CN107398924B - Hollow type driving and controlling integrated intelligent modularized joint - Google Patents
Hollow type driving and controlling integrated intelligent modularized joint Download PDFInfo
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- CN107398924B CN107398924B CN201710851266.0A CN201710851266A CN107398924B CN 107398924 B CN107398924 B CN 107398924B CN 201710851266 A CN201710851266 A CN 201710851266A CN 107398924 B CN107398924 B CN 107398924B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a hollow driving and controlling integrated intelligent modularized joint, which comprises a shell, an incremental encoder, an absolute value encoder, a braking device, a harmonic reducer, a motor output shaft, an output flange, a control device, a left end cover and a hollow wiring pipe, and is characterized by further comprising a hollow frameless torque motor, wherein the control device, the incremental encoder, the braking device, the hollow frameless torque motor, the harmonic reducer and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange in sequence, the output flange, the shell and the left end cover form a closed space, and the incremental encoder, the absolute value encoder, the hollow frameless torque motor, the braking device, the harmonic reducer, the motor output shaft, the control device and the hollow wiring pipe are arranged in the closed space; the hollow wiring pipe penetrates through the inner cavities of the output flange, the flexible gear, the rigid gear, the wave generator and the motor output shaft of the harmonic reducer.
Description
Technical Field
The invention is applied to the technical field of modularized mechanical arms, in particular to a hollow driving and controlling integrated intelligent modularized joint.
Background
The mechanical arm used for the mechanical arm at home and abroad is in a traditional mode, the mechanical arm is huge in size, the assembly and disassembly are troublesome, the requirements on the mechanical arm are more and more strict no matter in the service industry or the industrial robot at present, on the one hand, enough flexibility and reliability are needed, on the other hand, the mechanical arm is required to be assembled safely and conveniently, the assembly and disassembly can be repeated, the structure is compact, and in addition, the novel specific requirements on the wiring mode aiming at some special application occasions are provided, such as the fact that cables are not allowed to appear on the mechanical arm shell 1, and the appearance is influenced. Aiming at the technical problem, a hollow wiring mode is developed at home and abroad, but the cost is increased to a certain extent, because the size of the shaft diameter causes the limitation of the selection of a plurality of devices, the hollow modularized joint related to the hollow intelligent modularized joint CN 104416579A has compact structure and reliable connection though adopting the connection through a flange and a shell, but the whole weight is larger, the structural design of a braking device is complex, the moment required by gear transmission is larger, the motor is assembled and disassembled in a relatively complex way, an output flange is not directly connected with a harmonic reducer, a transmission gap is generated, the braking device is biased with an incremental encoder, the gap is larger through gear transmission, in addition, the joint of the modularized joint is separated, the difficulty is increased in the design of a positioning structure, no Hall devices exist, and a harmonic wave generator is not axially positioned, so that the whole structure is unstable in operation.
Disclosure of Invention
Aiming at the problems, the technical problems to be solved by the invention are as follows: provides a hollow type driving and controlling integrated intelligent modularized joint. The hollow driving and controlling integrated intelligent modularized joint solves the problems of disordered external wiring, easy wiring, large mass and volume, low modularization degree and the like, does not need customized hardware, and effectively reduces the cost.
