CN110154080A - Joint drive module, seven shaft mechanical arms and robot - Google Patents
Joint drive module, seven shaft mechanical arms and robot Download PDFInfo
- Publication number
- CN110154080A CN110154080A CN201910543764.8A CN201910543764A CN110154080A CN 110154080 A CN110154080 A CN 110154080A CN 201910543764 A CN201910543764 A CN 201910543764A CN 110154080 A CN110154080 A CN 110154080A
- Authority
- CN
- China
- Prior art keywords
- joint
- mechanical arm
- drive module
- joint drive
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004804 winding Methods 0.000 claims abstract description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of joint drive module, seven shaft mechanical arms and robot, the first stator winding and the second stator winding is respectively set by the radially inner side and radial outside of the rotor windings in the rotor, the driving motor uses double-winding motor, bigger torque is capable of providing under comparable size, so that the joint drive module can reach larger revolving speed and torque under smaller size；Cradle head is set by the first joint, the 5th joint and the 7th joint, swinging joint is set by second joint, third joint, the 4th joint and the 6th joint, such arrangement can make robot both guarantee enough arm exhibitions and coverage area, it again can be too long to avoid single arm pipe size, the size of especially second to the 5th mechanical arm, it can flexibly realize the movement of various complexity, to expand flexibly detection coverage area, also can be improved application effect of the robot in narrow space.
Description
Technical field
The invention belongs to mechanical arm field more particularly to a kind of joint drive modules, seven shaft mechanical arms and robot.
Background technique
Revolute robot with the equal number of motor of freedom degree using driving, cooperation humanoid robot therein and small
Type compact machines people mostly uses the mode that motor is mounted on to corresponding joint position, saves the transmission mechanism of relatively long distance.It is existing
The such robot having, joint size is larger, armed lever is slightly straight, causes robot inflexible, and being not suitable for narrow space makes
With demand, and its functional parameter is difficult to improve.
Currently, cooperation humanoid robot and small compact humanoid robot joint are all made of the mode conduct of motor collocation speed reducer
Joint drive module partially integrates higher drive module and is further equipped with encoder, drive circuit board, torque sensor etc..By
In carry speed reducer, entire joint module size is larger, and then causes entire joint of mechanical arm size larger, and joint revolving speed compared with
It is low.And if such module does not carry speed reducer, the common joints motor torque used is insufficient.I.e. in the prior art
Joint motor module for, in the case where arrowhead, torque and revolving speed are in reversed related, such situation strong influence
The service performance of robot；And in the prior art, 7 axis joint humanoid robots are by the first joint, third joint, the 5th joint
It is set as cradle head with the 7th joint, sets swinging joint, such arrangement for second joint, the 4th joint and the 6th joint
Mode leads to the large arm and forearm longer dimension of robot.
In consideration of it, it is necessary to provide a kind of joint drive module, seven shaft mechanical arms and robots to solve in the prior art
The technical problem underlying faced.
Summary of the invention
The present invention in view of the above technical problems, proposes a kind of joint drive module, seven shaft mechanical arms and robot, to solve
Above-mentioned technical problem.
In order to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of joint drive module, including the first joint module and second joint module, first joint module include
Driving motor, the driving motor include rotor and motor stator；The rotor includes rotor base, rotor shaft
And rotor windings, the rotor shaft and the rotor windings are coaxially disposed and are fixedly connected respectively with the rotor base；Institute
Stating motor stator includes out frame and stator winding, and the stator winding is fixedly connected with the out frame；
The rotor shaft is socketed in the out frame and the second joint module centers；Wherein, the rotor turns
Axis and the out frame are rotatablely connected, and the rotor shaft is fixedly connected with the second joint module, the out frame
With the second joint module gap setting；
The stator winding includes the first stator winding and the second stator winding, and it is open that the out frame is provided with annular
Chamber；First stator winding, second stator winding and the rotor windings are co-axially located at the open chamber of annular
It is indoor；Wherein, the radially inner side of the rotor windings is arranged in first stator winding, and the second stator winding setting exists
The radial outside of the rotor windings, first stator winding and second stator winding with the rotor windings gap
Setting.
