CN107498580B - Drive integrative two encoder structure modularization joints of accuse - Google Patents
Drive integrative two encoder structure modularization joints of accuse Download PDFInfo
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- CN107498580B CN107498580B CN201710956972.1A CN201710956972A CN107498580B CN 107498580 B CN107498580 B CN 107498580B CN 201710956972 A CN201710956972 A CN 201710956972A CN 107498580 B CN107498580 B CN 107498580B
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- value encoder
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- hollow motor
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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
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- 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 invention relates to a driving and controlling integrated double-encoder structure modularized joint, which comprises an output flange, a harmonic reducer, a hollow motor output shaft, an incremental encoder, a brake, an absolute value encoder, a driver, a rear cover and a joint shell, wherein the output flange is connected with the hollow motor output shaft; output flange, back lid and joint shell constitute enclosure space, its characterized in that: the joint further comprises an absolute value encoder connecting shaft, the absolute value encoder connecting shaft is sleeved in the hollow motor output shaft, one end of the absolute value encoder connecting shaft is connected with the inner side of the output flange, the absolute value encoder is installed at the other end of the absolute value encoder connecting shaft, the harmonic reducer penetrates through the absolute value encoder connecting shaft and is installed at one end of the hollow motor output shaft, the hollow motor, the incremental encoder and the brake are sequentially installed on the hollow motor output shaft, and the driver is installed in a space between the absolute value encoder and the rear cover. The modularized joint solves the problems of large size, difficult wiring, low data reading speed of the encoder and the like of the existing joint.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modularized joint with a driving and controlling integrated double-encoder structure.
Background
With the development of robot industry, the requirements of fields such as medical rehabilitation, space exploration and industrial production on robots are higher and higher, not only the operation precision of the robots is required, but also the robots are required to adapt to different environments and have multiple functions, so that modularized joints are generated. The traditional robot has single function, the joints are closely related in structure, and a certain joint cannot be independently disassembled, so that the joints cannot be recombined according to the requirements of environment and operation; the size and the weight of the joint are large, the integration level is low, and the huge joint cannot meet the requirement of robot operation; the wiring between the joints is complicated and disordered, and the number of wiring of the robot is increased along with the increase of the joints and the internal functional devices, so that the problems of external wiring and winding between the joints occur.
In the existing modularized joints, for example, patent documents of a hollow intelligent modularized joint CN 104416579A and a hollow double-arm robot modularized joint CN 104400794B, an absolute value encoder is arranged on an end output flange, and a lead of a stator of the absolute value encoder is required to pass through a harmonic reducer, a hollow motor and other devices to be connected to a driver, so that a wiring hole is required to be reserved for the absolute value encoder independently, and the wiring hole almost passes through the whole joint, so that the joint structure is complex and the wiring is difficult; the thickness of the joint shell is insufficient for processing the threaded holes to mount the rear cover, so that the joint shell is of a flange structure, and the convex edges are used for connecting the rear cover, so that the shell is difficult to process and poor in aesthetic degree, the size of the joint is enlarged, and the operation of the robot is influenced; although two encoders are arranged in the joint, the driver does not support the CANOPEN protocol for fast data reading, PDO cannot be configured to read the data of the two encoders, and the data speed for reading the two encoders cannot meet the requirement of real-time monitoring. In order to develop robotics, modular joints are being used more widely in industry and service, and the problems of joint size, cabling and encoder data reading are in need of solution.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a modularized joint with a driving and controlling integrated double encoder structure. The modularized joint solves the problems of large size, difficult wiring, low data reading speed of the encoder and the like of the existing joint.
