CN107756434B - Direct-drive robot joint - Google Patents
Direct-drive robot joint Download PDFInfo
- Publication number
- CN107756434B CN107756434B CN201610710379.4A CN201610710379A CN107756434B CN 107756434 B CN107756434 B CN 107756434B CN 201610710379 A CN201610710379 A CN 201610710379A CN 107756434 B CN107756434 B CN 107756434B
- Authority
- CN
- China
- Prior art keywords
- bearing
- rotor
- shaft
- stator
- stator shaft
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- 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 direct-drive robot joint, which comprises a rotor, a stator shaft, a bearing A and a bearing B; the lower side of the stator shaft is provided with a stator, the inner wall of the rotor is provided with a magnet, a bearing B is arranged at the bottom of the shaft of the rotor, the upper side of the bearing B is provided with a shaft sleeve, the upper side of the shaft sleeve is provided with a bearing A, the outer rings of the bearing A and the bearing B are in interference fit with the stator shaft, and the bearing A is also provided with two lock nuts; the top end of the shaft of the rotor is provided with a photoelectric encoder; the outer side of the rotor shaft is also provided with a joint upper outlet, an upper cover fastening screw nut and a PCB fixing seat fastening screw; the intermediate position of rotor shaft still installs the line ball board, and the PCB board fixed plate is installed to line ball board upside, installs PCB board and photoelectric encoder read head on the PCB board fixed plate. The invention ensures the stable operation of the rotor and the stator shaft under the condition of enough pretightening force; the angle rotated by the upper part and the lower part of the joint is controlled more accurately; the user wiring is simplified, and the installation is convenient.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a direct-drive robot joint.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. It can be either in command of human or according to a pre-programmed program. Industrial robots are widely applied to manufacturing industry through efficient production, in the robot industry, because of high requirements on the motion precision of mechanical arms, small error accumulation can be usually caused after each joint of the mechanical arms is transmitted by a transmission mechanism, and conventional robots often adopt RV speed reducers or harmonic speed reducers with high price for achieving the purpose, so that the cost of the robots is high; moreover, the transmission mechanism of the traditional robot arm has larger return difference, and can not well control the rotating angle of the rotor accurately, thereby the aim of controlling the rotating angle of the horizontal joint accurately can not be achieved.
Disclosure of Invention
The invention aims to provide a direct-drive robot joint to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a direct-drive robot joint comprises a rotor, a stator shaft, a bearing A and a bearing B; the stator is arranged on the lower side of the stator shaft, the stator is in interference fit with the stator shaft, a magnet is arranged on the inner wall of the rotor, the bearing B is arranged at the bottom of the shaft of the rotor, the inner ring of the bearing B is in interference fit with the shaft of the rotor, a bearing sleeve is arranged on the upper side of the bearing B, a bearing A is arranged on the upper side of the bearing sleeve, and the bearing sleeve and the bearing A are in interference fit with the shaft of the rotor; the outer rings of the bearing A and the bearing B are in interference fit with the stator shaft, and two lock nuts are further arranged on the bearing A; a photoelectric encoder is arranged at the top end of the shaft of the rotor; the outer side of the stator shaft is also provided with a joint upper part wire outlet hole, an upper cover set screw and a PCB fixing seat set screw; the middle position of the stator shaft is also provided with a wire pressing plate, the upper side of the wire pressing plate is provided with a PCB fixing plate, the PCB fixing plate is provided with a PCB and a photoelectric encoder reading head, and the PCB is fixed on the PCB fixing plate through a PCB locking screw; an upper cover is arranged on the upper side of the PCB;
the bearing A (8) and the bearing B (16) are arranged back to back, and the height of the bearing sleeve (15) is slightly higher than the step for arranging the bearing B (16);
the PCB fixing plate (5) is provided with a threaded hole, and the PCB fixing plate (5) is fixed on the stator shaft (12) through a PCB fixing seat set screw (10).
As still further aspects of the invention: the stator shaft is arranged on the upper side of the rotor, a boss is arranged at the edge of the rotor, and the boss is inserted into the stator shaft.
As still further aspects of the invention: the edge of the lower side of the stator shaft is also provided with a threaded hole, and the stator is screwed on the stator shaft through a set screw.
As still further aspects of the invention: the magnets are uniformly distributed and adhered to the inner surface of the rotor.
