CN108115658B - Two-degree-of-freedom modular joint device and robot with same - Google Patents
Two-degree-of-freedom modular joint device and robot with same Download PDFInfo
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- CN108115658B CN108115658B CN201611060029.4A CN201611060029A CN108115658B CN 108115658 B CN108115658 B CN 108115658B CN 201611060029 A CN201611060029 A CN 201611060029A CN 108115658 B CN108115658 B CN 108115658B
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- motor
- input shaft
- speed reducer
- encoder
- harmonic speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The embodiment of the invention discloses a double-freedom-degree modular joint device, which comprises an input device, an output device and a shell; the input device includes: first motor stator, first motor rotor, first motor input shaft, shaft collar, first speed reducer wave generator, separation blade, second motor stator, second motor rotor, second motor input shaft, second speed reducer wave generator, output device includes: the invention provides a structure which has two degrees of freedom, is small in size, light in weight and high in modularization degree, and is beneficial to batch production.
Description
Technical Field
The invention relates to the field of machinery, in particular to a two-degree-of-freedom modular joint device and a robot with the same.
Background
With the continuous development of science and technology, robots have entered various fields such as industry, services, medical treatment, etc.
The robot is based on the bionic principle, and the motion of the robot is realized by simulating human beings through joints. Each joint keeps consistent with the freedom degree of each joint of the human body on the basis of realizing accurate control.
At present, most robots are complex in design flow, long in development period, difficult to assemble and maintain, not beneficial to batch production and incapable of entering the market on a large scale. And most of the current modular joints have only one degree of freedom. In order to make the robot reach a plurality of degrees of freedom, a plurality of single-degree-of-freedom joints are required to be combined, so that the size and the weight of the robot are large, and the dynamic characteristics of the robot are influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a two-degree-of-freedom modular joint apparatus and a robot having the same.
One object of the present invention is to provide a two-degree-of-freedom modular joint device, comprising an input device, an output device and a housing;
the input device includes: a first motor stator, a first motor rotor, a first motor input shaft, a shaft collar, a first speed reducer wave generator, a baffle, a second motor stator, a second motor rotor, a second motor input shaft and a second speed reducer wave generator, the first motor stator is bonded to the housing by an adhesive, the first motor rotor is bonded to the first motor input shaft by an adhesive, one end of the first motor input shaft is connected to the first speed reducer wave generator through a key by taking a bearing arranged on the shell and the first bearing seat as a support, the second motor stator is bonded to the housing by an adhesive, the second motor rotor is bonded to the second motor input shaft by an adhesive, the second motor input shaft is supported by bearings arranged on the shell and the first bearing seat and is connected to the first speed reducer wave generator through a screw;
the output device includes: the first harmonic speed reducer steel wheel is installed on the first harmonic speed reducer outer wheel through a crossed roller bearing, the first harmonic speed reducer outer wheel is fixed on the shell through a first bearing seat, the first output flange and the first harmonic speed reducer steel wheel are connected through a screw, a code disc of the first absolute encoder is installed on the first motor input shaft through a screw, a circuit board of the first absolute encoder is installed on the shell, the second harmonic speed reducer steel wheel is installed on the second harmonic speed reducer outer wheel through a crossed bearing, and the second harmonic speed reducer is fixed on the shell through a second bearing seat, the second output flange is connected with the second harmonic speed reducer steel wheel through a screw, a coded disc of the second absolute value encoder is installed on an encoder input shaft through a screw, the coded disc of the second absolute value encoder is installed on the second motor input shaft through a screw and an encoder input shaft, and a circuit board of the first absolute value encoder is installed on the first output flange.
Optionally, a lip seal is used to seal between the first motor input shaft and the first bearing seat.
Optionally, a lip seal is used to seal between the encoder input shaft and the second output flange.
Optionally, the first absolute value encoder and the second absolute value encoder are both multi-turn absolute encoders.
Optionally, the length of the first motor rotor is greater than the length of the second motor rotor.
Optionally, the outer diameter of the first motor stator is smaller than the outer diameter of the second motor stator.
Optionally, the first speed reducer wave generator and the second speed reducer wave generator are both harmonic speed reducer wave generators
Another object of the present invention is to provide a robot comprising the above two-degree-of-freedom modular joint apparatus.
According to the technical scheme, the embodiment of the invention has the following advantages:
the invention provides a double-freedom-degree modular joint which has two degrees of freedom, is small in size, light in weight and high in modularization degree, and is beneficial to batch production.
Drawings
FIG. 1 is a cross-sectional view of a two degree-of-freedom modular joint arrangement provided in an embodiment of the present invention;
fig. 2 is an overall external view of a two-degree-of-freedom modular joint device provided in an embodiment of the present invention.