Preferably, first joint module further includes for detecting and recording the joint drive die angle information
And the encoder of location information, the encoder are fixedly connected with the rotor shaft and the out frame respectively；Described
Two joint modules include joint module ontology and joint drive controller, and the joint drive controller is mounted on the joint mould
On block body；The joint drive controller is electrically connected with the encoder, to read the angle letter of the joint drive module
Breath and location information.
Preferably, the open chamber of annular includes first annular side wall and the second annular sidewall, first annular side wall
And second annular sidewall and the rotor shaft be coaxially disposed and the first annular side wall is arranged in second annular sidewall
Radially inner side；The opening direction of the open chamber of annular is arranged away from the second joint module, and spacious in the annular
The opening of chamber, the relatively described first annular side wall protrusion setting of second annular sidewall；The rotor base setting exists
The rotor shaft deviates from axial one end of the second joint module, and opposite with the opening of the open chamber of annular sets
It sets；The rotor shaft and the first annular side wall are rotatablely connected, and the rotor base and second annular sidewall rotate
Connection.
Preferably, the joint module ontology is provided with central through hole, the rotor shaft passes through the central through hole
It is coaxially disposed with the second joint module, and the rotor shaft is hollow rotating shaft.
Preferably, between the rotor shaft and the first annular side wall and the rotor base and described second
Bearing is provided between annular sidewall.
Preferably, the opening of the open chamber of annular is equipped with capping, the capping and second annular side
Wall is fixedly connected.
A kind of seven shaft mechanical arms further include pedestal, first mechanical arm, the second machinery including above-mentioned joint drive module
Arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and the 6th mechanical arm；Wherein, in the pedestal and first machinery
Between arm, between the first mechanical arm and the second mechanical arm, between the second mechanical arm and the third mechanical arm,
Between the third mechanical arm and the 4th mechanical arm, between the 4th mechanical arm and the 5th mechanical arm, described
Between five mechanical arms and the 6th mechanical arm and the 6th mechanical arm end is installed by the joint drive module.
Preferably, by between the pedestal and the first mechanical arm, the first mechanical arm and described second mechanical
Between arm, between the second mechanical arm and the third mechanical arm, between the third mechanical arm and the 4th mechanical arm,
Between 4th mechanical arm and the 5th mechanical arm, between the 5th mechanical arm and the 6th mechanical arm and described
The joint drive module of six mechanical arm ends installation is respectively defined as the first joint drive module, second joint driving mould
Block, third joint drive module, the 4th joint drive module, the 5th joint drive module, the 6th joint drive module and the 7th
Joint drive module；When the pedestal, the first mechanical arm, the second mechanical arm, the third mechanical arm, the described 4th
It is the first joint drive module, described when the central axis of mechanical arm, the 5th mechanical arm and the 6th mechanical arm is parallel
The rotor shaft of 5th joint drive module and the 7th joint drive module is arranged in parallel, the second joint driving
Module, third joint drive module, the rotor shaft of the 4th joint drive module and the 6th joint drive module are flat
Row setting, and the institute of the first joint drive module, the 5th joint drive module and the 7th joint drive module
State rotor shaft and the second joint drive module, third joint drive module, the 4th joint drive module and the described 6th
The rotor shaft of joint drive module is vertically arranged.
Preferably, the second mechanical arm, the third mechanical arm, the 4th mechanical arm, the 5th mechanical arm
And the brachium ratio of the 6th mechanical arm is 5:5:3:2:2.
A kind of robot, including seven above-mentioned shaft mechanical arms.
