CN107756434A - A kind of straight drive joint of robot - Google Patents
A kind of straight drive joint of robot Download PDFInfo
- Publication number
- CN107756434A CN107756434A CN201610710379.4A CN201610710379A CN107756434A CN 107756434 A CN107756434 A CN 107756434A CN 201610710379 A CN201610710379 A CN 201610710379A CN 107756434 A CN107756434 A CN 107756434A
- Authority
- CN
- China
- Prior art keywords
- bearing
- rotor
- pcb board
- joint
- stator axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of straight drive joint of robot, including rotor, stator axis, bearing A and bearing B；Stator is installed on the downside of stator axis, magnet is installed in rotor inner wall, bearing B is arranged on the bottom of the axle of rotor, axle sleeve is installed on the upside of bearing B, the outer ring and stator axis that bearing A, bearing A and bearing B are provided with the upside of axle sleeve are interference fitted, and two locking nuts are additionally provided with bearing A；The top of the axle of rotor is provided with photoelectric encoder；Be additionally provided with the outside of armature spindle joint top line outlet, on cover tightly nail nut and pcb board fixed seat screw；The centre position of armature spindle is also equipped with tension disc, is provided with pcb board fixed plate on the upside of tension disc, pcb board and photoelectric encoder read head are provided with pcb board fixed plate.This invention ensures that the operating that rotor and stator axis are stable in the case of enough pretightning forces；Precisely control the angle that joint top and the bottom are turned over；Simplify user's wiring, it is easy for installation.
Description
Technical field
The present invention relates to a kind of industrial robot field, is specifically a kind of straight drive joint of robot.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout.With it, efficiently production is widely used in manufacturing industry to industrial robot, in robot industry
It is interior, due to there is higher requirement to the kinematic accuracy of mechanical arm, it is often necessary to which each joint of mechanical arm is driven by transmission mechanism
After can have a less error accumulation, and traditional robot is in order to realize the purpose usually using the high RV decelerators of price
Or harmonic speed reducer, so make the cost of robot all very high；And the transmission mechanism return difference of conventional machines human arm is larger,
It can not well realize and accurately control the angle that rotor turns over, so as to which accurate controlled level articulation angle can not be reached
Purpose.
The content of the invention
It is an object of the invention to provide a kind of straight drive joint of robot, asked with solve to propose in above-mentioned background technology
Topic.
To achieve the above object, the present invention provides following technical scheme：
A kind of straight drive joint of robot, including rotor, stator axis, bearing A and bearing B；It is fixed to be provided with the downside of the stator axis
Son, the stator are interference fitted with stator axis, and magnet is provided with the rotor inner wall, and the bearing B is arranged on the axle of rotor
Bottom, the axle interference fit of the bearing B inner rings and rotor, axle sleeve is installed on the upside of bearing B, bearing is installed on the upside of axle sleeve
A, axle sleeve and the bearing A are interference fitted with the axle of rotor；The outer ring of the bearing A and bearing B are interference fitted with stator axis,
Two locking nuts are additionally provided with the bearing A；The top of the axle of the rotor is provided with photoelectric encoder；The armature spindle
Outside be additionally provided with joint top line outlet, on cover tightly nail nut and pcb board fixed seat screw；The centre of the armature spindle
Position is also equipped with tension disc, and pcb board fixed plate is provided with the upside of tension disc, be provided with the pcb board fixed plate pcb board and
Photoelectric encoder read head, pcb board are fixed in pcb board fixed plate by plate lock screw；It is provided with the upside of the pcb board
Lid.
As the further scheme of the present invention：
As further scheme of the invention：
As further scheme of the invention：The stator axis is arranged on the upside of rotor, and rotor edge is provided with boss, convex
Platform is inserted into stator axis.
As further scheme of the invention：The stator axis lower edge is additionally provided with screwed hole, passes through clamp screw
Stator is tightened in stator axis by silk.
As further scheme of the invention：The equally distributed inner surface for being pasted onto rotor of the magnet.
As further scheme of the invention：The bearing A and bearing B use back-to-back mounting means, the axle
Step of the height of bearing sleeve because slightly above installing bearing B.
As further scheme of the invention：Screwed hole is provided with the pcb board fixed plate, is fixed by pcb board
Pcb board fixed plate is fixed on armature spindle by seat screw.