1. A first output flange, 2, a baffle plate, 3, a first reducer wave generator, 4, a first harmonic reducer steel wheel, 5, a first harmonic reducer outer wheel, 6, a first bearing, 7, a first bearing seat, 8, a first lip seal ring, 9, a first motor stator, 10, a first motor rotor, 11, a first motor input shaft, 12, a collar, 13, a second bearing seat, 14, a code disc of a first absolute value encoder, 15, a circuit board of a first absolute value encoder, 16, a second bearing, 17, a second motor input shaft, 18, a housing, 19, a second motor stator, 20, a second motor rotor, 21, a fourth bearing, 22, a second lip seal ring, 23, a second output flange, 24, a first O-shaped seal ring, 25, a third lip seal ring, 26, an input shaft, 27, a screw, 28, a code disc of a second absolute value encoder, 29. the circuit board of the second absolute value encoder, 30, a second speed reducer wave generator, 31, a second harmonic speed reducer steel wheel, 32, a second harmonic speed reducer outer wheel, 33, a second O-shaped sealing ring, 34 and a second bearing seat.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1 and 2, a two-degree-of-freedom modular joint apparatus provided in an embodiment of the present invention includes an input device, an output device, and a housing.
The input device includes: the device comprises a first input motor stator 9, a first input motor rotor 10, a first motor input shaft 11, a shaft collar 12, a first speed reducer wave generator 3, a baffle 2, a second motor stator 19, a second motor rotor 20, a second motor input shaft 17 and a second speed reducer wave generator 30.
The first motor stator 9 is bonded to the housing 18 by an adhesive, and the first motor rotor 10 is bonded to the first motor input shaft 11 by an adhesive. One end of the first motor input shaft 11 is supported by a first bearing 6 arranged on the shell 18 and the first bearing seat 7 and is connected to the first speed reducer wave generator 3 through a key. The inner race of the first bearing 6 is positioned with the shoulder of the first motor input shaft 11 pressing its outer race against the first bearing 6. The first speed reducer wave generator 3 is fixedly connected to the first motor input shaft 11 through the baffle piece 2 and a screw. The other end of the first motor input shaft 11 is supported by a first bearing 6 mounted on a shell 18, and is fixedly connected with a code wheel 14 of the first absolute value encoder through a screw. The first lip-shaped sealing ring 8 is used for sealing between the first motor input shaft 11 and the first bearing seat 7.
The second motor stator 19 is bonded to the housing 18 by an adhesive, and the second motor rotor 20 is bonded to the second motor input shaft 17 by an adhesive. One end of the second motor input shaft 17 is supported by a fourth bearing 21 mounted on the housing 18 and the second bearing block 34, and is connected to the second reducer wave generator 30 by a screw. The inner race of the fourth bearing 21 is positioned with the shoulder of the second input motor shaft 17 pressing its outer race against the second bearing housing 34. The other end of the second motor input shaft 17 is supported by a second bearing 16 mounted to a housing 18. The second motor input shaft 17 and the second bearing seat 34 are sealed by a second lip-shaped sealing ring 22.
The output device includes: the first harmonic speed reducer comprises a first output flange 1, a coded disc 14 of a first absolute value encoder, a circuit board 15 of the first absolute value encoder, a first harmonic speed reducer steel wheel 4, a second output flange 23, a coded disc 28 of a second absolute value encoder, a circuit board 29 of the second absolute value encoder and a second harmonic speed reducer steel wheel 31, wherein the first harmonic speed reducer steel wheel 15 is installed on an outer wheel 5 of the first harmonic speed reducer through a crossed roller bearing. The first harmonic reducer outer wheel 5 is fixed to the housing 18 through the first bearing seat 7. The first output flange 1 and the first harmonic speed reducer steel wheel 4 are connected through screws. The first encoder code wheel 14 is mounted on the first motor input shaft 17 by screws. The first encoder circuit board 15 is mounted on the housing 18.
Further, a second harmonic reducer steel wheel 31 is mounted on a second harmonic reducer outer wheel 32 through a cross roller bearing. The second harmonic reducer outer wheel 32 is fixed to the housing 18 through the second bearing housing 13. And the second output flange 31 is fixedly connected with the second harmonic speed reducer steel wheel 23 through a screw. The second encoder pulse code disc 28 is screwed to the encoder input shaft 26. The encoder input shaft 26 is fixed to the second motor input shaft 17. The second encoder circuit board 29 is mounted on a second output flange 31. The third lip-shaped seal ring 25 is adopted to seal between the encoder input shaft 26 and the second output flange 31.
The invention provides a double-freedom-degree modular joint which has two degrees of freedom, is small in size, light in weight and high in modularization degree, and is beneficial to batch production.
Further, the first encoder and the second encoder are both multi-turn absolute encoders.
As shown in connection with fig. 1, the first motor rotor 10 has a length greater than the length of the second motor rotor 20. The outer diameter of the first motor stator 9 is smaller than the outer diameter of the second motor stator 19.
