CN107498580A - One kind controls integral Dual-encoder structural module joint - Google Patents
One kind controls integral Dual-encoder structural module joint Download PDFInfo
- Publication number
- CN107498580A CN107498580A CN201710956972.1A CN201710956972A CN107498580A CN 107498580 A CN107498580 A CN 107498580A CN 201710956972 A CN201710956972 A CN 201710956972A CN 107498580 A CN107498580 A CN 107498580A
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- China
- Prior art keywords
- absolute value
- encoder
- hollow motor
- value encoder
- connecting plate
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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
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
Abstract
The present invention relates to one kind to control integral Dual-encoder structural module joint, including output flange, harmonic speed reducer, hollow motor, hollow motor output shaft, incremental encoder, brake, absolute value encoder, driver, bonnet and articular shell；Output flange, bonnet and articular shell form closing space, it is characterised in that：The joint also includes absolute value encoder connecting shaft, socket absolute value encoder connecting shaft in hollow motor output shaft, one end of absolute value encoder connecting shaft and the inner side of output flange connect, the other end installs absolute value encoder, harmonic speed reducer is through absolute value encoder connecting shaft and installed in one end of hollow motor output shaft, hollow motor, incremental encoder and brake are sequentially arranged on hollow motor output shaft, and driver is arranged in the space between absolute value encoder and bonnet.The modularized joint solves the problems such as existing joint size is big, and cabling is difficult, and reading encoder data speed is slow.
Description
Technical field
The present invention relates to robotic technology field, and in particular to one kind controls integral Dual-encoder structural module joint.
Background technology
With the development of Robot industry, requirement of the field such as medical rehabilitation, space exploration, industrial production to robot is got over
Come higher, do not only require the homework precision of robot, also require that robot adapts to different environment, there can be a variety of work(
Can, so modular joint is arisen at the historic moment.Traditional robot function is single, and structural nexus is close between joint, it is impossible to single
Some joint is solely dismantled, so joint can not be reconfigured according to the requirement of environment and operation；The size and weight in joint are big, collection
Low into spending, huge joint can not meet the requirement of robot manipulating task；Cabling is complicated chaotic between joint, with joint and inside
Function element increases, and the wiring number of robot increases so that occurs the problem of outside cabling and coiling between joint.
And existing modularized joint, such as a kind of patent document " intelligent modularized joint CN 104416579 of hollow type
A " and " a kind of B of tow-armed robot modularized joint CN 104400794 of hollow structure ", absolute value encoder is arranged on end
On output flange, the wire of absolute value encoder stator needs guiding through the devices such as harmonic speed reducer and hollow motor and is connected to driver
On, result in the need for individually reserving cable hole for absolute value encoder, cable hole is nearly through whole joint so that articulation structure is multiple
Miscellaneous, cabling is difficult；The thickness of articular shell is not enough to thread mill drilling installation bonnet, and it is flange arrangement to cause articular shell, is had
Raised brim is used for the connection of bonnet, not only make it that shell processing difficulties, aesthetics are poor, and increase the size in joint, shadow
Ring the operation of robot；Although intra-articular have two encoders, driver does not support the CANOPEN associations that rapid data is read
View, the data that PDO reads two encoders can not be configured, reading the data speed of two encoders can not meet what is monitored in real time
It is required that.For the development of robot technology, make modularized joint broader applications in industry and service field, the size in joint,
The data problem of cabling and reading encoder is urgently to be resolved hurrily.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention intends to solve is to provide one kind and controls integral Dual-encoder
Structural module joint.It is big that the modularized joint solves existing joint size, and cabling is difficult, and it is slow to read encoder data speed
The problems such as.