The technical scheme adopted for solving the technical problems is as follows: the hollow driving and controlling integrated intelligent modularized joint is characterized by further comprising a hollow frameless torque motor, wherein the control device, the incremental encoder, the braking device, the hollow frameless torque motor, the harmonic reducer and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange in sequence, the output flange, the shell and the left end cover form a closed space, and the incremental encoder, the absolute value encoder, the hollow frameless torque motor, the braking device, the harmonic reducer, the motor output shaft, the control device and the hollow wiring pipe are arranged in the closed space; the hollow wiring pipe penetrates through the inner cavities of the output flange, the flexible gear, the rigid gear, the wave generator and the motor output shaft of the harmonic reducer, the left end of the hollow wiring pipe is connected to the right end face of the electromagnet installation movable plate through screws, and the right end of the electromagnet installation movable plate is connected with the movable connecting plate through a single-head hexagonal copper column; the control device controls the actions of all the components;
the inside of the shell is provided with a first round platform bulge and a second round platform bulge in sequence from left to right along the radial direction of the shell, the second round platform bulge is provided with a crescent hole, the electromagnet is provided with a movable plate, the first round platform bulge and the second round platform bulge divide the inner space of the shell into four cavities, and the first cavity, the second cavity, the third cavity and the fourth cavity are arranged in sequence from left to right;
the motor output shaft comprises a fourth-level shaft shoulder, a first shaft shoulder, a second shaft shoulder, a third shaft shoulder and a fourth shaft shoulder are sequentially arranged from left to right, and a boss is arranged at the right end of the motor output shaft;
the edge of the movable connecting plate is connected with the first round table protrusion on the shell through a screw; a deep groove ball bearing is arranged in a gap between the movable connecting plate and the motor output shaft, the right side of the deep groove ball bearing is positioned through a second shoulder of the motor output shaft, and the left side of the deep groove ball bearing is positioned through the movable connecting plate;
the braking device comprises a braking disc and a pushing electromagnet, wherein the braking disc and the incremental encoder are both arranged on a motor output shaft positioned in the second cavity, and the braking disc is arranged at the left end of the motor output shaft; the incremental encoder comprises an incremental encoder code disc and an incremental encoder electric brush, wherein the incremental encoder code disc is connected to an output shaft of the motor through a jackscrew, the right side of the incremental encoder code disc and a first shaft shoulder of the output shaft of the motor form axial positioning, and the incremental encoder electric brush is connected to the movable connecting plate;
the hollow frameless torque motor is positioned in the third cavity, the hollow frameless torque motor is fixed through a fourth shaft shoulder on the motor output shaft and a movable connecting plate, the hollow frameless torque motor comprises a motor rotor, a motor stator and a Hall, the motor stator is positioned in the motor rotor, the Hall is arranged on the motor stator, and the motor rotor is clamped on the third shaft shoulder of the motor output shaft and is connected with the fourth shaft shoulder of the motor output shaft through a screw; one side of the motor stator is axially positioned through a movable connecting plate;
the harmonic reducer, the absolute value encoder code disc and the absolute value encoder electric brush are all arranged in the fourth cavity, the motor output shaft is connected with the wave generator of the harmonic reducer through a boss at the right end, the harmonic reducer is positioned, and meanwhile the wave generator of the harmonic reducer is axially positioned through a positioning flange; the flexible wheel of the harmonic reducer is connected with the second round table bulge on the shell through a screw, and axial positioning is formed, the rigid wheel of the harmonic reducer is connected with the output flange, and the right end of the output flange is connected with the next joint; an angular contact bearing is arranged between the output flange and the positioning flange, and the inner ring and the outer ring of the angular contact bearing are positioned through the positioning flange and the output flange respectively; the absolute value encoder code wheel is connected with the output flange, and the absolute value encoder electric brush is connected with the lug plate welded on the shell through a screw;
the control device comprises a modularized driver and a PCB board, wherein the modularized driver is positioned in the first cavity, the modularized driver is installed on the electromagnet installation movable board, the modularized driver is connected with the PCB board, and a cable led out from the next joint connected with the joint is connected with the modularized driver of the joint through a hollow wiring pipe.
Compared with the prior art, the invention has the beneficial effects that:
the modularized joint has compact structural design, the hollow wiring reduces the complexity of cable summarization, avoids the influence of cables during joint movement, has high flexibility, and can be assembled more conveniently.
The outstanding essential characteristics of the invention are as follows:
1) The harmonic reducer of the joint is directly connected with the output flange, so that the transmission clearance is small and the transmission is compact;
2) The shell of the joint is connected with the left end cover in a positioning way, the boss of the left end cover can form axial positioning, the electromagnet installation movable plate is connected with the movable connecting plate through a single-head hexagonal copper column, the electromagnet installation movable plate is L-shaped, the pushing electromagnet is arranged on the transverse plate of the electromagnet installation movable plate, and the brake disc is arranged at the leftmost side of the motor output shaft, so that the occupied space of the brake device is reduced; one end of the hollow wiring pipe is arranged on the electromagnet installation movable plate, and plays roles in axial positioning and circumferential positioning of the hollow wiring pipe, and O-shaped sealing rings at two ends of the hollow wiring pipe play a role in double-head sealing. The incremental encoder is arranged on a first shaft shoulder of an output shaft of the motor through a jackscrew, the movable connecting plate is axially screwed with the motor stator through threads to form axial positioning, the Hall is arranged at the middle end of the motor stator, the reversing speed is improved, the accuracy of current feedback is improved, the motor rotor is connected to a third shaft shoulder of the output shaft of the motor through screws to achieve axial and circumferential positioning, an outer ring of a double-side sealing deep groove ball bearing (deep groove ball bearing) is axially fixed with the movable connecting plate to be sealed, an inner ring of the double-side sealing deep groove ball bearing is axially positioned through the shaft shoulder of the output shaft of the motor, a flexible wheel of the harmonic reducer is axially and circumferentially positioned through threaded connection with a boss on the inner wall of a shell, the positioning flange is axially positioned through threaded connection with a wave generator of the harmonic reducer, an outer ring of the double-sealing angular contact bearing is axially connected with the output flange to be sealed, and the inner ring of the double-sealing angular contact bearing is axially positioned through the positioning flange, and a code disc of the absolute encoder is axially connected with the output flange through threads to further form axial and circumferential positioning;
3) The wiring mode is as follows: the cables of the absolute value encoder brushes pass through the hollow holes of the movable connecting plates from the crescent holes on the second round table protrusions on the inner wall of the shell, the movable plates are mounted along the inner wall of the shell through the electromagnets, the cables of the motor stator are connected to the modularized drive through the hollow holes of the movable connecting plates along the wall through the electromagnets, the cables of the last joint are connected to the modularized drive through the hollow wiring pipe, the cables of all modularized joints forming the mechanical arm are connected in series, and the cables of the last modularized joint are connected to the external controller;
4) The joint is designed into an integrated shell, is convenient to process, has good sealing performance, can better embody the characteristic of modularization, and can be assembled into a mechanical arm of any shaft in a modularized manner;
5) The joint adopts a double-encoder mode, and the motor angle and the connecting rod (mechanical arm) angle are measured through an incremental encoder and an absolute value encoder respectively;
6) The joint has the structural design of electric limit, the braking device adopts a combination mode of the braking disc and the pushing electromagnet, the copper column of the electromagnet is retracted when the power is on, the limiting function is not provided, and the copper column of the pushing electromagnet extends when the power is off, so that the braking disc is limited to move within a certain angle range; the brake device is different from the traditional brake, occupies small space, and has fast heat dissipation and low cost.
Drawings
FIG. 1 is a schematic diagram of a semi-sectional structure of a hollow actuation and control integrated intelligent modular joint of the present invention;
FIG. 2 is a schematic view of a 1/4 cross-sectional structure of a hollow actuation and control integrated intelligent modular joint according to the present invention;
FIG. 3 is a schematic view of the external structure of the hollow drive-control integrated intelligent modular joint of the present invention;
fig. 4 is a schematic diagram of the internal structure of the shell 1 of the hollow driving and controlling integrated intelligent modularized joint;
FIG. 5 is a schematic perspective view of the internal structure of the hollow drive-control integrated intelligent modular joint of the present invention;
fig. 6 is a schematic cross-sectional structure of the movable connecting plate 5 of the hollow driving and controlling integrated intelligent modularized joint;
fig. 7 is a schematic top view of the movable connection board 5 of the hollow driving and controlling integrated intelligent modularized joint;