The double-freedom-degree modular joint has the advantages that one joint has two degrees of freedom, the structure is simple, the size is small, the load dead weight ratio is large, the interchangeability is good, and the double-freedom-degree modular joint adopts a multi-turn absolute encoder. The device has the position memory function and does not need an additional zero position searching device.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
While the above description describes in detail a two-degree-of-freedom modular joint apparatus and a robot having the same provided by the present invention, those skilled in the art will appreciate that the concepts of the embodiments of the present invention may be varied in the specific embodiments and applications, and therefore, the present disclosure should not be construed as limiting the present invention.
Claims (8)
1. A two-degree-of-freedom modular joint device is characterized by comprising an input device, an output device and a shell;
the input device includes: a first motor stator, a first motor rotor, a first motor input shaft, a shaft collar, a first speed reducer wave generator, a baffle, a second motor stator, a second motor rotor, a second motor input shaft and a second speed reducer wave generator, the first motor stator is bonded to the housing by an adhesive, the first motor rotor is bonded to the first motor input shaft by an adhesive, one end of the first motor input shaft is connected to the first speed reducer wave generator through a key by taking a bearing arranged on the shell and the first bearing seat as a support, the second motor stator is bonded to the housing by an adhesive, the second motor rotor is bonded to the second motor input shaft by an adhesive, the second motor input shaft is supported by bearings arranged on the shell and the first bearing seat and is connected to the first speed reducer wave generator through a screw;
the output device includes: the first harmonic speed reducer steel wheel is installed on the first harmonic speed reducer outer wheel through a crossed roller bearing, the first harmonic speed reducer outer wheel is fixed on the shell through a first bearing seat, the first output flange and the first harmonic speed reducer steel wheel are connected through a screw, a code disc of the first absolute encoder is installed on the first motor input shaft through a screw, a circuit board of the first absolute encoder is installed on the shell, the second harmonic speed reducer steel wheel is installed on the second harmonic speed reducer outer wheel through a crossed bearing, and the second harmonic speed reducer is fixed on the shell through a second bearing seat, the second output flange is connected with the second harmonic speed reducer steel wheel through a screw, a coded disc of the second absolute value encoder is installed on an encoder input shaft through a screw, the coded disc of the second absolute value encoder is installed on the second motor input shaft through a screw and an encoder input shaft, and a circuit board of the first absolute value encoder is installed on the first output flange.
2. The apparatus of claim 1 wherein the first motor input shaft is sealed to the first bearing seat with a lip seal.
3. The apparatus of claim 1, wherein the encoder input shaft and the second output flange are sealed with a lip seal.
4. The apparatus of claim 1, wherein the first absolute value encoder and the second absolute value encoder are both multi-turn absolute encoders.
5. The apparatus of claim 1 wherein the first motor rotor has a length greater than the length of the second motor rotor.
6. The apparatus of claim 1 wherein the first motor stator has an outer diameter less than an outer diameter of the second motor stator.
7. The device of claim 1, wherein the first and second reducer wave generators are both harmonic reducer wave generators.
8. A robot, characterized in that it comprises a two-degree-of-freedom modular joint arrangement according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611060029.4A CN108115658B (en) | 2016-11-26 | 2016-11-26 | Two-degree-of-freedom modular joint device and robot with same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611060029.4A CN108115658B (en) | 2016-11-26 | 2016-11-26 | Two-degree-of-freedom modular joint device and robot with same |
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| CN108115658A CN108115658A (en) | 2018-06-05 |
| CN108115658B true CN108115658B (en) | 2021-04-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789390B (en) * | 2018-06-20 | 2021-09-03 | 上海交通大学 | Modular joint for cooperating positioning arms of minimally invasive surgical robot |
| CN110228083A (en) * | 2019-07-11 | 2019-09-13 | 埃夫特智能装备股份有限公司 | A kind of industrial robot sealing structure |
| CN110422307B (en) * | 2019-07-12 | 2021-03-30 | 天津大学 | Control method of deep sea multi-joint submersible vehicle |
| CN111805523B (en) * | 2020-07-16 | 2022-02-18 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electronic joint module of integration |
| CN112706156B (en) * | 2020-12-23 | 2022-04-08 | 德鲁动力科技(成都)有限公司 | Robot joint motor and joint |
| IT202100030044A1 (en) | 2021-11-26 | 2023-05-26 | Ergotech Srl | NEW HARMONIC REDUCER WITH COMPACT STRUCTURE MADE WITH PLASTIC MATERIAL |
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| CN205343129U (en) * | 2016-02-06 | 2016-06-29 | 河北工业大学 | Double arm robot arm |
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| JP2004174704A (en) * | 2002-11-14 | 2004-06-24 | Sony Corp | Actuator device and multishaft type robot |
| US9358687B2 (en) * | 2013-01-24 | 2016-06-07 | Mohammad Reza Emami | System, method and computer program for autonomously emulating robot manipulators of continuously-varying configurations |
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| CN102935640A (en) * | 2011-08-15 | 2013-02-20 | 中国科学院沈阳自动化研究所 | Drive module for constructing underwater electric manipulator |
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
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| CN108115658A (en) | 2018-06-05 |
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