A driving and controlling integrated double-encoder structure modularized joint comprises an output flange, a harmonic reducer, a hollow motor output shaft, an incremental encoder, a brake, an absolute value encoder, a driver, a rear cover and a joint shell; output flange, back lid and joint shell constitute enclosure space, its characterized in that: the joint also comprises an absolute value encoder connecting shaft, the absolute value encoder connecting shaft is sleeved in the hollow motor output shaft, one end of the absolute value encoder connecting shaft is connected with the inner side of the output flange, the other end of the absolute value encoder connecting shaft is provided with an absolute value encoder, the harmonic reducer penetrates through the absolute value encoder connecting shaft and is arranged at one end of the hollow motor output shaft, the hollow motor, the incremental encoder and the brake are sequentially arranged on the hollow motor output shaft, and the driver is arranged in a space between the absolute value encoder and the rear cover;
the joint shell is cylindrical, one end of the inner surface of the joint shell is provided with a joint shell bulge for connecting a harmonic reducer flexible gear, three joint shell first prisms are uniformly distributed at the rear end of the joint shell bulge, and a joint shell second prism for connecting a rear cover is uniformly distributed at the rear end of the joint shell first prism;
the output flange is provided with an output flange groove for connecting and positioning the rigid wheel of the harmonic reducer, threaded holes for connecting with the next joint are uniformly distributed on the outer side of the output flange groove, and through holes for connecting the rigid wheel of the harmonic reducer are uniformly distributed on the inner side of the output flange groove; a central through hole for wiring is arranged in the center of the output flange groove, output flange bulges are axially arranged around the central through hole, and a top thread hole is formed in the output flange bulges and is connected with a connecting shaft of the absolute value encoder through a top thread; the output flange and the harmonic reducer flexible gear are axially provided with a space for placing a screw for connecting the next joint;
the harmonic reducer comprises a harmonic reducer rigid wheel, a harmonic reducer flexible wheel and a wave generator, wherein one side of the harmonic reducer rigid wheel is fixedly connected with an output flange groove of the output flange, and the other side of the harmonic reducer rigid wheel is axially positioned with the wave generator and seals the wave generator; the harmonic reducer flexspline is fixedly connected with the joint shell through a bulge; the other end of the wave generator is connected with the output shaft of the hollow motor;
the hollow motor output shaft is of a stepped shaft structure and is sequentially provided with a hollow motor output shaft collar, a hollow motor output shaft positioning boss and a hollow motor output shaft journal; the hollow motor output shaft collar is connected with the hollow motor rotor, the outer wall of the hollow motor output shaft collar is attached to the inner wall of the harmonic reducer flexible gear, and the hollow motor output shaft positioning bulge is used for radial positioning of the hollow motor rotor;
a hollow motor stator connecting plate is connected to the first prism of the joint shell; the middle of the hollow motor stator connecting plate supports the shaft neck of the hollow motor output shaft through a bearing; the hollow motor stator connecting plate is provided with an electric brush groove for installing an electric brush of the incremental encoder, a plate groove for installing an L-shaped plate and an electromagnet through hole;
the absolute value encoder connecting shaft is of a hollow slender structure, one side of the absolute value encoder connecting shaft is provided with an absolute value encoder connecting shaft positioning protrusion for positioning and connecting the absolute value encoder, and the other side of the absolute value encoder connecting shaft is connected with the output flange through a jackscrew and is nested in the output shaft of the hollow motor, so that the absolute value encoder and the incremental encoder are positioned on the same side of the hollow motor; an O-shaped ring is arranged between the output shaft of the hollow motor and the connecting shaft of the absolute value encoder;
the incremental encoder comprises an incremental encoder code disc and an incremental encoder electric brush, wherein the incremental encoder code disc is connected to a code disc connecting plate through a screw, and the code disc connecting plate is fixed with an output shaft of the hollow motor through a jackscrew; the increment encoder brush is arranged in the brush groove;
the brake comprises an electromagnet, a brake disc and an L-shaped plate, wherein the electromagnet is arranged on the L-shaped plate, the L-shaped plate is arranged in a plate groove of a hollow motor stator connecting plate, and the electromagnet can pass through an electromagnet through hole of the hollow motor stator connecting plate; the center of the brake disc is provided with a positioning bulge, a jackscrew hole is formed in the positioning bulge, and the positioning bulge is arranged at the diameter minimum end of the hollow motor output shaft through a jackscrew; the iron core of the electromagnet is just contacted with the brake disc when being ejected;
the hollow motor output shaft sequentially passes through the hollow motor, the hollow motor stator connecting plate, the incremental encoder and the brake disc; the absolute value encoder comprises an absolute value encoder stator and an absolute value encoder rotor, wherein the absolute value encoder stator is arranged on an absolute value encoder stator connecting plate, absolute value encoder stator bulges for protecting the absolute value encoder stator are arranged around the absolute value encoder stator connecting plate, a cavity for installing the absolute value encoder rotor is arranged in the middle of the absolute value encoder stator bulges, and the outer side of the absolute value encoder stator connecting plate is fixed with the absolute value encoder connecting plate;
the absolute value encoder rotor is arranged on an absolute value encoder rotor connecting plate, the absolute value encoder rotor connecting plate is of a hollow structure, an absolute value encoder rotor protrusion is arranged at the edge of the absolute value encoder rotor connecting plate, the absolute value encoder rotor protrusion is inserted into middle holes of an absolute value encoder stator and the absolute value encoder rotor, and the hollow structure of the absolute value encoder rotor connecting plate is used for joint wiring; the absolute value encoder rotor connecting plate is connected with the absolute value encoder connecting shaft positioning protrusion; the absolute value encoder stator and the absolute value encoder rotor have a specified mounting distance in the axial direction;
a through hole for wiring is formed in the middle of the absolute value encoder connecting plate, the absolute value encoder connecting plate is connected with the hollow motor stator connecting plate through a long single-head hexagonal copper column, and the absolute value encoder connecting plate is connected with a driver through a short single-head hexagonal copper column; the driver is connected with the absolute value encoder and the incremental encoder through wires and an interface board.