fig. 8 is a schematic perspective view of an electromagnet mounting movable plate 3 of the hollow driving and controlling integrated intelligent modularized joint;
fig. 9 is a schematic cross-sectional structural view of an electromagnet mounting movable plate 3 of the hollow driving and controlling integrated intelligent modularized joint;
FIG. 10 is a schematic diagram of an assembled structure of two hollow actuation and control integrated intelligent modular joints according to the present invention;
fig. 11 is a schematic perspective view of an output flange 10 of the hollow driving and controlling integrated intelligent modularized joint;
fig. 12 is a schematic cross-sectional structural view of the output flange 10 of the hollow drive-control integrated intelligent modular joint of the present invention;
fig. 13 is a schematic perspective view of a motor output shaft 24 of the hollow drive-control integrated intelligent modular joint according to the present invention;
fig. 14 is a schematic cross-sectional view of the motor output shaft 24 of the hollow drive-control integrated intelligent modular joint of the present invention;
fig. 15 is a schematic perspective view of a brake disc 23 of a hollow-type driving-control integrated intelligent modular joint according to the present invention;
in the figure: the motor comprises a shell, a PCB (printed circuit board), a 3 electromagnet mounting movable plate, a 4 single-head hexagonal copper column, a 5 movable connecting plate, a 6 motor rotor, a 7 motor stator, an 8 flexible wheel, a 9 wave generator, a 10 output flange, an 11 angular contact bearing, a 12 positioning flange, a 13 absolute encoder code disc, a 14 absolute encoder brush, a 15 ear plate, a 16 rigid wheel, a 17 deep groove ball bearing, an 18 incremental encoder code disc, a 19 incremental encoder brush, a 20 push type electromagnet, a 21 modularized driver, a 22 left end cover, a 23 brake disc, a 24 motor output shaft, a 25 hollow wiring tube, a 26 first O-shaped sealing ring, a 27 second O-shaped sealing ring, a 101 first round platform bulge, a 102 second round platform bulge, a 103 crescent hole, a 2301 fixed base, 2302 disc teeth, 2401 first round shoulders, 2402 second round shoulders, 2403 third round shoulders, 503 fourth round shoulders, 2405 bosses, 1001 first round flange bosses, 1002 second round platform bulges, 501 hollowed holes, 502 grooves and center through holes.
Detailed Description
The invention is further described below with reference to examples and drawings, which are not intended to limit the scope of the claims of the present application.
The invention discloses a hollow driving and controlling integrated intelligent modularized joint (called joint or modularized joint for short, see fig. 1-12), which comprises a shell 1, an incremental encoder, an absolute value encoder, a hollow frameless torque motor, a braking device, a harmonic reducer, a motor output shaft 24, an output flange 10, a control device, a left end cover 22 and a hollow wiring pipe 25, wherein the control device, the incremental encoder, the braking device, the hollow frameless torque motor, the harmonic reducer and the absolute value encoder are respectively sleeved on the motor output shaft 24 and the output flange 10 in sequence, the output flange 10, the shell 1 and the left end cover 22 form a closed space, and the incremental encoder, the absolute value encoder, the hollow frameless torque motor, the braking device, the harmonic reducer, the motor output shaft 24, the control device and the hollow wiring pipe 25 are arranged in the closed space; the hollow wiring pipe 25 penetrates through the inner cavities of the output flange 10, the flexible gear 8, the rigid gear 16, the wave generator 9 and the motor output shaft 24 of the harmonic reducer, wherein the left end of the hollow wiring pipe 25 is connected to the right end surface of the electromagnet mounting movable plate 3 through screws, and the right end of the electromagnet mounting movable plate 3 is connected with the movable connecting plate 5 through the single-head hexagonal copper column 4; the control device controls the actions of all the components;
a first round boss protrusion 101 and a second round boss protrusion 102 are sequentially arranged in the shell 1 (see fig. 4) along the radial direction of the shell from left to right, a crescent hole 103 is formed in the second round boss protrusion 102, the electromagnet mounting movable plate 3, the first round boss protrusion 101 and the second round boss protrusion 102 divide the inner space of the shell into four cavities, and a first cavity, a second cavity, a third cavity and a fourth cavity are sequentially arranged from left to right;
the motor output shaft 24 (see fig. 13 and 14) comprises a fourth-stage shaft shoulder, a first shaft shoulder 2401, a second shaft shoulder 2402, a third shaft shoulder 2403 and a fourth shaft shoulder 2404 are sequentially arranged from left to right, and a boss 2405 is arranged at the right end of the motor output shaft;
the output flange 10 (see fig. 11 and 12) includes two stages of flange boss protrusions, namely a first flange boss protrusion 1001 and a second flange boss protrusion 1002 from left to right;