The advantages and positive effects of the present invention are:
1, the joint drive module of the invention, seven shaft mechanical arms and robot, pass through the institute in the rotor
The first stator winding and the second stator winding, the driving motor is respectively set in the radially inner side and radial outside for stating rotor windings
Using double-winding motor, bigger torque is capable of providing under comparable size, so that the joint drive module can be smaller
Reach larger revolving speed and torque under size；
2, the joint drive module of the invention, seven shaft mechanical arms and robot, by the way that the rotor shaft to be arranged
For hollow rotating shaft, and the first to the 6th mechanical arm of the seven shaft mechanicals arm uses hollow tubular structure, passes through load wires
Hollow rotating shaft and hollow tube realize internal cabling；
3, the seven shaft mechanicals arm and robot of the invention, when the pedestal, the first mechanical arm, second machine
Tool arm, the third mechanical arm, the 4th mechanical arm, the central axis of the 5th mechanical arm and the 6th mechanical arm are parallel
When full extended state (also referred to as), the first joint drive module, the 5th joint drive module and the 7th joint
The rotor shaft of drive module is arranged in parallel, the second joint drive module, third joint drive module, the 4th joint
The rotor shaft of drive module and the 6th joint drive module is arranged in parallel, and the first joint drive module,
The rotor shaft of the 5th joint drive module and the 7th joint drive module and the second joint drive mould
Block, third joint drive module, the rotor shaft of the 4th joint drive module and the 6th joint drive module are vertical
Setting, i.e., set cradle head for the first joint, the 5th joint and the 7th joint, and second joint, third joint, the 4th are closed
Section and the 6th joint are set as swinging joint, compared to seven axis joint humanoid robots in the prior art by the first joint, the
Three joints, the 5th joint and the 7th joint are set as cradle head and set second joint, the 4th joint and the 6th joint to
The arrangement of swinging joint, such arrangement can make robot not only guarantee enough arm exhibitions and coverage area, but also can keep away
Exempt from that single arm pipe size is too long, the size of the especially second to the 5th mechanical arm can flexibly realize the movement of various complexity, from
And expand flexibly detection coverage area, it also can be improved application effect of the robot in narrow space.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of joint drive module of the present invention；
Fig. 2 is the sectional view of seven shaft mechanicals arm of the present invention；
Fig. 3 is structural schematic diagram of the seven shaft mechanicals arm of the present invention under full extended state；
In figure: 1, the first joint module；111, rotor base；112, rotor shaft；113, rotor windings；121, stator
Seat；1211, the open chamber of annular；1212, first annular side wall；1213, the second annular sidewall；122, the first stator winding；
123, the second stator winding；13, encoder；14, bearing；2, second joint module；21, joint module ontology；22, joint drive
Controller；31, pedestal；311, the first joint drive module；32, first mechanical arm；321, second joint drive module；33,
Two mechanical arms；331, third joint drive module；34, third mechanical arm；341, the 4th joint drive module；35, the 4th is mechanical
Arm；351, the 5th joint drive module；36, the 5th mechanical arm；361, the 6th joint drive module；37, the 6th mechanical arm；371,
7th joint drive module；38, joint sealing ring；39, joint buckle closure.
Specific embodiment
In the following, the present invention is specifically described by illustrative embodiment.It should be appreciated, however, that not into one
In the case where step narration, element, structure and features in an embodiment can also be advantageously incorporated into other embodiments
In.
In the description of the present invention, it should be noted that the circumferencial direction of object is circumferential, is diameter along the direction of radius
To the axis direction of shaft is axial；The orientation of the instructions such as term "inner", "outside", "upper", "lower", "front", "rear" or position are closed
System is positional relationship based on the figure, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply
Relative importance.
A kind of joint drive module, including the first joint module 1 and second joint module 2, first joint module 1 wrap
Driving motor is included, the driving motor includes rotor and motor stator；The rotor includes rotor base 111, turns
Sub- shaft 112 and rotor windings 113, the rotor shaft 112 and the rotor windings 113 coaxial arrangement and respectively with described turn
Handset seat 111 is fixedly connected；Preferably, the rotor shaft 112 is integrally formed with the rotor base 111 is arranged；The electricity
Machine stator includes out frame 121 and stator winding, and the stator winding is fixedly connected with the out frame 121；
The rotor shaft 112 is socketed in the out frame 121 and 2 center of second joint module；Wherein, described
Rotor shaft 112 and the out frame 121 are rotatablely connected, the rotor shaft 112 and the fixed company of the second joint module 2
It connects, the out frame 121 and 2 gap setting of second joint module；
The stator winding includes the first stator winding 122 and the second stator winding 123, and the out frame 121 is arranged
There is the open chamber 1211 of annular；First stator winding 122, second stator winding 123 and the rotor windings 113 are same
Axis is arranged in the open chamber 1211 of the annular；Wherein, first stator winding 122 is arranged in the rotor windings 113
Radially inner side, second stator winding 123 is arranged in the radial outside of the rotor windings 113, first stator around
Group 122 with second stator winding 123 with 113 gap setting of rotor windings.
The joint drive module of the invention, the diameter by the rotor windings 113 in the rotor are inside
The first stator winding 122 and the second stator winding 123 is respectively set in side and radial outside, and the driving motor is using double winding electricity
Machine is capable of providing bigger torque under comparable size, thus the joint drive module can reach under smaller size compared with
Big revolving speed and torque.
With continued reference to Fig. 1, first joint module 1 further includes for detecting and recording the joint drive die angle
The encoder 13 of information and location information, the encoder 13 are solid with the rotor shaft 112 and the out frame 121 respectively
Fixed connection；The second joint module 2 includes joint module ontology 21 and joint drive controller 22, the joint drive control
Device 22 is mounted on the joint module ontology 21；The joint drive controller 22 is electrically connected with the encoder 13, to read
Take the angle information and location information of the joint drive module, the joint drive module of the invention, including driving motor,
Encoder 13 and joint drive controller 22 are not provided with weight and volume that speed reducer alleviates the joint drive module.
Further, the open chamber 1211 of the annular includes first annular side wall 1212 and the second annular sidewall 1213,
First annular side wall 1212 and the second annular sidewall 1213 and the rotor shaft 112 coaxial arrangement and the first annular side wall
1212 are arranged in the radially inner side of second annular sidewall 1213；The opening direction of the open chamber 1211 of annular deviates from institute
State the setting of second joint module 2, and in the opening of the spacious chamber of annular, second annular sidewall 1213 relatively described the
The protrusion setting of one annular sidewall 1212；The setting of rotor base 111 deviates from the second joint mould in the rotor shaft 112
Axial one end of block 2, and be oppositely arranged with the opening of the open chamber 1211 of the annular；The rotor shaft 112 and described the
The rotation connection of one annular sidewall 1212, the rotor base 111 are rotatablely connected with second annular sidewall 1213；Preferably,
Between the rotor shaft 112 and the first annular side wall 1212 and the rotor base 111 and second annular side
It is provided with bearing 14 between wall 1213, can either prevent rigidity from wearing and be able to achieve positioning again；Preferably, the open chamber of annular
1211 opening is equipped with capping, and the capping is fixedly connected with second annular sidewall 1213, for preventing the electricity
Machine rotor is deviate from from inside.
Further, the joint module ontology 21 is provided with central through hole, and the rotor shaft 112 passes through the center
Through-hole and the second joint module 2 are coaxially disposed, and the rotor shaft 112 is hollow rotating shaft, and the hollow rotating shaft is used
Realize internal cabling.
Seven shaft mechanical arms of one kind further include pedestal 31, first mechanical arm 32, second including above-mentioned joint drive module
Mechanical arm 33, third mechanical arm 34, the 4th mechanical arm 35, the 5th mechanical arm 36 and the 6th mechanical arm 37；Wherein, in the pedestal
Between 31 and the first mechanical arm 32, between the first mechanical arm 32 and the second mechanical arm 33, it is described second mechanical
Between arm 33 and the third mechanical arm 34, between the third mechanical arm 34 and the 4th mechanical arm 35, the 4th machine
Between tool arm 35 and the 5th mechanical arm 36, between the 5th mechanical arm 36 and the 6th mechanical arm 37 and the described 6th
37 end of mechanical arm is installed by the joint drive module.
