CN110039569A - A kind of joint of robot - Google Patents
A kind of joint of robot Download PDFInfo
- Publication number
- CN110039569A CN110039569A CN201910456950.8A CN201910456950A CN110039569A CN 110039569 A CN110039569 A CN 110039569A CN 201910456950 A CN201910456950 A CN 201910456950A CN 110039569 A CN110039569 A CN 110039569A
- Authority
- CN
- China
- Prior art keywords
- encoder
- bearing
- output
- joint
- output 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
Classifications
-
- 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
- B25J17/00—Joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
Abstract
The present invention relates to a kind of joint of robot, it mainly include electric machine assembly, reducer assemblies, first encoder and second encoder, wherein, first encoder is mounted on the location parameter of the output end monitoring output between reducer assemblies and load, output end one have movement encoder can feedback signal to system, the second encoder is mounted on the speed and electric current that motor is monitored on electric machine assembly, it can be used for feeding back the speed and torque of rotation, the present invention is monitored respectively by first encoder and second encoder feeds back different parameter signals, the rotation position of the rotation position and motor that monitor load in real time compares compensating approach, it is capable of the function of the physical location of feedback load, have the advantages that with high accuracy.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of joint of robot.
Background technique
Encoder at current most joint of robot is using single encoder, i.e. single encoder is assembled in phase
On the motor answered, the output parameter of motor, such as motor rotation speed, current of electric, motor can be fed back by this encoder
Turned position.
Motor is to be finally output to load by retarder in practice, increases a deceleration between motor and load
Device, retarder can generate error, the parameter of electric machine of encoder feedback may and the load parameter of actual requirement have deviation, for example subtract
The gap of fast device internal gear engagement, skidding of rotary shaft etc. can all influence actual parameter, and the joint of robot is relatively more, such as
Deviation can expand at double when the position somewhat deviation of one articulation of fruit is transformed into end, therefore joint of robot uses
Single encoder may cause end, and there are deviations.
Summary of the invention
One kind is provided it is an object of the invention to solve defect present in joint of robot in the prior art based on this
Full-closed servo controls Dual-encoder joint of robot, has the function of the physical location of feedback load and with high accuracy excellent
Point.
A kind of joint of robot, including shell and setting output shaft in the housing, intersect bearing, output seat,
Output gear, planet carrier, planetary gear, fixed gear, motor stator, electric mover, the first encoder and second encoder；
The motor stator and fixed gear are sequentially fixed on one end of the shell；
The other end for intersecting bearing and shell being set, the intersection bearing outer ring and the cage connection, the friendship
The inner ring of fork bearing is connect with the output shaft, output seat, and the output seat is fixedly connected with the output gear, and described first
Encoder is arranged on the output seat；
The second bearing is arranged on the output shaft, and the second bearing supports the planet carrier and the electricity simultaneously
The mover of the mover of machine, the planet carrier and the motor is fixed together to be rotated around the output shaft；First bearing setting
On the planet carrier, the planetary gear is arranged in the first bearing, and the planetary gear is rotated around the planet carrier,
The second encoder is arranged on the electric mover；
Wherein, first encoder is absolute value formula encoder, and the second encoder is incremental encoder.
It further include the first reading head and the second reading head as the further improvement of above-mentioned joint of robot, described first
Reading head reads the numerical value of first encoder, and second reading head reads the numerical value of the second encoder.
As the further improvement of above-mentioned joint of robot, the shell includes housing main body and rear cover, and described first reads
Several and the second reading head be fixed on it is described after cover, one of the housing main body far from rear cover is arranged in the intersection bearing
End.
As the further improvement of above-mentioned joint of robot, the output shaft is hollow output shaft.
As the further improvement of above-mentioned joint of robot, the housing main body is far from being provided with one on the inside of rear cover one end
Ladder protrusion, the outer ring for intersecting bearing are fixed in the ladder protrusion.
As the further improvement of above-mentioned joint of robot, the output shaft from close to it is described intersect bearing one end sequentially
It is provided with first shaft shoulder and second shaft shoulder, the output seat is arranged on first shaft shoulder, and the second bearing is arranged in institute
It states on second shaft shoulder.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: this
Inventing the joint of robot includes the first encoder and second encoder, wherein first encoder is mounted on retarder
Component and load between output end monitoring output location parameter, output end one have movement encoder can feedback signal to
System, the second encoder are mounted on the speed and electric current of electric in-flight monitoring motor, can be used for feeding back rotation speed and
Torque, the present invention is monitored respectively by first encoder and second encoder feeds back different parameter signals, real time monitoring
The rotation position of load and the rotation position of motor compare compensating approach, are capable of the function of the physical location of feedback load,
Have the advantages that with high accuracy.
In addition, first encoder is absolute value formula encoder, precision is relatively high, can feed back with high precision actual
Output end turned position.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is the perspective view of joint of robot of the present invention；
Fig. 2 is the main view of joint of robot of the present invention；
Fig. 3 is the sectional view along A-A in Fig. 2；
Fig. 4 is C-C in Fig. 3 to cross-sectional view；
Fig. 5 is the structural schematic diagram of output shaft of the present invention.
Specific embodiment
Referring now to attached drawing hereinafter, the present invention is described in more detail below, shows the embodiment of the present invention in the figure.
However, the present invention can be presented as many different forms, and it should not be construed as being limited to specific embodiment presented herein.
Exactly, these embodiments are for conveying the scope of the invention to those skilled in the art.
Unless otherwise defined, otherwise, term (including technical and scientific terms) used herein is interpreted as
With the identical meaning of the meaning that is generally understood with the technical staff in field belonging to the present invention.Also, it is to be understood that
Term used herein be interpreted as having with the consistent meaning of meaning in this specification and related fields, and do not answer
It is explained by ideal or excessively formal meaning, unless being clearly specified that herein.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
As shown in Figures 1 to 4, Fig. 1 is the perspective view of joint of robot of the present invention；Fig. 2 is machine of the present invention
The main view of person joint；Fig. 3 is the sectional view along A-A in Fig. 2；Fig. 4 is C-C in Fig. 3 to cross-sectional view.
The present invention provides a kind of joint of robot, mainly include electric machine assembly, reducer assemblies, the first encoder and the
Two encoders, wherein first encoder is mounted on the position of the output end monitoring output between reducer assemblies and load
Parameter, output end one have movement encoder can feedback signal to system, the second encoder is mounted on electric machine assembly
The speed and electric current for monitoring motor, can be used for feeding back the speed and torque of rotation, the present invention by first encoder and
Second encoder monitors respectively feeds back different parameter signal, monitor in real time load rotation position and motor rotation position into
Row comparison compensating approach, is capable of the function of the physical location of feedback load, has the advantages that with high accuracy.
Each component part of the present embodiment joint of robot is described in detail individually below.
Joint of robot of the present invention specifically includes shell and setting output shaft 1 in the housing, intersects
Bearing 2, output seat 4, output gear 5, planetary gear 6, fixed gear 7, motor stator 8, electric mover 10, second encoder
11, first bearing 12, planet carrier 13, second bearing 14, the first reading head 15, the first encoder 16, the second reading head 17.
Wherein, the shell includes housing main body 3 and rear cover 9, and the motor stator 8 and electric mover 10 form the electricity
Thermomechanical components, the planetary gear 6, fixed gear 7, planet carrier 13 form the reducer assemblies.
The motor stator 8 and fixed gear 7 are sequentially fixed on the housing main body 3 close to one end of rear cover 9, and described the
One reading head 15, the second reading head 17 are fixed on rear cover 9.
The other end for intersecting bearing 2 and housing main body 3 being set, 2 outer ring of intersection bearing and the housing main body 3
Connection, the inner ring for intersecting bearing 2 are connect with the output shaft 1, output seat 4, the output seat 4 and the output gear 5
It is fixedly connected, first encoder 16 is arranged on the output seat 4.Specifically, the housing main body 3 is far from rear cover 9 one
Ladder protrusion is provided on the inside of end, the outer ring for intersecting bearing 2 is fixed in the ladder protrusion.
The second bearing 14 is arranged on the output shaft 1, and the second bearing 14 supports the planet carrier 13 simultaneously
With the electric mover 10, the planet carrier 13 and the electric mover 10 are fixed together and rotate around the output shaft 1；Institute
It states first bearing 12 to be arranged on the planet carrier, the planetary gear 6 is arranged in the first bearing 12, the planet tooth
Wheel 6 is rotated around the planet carrier 13, and the second encoder 11 is arranged on the electric mover 10.
Wherein, first encoder 16 is absolute value formula encoder, and the second encoder 11 is incremental encoder,
First reading head 15 reads the numerical value of first encoder 16, and second reading head reads 17 and takes the second encoder
11 numerical value.
As shown in figure 5, Fig. 5 is the structural schematic diagram of output shaft of the present invention.
Specifically, the output shaft 1 is sequentially provided with first shaft shoulder 101 and the from close to described one end for intersecting bearing 2
Two shaft shoulders 102, the output seat 1 are arranged on first shaft shoulder 101, and the second bearing 14 is arranged in second shaft shoulder
On 102.
As preferred embodiment, the output shaft 1 is hollow output shaft.
Working principle: motor stator 8 is wound with coil above, generates magnetic field when being powered on coil, above electric mover 10
With permanent magnet, the permanent magnet on magnetic field and electric mover 10 that motor stator 8 generates is mutually exclusive, thus driving motor
Mover 10 rotates, and the second encoder 16 on electric mover 10 (also and then rotates, the second reading head 17 being fixed on rear cover 9
The striped in second encoder 16 will be read, to convert out the torque of electric mover 10, speed parameter.
After the electric mover 10 rotates, the planet carrier 13 of drive connection is rotated, since 13 bias of planet carrier will drive institute
It states first bearing 12 and planetary gear 6 moves, the planetary gear 6 and fixed gear 7, output gear 5 engage, because of fixed gear
7 is motionless, and the planetary gear 6 engaged moves, and the output gear 5 for forcing engagement is rotated, and the rotation of output gear 5 will drive and export
Seat 4 intersects 2 inner ring of bearing, the rotation of output shaft 1, and the first encoder 16 on output shaft 1 is also and then rotated, is fixed on rear cover 9
The first reading head 15 will read the striped on the first encoder 16, to convert out the location parameter of output shaft 1, due to output
End is rotating mechanism, and corresponding location parameter is rotation angle.In addition, the export structure and output shaft 1 of outside need installation connect
Connect namely may determine that the location parameter of data structure.
Two encoders of joint of robot of the present invention monitor respectively feeds back different parameter signals, and robot closes
It is very high that the rotary motion of section requires the running accuracy of position to require, so needing to monitor in real time rotation position and the motor of load
Rotation position compare compensating approach；The rotation of joint of robot also needs the size of feedback speed and torque, to sentence
Whether the parameter and real-time parameter of disconnected system input have deviation and compensate and correct, and torque is converted by the size of electric current
, the usually size of monitor current, comparatively precision prescribed is not especially high to the two parameters, and the two parameters need
Could monitor close to motor, thus first encoder 16 of this Dual-encoder be arranged in it is defeated between reducer assemblies and load
The location parameter that outlet can be loaded with accurate feedback, second encoder 11 are mounted on the output end of motor, feed back the speed of motor
With electric current (torque), the two parameters are multiplied with reduction ratio again can obtain the speed and torque of load.
Compared with the prior art, the embodiment of the present application joint of robot has the following technical effect that or advantage: the present invention
The joint of robot includes the first encoder and second encoder, wherein first encoder is mounted on reducer assemblies
The location parameter of output end monitoring output between load, output end one have movement encoder can feedback signal to being
System, the second encoder are mounted on the speed and electric current of electric in-flight monitoring motor, can be used for feeding back the speed and torsion of rotation
Square, the present invention is monitored respectively by first encoder and second encoder feeds back different parameter signals, and real time monitoring is negative
The rotation position of load and the rotation position of motor compare compensating approach, are capable of the function of the physical location of feedback load, tool
There is advantage with high accuracy.
In addition, first encoder is absolute value formula encoder, precision is relatively high, can feed back with high precision actual
Output end turned position.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.
Claims (6)
1. a kind of joint of robot, it is characterised in that: including output shaft, the intersecting axle of shell and setting in the housing
It holds, export seat, output gear, planet carrier, planetary gear, fixed gear, motor stator, electric mover, the first encoder and the
Two encoders；
The motor stator and fixed gear are sequentially fixed on one end of the shell；
The other end for intersecting bearing and shell being set, the intersection bearing outer ring and the cage connection, the intersecting axle
The inner ring held is connect with the output shaft, output seat, and the output seat is fixedly connected with the output gear, first coding
Device is arranged on the output seat；
The second bearing is arranged on the output shaft, and the second bearing supports the planet carrier and the motor simultaneously
The mover of mover, the planet carrier and the motor is fixed together to be rotated around the output shaft；First bearing is arranged in institute
It states on planet carrier, the planetary gear is arranged in the first bearing, and the planetary gear is rotated around the planet carrier, described
Second encoder is arranged on the electric mover；
Wherein, first encoder is absolute value formula encoder, and the second encoder is incremental encoder.
2. joint of robot according to claim 1, it is characterised in that: it further include the first reading head and the second reading head,
First reading head reads the numerical value of first encoder, and second reading head reads the number of the second encoder
Value.
3. joint of robot according to claim 2, it is characterised in that: the shell includes housing main body and rear cover, institute
State the first reading head and the second reading head be fixed on it is described after cover, the intersection bearing setting is in the housing main body far from after
One end of lid.
4. joint of robot according to claim 1, it is characterised in that: the output shaft is hollow output shaft.
5. joint of robot according to claim 3, it is characterised in that: inside of the housing main body far from rear cover one end
It is provided with ladder protrusion, the outer ring for intersecting bearing is fixed in the ladder protrusion.
6. joint of robot according to claim 1, it is characterised in that: the output shaft is from close to the intersection bearing
One end is sequentially provided with first shaft shoulder and second shaft shoulder, and the output seat is arranged on first shaft shoulder, the second bearing
It is arranged on second shaft shoulder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456950.8A CN110039569A (en) | 2019-05-29 | 2019-05-29 | A kind of joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456950.8A CN110039569A (en) | 2019-05-29 | 2019-05-29 | A kind of joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110039569A true CN110039569A (en) | 2019-07-23 |
Family
ID=67284028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910456950.8A Pending CN110039569A (en) | 2019-05-29 | 2019-05-29 | A kind of joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110039569A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN112008763A (en) * | 2020-09-01 | 2020-12-01 | 之江实验室 | Integrated double-encoder applied to robot joint module and detection method |
| CN112276997A (en) * | 2020-10-14 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
| CN112697175A (en) * | 2020-12-30 | 2021-04-23 | 武汉理工大学 | Side shaft type encoder system and calibration method thereof |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN113804099A (en) * | 2021-07-21 | 2021-12-17 | 安徽哈工标致医疗健康产业有限公司 | Multi-sensor fusion angle detection system and method for upper and lower limb rehabilitation equipment |
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| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN206626146U (en) * | 2017-04-13 | 2017-11-10 | 盐城奥凯特种机械有限公司 | A kind of eccentric rolling formula difference tooth precision speed reduction device |
| CN109227562A (en) * | 2018-10-18 | 2019-01-18 | 刘山平 | A kind of industrial robot arm component |
| CN109366480A (en) * | 2018-12-19 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of dynamoelectric controlled integrated joint of robot mould group of high integration |
| CN208778595U (en) * | 2018-09-19 | 2019-04-23 | 广州煌牌自动设备有限公司 | A kind of joint of robot driving device |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN103753601A (en) * | 2013-12-18 | 2014-04-30 | 上海交通大学 | Teleoperation mechanical arm of space cascade rotary joint type and combination thereof |
| CN206626146U (en) * | 2017-04-13 | 2017-11-10 | 盐城奥凯特种机械有限公司 | A kind of eccentric rolling formula difference tooth precision speed reduction device |
| CN208778595U (en) * | 2018-09-19 | 2019-04-23 | 广州煌牌自动设备有限公司 | A kind of joint of robot driving device |
| CN109227562A (en) * | 2018-10-18 | 2019-01-18 | 刘山平 | A kind of industrial robot arm component |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110613606A (en) * | 2019-10-08 | 2019-12-27 | 杭州程天科技发展有限公司 | Intelligent moxibustion instrument |
| CN112008763A (en) * | 2020-09-01 | 2020-12-01 | 之江实验室 | Integrated double-encoder applied to robot joint module and detection method |
| CN112276997A (en) * | 2020-10-14 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
| CN112276997B (en) * | 2020-10-14 | 2021-09-10 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
| CN112697175A (en) * | 2020-12-30 | 2021-04-23 | 武汉理工大学 | Side shaft type encoder system and calibration method thereof |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN113804099A (en) * | 2021-07-21 | 2021-12-17 | 安徽哈工标致医疗健康产业有限公司 | Multi-sensor fusion angle detection system and method for upper and lower limb rehabilitation equipment |
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Application publication date: 20190723 |
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