The driving and controlling integrated double-encoder structure modularized joint is characterized in that gaskets are arranged between the absolute value encoder stator connecting plate and the absolute value encoder connecting plate and between the absolute value encoder rotor connecting plate and the absolute value encoder connecting shaft.
The driving and controlling integrated double-encoder structure modularized joint, the driver can support CANOPEN protocol, the driver is connected with the absolute value encoder and the incremental encoder through wires and an interface board, and the driver rapidly reads the position information monitored by the incremental encoder and the absolute value encoder through configuring PDO, and forms speed closed-loop feedback of the hollow motor and position closed-loop feedback of the whole joint.
The driving and controlling integrated double-encoder structure modularized joint has the advantages that the interface board of the driver only has the function of interface conversion, and the whole size is smaller than that of the driver.
The driving and controlling integrated double-encoder structure modularized joint is characterized in that a through hole for joint wiring is formed in the middle of the rear cover, through holes for being connected with the next joint are formed in the periphery of the rear cover, and a rear cover protruding structure for being positioned with the joint shell is arranged on the inner side of the rear cover.
The driving and controlling integrated double-encoder structure modularized joint, wherein the brake disc is circular.
Compared with the prior art, the invention has the beneficial effects that:
1. the absolute value encoder stator and the absolute value encoder rotor cannot be directly connected into the joint, the hollow absolute value encoder stator connecting plate and the hollow absolute value encoder rotor connecting plate with raised edges can be respectively used for mounting and protecting the absolute value encoder stator and the absolute value encoder rotor, and the axial mounting distance of the absolute value encoder stator and the absolute value encoder rotor can be controlled by using a gasket.
2. The absolute value encoder is positioned on the same side of the hollow motor through the absolute value encoder connecting shaft and the incremental encoder, and the other side of the hollow motor is not provided with a device which is connected by a wire, so that a wiring hole is not required to be reserved. Compared with the joint of the absolute value encoder at the output flange end, the reserved wiring hole passes through the harmonic reducer and the hollow motor without enlarging the size of the joint.
3. The joint shell is of an integrated structure, the outer surface is flat, no protruding structure exists, the size of the shell cannot be increased due to connection due to the prism structure of the inner surface, the prism structure of the inner surface is used for installing the hollow motor stator connecting plate and the rear cover, the structures of the inner surface and the outer surface of the shell are simplified, and the joint shell is easy to process.
4. The absolute value encoder connecting plate is connected with the hollow motor stator connecting plate through the long single-head hexagonal copper column, and the driver is connected with the absolute value encoder connecting plate through the short single-head hexagonal copper column, so that the absolute value encoder connecting plate is simple in structure and easy to detach, and the absolute value encoder connecting plate and the driver are installed and connected without arranging the inner surface of a complex shell.
5. According to the invention, one end of the hollow motor output shaft is connected with the hollow motor rotor and the wave generator, the thickness of the connecting end is 8mm, compared with other joints, the connecting distance is shortened, and the transmission error of the hollow motor and the harmonic reducer is reduced. And the outer wall of the end is attached to the inner wall of the flexible gear of the harmonic reducer, so that the sealing effect of the wave generator is achieved, and damage to devices in the joint caused by oil leakage is prevented.
6. The brake comprises an electromagnet and a brake disc, wherein the electromagnet ejects out of an iron core to be in friction braking with the brake disc when the electromagnet is powered off, and the brake disc is connected with an output shaft of the hollow motor, so that the friction between the iron core and the brake disc can enable the output shaft of the hollow motor to be braked immediately because the rotation moment is smaller than 1 N.M. Compared with the traditional brake, the brake has the advantages of small volume, simple structure and easy installation. The existing new loose and UR joint brake has a hexagonal structure, and the brake disc has a brake delay of 60 degrees at most during braking, so that immediate braking cannot be realized.
7. The invention considers the wiring of devices in the joint, and the electromagnet through hole on the hollow motor stator connecting plate is larger than the electromagnet, so that the invention can be used for the wiring of the hollow motor. The absolute value encoder connecting plate is smaller than the inner diameter of the joint shell, and the wires of the electromagnet, the hollow motor and the incremental encoder brush can be routed along the inner wall of the joint shell and fixed by using insulating adhesive tape and are connected with the interface plate of the driver.
