CN108214544A - A kind of integrated form joint of robot device - Google Patents
A kind of integrated form joint of robot device Download PDFInfo
- Publication number
- CN108214544A CN108214544A CN201810167258.9A CN201810167258A CN108214544A CN 108214544 A CN108214544 A CN 108214544A CN 201810167258 A CN201810167258 A CN 201810167258A CN 108214544 A CN108214544 A CN 108214544A
- Authority
- CN
- China
- Prior art keywords
- motor
- retarders
- output shaft
- rotor
- driver
- 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.)
- Granted
Links
Classifications
-
- 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
- B25J17/0258—Two-dimensional 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
A kind of integrated form joint of robot device, motor output shaft while the input shaft as RV retarders；The rotor of the individual pen absolute value encoder is affixed to by sensor pinboard on the input end plate of RV retarders, and stator is affixed to by sensor fixation plate on RV reducer shells；The output shaft of incremental encoder rotor and motor is fixed, and stator is fixed on T-shaped housing；The rotor of rimless straight drive torque motor is connected with motor output shaft, and stator is connected with T-shaped housing；Electricity cut-off type brake rotor is connected with motor output shaft, and stator is connected with electric motor end cap；DC driver is connected to by driver rack on T-shaped housing；Wherein, DC driver, electricity cut-off type brake are located at the side of rimless straight drive torque motor, which is sealed by rear end cover；RV retarders, incremental encoder, individual pen absolute value encoder are located at the opposite side of rimless straight drive torque motor；Output flange is sealingly mounted on the output end plate of RV retarders.
Description
Technical field
The present invention relates to a kind of constructional devices for joint of robot, are mainly used for solving current joint of robot connection
Complicated, the problems such as dimensional space is big, of high cost.
Background technology
Mostly using series connection stand-alone configuration scheme, i.e. motor, retarder and driver is independently set joint of robot at present
Type selecting is counted, complete machine device is fixed into thereafter by switching device, there are structure connection is complicated, dimensional space is big, son for the covering device
Parts match is not high, the comprehensive the problems such as that the cost is relatively high such as working hour and quality.In this context, it is integrated to be designed to
For inexorable trend, the at present integrated joint of the robot development design on the basis of harmonic speed reducer mostly, there are humorous for the device
The intrinsic problems such as the bearing capacity of wave retarder is low, the rigidity of structure is low, service life is short, it is difficult to meet more than 10KG robots
Demand.
Invention content
The technology of the present invention solves the problems, such as：Overcome the deficiencies of the prior art and provide a kind of integrated form joint of robot dress
It puts.
The present invention technical solution be：A kind of integrated form joint of robot device, including RV retarders, rimless straight drive
Torque motor, DC driver, electricity cut-off type brake and incremental encoder, individual pen absolute value encoder, T-shaped shell；
Motor output shaft while the input shaft as RV retarders；The rotor of the individual pen absolute value encoder passes through biography
Sensor pinboard is affixed on the input end plate of RV retarders, and stator is affixed to RV reducer shells by sensor fixation plate
On；The output shaft of incremental encoder rotor and motor is fixed, and stator is fixed on T-shaped housing；Rimless straight drive torque motor
Rotor is connected with motor output shaft, and stator is connected with T-shaped housing；Electricity cut-off type brake rotor is connected with motor output shaft,
Stator is connected with electric motor end cap；DC driver is connected to by driver rack on T-shaped housing；Wherein, DC driver, disconnected
Electric-type brake is located at the side of rimless straight drive torque motor, which is sealed by rear end cover；RV retarders, incremental encoding
Device, individual pen absolute value encoder are located at the opposite side of rimless straight drive torque motor；Output flange is sealingly mounted at RV retarders
It exports on end plate.
Further, grease is enclosed in by retarder side by sealing structure, grease is made to cannot be introduced into motor side.
Further, skeleton oil seal is used between the housing of RV retarders and input end plate, output end plate；Output
End plate bearing saddle bore is sealed using end cover；It exports end plate and is carried out with inputting the intermediate throughholes of end plate using tubulose oil sealing
Sealing；The output shaft of motor is sealed by two outside framework oil seals.
Further, the vertical end of T-shaped housing of a joint arrangement passes through with the output flange of another joint arrangement
Screw is radially connected；Or it is connected by joint arm therebetween.
Further, incremental encoder, the output line of individual pen absolute value encoder is respectively by being arranged on T-shaped enclosure interior
Channel be connected on low-voltage direct driver, the output line of low-voltage direct driver is by being arranged on motor output shaft and RV
The centre bore of retarder is exported from output flange, and the T-shaped enclosure interior which passes through coupled joint arrangement is led to
Road is connected on the low-voltage direct driver of the joint arrangement.
Further, Waterproof connector of cable is installed between the output line and output flange of low-voltage direct driver.
Further, the rotor of rimless straight drive torque motor and the output shaft of motor are connected using gluing, stator with it is T-shaped
Housing is connected using gluing.
Further, electricity cut-off type brake rotor is connected by flat key, baffle ring with the output shaft of motor.
Further, rear end cover is positioned with T-shaped housing using seam allowance cooperation, is consolidated by screw and driver rack
Even.
The present invention has the beneficial effect that compared with prior art：
The present invention discloses a kind of integrated form joint of robot device, the device highly integrated RV retarders, rimless straight drive
Torque motor, close-coupled low-voltage direct driver, electricity cut-off type brake (being controlled by internal electrical components) and double feedback devices (divide
Not Wei motor commutation incremental encoder and RV retarder output terminals individual pen absolute value encoder) etc..The device uses
The rimless motor of high-performance and the special sealed Combined design of RV retarders of high-mechanic play its optimum efficiency, ensure that high quality is steady
Fixed operation；T-shaped shell mechanism is convenient to be connect with installations such as pedestal, arms so that robotic arm develop become it is safer, efficient,
It is convenient.
The arrangement achieves sealing structure design, reduce the dimensional space of device to the full extent, lifting device is
Unite integrated level, meet high-mechanic, high rigidity, high dynamic robot property requirements.
Description of the drawings
Fig. 1 is complete machine structure figure of the present invention；
Fig. 2 is Fig. 1 parts about double feedback fraction schematic diagrames；
Fig. 3 a, 3b, 3c are grease seal schematic diagram of the present invention；
Fig. 4 is two joint arrangement mechanical interfaces of the invention and internal trace-diagram.
Specific embodiment
Below in conjunction with the accompanying drawings and example elaborates to the present invention.
As shown in Figure 1, 2, a kind of integrated form joint of robot device, including RV retarders 1, rimless straight drive torque motor 2,
DC driver 3, electricity cut-off type brake 6 and incremental encoder 5, individual pen absolute value encoder 4, T-shaped shell 7；
Motor output shaft 13 while the input shaft as RV retarders；5 stator of motor incremental encoder is passed through into biography first
Sensor attachment screw 18 is affixed on T-shaped 7 inner side end of housing, its rotor is installed on motor output shaft 13, thereafter by nothing
The stator interference of the straight drive torque motor 2 of frame is installed in T-shaped 7 motor mount of housing, its rotor is installed to motor output shaft
(gluing specifically may be used to be fixed together) on 13, thereafter install 13 assembly of motor output shaft by both ends radial journal bearing
Onto T-shaped housing 7,4 stator of individual pen absolute value encoder is connected by screw is affixed on sensor fixation plate 12 thereafter, it will
4 rotor of individual pen absolute value encoder is connected by screw on connected sensor pinboard 11, is thereafter led to sensor fixation plate 12
It crosses sensor pinboard attachment screw 17 to be affixed on RV retarders input end plate, thereafter connects RV retarders 1 by retarder
Connect screw 16 be connected be installed on T-shaped housing 7, electric motor end cap 14 is connected to by electric motor end cap attachment screw 19 thereafter T-shaped
On housing, the stator of electricity cut-off type brake 6 is connected to by brake attachment screw 20 on electric motor end cap 14, its rotor is led to
It crosses key (specifically can be in a manner that flat key adds baffle ring) to be affixed on motor output shaft 13, thereafter leads to driver 3
Device stent 15 of overdriving is installed on electric motor end cap 14, is thereafter positioned rear end cover 8 and T-shaped housing 7 using seam allowance cooperation,
It is connected by attachment screw 22 and driver rack 15, Waterproof connector of cable 10 is installed in output flange 9 thereafter, will be exported
Flange 9 is fixedly installed to after being pierced by harness on the output end plate of RV retarders.
Grease is enclosed in by retarder side by sealing structure, grease is made to cannot be introduced into motor side.Specifically, such as Fig. 3 a,
Shown in 3b, 3c, by RV retarder side skeletons oil sealing 23 and motor side outside framework oil seal 24 by motor output shaft 13 and RV retarders
Isolating seal；Oil sealing is avoided to come off by 25 axial restraint motor side outside framework oil seal 24. of circlip for hole；Export end plate 1E axis
Bearing hole is sealed using end cover 1D；Export end plate 1E with input the intermediate throughholes of end plate 1F using tubulose oil sealing 1G into
Row sealing；By RV retarders input side outside framework oil seal 1B and retarder outlet side outside framework oil seal 1C by the housing 1A of RV retarders
It is sealed with input end plate 1F, output end plate 1E；Addition O-ring 1H is carried out between the pinboard 11 of sensor and input end plate 1F
Static sealing.
In use, the vertical end of the T-shaped housing 7 of a joint arrangement and the output flange 9 of another joint arrangement pass through
Screw is radially connected；Or it is connected by joint arm therebetween.Following manner may be used in specific cabling：
Incremental encoder 5, the output line of individual pen absolute value encoder 4 is respectively by being arranged on the channel of T-shaped enclosure interior
It is connected on low-voltage direct driver 3, the output line of low-voltage direct driver 3 is slowed down by being arranged on motor output shaft and RV
The centre bore of device is exported from output flange, and the channel for the T-shaped enclosure interior which passes through coupled joint arrangement connects
It is connected on the low-voltage direct driver 3 of the joint arrangement.In Fig. 4, mechanical interface uses the radially fixed connection of N number of soket head cap screw
2 joint arrangements, interface connection are simple and reliable；It is beautiful, convenient, reliable using internal cabling mode.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (9)
1. a kind of integrated form joint of robot device, it is characterised in that：Including RV retarders (1), rimless straight drive torque motor
(2), DC driver (3), electricity cut-off type brake (6) and incremental encoder (5), individual pen absolute value encoder (4), T-shaped shell
(7)；
Motor output shaft (13) while as the input shaft of RV retarders；The rotor of the individual pen absolute value encoder (4) leads to
It crosses sensor pinboard (11) to be affixed on the input end plate of RV retarders, stator is affixed to by sensor fixation plate (12)
On RV reducer shells；The output shaft of incremental encoder (5) rotor and motor is fixed, and stator is fixed on T-shaped housing (7)；
The rotor of rimless straight drive torque motor (2) is connected with motor output shaft (13), and stator is connected with T-shaped housing (7)；Electricity cut-off type system
Dynamic device (6) rotor is connected with motor output shaft (13), and stator is connected with electric motor end cap (14)；DC driver 3 passes through driving
Device stent (15) is connected on T-shaped housing (7)；Wherein, DC driver (3), electricity cut-off type brake (6) are positioned at rimless straight drive
The side of torque motor (2), the side are sealed by rear end cover (8)；RV retarders (1), incremental encoder (5), individual pen is absolute
It is worth opposite side of the encoder (4) positioned at rimless straight drive torque motor (2)；Output flange (9) is sealingly mounted at RV retarders (1)
It exports on end plate.
2. the apparatus according to claim 1, it is characterised in that：Grease is enclosed in by retarder side by sealing structure, makes oil
Fat cannot be introduced into motor side.
3. the apparatus of claim 2, it is characterised in that：RV retarders housing (1A) with input end plate (1F),
Skeleton oil seal is used between output end plate (1E)；It is close using end cover (1D) progress to export end plate (1E) bearing saddle bore
Envelope；Output end plate (1E) and the intermediate throughholes of input end plate (1F) are sealed using tubulose oil sealing (1G)；The output shaft of motor
(13) it is sealed by two outside framework oil seals.
4. the apparatus according to claim 1, it is characterised in that：The vertical end of the T-shaped housing (7) of one joint arrangement with it is another
The output flange (9) of one joint arrangement is radially connected by screw；Or it is connected by joint arm therebetween.
5. the apparatus according to claim 1, it is characterised in that：Incremental encoder (5), individual pen absolute value encoder (4)
Output line is connected to by being arranged on the channel of T-shaped enclosure interior on low-voltage direct driver (3) respectively, low-voltage direct driver
(3) output line is exported by being arranged on the centre bore of motor output shaft and RV retarders from output flange, which leads to
The channel for crossing the T-shaped enclosure interior of coupled joint arrangement is connected on the low-voltage direct driver (3) of the joint arrangement.