As still further aspects of the invention: the upper cover is fixed on the stator shaft through an upper cover set screw.
As still further aspects of the invention: the upper side edge position of the stator shaft is also provided with locking screw holes, six locking screw holes are formed in total, and the joint robot upper arm is fixedly connected to the robot joint through the robot joint locking screw.
As still further aspects of the invention: six locking screw holes are also formed in the edge position of the lower side of the rotor, and the lower arm of the articulated robot is fixedly connected to the robot joint through the robot joint locking screw.
As still further aspects of the invention: and a stator axial fixing check ring is further arranged between the stator and the stator shaft.
Compared with the prior art, the invention has the beneficial effects that:
the mounting mode can ensure the mounting clearance between the stator shaft and the rotor, thereby ensuring the stable operation of the rotor and the stator shaft under the condition of enough pretightening force;
the encoder adopts a separate encoder, effectively solves the influence of vibration and temperature rise on the circuit board of the encoder, and can more accurately control the angle rotated by the upper part and the lower part of the joint;
the invention simplifies the wiring of the user, is convenient to install, and effectively solves the problem of difficult wiring of the robot joint;
the invention effectively solves the back clearance caused by the mechanical structure; and the upper and lower joint portions can bear axial, radial and all-directional overturning moments.
Drawings
Fig. 1 is an exploded view of a direct drive robot joint.
Fig. 2 is a schematic structural view of a direct drive robot joint.
Fig. 3 is an assembly view of the articulated robot.
In the figure: 1. an upper cover; 2. locking screws of the PCB; 3. a PCB board; 4. a photoelectric encoder readhead; 5. a PCB fixing plate; 6. a wire pressing plate; 7. a lock nut; 8. a bearing A; 9. the upper cover is tightly fixed with a screw; 10. the PCB fixing seat is tightly fixed with a screw; 11. a wire outlet hole at the upper part of the joint; 12. a stator shaft; 13. a stator axial fixing retainer ring; 14. a stator; 15. a bearing sleeve; 16. a bearing B; 17. a photoelectric encoder; 18. a rotor; 19. a magnet; 31. an upper arm of the joint robot; 32. a robot joint; 33. the robot joint locks the screw; 34. and the lower arm of the joint robot.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, a direct-drive robot joint includes a rotor 18, a stator shaft 12, a bearing A8, and a bearing B16; the edge of the rotor 18 is provided with a boss, the boss is inserted into the stator shaft 12, the stator shaft 12 is arranged on the upper side of the rotor 18, dust and the like can be effectively prevented from entering the robot joint 32 by adopting the design of the boss, so that the reliability and the service life of the joint are improved; the lower side of the stator shaft 12 is provided with a stator 14, the stator 14 is in interference fit with the stator shaft 12, the lower side edge of the stator shaft 12 is also provided with a threaded hole, and a set screw is adopted to screw the stator 14 on the stator shaft 12 so as to prevent slipping; a stator axial fixing retainer ring 13 is also arranged between the stator 14 and the stator shaft 12; the inner wall of the rotor 18 is provided with magnets 19, and all the magnets 19 are uniformly distributed and adhered to the inner surface of the rotor 18; the bearing B16 is arranged at the bottom of the shaft of the rotor 18, the inner ring of the bearing B16 is in interference fit with the shaft of the rotor 18, the bearing sleeve 15 is arranged on the upper side of the bearing B16, the bearing A8 is arranged on the upper side of the bearing sleeve 15, and the bearing sleeve 15 and the bearing A8 are in interference fit with the shaft of the rotor 18; the outer rings of the bearing A8 and the bearing B16 are in interference fit with the stator shaft 12, the bearing A8 and the bearing B16 are installed back to back, and the height of the bearing sleeve 15 is slightly higher than the step for installing the bearing B16, so that corresponding allowance can be ensured to compress the bearing A8 and the bearing B16 during installation, and the axial compression amount is ensured; the bearing A8 is also provided with two lock nuts 7, and the lock nuts 7 are used for tensioning the rotor 18; the top end of the shaft of the rotor 18 is provided with a photoelectric encoder 17; the outer side of the stator shaft 12 is also provided with a joint upper part wire outlet hole 11, an upper cover set screw 9 and a PCB fixing seat set screw 10, wherein the upper cover set screw 9 and the PCB fixing seat set screw 10; a wire pressing plate 6 is further arranged in the middle of the stator shaft 12, a PCB fixing plate 5 is arranged on the upper side of the wire pressing plate 6, threaded holes are formed in the PCB fixing plate 5, and the PCB fixing plate 5 is fixed on the stator shaft 12 through a PCB fixing seat set screw 10; the PCB 3 and the photoelectric encoder reading head 4 are arranged on the PCB fixing plate 5, and the PCB 3 is fixed on the PCB fixing plate 5 through the PCB locking screw 2; an upper cover 1 is arranged on the upper side of the PCB 3, and the upper cover 1 is fixed on a stator shaft 12 through an upper cover fastening screw 9; the upper side edge of the stator shaft 12 is also provided with six locking screw holes, and the robot joint 32 is fixedly connected with the joint robot upper arm 31 by matching the robot joint locking screw 33 with the locking screw holes on the stator shaft 12; six locking screw holes are also formed in the edge position of the lower side of the rotor 18, and the fixed connection between the articulated robot lower arm 34 and the robot joint 32 is realized through the cooperation of the six locking screw holes and the robot joint locking screw 33.
The working principle of the invention is as follows:
the robot joint 32 is hollow and the cables run from the bottom slot of the rotor 18 to the hole in the center of the rotor 18. Through the holes the cable reaches the helical buffer at the upper part of the stator shaft 12. When the joint rotates, the cables spirally distributed in the buffer zone can effectively prevent the cables from being broken. After the cable passes through the spiral buffer, the cable is exposed from the upper wire outlet hole 11 of the side joint of the stator shaft 12. The upper part of the spiral buffer zone is provided with a joint driver, and the driver supplies power and communicates with the joint driver to take out a power supply and a communication cable shared with the following joints in parallel from the cable. The encoder adopts a separate encoder. The photoelectric encoder 17 is fixed at the tail end of the shaft of the rotor 18 through a central screw; the photoelectric encoder reading head 4 is mounted on the PCB board fixing plate 5. The photoelectric encoder reading head 4 and the photoelectric encoder 17 are not connected mechanically, the rotor 18 drives the photoelectric encoder 17 to rotate when rotating, and the photoelectric encoder reading head 4 is fixed on the stator shaft 12 and does not rotate along with the rotation of the rotor 18, so that the rotation amplitude and the rotation angle of the mechanical arm joint are recorded through the cooperation of the photoelectric encoder reading head 4 and the photoelectric encoder 17.
The mounting mode can ensure the mounting clearance between the stator shaft and the rotor, thereby ensuring the stable operation of the rotor and the stator shaft under the condition of enough pretightening force;
the encoder adopts a separate encoder, effectively solves the influence of vibration and temperature rise on the circuit board of the encoder, and can more accurately control the angle rotated by the upper part and the lower part of the joint;
the invention simplifies the wiring of the user, is convenient to install, and effectively solves the problem of difficult wiring of the robot joint;
the invention effectively solves the back clearance caused by the mechanical structure; and the upper and lower joint portions can bear axial, radial and all-directional overturning moments.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (8)
1. The direct-drive robot joint is characterized by comprising a rotor (18), a stator shaft (12), a bearing A (8) and a bearing B (16); the stator is characterized in that a stator (14) is arranged on the lower side of the stator shaft (12), the stator (14) is in interference fit with the stator shaft (12), a magnet (19) is arranged on the inner wall of the rotor (18), a bearing B (16) is arranged at the bottom of the shaft of the rotor (18), an inner ring of the bearing B (16) is in interference fit with the shaft of the rotor (18), a bearing sleeve (15) is arranged on the upper side of the bearing B (16), a bearing A (8) is arranged on the upper side of the bearing sleeve (15), and both the bearing sleeve (15) and the bearing A (8) are in interference fit with the shaft of the rotor (18); the outer rings of the bearing A (8) and the bearing B (16) are in interference fit with the stator shaft (12), and two lock nuts (7) are further arranged on the bearing A (8); a photoelectric encoder (17) is arranged at the top end of the shaft of the rotor (18); the outer side of the stator shaft (12) is also provided with a joint upper part wire outlet hole (11), an upper cover set screw (9) and a PCB fixing seat set screw (10); the middle position of the stator shaft (12) is also provided with a wire pressing plate (6), the upper side of the wire pressing plate (6) is provided with a PCB fixing plate (5), the PCB fixing plate (5) is provided with a PCB (3) and a photoelectric encoder reading head (4), and the PCB (3) is fixed on the PCB fixing plate (5) through a PCB locking screw (2); an upper cover (1) is arranged on the upper side of the PCB (3);
the bearing A (8) and the bearing B (16) are arranged back to back, and the height of the bearing sleeve (15) is slightly higher than the step for arranging the bearing B (16);
the PCB fixing plate (5) is provided with a threaded hole, and the PCB fixing plate (5) is fixed on the stator shaft (12) through a PCB fixing seat set screw (10).