8. The absolute value encoder connecting shaft is of a hollow slender structure, and wiring of the next joint is facilitated. When the driver with the CANOPEN protocol is adopted, the wiring of the next joint is 2 power lines and 2 CAN lines and is connected to the driver of the joint, namely, each joint needs 4 external wiring, and the wiring close to the base is not increased due to the increase of the joints of the mechanical arm.
9. The driver of the invention supports CANOPEN protocol, CAN configure PDO to read the data of the incremental encoder and the absolute value encoder, and is faster and timely than the common driver which supports CAN protocol, and CAN meet the real-time monitoring requirement of double encoders on joint position and speed data. The diagonal line of the driver supporting the CANOPEN protocol in the market is larger than 150mm, the driver is integrated into a joint to cause the joint to be larger in size, the diagonal line of the interface board of the driver is 203mm, the driver is too large in size and cannot be integrated into the joint, the diagonal line of the interface board of the driver adopted by the invention is 90mm, only the function of interface conversion is reserved, the driver can be well matched and integrated into the joint, and the joint size can be controlled within 100 mm.
Drawings
FIG. 1 is a schematic view of a two-dimensional cross-sectional structure of a joint according to the present invention;
FIG. 2 is a schematic view of a cross-sectional structure of a joint according to the present invention;
fig. 3 is a schematic structural view of the hollow motor output shaft 5 of the joint of the present invention;
FIG. 4 is a schematic perspective view of the absolute value encoder connecting shaft 3 of the joint of the present invention;
fig. 5 is a schematic perspective view of a hollow motor stator connection plate 11 of the joint of the present invention;
FIG. 6 is a schematic diagram of the absolute value encoder of the joint of the present invention;
FIG. 7 is a schematic perspective view of a brake of the joint of the present invention;
FIG. 8 is a schematic view of the structure of the long single-headed hexagonal copper column 26 and the short single-headed hexagonal copper column 17 of the joint of the present invention;
FIG. 9 is a schematic view of the actuator 20 of the joint of the present invention;
FIG. 10 is a schematic view of the structure of the rear cover 18 of the joint of the present invention;
FIG. 11 is a schematic perspective view of the joint housing 28 of the joint of the present invention;
fig. 12 is a schematic perspective view of the output flange 1 of the joint of the present invention;
fig. 13 is a schematic view of the joint layout of the present invention.
Wherein: 1 is an output flange, 2 is a rigid gear of a harmonic reducer, 3 is an absolute value encoder connecting shaft, 4 is a wave generator, 5 is a hollow motor output shaft, 6 is a flexible gear of the harmonic reducer, 7 is a hollow motor rotor, 8 is a hollow motor stator, 9 is a code disc connecting plate, 10 is an incremental encoder code disc, 11 is a hollow motor stator connecting plate, 12 is an electromagnet, 13 is an L-shaped plate, 14 is a brake disc, 15 is an absolute value encoder stator connecting plate, 16 is an absolute value encoder stator, 17 is a short single-head hexagonal copper column, 18 is a rear cover, 19 is an interface plate, 20 is a driver, 21 is an absolute value encoder rotor connecting plate, 22 is an absolute value encoder rotor, 23 is an absolute value encoder connecting plate, 24 is a bearing, 25 is an incremental encoder brush, 26 is a long single-head hexagonal copper column, 27 is an O-shaped ring, and 28 is a joint shell.
Detailed Description
The invention is further described in conjunction with the drawings, which are not intended to limit the scope of the claims of the present application.
The invention relates to a driving and controlling integrated double-encoder structure modularized joint (called joint for short, see fig. 1-13), which comprises an output flange 1, a harmonic reducer, a hollow motor output shaft 5, an absolute value encoder connecting shaft 3, an incremental encoder, a brake, an absolute value encoder, a driver, a rear cover 18 and a joint shell 28; the output flange 1, the rear cover 18 and the joint shell 28 form a closed space, an absolute value encoder connecting shaft 3 is sleeved in the hollow motor output shaft 5, one end of the absolute value encoder connecting shaft 3 is connected with the inner side of the output flange 1, the absolute value encoder is arranged at the other end of the absolute value encoder connecting shaft, a harmonic reducer penetrates through the absolute value encoder connecting shaft 3 and is arranged at one end of the hollow motor output shaft 5, the hollow motor, the incremental encoder and the brake are sequentially arranged on the hollow motor output shaft 5, and the driver 20 is arranged in the space between the absolute value encoder and the rear cover 18;
as shown in fig. 11, the joint housing 28 is cylindrical, the outer surface is flat, no protruding structure exists, one end of the inner surface of the joint housing 28 is provided with a joint housing protrusion 28-1 for connecting the harmonic reducer flexspline 6, three joint housing first prisms 28-2 are uniformly distributed at the rear end of the joint housing protrusion 28-1, and joint housing second prisms 28-3 for connecting the rear cover 18 are uniformly arranged at the rear end of the joint housing first prisms 28-2;
as shown in fig. 12, the output flange 1 is provided with an output flange groove 1-1 for connecting and positioning the rigid wheel 2 of the harmonic reducer, threaded holes 1-3 for connecting with the next joint are uniformly distributed on the outer side of the output flange groove 1-1, and through holes 1-4 for connecting the rigid wheel 2 of the harmonic reducer are uniformly distributed on the inner side of the output flange groove 1-1; a central through hole 1-5 for wiring is arranged in the center of the output flange groove 1-1, output flange bulges 1-2 are axially arranged around the central through hole, a top thread hole is arranged on the output flange bulges 1-2, and the output flange bulges are connected with an absolute value encoder connecting shaft 3 through a top thread; the output flange 1 and the harmonic reducer flexible gear 6 are axially provided with a certain distance for placing screws for connecting the next joint;
as shown in fig. 1, the harmonic reducer comprises a harmonic reducer rigid wheel 2, a harmonic reducer flexible wheel 6 and a wave generator 4, wherein one side of the harmonic reducer rigid wheel 2 is fixedly connected with an output flange groove 1-1 of an output flange 1, the other side of the harmonic reducer rigid wheel 2 is axially positioned with the wave generator 4, and meanwhile, the wave generator 4 is sealed to prevent oil leakage on one side; the harmonic reducer flexspline 6 is fixedly connected with the joint shell bulge 28-1; the other end of the wave generator 4 is connected with a hollow motor output shaft 5;
the hollow motor output shaft 5 (see fig. 3) is of a stepped shaft structure, and is sequentially provided with a hollow motor output shaft collar 5-1, a hollow motor output shaft positioning boss 5-2 and a hollow motor output shaft journal 5-3; the hollow motor output shaft collar 5-1 is connected with the hollow motor rotor 7, the outer wall of the hollow motor output shaft collar 5-1 is attached to the inner wall of the harmonic reducer flexible gear 6, the sealing effect of the wave generator 4 is achieved, damage to devices inside the joint due to oil leakage is prevented, and the hollow motor output shaft positioning bulge 5-2 is used for radial positioning of the hollow motor rotor 7;
the first prism 28-2 of the joint shell is connected with the hollow motor stator connecting plate 11; the hollow motor output shaft journal 5-3 is supported by the bearing 24 in the middle of the hollow motor stator connecting plate 11 (see fig. 5); the hollow motor stator connecting plate 11 is provided with a brush groove 11-3 for installing an incremental encoder brush 25, a plate groove 11-1 for installing an L-shaped plate 13 and an electromagnet through hole 11-2;
as shown in fig. 4, the absolute value encoder connecting shaft 3 is of a hollow slender structure, one side of the absolute value encoder connecting shaft positioning protrusion 3-1 is used for positioning and connecting the absolute value encoder, the other side of the absolute value encoder connecting shaft is connected with the output flange 1 through a jackscrew and is nested in the output shaft 5 of the hollow motor, so that the absolute value encoder and the incremental encoder are positioned on the same side of the hollow motor, and a device requiring a wire is not arranged on the other side of the hollow motor, so that a wiring hole is not required to be reserved, and compared with a joint of the absolute value encoder on the output flange end, the dimension of the joint is not required to be increased, so that the wiring hole is reserved to pass through the harmonic reducer and the hollow motor;
the incremental encoder comprises an incremental encoder code disc 10 and an incremental encoder electric brush 25, wherein the incremental encoder code disc 10 is connected to a code disc connecting plate 9 through screws, and the code disc connecting plate 9 is fixed with a hollow motor output shaft 5 through jackscrews; the incremental encoder brush 25 is mounted in the brush recess 11-3;
the brake (see fig. 7) comprises an electromagnet 12, a brake disc 14 and an L-shaped plate 13, wherein the electromagnet 12 is arranged on the L-shaped plate 13, the L-shaped plate 13 is arranged in a plate groove 11-1 of a hollow motor stator connecting plate, and the electromagnet 12 can pass through an electromagnet through hole 11-2 of the hollow motor stator connecting plate without influencing the work of the hollow motor stator connecting plate; the center of the brake disc 14 is provided with a positioning bulge, a jackscrew hole is formed in the positioning bulge, and the positioning bulge is arranged at the diameter minimum end of the hollow motor output shaft 5 through jackscrews; the iron core of the electromagnet is just contacted with the brake disc 14 when being ejected;
the hollow motor output shaft 5 sequentially passes through the hollow motor, the hollow motor stator connecting plate 11, the incremental encoder and the brake disc 14;
as shown in fig. 6, the absolute value encoder includes an absolute value encoder stator 16 and an absolute value encoder rotor 22, the absolute value encoder stator 16 is mounted on an absolute value encoder stator connecting plate 15, an absolute value encoder stator protrusion 15-1 for protecting the absolute value encoder stator 16 is arranged around the absolute value encoder stator connecting plate 15, a cavity for mounting the absolute value encoder rotor 22 is arranged in the middle, and the outer side of the absolute value encoder stator connecting plate 15 is fixed with an absolute value encoder connecting plate 23;
the absolute value encoder rotor 22 is mounted on an absolute value encoder rotor connecting plate 21, the absolute value encoder rotor connecting plate is of a hollow structure, an absolute value encoder rotor protrusion 21-1 is arranged at the edge, the absolute value encoder rotor protrusion 21-1 is inserted into middle holes of the absolute value encoder stator 16 and the absolute value encoder rotor 22 for positioning, and the hollow structure of the absolute value encoder rotor connecting plate 21 is used for joint wiring; the absolute value encoder rotor connecting plate 21 is connected with the absolute value encoder connecting shaft positioning protrusion 3-1; the absolute value encoder stator 16 and the absolute value encoder rotor 22 have a specified mounting distance in the axial direction, and gaskets with different numbers and thicknesses can be added between the absolute value encoder stator connecting plate 15 and the absolute value encoder connecting plate 23 and between the absolute value encoder rotor connecting plate 21 and the absolute value encoder connecting shaft 3 to change the axial mounting distance;
a through hole for wiring is formed in the middle of the absolute value encoder connecting plate 23, the absolute value encoder connecting plate 23 is connected with the hollow motor stator connecting plate 11 through a long single-head hexagonal copper column 26, and is connected with the driver 20 through a short single-head hexagonal copper column 17;
the driver 20 can support CANOPEN protocol, the driver 20 is connected with the absolute value encoder and the incremental encoder through wires and an interface board, the driver 20 rapidly reads the position information monitored by the incremental encoder and the absolute value encoder through configuring PDO, and the speed closed-loop feedback of the hollow motor and the position closed-loop feedback of the whole joint are formed.
An O-shaped ring 27 is arranged between the hollow motor output shaft 5 and the absolute value encoder connecting shaft 3, and the O-shaped ring 27 plays a role in supporting and sealing, so that the transmission rotation of the two shafts is not interfered with each other.
As shown in fig. 8, the screw hole end of the short single-head hexagonal copper column 17 is used for connecting the driver 20, and the other end is mounted on the absolute value encoder connecting plate 23. Screw hole ends of the long single-head hexagonal copper columns 26 are used for being connected with an absolute value encoder connecting plate 23, and the other ends of the long single-head hexagonal copper columns are arranged on the hollow motor stator connecting plate 11. The single-head hexagonal copper column is simple in structure and easy to detach, and a complex mounting structure is not required to be arranged on the inner surface of the joint shell.
The interface board 20 is too large to allow a larger joint size, and the interface board 19 of the present application only retains the function of interface conversion, and the overall size is smaller than that of the driver 20. The interface board 19 has a plug board for connecting pins 20-1 on the driver 20 and corresponding wiring sockets for connecting wires of the hollow motor, incremental encoder, absolute encoder, brake and the last joint driver.
As shown in fig. 10, the rear cover 18 has a through hole in the middle for joint routing, holes uniformly distributed around for connection with the next joint, and a rear cover protrusion structure 18-1 for positioning with the joint housing 28 is provided on the inner side of the rear cover 18.
As shown in fig. 13, the thickened black lines are the leads of each device of the joint and the previous joint, and the electromagnet through holes 11-2 of the hollow motor stator connecting plate are larger than the electromagnets 12, so that the thickened black lines can be used for wiring of the hollow motor. The absolute value encoder connecting plate 23 is smaller than the inner diameter of the joint housing 28, and the wiring of the electromagnet 12, the hollow motor and the incremental encoder brush 25 can be routed along the inner wall of the joint housing 28 and fixed by insulating tape and connected with the interface plate 19 of the driver. The wiring of the last joint passes through the central hole of the output flange 1 and the absolute value encoder connecting shaft 3 to be connected with the interface plate 19 of the driver.
The invention relates to a working process and a principle of a modularized joint with a driving and controlling integrated double encoder structure, wherein the working process and the principle are as follows: the control signal is input into the driver 20, the driver 20 amplifies the signal and inputs the signal into the hollow motor stator 8, the hollow motor rotor 7 starts to drive the hollow motor output shaft 4 to rotate according to the control signal, the hollow motor output shaft 4 drives the wave generator 5 to rotate, the wave generator 5 and the harmonic reducer flexible gear 6 perform harmonic transmission speed reduction, and the harmonic reducer rigid gear 2 drives the output flange 1 to rotate and output. The incremental encoder monitors the rotational position of the hollow motor rotor 7 and the drive 20 reads the positional data information via the wires. The absolute value encoder monitors the rotational position of the output flange 1 and the driver 20 reads the positional data information via the wire. When the joint is electrified, the electromagnet 12 is electrified to attract the iron core, the joint works normally, when the joint is powered off, the electromagnet is attracted to disappear, and the iron core is ejected out to be contacted with the brake disc under the action of the spring to perform friction braking.
Although the invention has been described in connection with the above description of the drawings, the invention is not limited to the specific embodiments described above, which are intended to be illustrative rather than limiting. All equivalent substitutions or modifications made under the teaching of the present invention shall be made and they shall fall within the scope of the present invention.
The invention is applicable to the prior art where it is not described.
Claims (6)
1. A driving and controlling integrated double-encoder structure modularized joint comprises an output flange, a harmonic reducer, a hollow motor output shaft, an incremental encoder, a brake, an absolute value encoder, a driver, a rear cover and a joint shell; output flange, back lid and joint shell constitute enclosure space, its characterized in that: the joint also comprises an absolute value encoder connecting shaft, the absolute value encoder connecting shaft is sleeved in the hollow motor output shaft, one end of the absolute value encoder connecting shaft is connected with the inner side of the output flange, the other end of the absolute value encoder connecting shaft is provided with an absolute value encoder, the harmonic reducer penetrates through the absolute value encoder connecting shaft and is arranged at one end of the hollow motor output shaft, the hollow motor, the incremental encoder and the brake are sequentially arranged on the hollow motor output shaft, and the driver is arranged in a space between the absolute value encoder and the rear cover;
the joint shell is cylindrical, one end of the inner surface of the joint shell is provided with a joint shell bulge for connecting a harmonic reducer flexible gear, three joint shell first prisms are uniformly distributed at the rear end of the joint shell bulge, and a joint shell second prism for connecting a rear cover is uniformly distributed at the rear end of the joint shell first prism;
the output flange is provided with an output flange groove for connecting and positioning the rigid wheel of the harmonic reducer, threaded holes for connecting with the next joint are uniformly distributed on the outer side of the output flange groove, and through holes for connecting the rigid wheel of the harmonic reducer are uniformly distributed on the inner side of the output flange groove; a central through hole for wiring is arranged in the center of the output flange groove, output flange bulges are axially arranged around the central through hole, and a top thread hole is formed in the output flange bulges and is connected with a connecting shaft of the absolute value encoder through a top thread; the output flange and the harmonic reducer flexible gear are axially provided with a space for placing a screw for connecting the next joint;
the harmonic reducer comprises a harmonic reducer rigid wheel, a harmonic reducer flexible wheel and a wave generator, wherein one side of the harmonic reducer rigid wheel is fixedly connected with an output flange groove of the output flange, and the other side of the harmonic reducer rigid wheel is axially positioned with the wave generator and seals the wave generator; the harmonic reducer flexspline is fixedly connected with the joint shell through a bulge; the other end of the wave generator is connected with the output shaft of the hollow motor;
the hollow motor output shaft is of a stepped shaft structure and is sequentially provided with a hollow motor output shaft collar, a hollow motor output shaft positioning boss and a hollow motor output shaft journal; the hollow motor output shaft collar is connected with the hollow motor rotor, the outer wall of the hollow motor output shaft collar is attached to the inner wall of the harmonic reducer flexible gear, and the hollow motor output shaft positioning bulge is used for radial positioning of the hollow motor rotor;
a hollow motor stator connecting plate is connected to the first prism of the joint shell; the middle of the hollow motor stator connecting plate supports the shaft neck of the hollow motor output shaft through a bearing; the hollow motor stator connecting plate is provided with an electric brush groove for installing an electric brush of the incremental encoder, a plate groove for installing an L-shaped plate and an electromagnet through hole;
the absolute value encoder connecting shaft is of a hollow slender structure, one side of the absolute value encoder connecting shaft is provided with an absolute value encoder connecting shaft positioning protrusion for positioning and connecting the absolute value encoder, and the other side of the absolute value encoder connecting shaft is connected with the output flange through a jackscrew and is nested in the output shaft of the hollow motor, so that the absolute value encoder and the incremental encoder are positioned on the same side of the hollow motor; an O-shaped ring is arranged between the output shaft of the hollow motor and the connecting shaft of the absolute value encoder;