6. the apparatus according to claim 1, it is characterised in that：The output line and output flange of low-voltage direct driver (3)
Between Waterproof connector of cable is installed.
7. the apparatus according to claim 1, it is characterised in that：The rotor of rimless straight drive torque motor (2) and motor it is defeated
Shaft (13) is connected using gluing, and stator is connected with T-shaped housing (7) using gluing.
8. the apparatus according to claim 1, it is characterised in that：Electricity cut-off type brake (6) rotor passes through flat key, baffle ring and electricity
The output shaft (13) of machine is connected.
9. the apparatus according to claim 1, it is characterised in that：End cover (8) is matched with T-shaped housing (7) using seam allowance afterwards
Positioning is closed, is connected by screw and driver rack (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167258.9A CN108214544B (en) | 2018-02-28 | 2018-02-28 | Integrated form robot joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810167258.9A CN108214544B (en) | 2018-02-28 | 2018-02-28 | Integrated form robot joint device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108214544A true CN108214544A (en) | 2018-06-29 |
| CN108214544B CN108214544B (en) | 2021-04-13 |
Family
ID=62662391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810167258.9A Active CN108214544B (en) | 2018-02-28 | 2018-02-28 | Integrated form robot joint device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214544B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
| CN109551480A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot revolute joint module |
| CN109571542A (en) * | 2018-12-10 | 2019-04-05 | 葛启震 | A kind of various dimensions robot movable joint |
| CN110666575A (en) * | 2019-10-09 | 2020-01-10 | 珠海格力智能装备有限公司 | Control method and device |
| WO2021003866A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Supporting structure for robot joints and robot |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN115674256A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
| TWI804824B (en) * | 2020-08-19 | 2023-06-11 | 盟英科技股份有限公司 | Drive system and motor actuator |
| WO2023246995A1 (en) * | 2022-06-20 | 2023-12-28 | Universal Robots A/S | Robot drive unit for robot joint |
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| CN106826906A (en) * | 2017-02-27 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | A kind of mechanical arm modular joint of non-moment sensor |
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| CN107498580A (en) * | 2017-10-16 | 2017-12-22 | 河北工业大学 | One kind controls integral Dual-encoder structural module joint |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107718036A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of pair is fed back compact hollow integral joint in high precision |
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2018
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| CN105397839A (en) * | 2015-12-18 | 2016-03-16 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
| CN106826906A (en) * | 2017-02-27 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | A kind of mechanical arm modular joint of non-moment sensor |
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928401A (en) * | 2018-06-12 | 2018-12-04 | 杭州云深处科技有限公司 | The shell and bionic machine everybody leg for having functions of waterproof and dustproof |
| CN108928401B (en) * | 2018-06-12 | 2024-03-15 | 杭州云深处科技有限公司 | Shell with waterproof and dustproof functions and bionic robot leg |
| CN109571542A (en) * | 2018-12-10 | 2019-04-05 | 葛启震 | A kind of various dimensions robot movable joint |
| CN109571542B (en) * | 2018-12-10 | 2019-09-24 | 葛启震 | A kind of various dimensions robot movable joint |
| CN109551480A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot revolute joint module |
| WO2021003866A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Supporting structure for robot joints and robot |
| CN110666575A (en) * | 2019-10-09 | 2020-01-10 | 珠海格力智能装备有限公司 | Control method and device |
| TWI804824B (en) * | 2020-08-19 | 2023-06-11 | 盟英科技股份有限公司 | Drive system and motor actuator |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN112936334B (en) * | 2021-02-10 | 2022-07-12 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN113618776B (en) * | 2021-08-26 | 2023-03-10 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| WO2023246995A1 (en) * | 2022-06-20 | 2023-12-28 | Universal Robots A/S | Robot drive unit for robot joint |
| CN115674256A (en) * | 2022-10-08 | 2023-02-03 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
| CN115674256B (en) * | 2022-10-08 | 2024-01-26 | 深圳市越疆科技股份有限公司 | Industrial mechanical arm and integrated joint module thereof |
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|---|---|
| CN108214544B (en) | 2021-04-13 |
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