2. The direct drive robot joint according to claim 1, wherein the stator shaft (12) is mounted on an upper side of the rotor (18), a boss is provided at an edge of the rotor (18), and the boss is inserted into the stator shaft (12).
3. The direct drive robot joint according to claim 1, wherein the lower side edge of the stator shaft (12) is further provided with a screw hole, and the stator (14) is screwed on the stator shaft (12) by a set screw.
4. The direct drive robot joint according to claim 1, wherein the magnets (19) are uniformly distributed and adhered to the inner surface of the rotor (18).
5. The direct drive robot joint according to claim 1, wherein the upper cover (1) is fixed on the stator shaft (12) by an upper cover set screw (9).
6. The direct-drive robot joint according to claim 1, wherein the upper side edge position of the stator shaft (12) is further provided with locking screw holes, six locking screw holes are provided in total, and the joint robot upper arm (31) is fixedly connected to the robot joint (32) through a robot joint locking screw (33).
7. The direct drive robot joint according to claim 1, wherein six locking screw holes are also provided at the edge position of the lower side of the rotor (18), and the articulated robot lower arm (34) is fixedly connected to the robot joint (32) by means of a robot joint locking screw (33).
8. The direct drive robot joint according to claim 1, characterized in that a stator axial securing collar (13) is further arranged between the stator (14) and the stator shaft (12).
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 CN107756434A (en) | 2018-03-06 |
| CN107756434B true 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) |
Families Citing this family (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 |
| CN116021552B (en) * | 2022-08-17 | 2024-09-13 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
-
2016
- 2016-08-23 CN CN201610710379.4A patent/CN107756434B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107756434A (en) | 2018-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107498580B (en) | Drive integrative two encoder structure modularization joints of accuse | |
| US8413540B2 (en) | Robot arm assembly and industrial robot using the same | |
| CN107756434B (en) | Direct-drive robot joint | |
| CN104029215B (en) | A kind of miniaturized underwater hydraulic manipulator arm joint structure | |
| CN207687116U (en) | A kind of small size locking device based on fluted disc | |
| CN206140497U (en) | Horizontal joint four -axis robot that directly drives | |
| CN208482866U (en) | Gear automatic flushing device | |
| CN208731938U (en) | Shuttle Fan Zhao mechanism | |
| CN205928712U (en) | Directly drive robot joint | |
| CN111482988A (en) | Robot joint module brake equipment | |
| CN208496985U (en) | A kind of robot cylinder cap turns line positioning mechanism | |
| CN109877873A (en) | A kind of joint of mechanical arm and mechanical arm with duplex bearing support | |
| CN103692450A (en) | Robotic arm joint part for planar joint type robots | |
| CN206510033U (en) | A kind of upside-down mounting robot | |
| CN102161206A (en) | Robot balancer connection structure and assembling method thereof | |
| CN204585242U (en) | Can be used for modular space joint of mechanical arm and the mechanical arm of quick reconfiguration | |
| CN210678768U (en) | Mechanical arm joint with non-shaft encoder and mechanical arm | |
| CN221812337U (en) | Motor module, mechanical arm and robot | |
| CN212909274U (en) | Mounting structure of encoder | |
| CN215471247U (en) | Double-magnetic-woven structure of mechanical arm joint, mechanical arm joint and mechanical arm | |
| CN221509344U (en) | Motor sensing structure | |
| CN211784273U (en) | Quick effectual gear box no-load torque measuring device | |
| CN108500961A (en) | A kind of robot cylinder cap turns line detent mechanism | |
| CN211439984U (en) | Horizontal joint robot with stable motion and prolonged service life of speed reducer | |
| CN110948470B (en) | Synchronous pulley driving structure, robot driving base and desktop level mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |