CN108890688A - A kind of cooperation robot integral joint - Google Patents
A kind of cooperation robot integral joint Download PDFInfo
- Publication number
- CN108890688A CN108890688A CN201810938094.5A CN201810938094A CN108890688A CN 108890688 A CN108890688 A CN 108890688A CN 201810938094 A CN201810938094 A CN 201810938094A CN 108890688 A CN108890688 A CN 108890688A
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- China
- Prior art keywords
- fixed
- brake disc
- input shaft
- absolute encoder
- joint housing
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to joint of robot technical field, especially a kind of cooperation robot integral joint, including：Joint housing；There is motor stator and the rotor positioned at stator interior, stator to be fixed in joint housing；Input shaft, while being fixedly connected with the input terminal of rotor and harmonic speed reducer；Output shaft is fixedly connected on the output end of harmonic speed reducer；Brake disc is sheathed on input shaft, and brake disc is circumferentially distributed multiple teeth portion；And electromagnet, the present invention brakes in such a way that electromagnet power-off pushing rod enters on brake disc between two neighboring teeth portion, have the advantages that axial dimension is small, light-weight, fever is small, at low cost, structure is simple compared with conventional brake, simultaneously because brake disc is that the elastic force provided by elastic component is pressed on input shaft, therefore when accident collision occurs, it can be relatively rotated between brake disc and input shaft, to play the role of overload-release clutch.
Description
Technical field
The present invention relates to joint of robot technical field, especially a kind of cooperation robot integral joint.
Background technique
With being constantly progressive for robot field's technology, the robot that cooperates has become the newest side of robot field's development
To compared with conventional industrial robot, there is modularization light-weight design, heavy load/self weight ratio, inside to walk for cooperation robot
Line does not need safety barrier, can pull the features such as teaching.And the key components for the robot that cooperates are exactly that integration is closed
Section, most of brake gear that existing integral joint can configure brake gear, and be configured system in the form of frictional disk
Dynamic, on startup, output shaft can be locked the brake gear of the type completely, then brought problem is exactly such as robot
Arm collide when being pressed on jobbie, robot can trigger brake gear at once, act its arm stopping, herein
In the case of completed by brake gear locked due to the output shaft in joint, cause the arm of robot that can not also be pushed by the external world, no
The robot arm that can be will bear against in time on object is removed.
Summary of the invention
The technical problem to be solved by the present invention is to：In order to which the brake gear solved in integral joint in the prior art can not
The problem of playing safety clutch now provides a kind of cooperation robot integral joint.
The technical solution adopted by the present invention to solve the technical problems is：A kind of cooperation robot integral joint, including：
Joint housing；
Harmonic speed reducer is configured in the joint housing；
Motor, has stator and the rotor positioned at stator interior, and the stator is fixed in joint housing；
Input shaft, while being fixedly connected with the input terminal of rotor and harmonic speed reducer；
Output shaft is fixedly connected on the output end of harmonic speed reducer；
Brake disc is sheathed on input shaft, and elastic component is fixed on the input shaft, and the elastic component is used for brake disc
Force is connected to it on step surface of input shaft, and the brake disc is circumferentially distributed multiple teeth portion；
And electromagnet, mandril is pushed to the first operating position when the electromagnet is powered, and mandril is far from electromagnet
One end be equipped with reset spring, the electromagnet power off when mandril the second operating position is moved under the action of reset spring,
Wherein, the mandril in the first operating position does not interfere teeth portion with the rotation of brake disc, the mandril meeting in the second operating position
The teeth portion rotated with brake disc is caused to interfere, brake disc is prevented to rotate.
It is made in such a way that electromagnet power-off pushing rod enters on brake disc between two neighboring teeth portion in this programme
It is dynamic, simultaneously because brake disc is that the elastic force provided by elastic component is pressed on input shaft, therefore when accident collision occurs, brake disc
It can be relatively rotated between input shaft, to play the role of overload-release clutch, so that the output shaft under the promotion of external force can
With rotation.
Further, circlip is arranged on the input shaft, the elastic component is against bullet far from the side of brake disc
On property retaining ring.
Further, the electromagnet pushes the moving direction of mandril consistent with the axis direction of input shaft.
Further, incremental encoder and absolute encoder, the incremental encoder packet are provided in the joint housing
Incremental encoder read head and increment code wheel are included, the increment code wheel is mounted on input shaft, and the incremental encoder read head is fixed
In joint housing, and opposed with increment code wheel, the absolute encoder includes absolute encoder read head and absolute encoder, described
Absolute encoder is fixed on output shaft, and the absolute encoder read head is fixed in joint housing, and opposed with absolute encoder.
Further, transition plates is fixed in the joint housing, the incremental encoder read head is consolidated by read head mounting plate
It is scheduled in transition plates, the increment code wheel is mounted on input shaft by increment code wheel mounting flange.
Further, the absolute encoder is fixed on absolute encoder mounting flange, the absolute encoder mounting flange
One end and the fixed company of output shaft, the other end are mounted in bearing block by bearing, and the bearing block is solid by bearing block fixed plate
It is scheduled in joint housing, the absolute encoder read head is fixed on bearing block.
Further, one end of the joint housing is equipped with end cap, and the other end is fixed with rubber ring, the rubber ring it is interior
Side is fixed with dustband, and the output shaft passes through the dustband, rubber ring and dustband be located at joint housing and output shaft it
Between, prevent extraneous dust from entering intra articular.
Further, the output shaft and the equal inner hollow of absolute encoder mounting flange, it is solid in the bearing block fixed plate
Surely there is the rubber ring for wearing cable, output shaft and absolute encoder mounting flange are arranged to the cloth that inner hollow can be convenient for cable
It sets, improves the compact of structure, while rubber ring can protect the cable passed through inside output shaft.
Interference is generated to incremental encoder and absolute encoder in motor operation course in order to prevent, it is further, described
It is clamped with magnetic isolation plate between elastic component and brake disc, the motor is located at the side of magnetic isolation plate, the incremental encoder and absolutely
Encoder is respectively positioned on the other side of magnetic isolation plate.
Further, aluminium alloy, the material of the end cap can be used in the material of the joint housing, input shaft and output shaft
Matter is plastics, to realize the light-weight design in joint, the modularization robot for building joint load with higher/
Self weight ratio.
The beneficial effects of the invention are as follows：The present invention cooperates robot integral joint using electromagnet power-off pushing rod entrance
Mode on brake disc between two neighboring teeth portion is braked, small, light-weight with axial dimension compared with conventional brake,
It generates heat advantage small, at low cost, that structure is simple, simultaneously because brake disc is that the elastic force provided by elastic component is pressed on input shaft,
Therefore it when accident collision occurs, can be relatively rotated between brake disc and input shaft, to play the role of overload-release clutch.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic diagram of present invention cooperation robot integral joint；
Fig. 2 is the cooperation schematic diagram of electromagnet, brake disc and mandril in present invention cooperation robot integral joint.
In figure：1, output shaft, 2, harmonic speed reducer, 3, stator, 4, rotor, 5, transition plates, 6, circlip, 7, read head peace
Loading board, 8, incremental encoder read head, 9, increment code wheel, 10, drive and control circuit plate, 11, absolute encoder mounting flange, 12, bearing block,
13, end cap, 14, rubber ring, 15, bearing block fixed plate, 16, bearing, 17, absolute encoder, 18, electromagnet fixed plate, 19, increment
Code-disc mounting flange, 20, electromagnet, 21, magnetic isolation plate, 22, elastic component, 23, brake disc, 23-1, teeth portion, 24, input shaft, 25,
Joint housing, 26, rubber ring, 27, dustband, 28, mandril, 29, reset spring.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention, direction and referring to (for example,
Upper and lower, left and right, etc.) can be only used for helping the description to the feature in attached drawing.Therefore, it is not adopted in restrictive sense
With following specific embodiments, and claimed theme is only limited by appended claims and its equivalent form
Range.
Embodiment 1
As illustrated in fig. 1 and 2, a kind of cooperation robot integral joint, including：
Joint housing 25, drive and control circuit plate 10 are fixed in joint housing 25；
Harmonic speed reducer 2 is configured in joint housing 25；
There is motor stator 3 and the rotor 4 inside stator 3, stator 3 to be fixed in joint housing 25；
Input shaft 24, while being fixedly connected with the input terminal of rotor 4 and harmonic speed reducer 2；
Output shaft 1 is fixedly connected on the output end of harmonic speed reducer 2；
Brake disc 23 is sheathed on input shaft 24, and elastic component 22 is fixed on input shaft 24, and elastic component 22 is used for brake
The force of disk 23 is connected to it on step surface of input shaft 24, and brake disc 23 circumferentially distributed has multiple teeth portion 23-1 along its, wherein
Wave washer can be selected in elastic component 22；
And electromagnet 20, mandril 28 is pushed to the first operating position when electromagnet 20 is powered, and mandril 28 is far from electricity
One end of magnet 20 is equipped with reset spring 29, and mandril 28 is moved to second under the action of reset spring 29 when electromagnet 20 powers off
Operating position, wherein the mandril 28 in the first operating position does not interfere teeth portion 23-1 with the rotation of brake disc 23, is in second
The mandril 28 of operating position can cause to interfere to the teeth portion 23-1 rotated with brake disc 23, and brake disc 23 is prevented to rotate.
The structure of the electromagnet 20 concretely includes shell, fixes fixed core inside the shell and be slidably arranged in shell
Interior dynamic iron core, dynamic iron core are fixedly connected with mandril 28, and when electromagnet 20 is powered, dynamic iron core and fixed core are attracted, mandril 28
In the first operating position；When electromagnet 20 powers off, mandril 28 is moved to the second working position under the action of reset spring 29
It sets.
For mandril 28 at the first operating position, mandril 28 does not generate interference with the teeth portion 23-1 of brake disc 23 radially,
Brake disc 23 can be freely rotated with input shaft 24；And mandril 28 is when being in the second operating position, mandril 28 radially then can be with
The teeth portion 23-1 of brake disc 23 generates interference, to achieve the purpose that brake disc 23 is prevented to rotate.
Circlip 6 is arranged on input shaft 24, elastic component 22 is against on circlip 6 far from the side of brake disc 23.
Electromagnet 20 pushes the moving direction of mandril 28 consistent with the axis direction of input shaft 24.
Incremental encoder and absolute encoder are provided in joint housing 25, incremental encoder includes incremental encoder read head
8 and increment code wheel 9, increment code wheel 9 be mounted on input shaft 24, incremental encoder read head 8 is fixed in joint housing 25, and with
Increment code wheel 9 is opposed, and absolute encoder includes absolute encoder read head and absolute encoder 17, and absolute encoder 17 is fixed on output shaft
On 1, absolute encoder read head is fixed in joint housing 25, and opposed with absolute encoder 17.
Transition plates 5 is fixed in joint housing 25, incremental encoder read head 8 is fixed on transition plates 5 by read head mounting plate 7
On, increment code wheel 9 is mounted on input shaft 24 by increment code wheel mounting flange 19, and electromagnet 20 is fixed by electromagnet fixed plate 18
In transition plates 5.
Absolute encoder 17 is fixed on absolute encoder mounting flange 11, one end of absolute encoder mounting flange 11 and output shaft
1 fixed company, the other end are mounted in bearing block 12 by bearing 16, and bearing block 12 is fixed on joint by bearing block fixed plate 15
In shell 25, absolute encoder read head is fixed on bearing block 12.
One end of joint housing 25 is equipped with end cap 13, and the other end is fixed with rubber ring 26, and the inside of rubber ring 26 is fixed with
Dustband 27, output shaft 1 pass through dustband 27, and rubber ring 26 and dustband 27 are located between joint housing 25 and output shaft 1,
Prevent extraneous dust from entering inside joint housing 25.
Output shaft 1 and the equal inner hollow of absolute encoder mounting flange 11 are fixed with for wearing in bearing block fixed plate 15
The rubber ring 14 of cable, output shaft 1 and absolute encoder mounting flange 11 are arranged to the arrangement that inner hollow can be convenient for cable, improve
The compact of structure, while rubber ring 14 can protect the cable passed through inside output shaft 1.
Magnetic isolation plate 21 is clamped between elastic component 22 and brake disc 23, motor is located at the side of magnetic isolation plate 21, incremental encoding
Device and absolute encoder are respectively positioned on the other side of magnetic isolation plate 21.
Aluminium alloy can be used in the material of joint housing 25, input shaft 24 and output shaft 1, and the material of end cap 13 is plastics,
To realize the light-weight design in joint, the modularization robot for building joint load with higher/self weight ratio.
The present invention cooperate robot integral joint the course of work be：The rotation of 10 driving motor of drive and control circuit plate, motor
Rotor 4 is rotated with driven input shaft 24, so that the input terminal of harmonic speed reducer 2 is driven to rotate, after the deceleration of harmonic speed reducer 2,
The output end of harmonic speed reducer 2 drives output shaft 1 to rotate, and incremental encoder reads the rotational angle and revolving speed of input shaft 24, absolutely
The rotational angle and revolving speed that output shaft 1 is read to encoder, when electromagnet 20 is powered, electromagnet 20 drives mandril 28 from brake
It is detached between two adjacent fingers 23-1 of disk 23, brake disc 23 is freely rotated；When electromagnet 20 powers off, mandril 28
Enter between two adjacent fingers 3-1 of brake disc 23 under the action of reset spring 29, and mandril 28 radially can be with brake
The teeth portion 23-1 of hull 23 generates interference, achievees the purpose that rotate brake disc 23 can not；
Wherein, it since brake disc 23 is that the normal pressure provided by wave washer is pressed on input shaft 24, is anticipating
It when outer collision, can relatively rotate between brake disc 23 and input shaft 24, to play the role of overload-release clutch, and then realize
The arm for the cooperation robot built using the joint is when collision is pressed on jobbie, in the case where robot power-off,
It can relatively rotate, and also can provide between two adjacent teeth portion 23-1 certain between the input shaft 24 and brake disc 23 in joint
Rotation surplus, with this realize can by external force push robot arm so that it is separated with the object pushed down.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of cooperation robot integral joint, it is characterised in that：Including：
Joint housing (25)；
Harmonic speed reducer (2) is configured in the joint housing (25)；
Motor with stator (3) and is located at stator (3) internal rotor (4), and the stator (3) is fixed on joint housing (25)
It is interior；
Input shaft (24), while being fixedly connected with the input terminal of rotor (4) and harmonic speed reducer (2)；
Output shaft (1), is fixedly connected on the output end of harmonic speed reducer (2)；
Brake disc (23) is sheathed on input shaft (24), is fixed with elastic component (22), the elastic component on the input shaft (24)
(22) for making it be connected to the step surface of input shaft (24) brake disc (23) force, the brake disc (23) is circumferentially divided
It is furnished with multiple teeth portion (23-1)；
And electromagnet (20), mandril (28) is pushed to the first operating position, and mandril when the electromagnet (20) is powered
(28) one end far from electromagnet (20) is equipped with reset spring (29), and mandril (28) is resetting bullet when the electromagnet (20) powers off
Spring is moved to the second operating position under the action of (29), wherein the mandril (28) in the first operating position does not interfere teeth portion
(23-1) with the rotation of brake disc (23), the mandril (28) in the second operating position can be to the teeth portion rotated with brake disc (23)
(23-1) causes to interfere, and brake disc (23) is prevented to rotate.
2. a kind of cooperation robot integral joint according to claim 1, it is characterised in that：On the input shaft (24)
It is arranged with circlip (6), the elastic component (22) is against on circlip (6) far from the side of brake disc (23).
3. a kind of cooperation robot integral joint according to claim 1, it is characterised in that：The electromagnet (20) pushes away
The moving direction of dynamic mandril (28) is consistent with the axis direction of input shaft (24).
4. a kind of cooperation robot integral joint according to claim 1, it is characterised in that：The joint housing (25)
It is inside provided with incremental encoder and absolute encoder, the incremental encoder includes incremental encoder read head (8) and increment code wheel
(9), the increment code wheel (9) is mounted on input shaft (24), and the incremental encoder read head (8) is fixed on joint housing (25)
Interior and opposed with increment code wheel (9), the absolute encoder includes absolute encoder read head and absolute encoder (17), it is described absolutely
Code-disc (17) is fixed on output shaft (1), the absolute encoder read head is fixed in joint housing (25), and and absolute code
Disk (17) is opposed.
5. a kind of cooperation robot integral joint according to claim 4, it is characterised in that：The joint housing (25)
It is inside fixed with transition plates (5), the incremental encoder read head (8) is fixed on transition plates (5) by read head mounting plate (7), described
Increment code wheel (9) is mounted on input shaft (24) by increment code wheel mounting flange (19).
6. a kind of cooperation robot integral joint according to claim 4, it is characterised in that：The absolute encoder (17)
It being fixed on absolute encoder mounting flange (11), one end and output shaft (1) of the absolute encoder mounting flange (11) are fixed to be connected,
The other end is mounted in bearing block (12) by bearing (16), and the bearing block (12) is fixed on by bearing block fixed plate (15)
In joint housing (25), the absolute encoder read head is fixed on bearing block (12).
7. a kind of cooperation robot integral joint according to claim 4, it is characterised in that：The joint housing (25)
One end be equipped with end cap (13), the other end is fixed with rubber ring (26), is fixed with dustband on the inside of the rubber ring (26)
(27), the output shaft (1) passes through the dustband (27).
8. a kind of cooperation robot integral joint according to claim 6, it is characterised in that：The output shaft (1) and
Absolute encoder mounting flange (11) equal inner hollow is fixed with the rubber for wearing cable on the bearing block fixed plate (15)
It encloses (14).
9. a kind of cooperation robot integral joint according to claim 4, it is characterised in that：The elastic component (22) with
Be clamped between brake disc (23) magnetic isolation plate (21), the motor is located at the side of magnetic isolation plate (21), the incremental encoder and
Absolute encoder is respectively positioned on the other side of magnetic isolation plate (21).
10. a kind of cooperation robot integral joint according to claim 7, it is characterised in that：The joint housing
(25), aluminium alloy can be used in the material of input shaft (24) and output shaft (1), and the material of the end cap (13) is plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938094.5A CN108890688A (en) | 2018-08-17 | 2018-08-17 | A kind of cooperation robot integral joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938094.5A CN108890688A (en) | 2018-08-17 | 2018-08-17 | A kind of cooperation robot integral joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890688A true CN108890688A (en) | 2018-11-27 |
Family
ID=64354501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810938094.5A Pending CN108890688A (en) | 2018-08-17 | 2018-08-17 | A kind of cooperation robot integral joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890688A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN109605357A (en) * | 2019-01-04 | 2019-04-12 | 电子科技大学中山学院 | A kind of power-off brake device and robot |
| CN109676635A (en) * | 2018-12-21 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of Dual-encoder for the robot collision detection that cooperates |
| CN111890410A (en) * | 2020-07-01 | 2020-11-06 | 北京工业大学 | Drive and control integrated cooperative robot joint with running state monitoring function |
| CN112008761A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Brake module with brake detection function and brake function detection method |
| CN112008762A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Fully-sealed brake module with double-channel detection function and detection method |
| CN112873267A (en) * | 2021-02-18 | 2021-06-01 | 上海节卡机器人科技有限公司 | Cooperative robot integrated joint |
| CN112936293A (en) * | 2021-04-02 | 2021-06-11 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
| CN114800607A (en) * | 2022-04-07 | 2022-07-29 | 广东天机智能系统有限公司 | Robot joint cable protection architecture |
| CN116018243A (en) * | 2020-09-28 | 2023-04-25 | 双叶电子工业株式会社 | Servo motor and robot device |
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| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN109676635A (en) * | 2018-12-21 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of Dual-encoder for the robot collision detection that cooperates |
| CN109605357A (en) * | 2019-01-04 | 2019-04-12 | 电子科技大学中山学院 | A kind of power-off brake device and robot |
| CN111890410A (en) * | 2020-07-01 | 2020-11-06 | 北京工业大学 | Drive and control integrated cooperative robot joint with running state monitoring function |
| CN112008761A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Brake module with brake detection function and brake function detection method |
| CN112008762A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Fully-sealed brake module with double-channel detection function and detection method |
| CN116018243A (en) * | 2020-09-28 | 2023-04-25 | 双叶电子工业株式会社 | Servo motor and robot device |
| CN112873267A (en) * | 2021-02-18 | 2021-06-01 | 上海节卡机器人科技有限公司 | Cooperative robot integrated joint |
| CN112936293A (en) * | 2021-04-02 | 2021-06-11 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
| CN114800607A (en) * | 2022-04-07 | 2022-07-29 | 广东天机智能系统有限公司 | Robot joint cable protection architecture |
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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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: Room 301, building 6, Zizhu Science and Technology Park, 555 Dongchuan Road, Minhang District, Shanghai, 201100 Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: Jieka Robot Co.,Ltd. Address before: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |