic wave speed reducing machine and the servomotor with bearing is sleeved on
On main shaft and ensure the concentricitys of the joint output flange with bearing, harmonic wave speed reducing machine and servomotor these parts, rear end
Lid is by the way that on the nested main shaft of bearing two, connector is fixed on the steel wheel of harmonic wave speed reducing machine and is connected with rear end cap, braking machine
Semicircle drag friction wheel one, the semicircle drag friction wheel two of structure can contact main shaft and be allowed to stop operating, harmonic wave speed reducing machine it is soft
Take turns outer rim and be provided with proximity switch catch, proximity switch catch is matched somebody with somebody with the joint zero point proximity switch on the side of connector
Conjunction can produce zero signal；Motor servo driver, which is arranged in rear end cap, to be easy to externally radiate by rear end cap, photoelectric coding
The photoelectric encoder read head of device part is fixed on rear end cap, and photoelectric encoder read head can read the signal of encoder grating disc,
The encoder grating disc of photoelectric encoder part is fixed on main shaft, main shaft can be followed to rotate；Motor servo driver energy
Main shaft rotary state is perceived, starting protection pattern is braked in time.
2. the integrated mechanical joint of integral intelligent according to claim 1, it is characterised in that：On the main shaft successively
It is provided with the nested first position of bearing, the second nested cam position of wave producer is the 3rd nested position of rotor, solid
Determine the 4th position of rotor, the 5th position being in contact with semicircle drag friction wheel one, semicircle drag friction wheel two, bearing
The 7th position that two the 6th nested positions and encoder grating disc are fixed；The joint output flange with bearing includes joint
Output flange and bearing, bearing holder (housing, cover) is at the position of joint output flange and the first position of main shaft, and joint output flange leads to
Screw is crossed to be fixed on the flexbile gear of harmonic speed reducer；The wave producer of harmonic wave speed reducing machine is enclosed on the second cam position of main shaft
On, drive flexbile gear to rotate；Connector is fixed on the steel wheel of harmonic wave speed reducing machine and is connected with rear end cap, and flexbile gear outer rim is provided with close
Catch is switched, proximity switch catch coordinates with the joint zero point proximity switch on the side of connector can produce zero point letter
Number；The rotor of servomotor is nested on the 3rd position of main shaft and mutually fixed with the 4th position of main shaft, motor
Rotor is externally provided with motor stator, and motor stator is enclosed on the medial surface of connector, and servomotor controls work by motor servo driver
Make；Braking mechanism includes brake solenoid one, brake solenoid two, semicircle drag friction wheel one and semicircle drag friction wheel two,
Brake solenoid one is fixed on electromagnet stator one, and brake solenoid two is fixed on electromagnet stator two, electromagnet
Stator one, electromagnet stator two are nested in the inner side of rear end cap, and are engaged with connector and make electromagnet stator one
Fixed with electromagnet stator two, semicircle drag friction wheel one is by being cased with the screw one of spring one and being cased with the screw of spring two
Two are fixed on electromagnet stator one；Semicircle drag friction wheel two is by being cased with the screw three of spring three and being cased with spring four
Screw four is fixed on electromagnet stator two, that semicircle drag friction wheel one and semicircle drag friction wheel two can be with main shafts
Five positions are in contact；Photoelectric encoder part includes encoder grating disc and photoelectric encoder read head, and photoelectric encoder read head is consolidated
It is scheduled on rear end cap, photoelectric encoder read head can read the signal of encoder grating disc, encoder grating disc is fixed on main shaft
The 7th position on, main shaft can be followed to rotate；Bearing two is enclosed on inside rear end cap and is in contact with the 6th position of main shaft, makes
Obtaining bearing two can rotate around the 6th position of main shaft.
3. the integrated mechanical joint of integral intelligent according to claim 1, it is characterised in that：The servomotor is forever
Magnetic-type DC torque servomotor, belonging to a kind of hollow, slow-speed of revolution, high pulling torque, high-performance can be with the servomotor of stall, low turn
Motor performance is good when fast.
4. the integrated mechanical joint of integral intelligent according to claim 1, it is characterised in that：During the main shaft is
The empty axle with cam, is cam structure with wave producer contact portion, and so all parts can be all enclosed on main shaft, is protected
The concentricity for each part being sleeved on main shaft is demonstrate,proved.
5. the integrated mechanical joint of integral intelligent according to claim 1 or 2 or 3 or 4, it is characterised in that：It is described to watch
Motor driver is taken for permanent magnetic DC torque motor driver, including circuit board mounting shell, first circuit board and second circuit
Plate, first circuit board, second circuit board are arranged on inside circuit board mounting shell by screw, and circuit board mounting shell is fixed on rear end
Cover；Described motor servo driver includes power module of voltage regulation, crystal oscillator module, outer memory module, photoelectric encoder
Interface, PWM three-phase bridges power amplification circuit, DSP embedded microcontrollers module, RS232 communication modules, band with isolation circuit
The CAN communication module or EtherCAT communication modules of isolation circuit, high-power FET drive circuit and imput output circuit,
Described crystal oscillator module, the RS232 communication modules with isolation circuit, the CAN communication module with isolation circuit or EtherCAT are logical
Interrogate module, photoelectric encoder interface, current detection module, outer memory module, PWM three-phase bridge power amplification circuit modules and defeated
Enter output circuit to be connected with DSP embedded microcontroller modules respectively, PWM three-phase bridge power amplification circuit modules and high-power field
Control servomotor motion after the connection of effect tube drive circuit；A, B, Z three-phase signal of photoelectric encoder read head are through photoelectric coding
Device interface is transferred to DSP embedded microcontroller modules.
6. the integrated mechanical joint of integral intelligent according to claim 5, it is characterised in that：The embedded micro-controls of DSP
Input circuit in device module control input output circuit processed, can when joint zero point proximity switch is close proximity to switch catch
5V input signal is collected, this position is dead-center position；In DSP embedded microcontroller module control input output circuits
When output loop exports 24V voltages, brake solenoid one holds semicircle drag friction wheel one, and brake solenoid two holds semicircle and stopped
Car friction pulley two, is partially separated with the 5th location contacts of main shaft, main shaft is in free state；Work as imput output circuit
When not having voltage output, brake solenoid one and brake solenoid two fail, semicircle drag friction wheel one and semicircle drag friction
Wheel two in the case where spring one, spring two, spring three, spring four are acted on, quickly pushes down the 5th position of main shaft, makes main shaft respectively
It is stopped and reaches the purpose of brake, it is ensured that the security of servomotor and the accuracy of position.
7. the integrated mechanical joint of integral intelligent according to claim 5, it is characterised in that：The photoelectric encoder is read
The signal of A, B, Z phase of head is transferred to motor servo driver by its photoelectric encoder interface, motor servo driver according to
The signal of A, B, Z phase of photoelectric encoder read head knows the position where servomotor.
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