One kind controls integral Dual-encoder structural module joint, including output flange, harmonic speed reducer, hollow motor,
Hollow motor output shaft, incremental encoder, brake, absolute value encoder, driver, bonnet and articular shell；Output flange,
Bonnet and articular shell form closing space, it is characterised in that：The joint also includes absolute value encoder connecting shaft, hollow motor
Socket absolute value encoder connecting shaft in output shaft, one end of absolute value encoder connecting shaft and the inner side of output flange connect,
The other end installs absolute value encoder, and harmonic speed reducer is through absolute value encoder connecting shaft and is arranged on hollow motor output shaft
One end, hollow motor, incremental encoder and brake be sequentially arranged on hollow motor output shaft, and driver is arranged on absolute
It is worth in the space between encoder and bonnet；
The articular shell is cylinder, and inner surface one end of articular shell, which is provided with, to be used to connect harmonic reducer flexible wheel
Articular shell is raised, and three prisms of articular shell first are evenly distributed with the raised rear end of articular shell, in articular shell the
The rear end of one prism is evenly arranged the prism of articular shell second for connecting bonnet；
The output flange is provided with the output flange groove for being used for Rigid Gear of Harmonic Reducer connection positioning, recessed in output flange
The screwed hole for being connected with next joint is evenly equipped with the outside of groove, is evenly equipped with the inside of output flange groove humorous for connecting
The through hole of ripple decelerator firm gear；The central through hole for cabling, central through hole peripheral shaft are provided with the center of output flange groove
To provided with output flange projection, top wire hole is provided with output flange projection, passes through jackscrew and absolute value encoder connecting shaft connects
Connect；Output flange is being axially arranged with the space for placing the screw for connecting next joint with harmonic reducer flexible wheel；
The harmonic speed reducer includes Rigid Gear of Harmonic Reducer, harmonic reducer flexible wheel and wave producer, harmonic speed reducer
The output flange groove of firm gear side and output flange is connected, and Rigid Gear of Harmonic Reducer opposite side is axially fixed with wave producer
Position, while seal wave producer；The harmonic reducer flexible wheel is fixedly connected with articular shell projection；The other end of wave producer
Axis connection is exported with hollow motor；
The hollow motor output shaft is multidiameter structure, and it is defeated to be sequentially provided with hollow motor output shaft collar, hollow motor
Shaft positioning convex and hollow motor output shaft neck；Hollow motor output shaft collar is connected with hollow motor rotor, hollow electricity
The outer wall of machine output shaft collar is bonded with the inwall of harmonic reducer flexible wheel, and hollow motor output shaft positioning convex is used for hollow electricity
The radial positioning of machine rotor；
Hollow motor stator connecting plate is connected on the prism of articular shell first；Among the hollow motor stator connecting plate
Pass through bearings hollow motor output shaft neck；Hollow motor stator connecting plate, which is provided with, to be used to install incremental encoder brush
Brush groove, plate groove and electromagnet through hole for installing " L " template；
The absolute value encoder connecting shaft is hollow elongated structure, and side, which has, to be positioned and connect for absolute value encoder
Absolute value encoder connecting shaft positioning convex, opposite side is connected by jackscrew with output flange, and it is defeated to be nested in hollow motor
In shaft, absolute value encoder and incremental encoder is set to be located at the same side of hollow motor；In hollow motor output shaft and definitely
"O"-ring is installed between value coder connecting shaft；
The incremental encoder includes incremental encoder code-disc and incremental encoder brush, and incremental encoder code-disc passes through spiral shell
Nail is connected on code-disc connecting plate, and the code-disc connecting plate is fixed by jackscrew and hollow motor output shaft；Incremental encoder electricity
Brush is arranged in brush groove；
The brake includes electromagnet, brake disc and " L " template, and electromagnet is arranged on " L " template, " L " template peace
In the plate groove of hollow motor stator connecting plate, electromagnet can pass through the electromagnet through hole of hollow motor stator connecting plate；
The disc centres are provided with positioning convex, have top wire hole on the positioning convex, and hollow motor output shaft is arranged on by jackscrew
Diameter smallest end；During the iron core ejection of electromagnet just and brake disc；
Hollow motor output shaft sequentially passes through hollow motor, hollow motor stator connecting plate, incremental encoder and brake disc；
The absolute value encoder includes absolute value encoder stator and absolute value encoder rotor, the absolute value encoder stator peace
It is provided with absolute value encoder stator connecting plate, around the absolute value encoder stator connecting plate and is used to protect absolute value
The absolute value encoder stator of encoder stator is raised, and centre is the cavity for installing absolute value encoder rotor, absolute value
The outside of encoder stator connecting plate is fixed together with absolute value encoder connecting plate again；
Absolute value encoder rotor is arranged on absolute value encoder rotor connecting plate, and the absolute value encoder rotor connects
Fishplate bar is hollow structure, and absolute value encoder rotor projection is provided with edge, and the raised insertion of absolute value encoder rotor is exhausted
To in the interstitial hole of value encoder stator and absolute value encoder rotor, the hollow structure of absolute value encoder rotor connecting plate is used
In joint cabling；Absolute value encoder rotor connecting plate is connected with absolute value encoder connecting shaft positioning convex again；Absolute value is compiled
There is defined mounting distance the axial direction of code device stator and absolute value encoder rotor；
There is the through hole for cabling among the absolute value encoder connecting plate, absolute value encoder connecting plate passes through long single
Head hexagonal copper post connection hollow motor stator connecting plate, driver is connected by short single head hexagonal copper post；The driver with absolutely
Value encoder is connected with incremental encoder by wire and interface board.
