CN108422442A - A kind of ultra-small integrated servo joint - Google Patents
A kind of ultra-small integrated servo joint Download PDFInfo
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- CN108422442A CN108422442A CN201810577552.7A CN201810577552A CN108422442A CN 108422442 A CN108422442 A CN 108422442A CN 201810577552 A CN201810577552 A CN 201810577552A CN 108422442 A CN108422442 A CN 108422442A
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- China
- Prior art keywords
- steel wheel
- cam
- shell
- code
- disc
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The present invention provides a kind of ultra-small integrated servo joints, including microminiature harmonic speed reducer, hollow torque motor, driving unit, shell, output acquisition axis, pressing plate and blanking cover.Steel wheel a, steel wheel b and roller in microminiature harmonic speed reducer form roller bearing and steel wheel integral structure, cam sleeve is mounted in output acquisition axis, cam uses integral structure with motor shaft, rotor is mounted on cam, motor stator is mounted in shell, and shell upper surface is fixedly connected with steel wheel a.Driving unit includes drive control plate, code-disc and code-disc mounting plate, and code-disc mounting plate is installed in the lower end of output acquisition axis；Code-disc is installed on code-disc mounting plate；Pressing plate is installed on shell, pressing plate is machined with cylinder boss for installing drive control plate, and blanking cover is fixed on the lower end of shell.The diameter of a diameter of harmonic speed reducer in the servo joint of the present invention, it is smaller, structure is simpler, quality smaller.
Description
Technical field
The present invention relates to a kind of joint transmission mechanism of robot, specifically a kind of ultra-small integrated servo joints.
Background technology
Joint is the important component of robot, and the joint of different size can build different machines as needed
People's configuration, such as mechanical arm and biped robot.Joint is mainly made of driving motor and retarder, is provided by driving motor dynamic
Power outputs power under retarder effect, and the executing agency with mobile robot is moved.
With the development of electromechanical integration, robot components are towards lightness, integrated, intelligent and systematization direction
Development, at present the robot of market be limited to the volume and fan-out capability of harmonic speed reducer, joint diameter and volume is larger, cost
It is higher.For traditional articulated robot, it is limited to the control mode and structure type in joint, configuration is relatively fixed,
Connection type between each degree of freedom is different from, and modularization and replaceability are poor, are limited to this, determine its function
Unification substitutes complication, cannot be satisfied environment complicated and changeable and task.
Invention content
The present invention is directed to the design disadvantage of existing joint of robot, and a kind of microminiature is proposed using microminiature harmonic speed reducer
Integrated servo joint has the characteristics that small, light-weight, precision is high, at low cost.
A kind of ultra-small integrated servo joint proposed by the present invention, including microminiature harmonic speed reducer, hollow torque electricity
Machine, driving unit, shell, output acquisition axis, pressing plate and blanking cover.
The microminiature harmonic speed reducer includes steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller and bearing rib
Circle；It is machined with V-ring slot on the inner wall of steel wheel a, rectangle annular groove is cooperatively formed with the V-ring slot of steel wheel b outer walls processing；Roller
In the rectangle annular groove；Steel wheel a, steel wheel b and roller form roller bearing and steel wheel integral structure, and steel wheel a makees
For the outer ring of roller bearing, steel wheel b is as inner ring；Steel wheel a and steel wheel b is meshed by internal tooth with the external tooth of flexbile gear respectively；It is soft
Wheel, flexible bearing and cam are sequentially set with, and end ring is mounted on cam, for flexible bearing axial limiting；Described
Steel wheel b is fixedly connected with the upper end of output acquisition axis；The cam is hollow structure, is sleeved on output acquisition axis, cam
Integral structure is used with motor shaft.
The upper surface of the shell is fixedly connected with steel wheel a, and the upper surface of shell is hollow, is sleeved on cam.It is described
Hollow torque motor include motor stator and rotor, motor stator is mounted in shell, and rotor is mounted on cam
On；Rotor is set with motor stator sequence.
The driving unit includes drive control plate, code-disc and code-disc mounting plate；In the shell below motor stator
Pressing plate is installed, pressing plate is machined with cylinder boss, and drive control plate is mounted on the cylinder boss of pressing plate on body；The output
Step surface is arranged in the lower end for acquiring axis, for installing code-disc mounting plate；Code-disc is installed on code-disc mounting plate.
The blanking cover is fixed on the lower end of shell.
The shell is identical as the diameter of microminiature harmonic speed reducer.
The steel wheel a and steel wheel b, on its end face and outer shroud, circumferentially on be uniformly threaded hole；Steel wheel a and
The outer shroud threaded hole of steel wheel b is used for the installation of connecting rod when assembled joint.
Advantages of the present invention is with good effect：
(1) simple structure, small quality：The harmonic speed reducer that the present invention designs is by bearing and steel wheel integrated design, than tradition
The weight that it structural member quantity that design, which is reduced, reduces structural thickness, alleviates bearing wall so that integrated servo joint weight is more
Gently, structure is simpler；
(2) size is small：The diameter of a diameter of harmonic speed reducer in the integrated servo joint that the present invention designs, due to harmonic wave
Retarder reduces the width of a bearer ring than same parameter harmonic speed reducer form in the market so that joint size can be more
It is small；
(3) big carrying：Bearing and steel wheel integrated design are increased the engaging width of flexbile gear and steel wheel, than same by the present invention
Class product has higher bearing capacity under identical size；
(4) easy to install：The present invention increases radially installed mode on the basis of conventional end face installation form, improves installation
Property and operability, be applicable in more application scenarios；
(5) inexpensive：The configuration of the present invention is simple, all structures are mainly rotary structure, while flexbile gear is soft using tubular
Wheel construction form simplifies difficulty of processing, reduces cost.
Description of the drawings
Fig. 1 is the ultra-small integrated servo joint sectional view of the present invention；
In figure：
1- steel wheels a；2- steel wheels b；3- flexbile gears；4- cams；5- flexible bearings；6- rollers；7- end rings；
8- sealing rings a；9- sealing rings b；10- sealing rings c；11- motor stators；12- rotors；
13- drive control plates；14- code-discs；15- code-disc mounting plates；16- shells；17- output acquisition axis；
18- pressing plates；19- blanking covers；20- bearings a；21- bearings b；22- clamp nuts.
Specific implementation mode
Below in conjunction with drawings and examples, the present invention is described in further detail.
As shown in Figure 1, a kind of ultra-small integrated servo joint provided by the invention, including：Microminiature harmonic speed reducer,
Hollow torque motor and driving unit.
Wherein, microminiature harmonic speed reducer includes mainly：Steel wheel a1, steel wheel b2, flexbile gear 3, cam 4, flexible bearing 5, rolling
Son 6 and end ring 7.In addition, microminiature harmonic wave further includes sealing ring a8, sealing ring b9 and sealing ring c10.
Hollow torque motor includes mainly：Motor stator 11 and rotor 12.
Driving unit includes mainly：Drive control plate 13, code-disc 14 and code-disc mounting plate 15.
Ultra-small integrated servo joint further include shell 16, output acquisition axis 17, pressing plate 18, blanking cover 19, bearing a20,
Bearing b21.Code-disc in microminiature harmonic speed reducer, hollow torque motor and driving unit is assemblied in output acquisition axis 17 successively
On.
As shown in Figure 1, for the overall structure of microminiature harmonic speed reducer.Steel wheel a1 is output steel wheel, corresponding steel wheel b2
To input steel wheel.It is machined with V-ring slot on the inner wall of steel wheel a1, rectangle is cooperatively formed with the V-ring slot of steel wheel b outer walls processing
Annular groove；Roller 6 is mounted in rectangle annular groove.The internal tooth of steel wheel a1 and steel wheel b2 are meshed with the external tooth of flexbile gear 3, and power passes through convex
4 input of wheel, drives 5 rotational deformation of flexible bearing, flexbile gear 3 that corresponding deformation occurs, and flexbile gear 3 is meshed with steel wheel a1 and steel wheel b2,
Realize the transmission of power.When steel wheel a1 is fixed, under the cooperation of roller 6, power completes output by steel wheel b2.
Steel wheel a1 be metal material processing at annular rotary structure, the inner ring of steel wheel a1 is relatively large in diameter and smaller by two
Part is machined with internal tooth in inner ring on the smaller inner wall of diameter, by the transmission of internal tooth and 3 outer tooth engagement of flexbile gear realization power, directly
The larger inwall processing of diameter has V-ring slot, and rectangle annular groove is cooperatively formed with the V-ring slot of steel wheel b2, provides the installation of roller 6 and limit
Space.
Steel wheel b2 be metal material processing at annular rotary structure, inwall processing has internal tooth, passes through internal tooth and flexbile gear 3
Outer tooth engagement realizes the transmission of power.Steel wheel b2 outer walls are machined with annular V slot, and rectangle is cooperatively formed with the V-ring slot of steel wheel a1
Annular groove is used for the installation and limit of roller 6.
It is realized and is connected by roller 6 between steel wheel a1 and steel wheel b2.Using steel wheel a1 as the outer ring of roller bearing, steel wheel b2
As inner ring, two steel wheels and roller 6 form roller bearing and steel wheel integral structure.
Steel wheel a1 and steel wheel b2, its end face and outer shroud circumferentially on be uniformly threaded hole, as input steel wheel and
Export the mounting hole of steel wheel.The microminiature harmonic speed reducer is connect by the lower face threaded hole of steel wheel a1 with shell 16,
The outer shroud threaded hole of steel wheel a1 is used for the installation of connecting rod when assembled joint, and another end link selects steel wheel according to actual use demand
The mounting means of b2.Output acquisition axis is fixedly connected by standard screws with the upper surfaces steel wheel b2.In two end faces steel wheel a1 and
The outer end face of steel wheel b2 is machined with annular groove, the mounting groove as sealing ring a8, sealing ring b9 and sealing ring c10.
Flexbile gear 3 be metal material processing at annular rotary thin-wall structure, outer wall is machined with external tooth, 3 external tooth of flexbile gear and steel
The internal tooth of wheel a1 and steel wheel b2 engages respectively, by deformation of the flexbile gear 3 in the case where cam 4 and flexible bearing 5 act on, is transmitted for steel wheel
Transfer motion power.The torque of harmonic speed reducer output can be changed by adjusting the width of flexbile gear 3.In the situation that 3 number of teeth of flexbile gear is fixed
Under, it can realize harmonic speed reducer reduction ratio regulatory function by the internal tooth gear ratio of change steel wheel a1 and steel wheel b2.
Cam 4 be metal material processing at rotary structure, cam 4 and motor shaft use integral structure, motor to turn
Son 12 is sleeved on motor shaft.Cam 4 is hollow structure, and output acquisition axis 17 is installed through 4 centre bore of cam.Cam 4
Outer diameter have larger and smaller portions.The larger part of outer diameter is oval structure, and outer diameter smaller portions are cylindrical structure.Motor shaft
Cylindrical structure runs through 16 upper surface of shell, rotor 12 and pressing plate 18, and the lower end of cylindrical structure is machined with external screw thread, for pressing
The installation of tight nut 22.Under the effect of hollow torque motor, 4 rotary motion of cam, by the change that power-conversion is flexible bearing 5
Shape, flexbile gear 3 deform therewith, then realize the transmission of power.The larger one end thread mill drilling of 4 outer diameter of cam is used for bearing rib
The installation of circle.
Flexible bearing 5 is made of inner ring, outer shroud and ball roller, is driven lower inner ring to be deformed in cam 4, is then passed through
Ball roller drives outer shroud deformation, finally drives the deformation for the flexbile gear 3 being connect with outer shroud, realizes that power transmits.Pass through bearing rib
The positive stop lug boss of circle 7 and shell 16 carries out the axial limiting of flexible bearing 5.
Roller 6 be metal material processing at cylindrical structure, intersect the rectangle mounted on steel wheel a1 and steel wheel b2 compositions
In annular groove, realize that the power for laterally and radially carrying and inputting steel wheel and export between steel wheel of the present invention transmits.
End ring 7 be metal material processing at hollow T-type rotary structure, by standard screws be mounted on cam 4
One end, be used for flexible bearing 5 axial limiting.
Motor stator 11 and electronics rotor 12 form the hollow torque motor, and motor stator 11 is mounted on shell 16
Interior, rotor 12 is mounted on cam 4.Rotor 12 is sequentially set with motor stator 11.Hollow torque motor is as this
The power source of invention passes to cam 4 by rotor 12, and it is dynamic to complete the present invention by the microminiature harmonic speed reducer
The output of power.
Drive control plate 13 be mounted on pressing plate 18 cylinder boss on, center is through-hole, output acquisition axis 17 through afterwards with
Code-disc mounting plate 15 connects, and code-disc 14 is connect with code-disc mounting plate 15.
Shell 16 be metal material processing at rotary structure, the diameter phase of shell 16 and microminiature harmonic speed reducer
Together..The upper transverse plane of shell 16 is connect with microminiature harmonic speed reducer, in the plane machining annular convex platform, for flexibility
The axial limiting of bearing 5.It is machined with boss in shell 16, is used for the installation of motor stator 11.It is machined with two in 16 circumference of shell
Counter sink is enclosed, the installation of pressing plate 18 and blanking cover 19 is respectively used to.Bearing a20 is installed on housing 16, bearing a20 is located at installation
In 16 end face of shell and one end.Between the cylindrical structure of cam 4, bearing a20, which is that shaft rotation is dynamic, provides support, reduces friction.
Output acquisition axis 17 is that T-type turns round axis structure, is connect with steel wheel b by standard screws, central circular is through convex
Wheel 4 and 13 centre bore of drive control plate, connect with code-disc mounting plate 15.Output acquisition 17 hollow structure of axis is cable hole.Pass through
The output information of steel wheel b is passed to code-disc 14 by output acquisition axis 17, then by the control of drive control plate 13, realizes this hair
Bright output accurately controls.
Pressing plate 18 provides the mounting hole of bearing b21, and circumference uniform distribution is threaded hole, the countersunk head with 16 circumference uniform distribution of shell
Hole is corresponding.Meanwhile pressing plate 18 is machined with cylinder boss, is used for the installation of drive control plate 13.Axis is installed on pressing plate 18
B21 is held, bearing b21 is between pressing plate 18 and the cylindrical structure of cam 4, and bearing b21, which is that shaft rotation is dynamic, provides support, and reduction rubs
It wipes.
19 circumference uniform distribution of blanking cover is threaded hole, corresponding with 16 circumference uniform distribution counter sink of shell.19 centre bore of blanking cover
For cable hole.
Clamp nut 22 is outer six square nuts, is mounted on 4 one end of cam, realizes the axial limiting of bearing b21.
The integrated servo joint that the present invention designs is column structure, in identical parameters, convenient for application, similar
Cylindrical structure is kept in the case of product same bearer, improves usability.
Microminiature harmonic speed reducer, hollow torque motor and driving unit are combined into the ultra-small integrated servo of the present invention
Joint.Under extraneous power supply auxiliary, by the control of drive control plate 13, power is passed into cam by rotor 12,
Flexible bearing 5 deforms under the effect of cam 4 drives flexbile gear 3 to deform, and is realized by inside and outside tooth engagement between flexbile gear 3 and steel wheel
The output of power is completed in the transmission of power, and acquiring axis 17 by output feeds back the output information of steel wheel b in drive by code-disc 14
Dynamic control panel 13 is then realized and is accurately controlled.Ultra-small integrated servo joint structure provided by the invention is simpler, realizes
Size can with smaller, at the integrated servo joint of the installation present invention, axial-radial can, can be applicable in more
Scene.
Claims (4)
1. a kind of ultra-small integrated servo joint, which is characterized in that including microminiature harmonic speed reducer, hollow torque motor,
Driving unit, shell, output acquisition axis, pressing plate and blanking cover；
The microminiature harmonic speed reducer includes steel wheel a, steel wheel b, flexbile gear, cam, flexible bearing, roller and end ring；
It is machined with V-ring slot on the inner wall of steel wheel a, rectangle annular groove is cooperatively formed with the V-ring slot of steel wheel b outer walls processing；Roller is pacified
In the rectangle annular groove；Steel wheel a, steel wheel b and roller form roller bearing and steel wheel integral structure, steel wheel a conducts
The outer ring of roller bearing, steel wheel b is as inner ring；Steel wheel a and steel wheel b is meshed by internal tooth with the external tooth of flexbile gear respectively；Flexbile gear,
Flexible bearing and cam are sequentially set with, and end ring is mounted on cam, for flexible bearing axial limiting；The steel wheel
B is fixedly connected with the upper end of output acquisition axis；The cam is hollow structure, is sleeved on output acquisition axis, described is convex
Wheel uses integral structure with motor shaft；
The upper surface of the shell is fixedly connected with steel wheel a, and the upper surface of shell is hollow, is sleeved on cam；
The hollow torque motor includes motor stator and rotor, and motor stator is mounted in shell, rotor peace
On cam；
The driving unit includes drive control plate, code-disc and code-disc mounting plate；On the shell below motor stator
Pressing plate is installed, pressing plate is machined with cylinder boss, and drive control plate is mounted on the cylinder boss of pressing plate；The output acquisition
Step surface is arranged in the lower end of axis, for installing code-disc mounting plate；Code-disc is installed on code-disc mounting plate；
The blanking cover is fixed on the lower end of shell.
2. ultra-small integrated servo according to claim 1 joint, which is characterized in that the steel wheel a and steel wheel b,
On its end face and outer shroud, circumferentially on be uniformly threaded hole；The outer shroud threaded hole of steel wheel a and steel wheel b is closed for assembling
The installation of connecting rod when section.
3. ultra-small integrated servo according to claim 1 or 2 joint, which is characterized in that the cam is metal
The rotary structure that material is processed into, it is oval structure, outer diameter that cam outer diameter, which has larger and smaller portions, the larger part of outer diameter,
Smaller portions are cylindrical structure；Cylindrical structure runs through shell upper surface, rotor and pressing plate, is processed in the lower end of cylindrical structure
There is external screw thread, for installing clamp nut.
4. ultra-small integrated servo according to claim 1 joint, which is characterized in that the drive control plate is outside
Under boundary power supply auxiliary, power is passed into cam by rotor, flexible bearing deform under cam effect drive it is soft
Wheel deformation is realized the transmission of power by inside and outside tooth engagement between flexbile gear and steel wheel a, b, completes the output of power, pass through output
Axis is acquired to feed back the output information of steel wheel in drive control plate by code-disc.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810577552.7A CN108422442B (en) | 2018-06-07 | 2018-06-07 | A kind of ultra-small integrated servo joint |
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| CN201810577552.7A CN108422442B (en) | 2018-06-07 | 2018-06-07 | A kind of ultra-small integrated servo joint |
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| CN108422442A true CN108422442A (en) | 2018-08-21 |
| CN108422442B CN108422442B (en) | 2019-06-25 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366498A (en) * | 2018-11-23 | 2019-02-22 | 芜湖电工机械有限公司 | A kind of four axial plane formula robots for high speed slot-puncher |
| CN111409097A (en) * | 2020-04-01 | 2020-07-14 | 燕山大学 | Compact joint driving device for robot |
| CN114407071A (en) * | 2021-12-31 | 2022-04-29 | 北京敏锐达致机器人科技有限责任公司 | Robot joint |
| US20220314466A1 (en) * | 2020-04-23 | 2022-10-06 | Guangzhou Accuglen Intelligent Tech Ltd. | Shafting structure of an integrated joint for a collaborative robot |
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| JPH01222884A (en) * | 1988-02-29 | 1989-09-06 | Shimadzu Corp | Hydraulic rotary actuator |
| CN203984152U (en) * | 2014-04-04 | 2014-12-03 | 上海电姆机器人有限公司 | The modularization servomotor of a kind of integration reducer and feedback control system |
| CN206495966U (en) * | 2016-05-25 | 2017-09-15 | 浙江来福谐波传动股份有限公司 | Robot harmonic speed reducer |
| CN107322632A (en) * | 2017-07-27 | 2017-11-07 | 董旺建 | The integrated mechanical joint of integral intelligent |
| CN207437721U (en) * | 2017-10-16 | 2018-06-01 | 浙江来福谐波传动股份有限公司 | A kind of right-angled intersection needle bearing with internal tooth |
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| JPH01222884A (en) * | 1988-02-29 | 1989-09-06 | Shimadzu Corp | Hydraulic rotary actuator |
| CN203984152U (en) * | 2014-04-04 | 2014-12-03 | 上海电姆机器人有限公司 | The modularization servomotor of a kind of integration reducer and feedback control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366498A (en) * | 2018-11-23 | 2019-02-22 | 芜湖电工机械有限公司 | A kind of four axial plane formula robots for high speed slot-puncher |
| CN111409097A (en) * | 2020-04-01 | 2020-07-14 | 燕山大学 | Compact joint driving device for robot |
| CN111409097B (en) * | 2020-04-01 | 2022-08-19 | 燕山大学 | Compact joint driving device for robot |
| US20220314466A1 (en) * | 2020-04-23 | 2022-10-06 | Guangzhou Accuglen Intelligent Tech Ltd. | Shafting structure of an integrated joint for a collaborative robot |
| US11801609B2 (en) * | 2020-04-23 | 2023-10-31 | Guangzhou Accuglen Intelligent Tech Co., Ltd. | Shafting structure of an integrated joint for a collaborative robot |
| CN114407071A (en) * | 2021-12-31 | 2022-04-29 | 北京敏锐达致机器人科技有限责任公司 | Robot joint |
| CN114407071B (en) * | 2021-12-31 | 2024-03-29 | 北京敏锐达致机器人科技有限责任公司 | Robot joint |
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