the incremental encoder comprises an incremental encoder code disc and an incremental encoder electric brush, wherein the incremental encoder code disc is connected to a code disc connecting plate through a screw, and the code disc connecting plate is fixed with an output shaft of the hollow motor through a jackscrew; the increment encoder brush is arranged in the brush groove;
the brake comprises an electromagnet, a brake disc and an L-shaped plate, wherein the electromagnet is arranged on the L-shaped plate, the L-shaped plate is arranged in a plate groove of a hollow motor stator connecting plate, and the electromagnet can pass through an electromagnet through hole of the hollow motor stator connecting plate; the center of the brake disc is provided with a positioning bulge, a jackscrew hole is formed in the positioning bulge, and the positioning bulge is arranged at the diameter minimum end of the hollow motor output shaft through a jackscrew; the iron core of the electromagnet is just contacted with the brake disc when being ejected;
the hollow motor output shaft sequentially passes through the hollow motor, the hollow motor stator connecting plate, the incremental encoder and the brake disc; the absolute value encoder comprises an absolute value encoder stator and an absolute value encoder rotor, wherein the absolute value encoder stator is arranged on an absolute value encoder stator connecting plate, absolute value encoder stator bulges for protecting the absolute value encoder stator are arranged around the absolute value encoder stator connecting plate, a cavity for installing the absolute value encoder rotor is arranged in the middle of the absolute value encoder stator bulges, and the outer side of the absolute value encoder stator connecting plate is fixed with the absolute value encoder connecting plate;
the absolute value encoder rotor is arranged on an absolute value encoder rotor connecting plate, the absolute value encoder rotor connecting plate is of a hollow structure, an absolute value encoder rotor protrusion is arranged at the edge of the absolute value encoder rotor connecting plate, the absolute value encoder rotor protrusion is inserted into middle holes of an absolute value encoder stator and the absolute value encoder rotor, and the hollow structure of the absolute value encoder rotor connecting plate is used for joint wiring; the absolute value encoder rotor connecting plate is connected with the absolute value encoder connecting shaft positioning protrusion; the absolute value encoder stator and the absolute value encoder rotor have a specified mounting distance in the axial direction;
a through hole for wiring is formed in the middle of the absolute value encoder connecting plate, the absolute value encoder connecting plate is connected with the hollow motor stator connecting plate through a long single-head hexagonal copper column, and the absolute value encoder connecting plate is connected with a driver through a short single-head hexagonal copper column; the driver is connected with the absolute value encoder and the incremental encoder through wires and an interface board.
2. The modular joint of a drive-and-control integrated double encoder structure of claim 1, wherein shims are provided between the absolute encoder stator connection plate and the absolute encoder connection plate, and between the absolute encoder rotor connection plate and the absolute encoder connection shaft.
3. The modular joint of the driving and controlling integrated double-encoder structure according to claim 1, wherein the driver can support the CANOPEN protocol, the driver is connected with the absolute value encoder and the incremental encoder through wires and an interface board, and the driver rapidly reads the position information monitored by the incremental encoder and the absolute value encoder through configuring the PDO, and forms the speed closed-loop feedback of the hollow motor and the position closed-loop feedback of the whole joint.
4. The modular joint of the integrated drive and control dual encoder structure of claim 3, wherein the interface board of the driver has only interface conversion function, and the overall size is smaller than the size of the driver.
5. The modular joint of the driving and controlling integrated double encoder structure according to claim 1, wherein the rear cover is provided with a through hole in the middle for joint wiring, through holes for connecting with the next joint are arranged around, and the inner side of the rear cover is provided with a rear cover bulge structure for positioning with the joint shell.
6. The actuation and control integrated dual encoder structure modular joint of claim 1, wherein the brake disc is circular.
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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 |
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| CN201710956972.1A CN107498580B (en) | 2017-10-16 | 2017-10-16 | Drive integrative two encoder structure modularization joints of accuse |
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| CN107498580B true CN107498580B (en) | 2023-06-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108214544B (en) * | 2018-02-28 | 2021-04-13 | 北京精密机电控制设备研究所 | Integrated form robot joint 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 |
| CN110000601B (en) * | 2019-05-10 | 2023-10-20 | 江苏开璇智能科技有限公司 | High protection level all-in-one |
| KR102177405B1 (en) * | 2019-06-07 | 2020-11-12 | 하이젠모터 주식회사 | Driving modules with hollowness |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| 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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