Above-mentioned controls integral Dual-encoder structural module joint, in absolute value encoder stator connecting plate and absolute value
Between encoder connecting plate, pad is provided between absolute value encoder rotor connecting plate and absolute value encoder connecting shaft.
Above-mentioned controls integral Dual-encoder structural module joint, and the driver can support CANOPEN agreements, driving
Device is connected with absolute value encoder and incremental encoder by wire and interface board, and driver quickly reads increasing by configuring PDO
The positional information of encoder and absolute value encoder monitoring is measured, and forms the speed closed loop feedback of hollow motor and whole joint
Position closed loop feeds back.
Above-mentioned controls integral Dual-encoder structural module joint, and the interface board of the driver only has interface conversion
Function, overall dimensions be less than driver size.
Above-mentioned controls integral Dual-encoder structural module joint, has among the bonnet for the logical of joint cabling
Hole, surrounding have the through hole for being connected with next joint, and the inner side of bonnet is provided with the bonnet projection being used for articular shell positioning
Structure.
Above-mentioned controls integral Dual-encoder structural module joint, and the brake disc is circle.
Compared with prior art, the beneficial effects of the invention are as follows：
1. absolute value encoder stator of the present invention cannot connect directly in joint with absolute value encoder rotor, in
Empty absolute value encoder stator connecting plate and hollow and edge protuberance absolute value encoder rotor connecting plate can be used respectively
In the installation and protection of absolute value encoder stator and absolute value encoder rotor, absolute value encoder can also be controlled with pad
The axially mounted distance of stator and absolute value encoder rotor.
It is same that 2. absolute value encoder of the present invention by absolute value encoder connecting shaft is located at hollow motor with incremental encoder
Side, the opposite side of hollow motor does not need the device that wire connects, so cable hole need not be reserved.Compiled compared to absolute value
Joint of the code device on output flange end, the size without increasing joint make reserved cable hole pass through harmonic speed reducer and hollow electricity
Machine.
3. articular shell of the present invention is structure as a whole, outer surface is smooth, no bulge-structure, and the prism structure of inner surface makes outside
Shell will not be amplified because of connection, and the prism structure of inner surface is used to install hollow motor stator connecting plate and bonnet, letter
Inner surface of outer cover and outer surface structure are changed, have been easily worked.
4. the absolute value encoder connecting plate of the present invention is connected by long single head hexagonal copper post and hollow motor stator connecting plate
Connect, driver is connected by short single head hexagonal copper post with absolute value encoder connecting plate, simple in construction quick detachable, multiple without setting
Miscellaneous inner surface of outer cover connects absolute value encoder connecting plate and driver to install.
5. hollow motor output shaft one end connection hollow motor rotor of the present invention and wave producer, connection end thickness are 8mm,
Compared to other joints, connection distance is reduced, reduces hollow motor and the driving error of harmonic speed reducer.And this end outer wall with
Harmonic reducer flexible wheel inwall is bonded, and is served the sealing function of wave producer, is prevented oil leak from causing to damage to intra articular device
Wound.
6. brake of the present invention includes electromagnet and brake disc, iron core is ejected when electromagnet powers off and is made with brake disc friction
Dynamic, because brake disc and hollow motor output axis connection, rotating torque is less than 1NM, so the friction of iron core and brake disc can
So that hollow motor output shaft is braked immediately.Relative to traditional brake, brake small volume of the present invention, easily peace simple in construction
Dress.Existing new pine and UR joint brakes, brake disc are hexagonal structures, and 60 degree of brake latency is up to during braking, can not
Accomplish to brake immediately.
7. the present invention considers the cabling of intra articular device, the electromagnet through hole on hollow motor stator connecting plate is more than
Electromagnet, it can be used for the cabling of hollow motor.Absolute value encoder connecting plate is less than articular shell internal diameter, electromagnet, hollow
The wire of motor and incremental encoder brush can be fixed, with connecing for driver along articular shell inwall cabling with insulating tape
Oralia connects.
8. absolute value encoder connecting shaft of the present invention is hollow elongated structure, facilitate the cabling in next joint.Using with
During the driver of CANOPEN agreements, the wiring in next joint for 2 power lines and 2 CAN lines and is all connected to joint of the present invention
Driver, that is to say, that it is 4 that each joint, which needs aerial lug, will not increase because of the joint of mechanical arm cause it is close
The line of pedestal increases.