As further scheme of the invention：The upper lid is fixed in stator axis by upper lid screw.
As further scheme of the invention：The stator axis upper edge position is additionally provided with lock screw hole, lock
Tight screw hole is provided with six altogether, and articulated robot upper arm is fixedly attached into robot by joint of robot lock screw closes
Section.
As further scheme of the invention：Marginal position on the downside of the rotor is also equipped with six lock screws
Hole, robot lower arm is fixedly attached to by joint of robot by joint of robot lock screw.
As further scheme of the invention：Stator shaft orientation is additionally provided between the stator and stator axis and fixes gear
Circle.
Compared with prior art, the beneficial effects of the invention are as follows：
The mounting means of the present invention can ensure to ensure the installation gap between stator axis and rotor, so as to ensure that rotor and determine
The operating stable in the case of enough pretightning forces of sub- axle；
Inventive encoder uses detachable coded device, efficiently solves the influence of vibrations and temperature rise to encoder wiring board, together
When can precisely control the angle that joint top and the bottom are turned over；
The present invention simplifies user's wiring, easy for installation, solve thes problems, such as that joint of robot wiring is difficult；
The present invention efficiently solves back clearance caused by mechanical structure；And joint top and the bottom can be born axially, radially and respectively
The tilting moment in individual direction.
Brief description of the drawings
Fig. 1 is the straight exploded view for driving joint of robot.
Fig. 2 is the straight structural representation for driving joint of robot.
Fig. 3 is the assembling figure of articulated robot.
In figure：Covered on 1-, 2-PCB plate lock screws, 3-PCB plates, 4- photoelectric encoder read heads, 5-PCB plate fixed seats, 6-
Tension disc, 7- locking nuts, the upper lid screws of 8- bearings A, 9-, 10-PCB plate fixed seat screws, 11- joints top goes out
String holes, 12- stator axis, 13- stator shaft orientations fixation back-up ring, 14- stators, 15- bearing holder (housing, cover)s, 16- bearings B, 17- photoelectric encoder,
18- rotors, 19- magnet, 31- articulated robot upper arm, 32- joint of robot, 33- joint of robot lock screws, 34- joints
Robot lower arm.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Refer to Fig. 1~3, it is a kind of straight to drive joint of robot, including rotor 18, stator axis 12, axle in the embodiment of the present invention
Hold A8 and bearing B16；The edge of rotor 18 is provided with boss, and boss is inserted into stator axis 12, and stator axis 12, which is arranged on, to be turned
The upside of son 18, is designed to effectively prevent dust etc. from entering joint of robot, to improve the reliable of joint using boss
Property and life-span；The downside of the stator axis 12 is provided with stator 14, and the stator 14 is interference fitted with stator axis 12, stator axis 12
Lower edge is additionally provided with screwed hole, uses screw stator 14 to be tightened in stator axis 12 to prevent from skidding；It is described fixed
Stator shaft orientation is additionally provided between son 14 and stator axis 12 and fixes back-up ring 13；Magnet 19, institute are installed on the inwall of rotor 18
State all equally distributed inner surfaces for being pasted onto rotor 18 of magnet 19；The bearing B16 is arranged on the bottom of the axle of rotor 18,
The axle of the bearing B16 inner rings and rotor 18 is interference fitted, and axle sleeve 15 is provided with the upside of bearing B16, and the upside of axle sleeve 15 is provided with
Bearing A8, the axle sleeve 15 and bearing A8 are interference fitted with the axle of rotor 18；The outer ring of the bearing A8 and bearing B16 are with determining
Sub- axle 12 is interference fitted, and the bearing A8 and bearing B16 use back-to-back mounting means, and the height of the bearing holder (housing, cover) 15 is because slightly
Higher than installation bearing B16 step, corresponding surplus can be ensured to compress bearing A8 and bearing B16 during to install, to protect
Demonstrate,prove axial compression amount；Locking nut 7 is additionally provided with the bearing A8, locking nut 7 is provided with two altogether, and locking nut 7 is used
In tension rotor 18；The top of the axle of the rotor 18 is provided with photoelectric encoder 17；The outside of armature spindle 12 is additionally provided with
Joint top line outlet 11, on cover tightly nail nut 9 and pcb board fixed seat screw 10, it is described on cover tightly nail nut 9 and PCB
Plate fixed seat screw 10；The centre position of the armature spindle 12 is also equipped with tension disc 6, and the upside of tension disc 6 is provided with PCB
Plate fixed plate 5, screwed hole is provided with pcb board fixed plate 5, by pcb board fixed seat screw 10 by pcb board fixed plate 5
Fixed on armature spindle 12；Pcb board 3 and photoelectric encoder read head 4 are installed, pcb board 3 passes through plate in the pcb board fixed plate 5
Lock screw 2 is fixed in pcb board fixed plate 5；The upside of pcb board 3 is provided with lid 1, and upper lid 1 passes through upper lid screw
9 are fixed in stator axis 12；The upper edge position of stator axis 12 is additionally provided with lock screw hole, and lock screw hole is set altogether
There are six, coordinated by the lock screw hole on joint of robot lock screw 33 and stator axis 12, realize joint of robot 32
It is fixedly connected with articulated robot upper arm 31；The marginal position of the downside of rotor 18 is also equipped with six lock screw holes and led to
Cross the cooperation with joint of robot lock screw 33 and realize being fixedly connected for joint of robot 31 and articulated robot underarm 34.
