CN109531617A - A kind of integrated robot joint module - Google Patents
A kind of integrated robot joint module Download PDFInfo
- Publication number
- CN109531617A CN109531617A CN201811509891.8A CN201811509891A CN109531617A CN 109531617 A CN109531617 A CN 109531617A CN 201811509891 A CN201811509891 A CN 201811509891A CN 109531617 A CN109531617 A CN 109531617A
- Authority
- CN
- China
- Prior art keywords
- absolute value
- output end
- encoder
- value encoder
- hollow shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of integrated robot joint module, rotor is press fit together with hollow shaft, and hollow shaft can independently rotate, hollow axis connection output flange and output end absolute value encoder.When the rotation of speed reducer input shaft, output flange also can be with the one ratio rotation of speed ratio point；To drive hollow shaft to rotate.The rotation of output end absolute value encoder is driven when hollow shaft rotation, such output end absolute value encoder can record the rotating cycle of motor, and motor side absolute value encoder records speed reducer fan-in evidence.The design structure is simple, and without being powered using external battery, cost is relatively low.
Description
Technical field
The present invention relates to robot fields, particularly, are related to a kind of integrated robot joint module.
Background technique
The design of regular industrial integrated robot joint module section is usually made of standard servo motor and speed reducer,
Plays servo motor is made of servo motor+absolute value encoder；Regular industrial integrated robot joint module output end
Position tends not to directly directly be read by servo motor end absolute value encoder because there is the presence of speed reducer；Need an energy
The device of motor rotating cycle is recorded to record the circle number that motor turns.There are two types of modes at present, and one is by encoder
Register record, but this method needs to configure external cell, for powering to encoder always under power blackout situation, but battery
When out of power can not record position, while battery is also consumptive material, increases cost.Another kind reads circle for mechanical record；Similar machine
Tool wrist-watch, records circle number by way of gear set, and mechanical structure is complicated；Troublesome maintenance.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides that a kind of structure is simple, and integrated robot at low cost closes
Save module.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of integrated robot joint module, including electric machine casing, are fixed with stator on electric machine casing, in electric machine casing
Equipped with hollow shaft, it is equipped with rotor in the hollow shaft, is equipped with speed reducer in electric machine casing, the output end of the speed reducer is fixed with
Output flange, speed reducer input terminal are equipped with motor side absolute value encoder bracket, and motor side absolute value encoder bracket is fixed with
Motor side absolute value encoder, motor side absolute value encoder correspond to speed reducer input terminal, and hollow shaft one end and output flange connect
It connects, electric machine casing is equipped with output end absolute value encoder bracket, is fixed with output end in output end absolute value encoder bracket
Absolute value encoder, the hollow shaft other end are connect with output end absolute value encoder.
Preferably, the output end absolute value encoder includes output end absolute value encoder shell, encoder transmission drive
Moving gear, output end absolute value encoder chip, encoder transfer driven gear, permanent magnet, output end absolute value encoder core
Piece is fixed on output end absolute value encoder shell, and encoder transfer driven gear is driven driving gear with encoder and is meshed
Transmission, permanent magnet are fixed in the rotary shaft of encoder transfer driven gear.
Preferably, the hollow shaft both ends are connected by deep groove ball bearing with output end absolute value encoder shell.
Preferably, the hollow shaft other end is connect with output end absolute value encoder is driven by hollow shaft and encoder
Drive the connection of gear close-fitting.
The utility model has the advantages that
Rotor is press fit together with hollow shaft, and hollow shaft can independently rotate, and hollow axis connection output flange and output end are exhausted
To value encoder.When the rotation of speed reducer input shaft, output flange also can be with the one ratio rotation of speed ratio point；In driving
Empty axis rotation.The rotation of output end absolute value encoder is driven when hollow shaft rotation, such output end absolute value encoder can
To record the rotating cycle of motor, and motor side absolute value encoder records speed reducer fan-in evidence.The design structure is simple,
Without being powered using external battery, cost is relatively low.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is joint module sectional view of the present invention；
Fig. 2 is joint module floor map of the present invention；
Fig. 3 is motor side absolute value encoder schematic diagram of the present invention；
Fig. 4 is this output end absolute value encoder perspective view；
Fig. 5 is output end absolute value encoder plan view of the present invention；
Fig. 6 is output end absolute value encoder sectional view of the present invention.
Figure label: 1- electric machine casing, 2- stator, 3- hollow shaft, 4- rotor, 5- speed reducer, 6- output flange, 7- output
Hold absolute value encoder bracket, 8- output end absolute value encoder, 81- output end absolute value encoder shell, 82- encoder biography
Dynamic driving gear, 83- output end absolute value encoder chip, 84- encoder transfer driven gear, 85- permanent magnet, 9- deep-groove ball
Bearing, 10- motor side absolute value encoder bracket, 11- motor side absolute value encoder.
Specific embodiment
Referring to Fig.1, Fig. 2, Fig. 3, a kind of integrated robot joint module, including electric machine casing 1, it is solid on electric machine casing 1
Surely there is stator 2, hollow shaft 3 is equipped in electric machine casing 1, rotor 4 is equipped in the hollow shaft 3, is equipped with speed reducer in electric machine casing 1
5, the output end of the speed reducer 5 is fixed with output flange 6, and 5 input terminal of speed reducer is equipped with motor side absolute value encoder bracket
10, motor side absolute value encoder bracket 10 is fixed with motor side absolute value encoder 11, and motor side absolute value encoder 11 is right
5 input terminal of speed reducer is answered, 3 one end of hollow shaft is connect with output flange 6, and electric machine casing 1 is equipped with output end absolute value encoder
Bracket 7 is fixed with output end absolute value encoder 8,3 other end of hollow shaft and output in output end absolute value encoder bracket 7
Absolute value encoder 8 is held to connect.
Speed reducer 5 be speed reducer, transmission speed ratio is big, superior performance, meet robot to high performance condition.Motor side
Absolute value encoder 11 is conventional absolute value encoder, can accurately read the data of 5 input terminal of speed reducer, output end is absolute
Being worth encoder 8 is based on gear-driven integral type absolute value magnetic coder.Hollow shaft 3 connects output flange 6 and output end is exhausted
To value encoder 8, when the rotation of 5 input shaft of speed reducer, output flange 6 also can be with the one ratio rotation of speed ratio point；To band
Dynamic hollow shaft 3 rotates.Output end absolute value encoder 8 is driven to rotate when hollow shaft 3 rotates, such output end absolute encoder
Device 8 can record the rotating cycle of motor, and motor side absolute value encoder 11 records 5 fan-in evidence of speed reducer.Originally it sets
Meter structure is simple, and without being powered using external battery, cost is relatively low.
As shown in Fig. 4, Fig. 5, Fig. 6, the output end absolute value encoder 8 includes output end absolute value encoder shell
81, encoder transmission driving gear 82, output end absolute value encoder chip 83, encoder transfer driven gear 84, permanent magnet
85, output end absolute value encoder chip 83 is fixed on output end absolute value encoder shell 81, encoder driven transmission tooth
Wheel 84 drives gear 82 to be meshed transmission with encoder transmission, and permanent magnet 85 is fixed on the rotation of encoder transfer driven gear 84
In axis.Output end absolute value encoder 8 uses gear transmission mode, starts speed reducer 5 without Hall；Save attachment Hall
The cost of component, and reduce corresponding failure rate；No battery power supply, structure is simple, only uses a pair of of gear, and gear rotational speed
It is not high, it is easy to maintain.Output end absolute value encoder 8 is additionally provided with wire clamp, and the effect of wire clamp is the fixed cable by interstitial hole；It is anti-
Only cable follows hollow shaft 3 to rotate.
3 both ends of hollow shaft are connected by deep groove ball bearing 9 with output end absolute value encoder shell 81.Hollow shaft 3
Both ends pass through a pair of of deep groove ball bearing 9 and support hollow shaft 3, and hollow shaft 3 is independently rotated；Two support deep groove ball bearings
9 respectively together with output flange 6,1 close-fitting of electric machine casing.
3 other end of hollow shaft is connect with output end absolute value encoder 8 to be driven by hollow shaft 3 and encoder transmission
The connection of 82 close-fitting of gear.Encoder transmission driving gear 82 is able to drive when hollow shaft 3 rotates in this way to rotate.
It is tightened together between output flange 6 and speed reducer 5 by hexagon socket head cap screw；Speed reducer 5 is also through interior hexagonal spiral shell
Bolt and electric machine casing 1 are firm together；Motor stator 2 is press fit together by press machine with electric machine casing 1；Electric machine casing 1 rises
Sealing function；Rotor 4 is press fit together with hollow shaft 3, and is matched with motor stator 2；3 both ends of hollow shaft pass through a pair
Deep groove ball bearing 9 supports hollow shaft 3, and hollow shaft 3 is independently rotated；Two spring bearings are exported with joint module respectively
Flange 6, electric machine casing 1 rear end cap close-fitting together；Output end absolute value encoder 8 passes through output end absolute value encoder branch
Frame 7 is fixed on electric machine casing 1.
When the rotation of 5 input shaft of speed reducer, output flange 6 also can be with the one ratio rotation of speed ratio point；In driving
Empty axis 3 rotates.Output end absolute value encoder 8 is driven to rotate when hollow shaft 3 rotates, such output end absolute value encoder 8
The rotating cycle that motor can be recorded, it is very high not need precision；Precision needs be only greater than 5 speed ratio of speed reducer, and then counter releases
The circle number of 5 input end of speed reducer；And the record 5 input terminal high accuracy data of speed reducer of motor side absolute value encoder 11, then plus
Upper input terminal circle number must output end of reducer truly high precision position information.
The above only better embodiment of the invention, but the present invention is not limited to above-described embodiments, if its with
Any same or similar means reach technical effect of the invention, should all fall under the scope of the present invention.
Claims (4)
1. a kind of integrated robot joint module, including electric machine casing (1), it is fixed with stator (2) on electric machine casing (1), electricity
Hollow shaft (3) are equipped in casing body (1), are equipped with rotor (4) in the hollow shaft (3), speed reducer is equipped in electric machine casing (1)
(5), the output end of the speed reducer (5) is fixed with output flange (6), it is characterised in that: speed reducer (5) input terminal is equipped with motor
It holds absolute value encoder bracket (10), motor side absolute value encoder bracket (10) is fixed with motor side absolute value encoder
(11), corresponding speed reducer (5) input terminal of motor side absolute value encoder (11), motor side absolute value encoder (11) and speed reducer
(5) input terminal connects, and hollow shaft (3) one end is connect with output flange (6), and electric machine casing (1) is compiled equipped with output end absolute value
Code device bracket (7), output end absolute value encoder bracket (7) is interior to be fixed with output end absolute value encoder (8), and output end is absolute
It is worth encoder (8) to correspond to, hollow shaft (3) other end is connect with output end absolute value encoder (8).
2. a kind of integrated robot joint module according to claim 1, it is characterised in that: the output end absolute value
Encoder (8) includes output end absolute value encoder shell (81), encoder transmission driving gear (82), output end absolute value volume
Code device chip (83), encoder transfer driven gear (84), permanent magnet (85), output end absolute value encoder chip (83) are fixed
On output end absolute value encoder shell (81), encoder transfer driven gear (84) and encoder transmission driving gear (82)
Be meshed transmission, and permanent magnet (85) is fixed in the rotary shaft of encoder transfer driven gear (84).
3. a kind of integrated robot joint module according to claim 2, it is characterised in that: the hollow shaft (3) two
End is connected by deep groove ball bearing (9) with output end absolute value encoder shell (81).
4. a kind of integrated robot joint module according to claim 2, it is characterised in that: the hollow shaft (3) is another
One end, which connect to be driven with encoder by hollow shaft (3) with output end absolute value encoder (8), drives gear (82) close-fitting to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811509891.8A CN109531617A (en) | 2018-12-11 | 2018-12-11 | A kind of integrated robot joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811509891.8A CN109531617A (en) | 2018-12-11 | 2018-12-11 | A kind of integrated robot joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531617A true CN109531617A (en) | 2019-03-29 |
Family
ID=65854504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811509891.8A Pending CN109531617A (en) | 2018-12-11 | 2018-12-11 | A kind of integrated robot joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531617A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986746A (en) * | 2019-12-27 | 2020-04-10 | 上海舞肌科技有限公司 | Output side absolute position detection method, output side absolute position detection device, speed reduction motor and storage medium |
| CN112713719A (en) * | 2020-12-31 | 2021-04-27 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002116057A (en) * | 2000-10-06 | 2002-04-19 | Yaskawa Electric Corp | Multi-rotational absolute value encoder |
| CN102692243A (en) * | 2012-06-20 | 2012-09-26 | 张维阳 | Multi-rotary absolute value rotary encoder |
| CN206663281U (en) * | 2017-03-02 | 2017-11-24 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN206908538U (en) * | 2017-07-06 | 2018-01-19 | 深圳市嘉昱机电有限公司 | Servo motor driving device and system |
| 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 |
| CN108890688A (en) * | 2018-08-17 | 2018-11-27 | 上海节卡机器人科技有限公司 | A kind of cooperation robot integral joint |
-
2018
- 2018-12-11 CN CN201811509891.8A patent/CN109531617A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002116057A (en) * | 2000-10-06 | 2002-04-19 | Yaskawa Electric Corp | Multi-rotational absolute value encoder |
| CN102692243A (en) * | 2012-06-20 | 2012-09-26 | 张维阳 | Multi-rotary absolute value rotary encoder |
| CN206663281U (en) * | 2017-03-02 | 2017-11-24 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN206908538U (en) * | 2017-07-06 | 2018-01-19 | 深圳市嘉昱机电有限公司 | Servo motor driving device and system |
| 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 |
| CN108890688A (en) * | 2018-08-17 | 2018-11-27 | 上海节卡机器人科技有限公司 | A kind of cooperation robot integral joint |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986746A (en) * | 2019-12-27 | 2020-04-10 | 上海舞肌科技有限公司 | Output side absolute position detection method, output side absolute position detection device, speed reduction motor and storage medium |
| CN112713719A (en) * | 2020-12-31 | 2021-04-27 | 意优智能科技(无锡)有限公司 | Servo gear motor number of turns recorder |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240607 |