9. driver of the present invention supports CANOPEN agreements, PDO can be configured and read incremental encoder and absolute value encoder
Data, than general driver support CAN protocol, configuration SDO read data it is quickly timely, Dual-encoder can be met to joint
Position and the real-time detection requirement of speed data.And support that the driver Diagonal Dimension of CANOPEN agreements is all big on the market
In 150mm, it is integrated into joint and causes joint size bigger than normal, the interface board diagonal that driver of the present invention carries is 203mm, chi
It is very little too big, it is impossible to be integrated into joint, the interface board diagonal for the driver that the present invention uses only remains interface and turned for 90mm
The function of changing, be can be very good to match with driver and is integrated into joint, and joint size can be controlled within 100mm.
Brief description of the drawings
Fig. 1 is the two dimensional cross-section structural representation in joint of the present invention；
Fig. 2 is the stereochemical structure cross-sectional view in joint of the present invention；
Fig. 3 is the structural representation of the hollow motor output shaft 5 in joint of the present invention；
Fig. 4 is the dimensional structure diagram of the absolute value encoder connecting shaft 3 in joint of the present invention；
Fig. 5 is the dimensional structure diagram of the hollow motor stator connecting plate 11 in joint of the present invention；
Fig. 6 is the separation schematic diagram of the absolute value encoder in joint of the present invention；
Fig. 7 is the dimensional structure diagram of the brake in joint of the present invention；
Fig. 8 is the long single head hexagonal copper post 26 in joint of the present invention and the structural representation of short single head hexagonal copper post 17；
Fig. 9 is the structural representation of the driver 20 in joint of the present invention；
Figure 10 is the structural representation of the bonnet 18 in joint of the present invention；
Figure 11 is the dimensional structure diagram of the articular shell 28 in joint of the present invention；
Figure 12 is the dimensional structure diagram of the output flange 1 in joint of the present invention；
Figure 13 is the cabling schematic diagram in joint of the present invention.
Wherein：1 is output flange, and 2 be Rigid Gear of Harmonic Reducer, and 3 be absolute value encoder connecting shaft, and 4 be wave producer,
5 be hollow motor output shaft, and 6 be harmonic reducer flexible wheel, and 7 be hollow motor rotor, and 8 be hollow motor stator, and 9 be that code-disc connects
Fishplate bar, 10 be incremental encoder code-disc, and 11 be hollow motor stator connecting plate, and 12 be electromagnet, and 13 be " L " template, and 14 be system
Moving plate, 15 be absolute value encoder stator connecting plate, and 16 be absolute value encoder stator, and 17 be short single head hexagonal copper post, and 18 are
Bonnet, 19 be interface board, and 20 be driver, and 21 be absolute value encoder rotor connecting plate, and 22 be absolute value encoder rotor, 23
It is bearing for absolute value encoder connecting plate, 24,25 be incremental encoder brush, and 26 be long single head hexagonal copper post, and 27 be " O " type
Circle, 28 be articular shell.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings, but does not protect model in this, as to the application claim
The restriction enclosed.
One kind of the present invention, which controls integral Dual-encoder structural module joint (abbreviation joint, referring to Fig. 1-13), includes output
Flange 1, harmonic speed reducer, hollow motor, hollow motor output shaft 5, absolute value encoder connecting shaft 3, incremental encoder, braking
Device, absolute value encoder, driver, bonnet 18 and articular shell 28；Output flange 1, bonnet 18 and articular shell 28 form envelope
Close space, socket absolute value encoder connecting shaft 3 in hollow motor output shaft 5, one end of absolute value encoder connecting shaft 3 with it is defeated
Go out the inner side connection of flange 1, other end installation absolute value encoder, harmonic speed reducer passes through absolute value encoder connecting shaft 3 simultaneously
Installed in one end of hollow motor output shaft 5, hollow motor, incremental encoder and brake are sequentially arranged at hollow motor output
On axle 5, driver 20 is arranged in the space between absolute value encoder and bonnet 18；
As shown in figure 11, the articular shell 28 is cylinder, and outer surface is smooth, no bulge-structure, articular shell 28
Inner surface one end is provided with the articular shell projection 28-1 for being used for connecting harmonic reducer flexible wheel 6, articular shell projection 28-1's
Rear end is evenly distributed with three articular shell the first prism 28-2, and use is evenly arranged in the first prism of articular shell 28-2 rear end
In the second prism of articular shell 28-3 of connection bonnet 18；
As shown in figure 12, the output flange 1 is provided with the output flange groove for being used for the connection positioning of Rigid Gear of Harmonic Reducer 2
1-1, the screwed hole 1-3 for being connected with next joint is evenly equipped with the outside of output flange groove 1-1, in output flange groove
The through hole 1-4 for connecting Rigid Gear of Harmonic Reducer 2 is evenly equipped with the inside of 1-1；It is provided with and uses at output flange groove 1-1 center
Output flange projection 1-2 is axially arranged with around the central through hole 1-5 of cabling, central through hole, is set on output flange projection 1-2
There is top wire hole, be connected by jackscrew with absolute value encoder connecting shaft 3；Output flange 1 has with harmonic reducer flexible wheel 6 axially
Certain distance is used to place the screw for connecting next joint；
As shown in figure 1, the harmonic speed reducer includes Rigid Gear of Harmonic Reducer 2, harmonic reducer flexible wheel 6 and wave producer
4, the side of Rigid Gear of Harmonic Reducer 2 and the output flange groove 1-1 of output flange 1 are connected, and Rigid Gear of Harmonic Reducer 2 is another
Side and the axially position of wave producer 4, while wave producer 4 is sealed, prevent side oil leak；The harmonic reducer flexible wheel 6 is with closing
Section shell projection 28-1 is fixedly connected；The other end of wave producer 4 is connected with hollow motor output shaft 5；
The hollow motor output shaft 5 (referring to Fig. 3) is multidiameter structure, is sequentially provided with hollow motor output shaft collar 5-
1st, hollow motor output shaft positioning convex 5-2 and hollow motor output shaft neck 5-3；Hollow motor output shaft collar 5-1 is with
Empty rotor 7 is connected, and hollow motor output shaft collar 5-1 outer wall is bonded with the inwall of harmonic reducer flexible wheel 6, is served
The sealing function of wave producer 4, prevent from that intra articular device is caused to damage due to oil leak, hollow motor output shaft convex
Play the radial positioning that 5-2 is used for hollow motor rotor 7；
Hollow motor stator connecting plate 11 is connected on the first prism of articular shell 28-2；The hollow motor stator connection
Hollow motor output shaft neck 5-3 is supported by bearing 24 among plate 11 (referring to Fig. 5)；Set on hollow motor stator connecting plate 11
Have for installing the brush groove 11-3 of incremental encoder brush 25, plate groove 11-1 and electromagnetism for installing " L " template 13
Tie Tong hole 11-2；
As shown in figure 4, the absolute value encoder connecting shaft 3 is hollow elongated structure, there is absolute value encoder company side
Spindle alignment projection 3-1 is used for the positioning and connection of absolute value encoder, and opposite side is connected by jackscrew with output flange 1, and
It is nested in hollow motor output shaft 5, absolute value encoder and incremental encoder is located at the same side of hollow motor, hollow electricity
The opposite side of machine does not need the device of wire, so cable hole need not be reserved, compared to absolute value encoder in output flange
Joint on end, the size without increasing joint make reserved cable hole pass through harmonic speed reducer and hollow motor；
The incremental encoder includes incremental encoder code-disc 10 and incremental encoder brush 25, incremental encoder code-disc 10
It is connected by screw on code-disc connecting plate 9, the code-disc connecting plate 9 is fixed by jackscrew and hollow motor output shaft 5；Increment
Encoder brush 25 is arranged in brush groove 11-3；
The brake (referring to Fig. 7) includes electromagnet 12, brake disc 14 and " L " template 13, and electromagnet 12 is arranged on " L "
On template 13, " L " template 13 is arranged in the plate groove 11-1 of hollow motor stator connecting plate, and electromagnet 12 can pass through hollow electricity
The electromagnet through hole 11-2 of machine stator connecting plate, does not influence its work；The center of brake disc 14 is provided with positioning convex, the positioning
There is top wire hole in projection, the diameter smallest end of hollow motor output shaft 5 is arranged on by jackscrew；It is proper during the iron core ejection of electromagnet
It is good to be contacted with brake disc 14；
Hollow motor output shaft 5 sequentially passes through hollow motor, hollow motor stator connecting plate 11, incremental encoder and braking
Disk 14；
As shown in fig. 6, the absolute value encoder includes absolute value encoder stator 16 and absolute value encoder rotor 22,
The absolute value encoder stator 16 is arranged on absolute value encoder stator connecting plate 15, and the absolute value encoder stator connects
Be provided with around fishplate bar 15 and be used to protecting the absolute value encoder stator projection 15-1 of absolute value encoder stator 16, centre be for
The cavity of absolute value encoder rotor 22 is installed, the outside of absolute value encoder stator connecting plate 15 connects with absolute value encoder again
Fishplate bar 23 is fixed together；
Absolute value encoder rotor 22 is arranged on absolute value encoder rotor connecting plate 21, and the absolute value encoder turns
Sub- connecting plate is hollow structure, and absolute value encoder rotor projection 21-1 is provided with edge, and absolute value encoder rotor is convex
In the interstitial hole for playing 21-1 insertion absolute value encoders stator 16 and absolute value encoder rotor 22, for positioning, absolute value is compiled
The hollow structure of code device rotor connecting plate 21 is used for joint cabling；Absolute value encoder rotor connecting plate 21 again with absolute encoder
Device connecting shaft positioning convex 3-1 connections；As defined in the axial direction of absolute value encoder stator 16 and absolute value encoder rotor 22 has
Mounting distance, can be between absolute value encoder stator connecting plate 15 and absolute value encoder connecting plate 23, absolute encoder
The pad of varying number and thickness is added between device rotor connecting plate 21 and absolute value encoder connecting shaft 3 to change their axle
To mounting distance；
There is the through hole for cabling among the absolute value encoder connecting plate 23, absolute value encoder connecting plate 23 passes through
Long single head hexagonal copper post 26 connects hollow motor stator connecting plate 11, and driver 20 is connected by short single head hexagonal copper post 17；
The driver 20 can support CANOPEN agreements, and driver 20 passes through with absolute value encoder and incremental encoder
Wire and interface board connection, driver 20 quickly read the position that incremental encoder and absolute value encoder monitor by configuring PDO
Confidence ceases, and forms the speed closed loop feedback of hollow motor and the position closed loop feedback in whole joint.
"O"-ring 27 is installed between hollow motor output shaft 5 and absolute value encoder connecting shaft 3, "O"-ring 27 rises
Support and the effect of sealing, rotate the transmission of two axles and do not interfere with each other.
As shown in figure 8, the screw end of the short single head hexagonal copper post 17 is used to connect driver 20, the other end is arranged on exhausted
To on value encoder connecting plate 23.The screw end of the long single head hexagonal copper post 26 is used to connect absolute value encoder connecting plate
23, the other end is arranged on hollow motor stator connecting plate 11.Single head hexagonal Copper column structure is simply quick detachable, it is not necessary in joint
Inner surface of outer cover sets complicated mounting structure.
The interface board that driver 20 carries makes greatly very much joint size larger, and the interface board 19 of the application only remains interface and turned
The function of changing, overall dimensions are less than the size of driver 20.Have on interface board 19 and be used to connect the stitch 20- on driver 20
1 pin board, and for connecting hollow motor, incremental encoder, absolute value encoder, brake and a upper joint driver
The corresponding jack-plug socket of wire.
As shown in Figure 10, there is through hole to be used for joint cabling among the bonnet 18, surrounding have through hole be uniformly used for it is next
Joint connects, and the inner side of bonnet 18 is provided with the bonnet bulge-structure 18-1 for being used for positioning with articular shell 28.
As shown in figure 13, the black line of overstriking is the wire in each device in joint of the present invention and a upper joint, hollow motor stator
The electromagnet through hole 11-2 of connecting plate is more than electromagnet 12, can be used for the cabling of hollow motor.Absolute value encoder connecting plate
23 are less than the internal diameter of articular shell 28, and the wiring of electromagnet 12, hollow motor and incremental encoder brush 25 can be along articular shell
28 inwall cablings, are fixed with insulating tape, are connected with the interface board 19 of driver.The wiring in a upper joint passes through output flange 1
Centre bore and absolute value encoder connecting shaft 3 be connected with the interface board 19 of driver.
The present invention controls the course of work in integral Dual-encoder structural module joint and principle：Control signal is inputted
Signal is amplified and inputs hollow motor stator 8 by driver 20, driver 20, and hollow motor rotor 7 starts according to control signal
Hollow motor output shaft 4 is driven to rotate, hollow motor output shaft 4 drives wave producer 5 to rotate, wave producer 5 and harmonic reduction
The harmonic drive reduction of device flexbile gear 6, Rigid Gear of Harmonic Reducer 2 drive output flange 1 to rotate output.The hollow electricity of incremental encoders monitor
The turned position of machine rotor 7, driver 20 pass through wire reading position data message.Absolute value encoder monitors output flange 1
Turned position, driver 20 passes through wire reading position data message.When joint is powered, the energization adhesive iron of electromagnet 12
Core, joint normal operation, when joint powers off, electromagnetic actuation disappears, and iron core ejects connect with brake disc under the action of the spring
Touch friction catch.
Although invention has been described for drawings above explanation, the invention is not limited in above-mentioned specific reality
Measure is applied, above-mentioned specific implementation measure is only schematical, rather than limitation.It is every the present invention enlightenment under, do
The equivalence replacement gone out or deformation, it should all be included within the scope of the present invention.
The present invention does not address part and is applied to prior art.
Claims (6)
1. one kind controls integral Dual-encoder structural module joint, including output flange, harmonic speed reducer, hollow motor, in
Empty motor output shaft, incremental encoder, brake, absolute value encoder, driver, bonnet and articular shell；Output flange, after
Lid and articular shell form closing space, it is characterised in that：The joint also includes absolute value encoder connecting shaft, and hollow motor is defeated
Socket absolute value encoder connecting shaft in shaft, one end of absolute value encoder connecting shaft and the inner side of output flange connect, separately
Absolute value encoder is installed in one end, and harmonic speed reducer is through absolute value encoder connecting shaft and installed in hollow motor output shaft
One end, hollow motor, incremental encoder and brake are sequentially arranged on hollow motor output shaft, and driver is arranged on absolute value
In space between encoder and bonnet；
The articular shell is cylinder, and inner surface one end of articular shell is provided with the joint for being used for connecting harmonic reducer flexible wheel
Shell is raised, three prisms of articular shell first is evenly distributed with the raised rear end of articular shell, in the rib of articular shell first
The rear end of post is evenly arranged the prism of articular shell second for connecting bonnet；
The output flange is provided with the output flange groove for being used for Rigid Gear of Harmonic Reducer connection positioning, in output flange groove
Outside is evenly equipped with the screwed hole for being connected with next joint, is evenly equipped with the inside of output flange groove and subtracts for connecting harmonic wave
The through hole of fast device firm gear；The central through hole for cabling is provided with the center of output flange groove, is axially set around central through hole
There is output flange raised, top wire hole is provided with output flange projection, axis connection is connected with absolute value encoder by jackscrew；It is defeated
Go out flange and be axially arranged with the space for placing the screw for connecting next joint with harmonic reducer flexible wheel；
The harmonic speed reducer includes Rigid Gear of Harmonic Reducer, harmonic reducer flexible wheel and wave producer, Rigid Gear of Harmonic Reducer
The output flange groove of side and output flange is connected, Rigid Gear of Harmonic Reducer opposite side and wave producer axially position,
Seal wave producer simultaneously；The harmonic reducer flexible wheel is fixedly connected with articular shell projection；The other end of wave producer with
Hollow motor exports axis connection；
The hollow motor output shaft is multidiameter structure, is sequentially provided with hollow motor output shaft collar, hollow motor output shaft
Positioning convex and hollow motor output shaft neck；Hollow motor output shaft collar is connected with hollow motor rotor, and hollow motor is defeated
The outer wall of shaft collar is bonded with the inwall of harmonic reducer flexible wheel, and hollow motor output shaft positioning convex turns for hollow motor
The radial positioning of son；
Hollow motor stator connecting plate is connected on the prism of articular shell first；Pass through among the hollow motor stator connecting plate
Bearings hollow motor output shaft neck；Hollow motor stator connecting plate is provided with the electricity for being used for installing incremental encoder brush
Brush groove, plate groove and electromagnet through hole for installing " L " template；
The absolute value encoder connecting shaft is hollow elongated structure, and side, which has, to be positioned for absolute value encoder and connect exhausted
To being worth coder connecting shaft positioning convex, opposite side is connected by jackscrew with output flange, and is nested in hollow motor output shaft
In, absolute value encoder and incremental encoder is located at the same side of hollow motor；Compiled in hollow motor output shaft and absolute value
"O"-ring is installed between code device connecting shaft；
The incremental encoder includes incremental encoder code-disc and incremental encoder brush, and incremental encoder code-disc is connected by screw
It is connected on code-disc connecting plate, the code-disc connecting plate is fixed by jackscrew and hollow motor output shaft；Incremental encoder brush is pacified
In brush groove；
The brake includes electromagnet, brake disc and " L " template, and electromagnet is arranged on " L " template, and " L " template is arranged on
In the plate groove of hollow motor stator connecting plate, electromagnet can pass through the electromagnet through hole of hollow motor stator connecting plate；It is described
Disc centres are provided with positioning convex, have top wire hole on the positioning convex, and the straight of hollow motor output shaft is arranged on by jackscrew
Footpath smallest end；During the iron core ejection of electromagnet just and brake disc；
Hollow motor output shaft sequentially passes through hollow motor, hollow motor stator connecting plate, incremental encoder and brake disc；It is described
Absolute value encoder includes absolute value encoder stator and absolute value encoder rotor, and the absolute value encoder stator is arranged on
It is provided with absolute value encoder stator connecting plate, around the absolute value encoder stator connecting plate and is used to protect absolute encoder
The absolute value encoder stator of device stator is raised, and centre is the cavity for installing absolute value encoder rotor, absolute encoder
The outside of device stator connecting plate is fixed together with absolute value encoder connecting plate again；
Absolute value encoder rotor is arranged on absolute value encoder rotor connecting plate, the absolute value encoder rotor connecting plate
For hollow structure, and absolute value encoder rotor projection is provided with edge, the raised insertion absolute value of absolute value encoder rotor
In the interstitial hole of encoder stator and absolute value encoder rotor, the hollow structure of absolute value encoder rotor connecting plate is used to close
Save cabling；Absolute value encoder rotor connecting plate is connected with absolute value encoder connecting shaft positioning convex again；Absolute value encoder
There is defined mounting distance the axial direction of stator and absolute value encoder rotor；
There is the through hole for cabling among the absolute value encoder connecting plate, absolute value encoder connecting plate passes through long single head six
Angle copper post connection hollow motor stator connecting plate, driver is connected by short single head hexagonal copper post；The driver and absolute value
Encoder is connected with incremental encoder by wire and interface board.
2. according to claim 1 control integral Dual-encoder structural module joint, it is characterised in that is compiled in absolute value
Between code device stator connecting plate and absolute value encoder connecting plate, absolute value encoder rotor connecting plate and absolute value encoder company
Pad is provided between spindle.
3. according to claim 1 control integral Dual-encoder structural module joint, it is characterised in that the driver
CANOPEN agreements can be supported, driver is connected with absolute value encoder and incremental encoder by wire and interface board, driver
The positional information that incremental encoder and absolute value encoder monitor quickly is read by configuring PDO, and forms the speed of hollow motor
Spend closed loop feedback and the position closed loop feedback in whole joint.
4. according to claim 3 control integral Dual-encoder structural module joint, it is characterised in that the driver
Interface board only have interface conversion function, overall dimensions be less than driver size.
5. according to claim 1 control integral Dual-encoder structural module joint, it is characterised in that in the bonnet
Between have a through hole for joint cabling, surrounding has a through hole for being connected with next joint, and the inner side of bonnet, which is provided with, to be used for and pass
Save the bonnet bulge-structure of shell positioning.
6. according to claim 1 control integral Dual-encoder structural module joint, it is characterised in that the brake disc
For circle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710956972.1A CN107498580B (en) | 2017-10-16 | 2017-10-16 | Drive integrative two encoder structure modularization joints of accuse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710956972.1A CN107498580B (en) | 2017-10-16 | 2017-10-16 | Drive integrative two encoder structure modularization joints of accuse |
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| CN107498580A true CN107498580A (en) | 2017-12-22 |
| CN107498580B CN107498580B (en) | 2023-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710956972.1A Active CN107498580B (en) | 2017-10-16 | 2017-10-16 | Drive integrative two encoder structure modularization joints of accuse |
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| CN108044614A (en) * | 2017-12-30 | 2018-05-18 | 哈尔滨工业大学深圳研究生院 | A kind of redundant mechanical arm based on modularized joint |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN108515536A (en) * | 2018-04-13 | 2018-09-11 | 北京山思跃立科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN110000601A (en) * | 2019-05-10 | 2019-07-12 | 江苏开璇智能科技有限公司 | A kind of high-protection level all-in-one machine |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN110919660A (en) * | 2019-12-26 | 2020-03-27 | 中科新松有限公司 | Desktop cooperation mechanical arm |
| KR102177405B1 (en) * | 2019-06-07 | 2020-11-12 | 하이젠모터 주식회사 | Driving modules with hollowness |
| CN113799169A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Double-encoder joint module |
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