the electromagnet mounting movable plate 3 (see fig. 8 and 9) is composed of a transverse plate 301 and a vertical plate 302, wherein the transverse plate is fixed on the vertical plate along the length direction of the joint, the transverse plate 301 is provided with a push type electromagnet 20 through a screw, and the vertical plate 302 is provided with a fixed mould type driver 21; the vertical plate is in a quarter three-month structure, so that the brake disc 23 can be conveniently operated, and all cables can pass through the gap part of the electromagnet installation movable plate 3 and are connected to corresponding interfaces of the modularized driver 21;
the movable connecting plate 5 (see fig. 6 and 7) is provided with a clamping groove 502, a hollowed hole 501 and a central through hole 503, wherein the hollowed hole 501 is used for wiring, the central through hole is used for penetrating through the hollow wiring pipe and fixing a deep groove ball bearing, and the clamping groove is used for fixing the electric brush 19 of the incremental encoder; the edge of the movable connecting plate 5 is connected with a first round platform bulge 101 on the shell 1 through a screw, and plays a role in positioning; a deep groove ball bearing 17 is arranged in a gap between the movable connecting plate 5 and the motor output shaft, the right side of the deep groove ball bearing 17 is positioned through a second shoulder 2402 of the motor output shaft 24, the left side of the deep groove ball bearing 17 is positioned through the movable connecting plate 5, and the deep groove ball bearing 17 plays a role in neutrality;
the braking device comprises a braking disc 23 and a pushing electromagnet 20, wherein the braking disc 23 and the incremental encoder are both arranged on a motor output shaft 24 positioned in the second cavity, and the braking disc 23 is arranged at the left end of the motor output shaft 24 through screws and rotates along with the motor when the motor runs; the incremental encoder comprises an incremental encoder code disc 18 and an incremental encoder electric brush 19, wherein the incremental encoder code disc 18 is connected to the motor output shaft 24 through a jackscrew of the incremental encoder code disc 18, the right side of the incremental encoder code disc 18 and a first shaft shoulder 2401 of the motor output shaft 24 form axial positioning, and the incremental encoder electric brush 19 is connected to the movable connecting plate 5 through a screw and is clamped in a clamping groove 502 of the movable connecting plate 5;
the hollow frameless torque motor is positioned in the third cavity, the hollow frameless torque motor is fixed through a fourth shaft shoulder 2404 on the motor output shaft 24 and a movable connecting plate 5, the hollow frameless torque motor is composed of a motor rotor 6, a motor stator 7 and a Hall, the motor stator 7 is positioned in the motor rotor 6, the Hall is mounted on the motor stator 7, and the motor rotor 6 is clamped on the third shaft shoulder 2403 of the motor output shaft 24 and is connected with the fourth shaft shoulder 2404 of the motor output shaft 24 through a screw; one side of the motor stator 7 is axially positioned through a movable connecting plate 5;
the harmonic reducer, the code disc of the absolute value encoder and the electric brush of the absolute value encoder are all arranged in the fourth cavity, the motor output shaft 24 is connected with the wave generator 9 of the harmonic reducer through a boss 2405 at the right end, the harmonic reducer is positioned, and meanwhile the wave generator 9 of the harmonic reducer is axially positioned through a positioning flange 12; the flexible gear 8 of the harmonic speed reducer is connected with the second round platform bulge 102 on the shell 1 through a screw, and forms axial positioning, the rigid gear 16 of the harmonic speed reducer is connected with the first flange round platform bulge 1001 of the output flange 10 through a screw, and the right end of the output flange is connected with the next joint through a screw; an angular contact bearing 11 is arranged between the output flange and the positioning flange, and the inner ring and the outer ring of the angular contact bearing 11 are positioned through the positioning flange 12 and the output flange 10 respectively; the absolute value encoder code disc 13 is connected with the second flange round table bulge 1002 of the output flange 10 through a screw, and the absolute value encoder electric brush 14 is connected with the lug plate 15 welded on the shell 1 through a screw;
the control device comprises a modularized driver 21 and a PCB (printed circuit board) 2, wherein the modularized driver 21 is positioned in a first cavity, the modularized driver 21 is installed on the electromagnet installation movable plate 3, the modularized driver 21 is connected with the PCB 2, and a cable led out from the next joint connected with the joint is connected with the modularized driver 21 of the joint through a hollow wiring pipe 25; the modularized driver 21 is used for driving the hollow frameless torque motor to act, and a corresponding control circuit is integrated on the PCB board to realize the control of the joint;
the pushing electromagnet 20 is connected to the electromagnet mounting movable plate 3 through a screw, a copper column of the pushing electromagnet 20 is in a retracted state when the electromagnet is electrified, and the copper column of the pushing electromagnet 20 is in an extended state under the condition of power failure, so that mechanical limit is formed, a braking effect is achieved, and the braking device dissipates heat quickly;
the movable connecting plate 5 and the electromagnet mounting plate 3 are hollow.
The connection part of the hollow wiring pipe and the positioning flange 12 and the connection part of the electromagnet installation movable plate and the hollow wiring pipe are respectively provided with a sealing ring, the second O-shaped sealing ring 27 is used for connecting the hollow wiring pipe 25 and the positioning flange 12, and the first O-shaped sealing ring I26 is used for connecting the electromagnet installation movable plate 3 with the hollow wiring pipe.
The signal wire and the power wire led out from the next joint connected with the joint pass through the central hole of the tail end output flange 10, pass through the hollow wiring tube 25 and pass through the electromagnet mounting movable plate 3 to be connected to the corresponding interface of the modularized driver 21; the SSI signal wire of the absolute value encoder is fixed along the shell 1, passes through a crescent hole 103 on a second round platform bulge 102 on the inner wall of the shell and a hollowed movable connecting plate 5, bypasses an electromagnet mounting movable plate 3 and is connected to a corresponding interface of the modularized driver 21; the connecting wire of the motor stator 7 and the signal wire of the HALL sensor are fixed along the shell 1, pass through the hollowed movable connecting plate 5, bypass the electromagnet mounting movable plate 3 and are connected to the corresponding interface of the modularized driver 21.
In the invention, the harmonic reducer is directly connected with the output flange 10, and the right side of the wave generator 9 of the harmonic reducer is positioned through the positioning flange 12, so that the transmission clearance can be effectively reduced; the absolute value encoder is directly installed on output flange 10, and brake equipment and incremental encoder all with motor output shaft coaxial arrangement, reduce the clearance, and this application shell is integrated into one piece structure, and inside contains modularization driver and PCB board can realize driving and control integration, and locate mode is simple, installs hall element on the cavity frameless moment motor, and wave generator has realized axial positioning for whole joint operation is stable. The cables led out from the next joint connected with the joint are connected with the joint modularized driver 21 through the hollow wiring pipe 25, and the cables of the components of the joint are connected to the corresponding interfaces of the modularized driver 21 through crescent holes and hollow structures arranged in the joint, so that the serial communication of the joints is realized. The modularized joint has compact structural design, the hollow wiring reduces the complexity of cable summarization, avoids the influence on cables due to joint movement, has high flexibility, and can be assembled more conveniently.
In the invention, the brake disc 23 is in a hexagonal structure, the brake disc 3 (see fig. 15) comprises a fixed base 2301 and six disc teeth 2302 with the same structure, and the disc teeth 2302 can effectively and stably realize a blocking effect; six disk teeth 2302 are uniformly distributed on the cylindrical side surface of the fixed base with the fixed base as the center, each disk tooth gradually reduces in disk tooth width from the connecting end of the fixed base to the tail end of the disk tooth; v-shaped grooves are symmetrically formed on two sides of the tail end of the disk tooth; the fixed base is cylindrical with a bottom end cover, and the bottom end of the fixed base is directly fixed with the left end of the motor output shaft; during braking, the copper column of the pushing electromagnet 20 can be just clamped in the V-shaped groove, so that the braking failure caused by radial sliding of the tail end of the copper column of the pushing electromagnet 20 relative to the disc teeth is prevented; the section of the electromagnet installation movable plate is L-shaped.
The working principle of the joint of the invention is as follows: the external controller drives the modularized driver, and the modularized driver is connected with the hollow frameless torque motor so as to control the hollow frameless torque motor to act. The harmonic reducer is used for decelerating the hollow frameless torque motor, and is connected with the output flange which is connected with the next joint. The incremental encoder is used for speed closed loop feedback to feed back the speed parameters of the motor to the modular drive for display and operation on the computer. The absolute value encoder is used for position closed-loop feedback, and the output position of the output flange is fed back to the modularized driver, so that the output position is displayed and fed back on a computer.
The specific working process is as follows: the modularized drive receives an instruction, is powered by a 48V direct-current power supply, is connected with a hollow frameless torque motor through three U\V\W lines, supplies power to the hollow frameless torque motor and controls the hollow frameless torque motor to work; the hollow frameless torque motor is connected with a harmonic reducer through an output flange 10 and a motor output shaft 24, the harmonic reducer can play roles of reducing speed and increasing output torque with a high reduction ratio, the harmonic reducer is connected with the output flange, and the output flange is connected with the next joint.
The incremental encoder is powered by the modularized drive and used for feeding back the speed closed loop of the servo control system, real-time speed parameters of the hollow frameless torque motor can be fed back to the modularized drive, the modularized drive 21 uploads speed data, judges and makes a decision on the movement condition of the hollow frameless torque motor, and the movement condition of the hollow frameless torque motor is controlled in real time by applying the PID control principle.
The absolute value encoder is used for feeding back the position closed loop of the servo control system, feeding back the output angle position of the load end, namely the output flange 10, to the modularized driver, and the modularized driver uploads the position data, judges the position condition of the load end and makes a decision, thereby improving the position precision.
The relative position relation of the absolute value encoder and the incremental encoder and the current change condition of the hollow frameless torque motor are utilized, so that the stress of the load end can be timely sensed and fed back, the action of a torque sensor can be replaced to a certain extent, the sensing of the force of the load end is realized, and the force-position hybrid control can be carried out when the load end moves. The hollow driving and controlling integrated intelligent modularized joint is a driving and controlling integrated joint, and a driving device and a control device are simultaneously arranged in the joint, wherein the driving device mainly comprises a hollow frameless torque motor, and the control device comprises a modularized driver and a PCB.
Example 1
The joint of preliminary design of this embodiment overall dimension is diameter 100mm, and length 145mm, and maximum rated torque is 16.7N.m, and direct current servo motor's external diameter is 60mm, and maximum rated torque is 319mN.m, and the external diameter of harmonic reducer is 80mm, and the reduction ratio is 1:100, the maximum torque output by the harmonic reducer is 20N.m, and the length of the motor output shaft 24 is 73.5mm.
The size of this embodiment cavity formula drive accuse integration intelligent modularized joint is very little, and weight is very light, and arresting gear dispels the heat very fast to this articulated arresting gear is directly connected with the motor output shaft, does not need to transmit great moment through gear drive, and this articulated shell design is integrated, and processing is convenient, and the leakproofness is good, more has modularization's characteristic, and this articulated harmonic reducer is directly connected with output flange, has reduced transmission clearance greatly like this.
The left and right are relative terms herein that define the left side of the left end cap 22 as left and the output flange 10 as right.
The components involved in the invention are all commercially available and are not described as being suitable for use in the prior art.
Claims (5)
1. The hollow driving and controlling integrated intelligent modularized joint is characterized by further comprising a hollow frameless torque motor, wherein the control device, the incremental encoder, the braking device, the hollow frameless torque motor, the harmonic reducer and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange in sequence, the output flange, the shell and the left end cover form a closed space, and the incremental encoder, the absolute value encoder, the hollow frameless torque motor, the braking device, the harmonic reducer, the motor output shaft, the control device and the hollow wiring pipe are arranged in the closed space; the hollow wiring pipe penetrates through the inner cavities of the output flange, the flexible gear, the rigid gear, the wave generator and the motor output shaft of the harmonic reducer, the left end of the hollow wiring pipe is connected to the right end face of the electromagnet installation movable plate through screws, and the right end of the electromagnet installation movable plate is connected with the movable connecting plate through a single-head hexagonal copper column; the control device controls the actions of all the components;
the inside of the shell is provided with a first round platform bulge and a second round platform bulge in sequence from left to right along the radial direction of the shell, the second round platform bulge is provided with a crescent hole, the electromagnet is provided with a movable plate, the first round platform bulge and the second round platform bulge divide the inner space of the shell into four cavities, and the first cavity, the second cavity, the third cavity and the fourth cavity are arranged in sequence from left to right;
the motor output shaft comprises a fourth-level shaft shoulder, a first shaft shoulder, a second shaft shoulder, a third shaft shoulder and a fourth shaft shoulder are sequentially arranged from left to right, and a boss is arranged at the right end of the motor output shaft;
the edge of the movable connecting plate is connected with the first round table protrusion on the shell through a screw; a deep groove ball bearing is arranged in a gap between the movable connecting plate and the motor output shaft, the right side of the deep groove ball bearing is positioned through a second shoulder of the motor output shaft, and the left side of the deep groove ball bearing is positioned through the movable connecting plate;
the braking device comprises a braking disc and a pushing electromagnet, wherein the braking disc and the incremental encoder are both arranged on a motor output shaft positioned in the second cavity, and the braking disc is arranged at the left end of the motor output shaft; the incremental encoder comprises an incremental encoder code disc and an incremental encoder electric brush, wherein the incremental encoder code disc is connected to an output shaft of the motor through a jackscrew, the right side of the incremental encoder code disc and a first shaft shoulder of the output shaft of the motor form axial positioning, and the incremental encoder electric brush is connected to the movable connecting plate;
the hollow frameless torque motor is positioned in the third cavity, the hollow frameless torque motor is fixed through a fourth shaft shoulder on the motor output shaft and a movable connecting plate, the hollow frameless torque motor comprises a motor rotor, a motor stator and a Hall, the motor stator is positioned in the motor rotor, the Hall is arranged on the motor stator, and the motor rotor is clamped on the third shaft shoulder of the motor output shaft and is connected with the fourth shaft shoulder of the motor output shaft through a screw; one side of the motor stator is axially positioned through a movable connecting plate;
the harmonic reducer, the absolute value encoder code disc and the absolute value encoder electric brush are all arranged in the fourth cavity, the motor output shaft is connected with the wave generator of the harmonic reducer through a boss at the right end, the harmonic reducer is positioned, and meanwhile the wave generator of the harmonic reducer is axially positioned through a positioning flange; the flexible wheel of the harmonic reducer is connected with the second round table bulge on the shell through a screw, and axial positioning is formed, the rigid wheel of the harmonic reducer is connected with the output flange, and the right end of the output flange is connected with the next joint; an angular contact bearing is arranged between the output flange and the positioning flange, and the inner ring and the outer ring of the angular contact bearing are positioned through the positioning flange and the output flange respectively; the absolute value encoder code wheel is connected with the output flange, and the absolute value encoder electric brush is connected with the lug plate welded on the shell through a screw;
the control device comprises a modularized driver and a PCB board, wherein the modularized driver is positioned in the first cavity, the modularized driver is installed on the electromagnet installation movable board, the modularized driver is connected with the PCB board, and a cable led out from the next joint connected with the joint is connected with the modularized driver of the joint through a hollow wiring pipe.
2. The hollow driving and controlling integrated intelligent modularized joint according to claim 1, wherein the electromagnet mounting movable plate consists of a transverse plate and a vertical plate, the transverse plate is fixed on the vertical plate along the length direction of the joint, the transverse plate is provided with a pushing electromagnet through a screw, and the vertical plate is provided with a modularized driver; the vertical plate is of a quarter March-shaped structure.
3. The hollow driving and controlling integrated intelligent modularized joint according to claim 1, wherein the movable connecting plate is provided with a clamping groove for fixing an electric brush of an incremental encoder, a hollowed hole for wiring and a central through hole for penetrating through the hollow wiring pipe and fixing a deep groove ball bearing.
4. The hollow driving and controlling integrated intelligent modularized joint as set forth in claim 1, wherein the connection of the hollow wiring pipe and the positioning flange and the connection of the electromagnet mounting movable plate and the hollow wiring pipe are both provided with O-shaped sealing rings.
5. The hollow-type drive-control integrated intelligent modular joint according to claim 1, wherein the brake disc is of a hexagram structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710851266.0A CN107398924B (en) | 2017-09-20 | 2017-09-20 | Hollow type driving and controlling integrated intelligent modularized joint |
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| CN201710851266.0A CN107398924B (en) | 2017-09-20 | 2017-09-20 | Hollow type driving and controlling integrated intelligent modularized joint |
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| CN107398924A CN107398924A (en) | 2017-11-28 |
| CN107398924B true CN107398924B (en) | 2023-04-21 |
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| CN201710851266.0A Active CN107398924B (en) | 2017-09-20 | 2017-09-20 | Hollow type driving and controlling integrated intelligent modularized joint |
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