The present invention operation principle be：
The joint of robot inner hollow, cable reach the hole of rotor center from the bottom surface groove of rotor 18.By hole, cable reaches
The helical buffer area on the top of stator axis 12.When joint rotates, the cable of buffering area inside spin distribution can effectively be prevented
Only cable breakage.After cable is by helical buffer area, from the exposure of stator axis side joint top wire hole 11.Helical buffer area
Top is joint driver, and driver power supply and the communication parallel connection from cable are taken out with sharing power supply and connection with hypozygal
Cable.Encoder uses detachable coded device.Photoelectric encoder 17 fixes the tip of the axis of rotor 18 by central screw；Photoelectricity is compiled
Code device read head 4 is installed in pcb board fixed seat 5.Between photoelectric encoder read head 4 and photoelectric encoder 17 without any machinery even
Connect, rotor 18 rotate when drive photoelectric encoder 17 rotate, two now photoelectric encoder read head 4 be fixed in stator axis 12
Do not rotated with the rotation of rotor 18, the rotation amplitude of record manipulator arm joint is realized by the cooperation with photoelectric encoder 17
And angle.
The mounting means of the present invention can ensure to ensure the installation gap between stator axis and rotor, so as to ensure that rotor
The operating stable in the case of enough pretightning forces with stator axis；
Inventive encoder uses detachable coded device, efficiently solves the influence of vibrations and temperature rise to encoder wiring board, together
When can precisely control the angle that joint top and the bottom are turned over；
The present invention simplifies user's wiring, easy for installation, solve thes problems, such as that joint of robot wiring is difficult；
The present invention efficiently solves back clearance caused by mechanical structure；And joint top and the bottom can be born axially, radially and respectively
The tilting moment in individual direction.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (10)
1. a kind of straight drive joint of robot, it is characterised in that including rotor（18）, stator axis（12）, bearing A（8）With bearing B
（16）；The stator axis（12）Downside stator is installed（14）, the stator（14）With stator axis（12）Interference fit, it is described
Rotor（18）Magnet is installed on inwall（19）, the bearing B（16）Installed in rotor（18）Axle bottom, the bearing B
（16）Inner ring and rotor（18）Axle interference fit, bearing B（16）Upside is provided with axle sleeve（15）, axle sleeve（15）Upside is provided with
Bearing A（8）, the axle sleeve（15）With bearing A（8）And rotor（18）Axle interference fit；The bearing A（8）With bearing B
（16）Outer ring and stator axis（12）Interference fit, the bearing A（8）On be additionally provided with two locking nuts（7）；The rotor
（18）The top of axle photoelectric encoder is installed（17）；The armature spindle（12）Outside is additionally provided with joint top line outlet
（11）, on cover tightly nail nut（9）With pcb board fixed seat screw（10）；The armature spindle（12）Centre position also install
Live conductor plate（6）, tension disc（6）Upside is provided with pcb board fixed plate（5）, the pcb board fixed plate（5）On pcb board is installed
（3）With photoelectric encoder read head（4）, pcb board（3）Pass through plate lock screw（2）It is fixed on pcb board fixed plate（5）On；It is described
Pcb board（3）Upside is provided with lid（1）.
2. straight drive joint of robot according to claim 1, it is characterised in that the stator axis（12）Installed in rotor
（18）Upside, rotor（18）Edge is provided with boss, and boss is inserted into stator axis（12）It is interior.
3. straight drive joint of robot according to claim 1, it is characterised in that the stator axis（12）Lower edge is also set
Screwed hole is equipped with, by screw by stator（14）It is tightened in stator axis（12）On.
4. straight drive joint of robot according to claim 1, it is characterised in that the magnet（19）Equally distributed stickup
In rotor（18）Inner surface.
5. straight drive joint of robot according to claim 1, it is characterised in that the bearing A（8）With bearing B（16）Adopt
With back-to-back mounting means, the bearing holder (housing, cover)（15）Height because of slightly above installation bearing B（16）Step.
6. straight drive joint of robot according to claim 1, it is characterised in that the pcb board fixed plate（5）On be provided with
Screwed hole, pass through pcb board fixed seat screw（10）By pcb board fixed plate（5）Fixed to armature spindle（12）On.
7. straight drive joint of robot according to claim 1, it is characterised in that the upper lid（1）Pass through upper lid clamp screw
Silk（9）It is fixed on stator axis（12）On.
8. straight drive joint of robot according to claim 1, it is characterised in that the stator axis（12）Upper edge position
Lock screw hole is additionally provided with, lock screw hole is provided with six altogether, passes through joint of robot lock screw（33）By joint machine
Device people's upper arm（31）It is fixedly attached to joint of robot（32）.
9. straight drive joint of robot according to claim 1, it is characterised in that the rotor（18）The marginal position of downside
Six lock screw holes are also equipped with, pass through joint of robot lock screw（33）By robot lower arm（34）It is fixedly attached to machine
Device person joint（31）.
10. straight drive joint of robot according to claim 1, it is characterised in that the stator（14）And stator axis（12）
Between be additionally provided with stator shaft orientation fix back-up ring（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610710379.4A CN107756434B (en) | 2016-08-23 | 2016-08-23 | Direct-drive robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610710379.4A CN107756434B (en) | 2016-08-23 | 2016-08-23 | Direct-drive robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107756434A true CN107756434A (en) | 2018-03-06 |
| CN107756434B CN107756434B (en) | 2023-10-13 |
Family
ID=61263818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610710379.4A Active CN107756434B (en) | 2016-08-23 | 2016-08-23 | Direct-drive robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756434B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103211A (en) * | 2019-06-06 | 2019-08-09 | 深圳市秘银科技有限公司 | A kind of manipulator |
| CN116021552A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
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| KR101301261B1 (en) * | 2012-04-30 | 2013-09-10 | 순천대학교 산학협력단 | Hollow shaft type bldc motor and robot joint consist of it |
| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
| KR20150029378A (en) * | 2013-09-10 | 2015-03-18 | 대우조선해양 주식회사 | Slip ring integral joint motor for robot's joint |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN105397836A (en) * | 2015-12-23 | 2016-03-16 | 武汉穆特科技有限公司 | Highly-integrated modular robot joint |
| CN205254998U (en) * | 2015-12-28 | 2016-05-25 | 苏州大学 | Selective compliance assembly robot arm and control system thereof |
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2016
- 2016-08-23 CN CN201610710379.4A patent/CN107756434B/en active Active
Patent Citations (7)
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|---|---|---|---|---|
| CN102626930A (en) * | 2012-04-28 | 2012-08-08 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| KR101301261B1 (en) * | 2012-04-30 | 2013-09-10 | 순천대학교 산학협력단 | Hollow shaft type bldc motor and robot joint consist of it |
| KR20150029378A (en) * | 2013-09-10 | 2015-03-18 | 대우조선해양 주식회사 | Slip ring integral joint motor for robot's joint |
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| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
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| CN205254998U (en) * | 2015-12-28 | 2016-05-25 | 苏州大学 | Selective compliance assembly robot arm and control system thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103211A (en) * | 2019-06-06 | 2019-08-09 | 深圳市秘银科技有限公司 | A kind of manipulator |
| CN116021552A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107756434B (en) | 2023-10-13 |
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