Further, by between the pedestal 31 and the first mechanical arm 32, the first mechanical arm 32 and described the
Between two mechanical arms 33, between the second mechanical arm 33 and the third mechanical arm 34, the third mechanical arm 34 with it is described
Between 4th mechanical arm 35, between the 4th mechanical arm 35 and the 5th mechanical arm 36, the 5th mechanical arm 36 and institute
The joint drive module for stating the installation of between the 6th mechanical arm 37 and 37 end of the 6th mechanical arm is respectively defined as first
Joint drive module 311, second joint drive module 321, third joint drive module 331, the 4th joint drive module 341,
5th joint drive module 351, the 6th joint drive module 361 and the 7th joint drive module 371；Wherein, the first joint is driven
311 to the 7th joint drive module 371 of dynamic model block only distinguish by size；When the pedestal 31, the first mechanical arm 32, institute
State second mechanical arm 33, the third mechanical arm 34, the 4th mechanical arm 35, the 5th mechanical arm 36 and the 6th machine
When the central axis of tool arm 37 is parallel when full extended state (also referred to as), the first joint drive module 311, the 5th joint are driven
Dynamic model block 351 and the rotor shaft 112 of the 7th joint drive module 371 are arranged in parallel, the second joint driving
The institute of module 321, third joint drive module 331, the 4th joint drive module 341 and the 6th joint drive module 361
It states rotor shaft 112 to be arranged in parallel, and the first joint drive module 311, the 5th joint drive module 351 and described
The rotor shaft 112 of 7th joint drive module 371 and the second joint drive module 321, third joint drive mould
The rotor shaft 112 of block 331, the 4th joint drive module 341 and the 6th joint drive module 361 is vertically arranged；
It further illustrates, the position where the first joint drive module 311 is the first joint of seven shaft mechanical arms, corresponding rotation
Turning plane is the first joint Plane of rotation A；Position where the second joint drive module 321 is the second of seven shaft mechanical arms
Joint, corresponding Plane of rotation are second joint Plane of rotation B；……；And so on, the 7th joint drive module
Position where 371 is the 7th joint of seven shaft mechanical arms, and corresponding Plane of rotation is the 7th joint Plane of rotation G；It is each
The rotor shaft 112 in joint is perpendicular to its corresponding Plane of rotation；I.e. by first joint, the 5th joint and described
Seven joints are set as cradle head, and the second joint, the third joint, the 4th joint and the 6th joint are set
It is set to swinging joint；To further illustrate, referring to Fig. 3, when the seven shaft mechanicals arm is in full extended state, each Plane of rotation
Positional relationship；Compared to seven axis joint humanoid robots in the prior art by the first joint, third joint, the 5th joint and
7th joint is set as cradle head, sets second joint, the 4th joint and the 6th joint to the arrangement of swinging joint,
Such arrangement can make robot not only guarantee enough arm exhibitions and coverage area, but also can be too long to avoid single arm pipe size,
The size of especially second to the 5th mechanical arm can flexibly realize the movement of various complexity, to expand flexibly detection covering
Range also can be improved application effect of the robot in narrow space.
Further, above-mentioned arrangement can be by way of being separately provided angle parameter for the third joint by seven axis
Mechanical transmission test, which is instead solved, becomes 6DOF with 7 freedom degrees in the anti-solution of dynamics, to avoid 7 degree-of-freedom manipulators are counter from solving
It is countless as a result, to which to avoid seven shaft mechanical arms from repeating seven shaft mechanical arms when identical point-to-point motion in cartesian coordinate system each
The each motion path in joint is different, and then the difficulty of solution is effectively reduced and improves each joint when seven shaft mechanical arm repeating motions
The consistency in path when repeatedly acting.
Further, the second mechanical arm 33, the third mechanical arm 34, the 4th mechanical arm 35, described
The brachium ratio of five mechanical arms 36 and the 6th mechanical arm 37 is 5:5:3:2:2；The size arrangement of similar ratio makes machine
People had not only guaranteed enough arm exhibitions and coverage area, but also can be too long to avoid single arm pipe size, can flexibly realize various complexity
Movement, thus expand flexibly detection coverage area, also can be improved application effect of the robot in narrow space.Institute as above
It states, individually changes joint of mechanical arm arrangement and individually change mechanical arm brachium ratio each contributes to robot and realizes above-mentioned have
Beneficial effect, while changing two ways and can realize better beneficial effect.
Preferably, each mechanical arm appearance profile camber cylindrical body under the premise of guaranteeing mechanism rigidity, reduces the size, drop
Low weight.Each mechanical arm is smoothly transitted with joint drive module junction using arc, and structural strength is increased.As shown in Fig. 2, each
Mechanical arm uses hollow structure, each to drive joint module connecting line by cabling inside arm pipe, provides power supply for entire robot
And signal transmission line, the part cable of external loading can be also walked inside mechanical arm, for improve mechanical arm flexibility in use and
Extending usage scenario has larger help；Preferably, the hollow tubular structure using lightweight and the strong composite material of toughness or
The preparation of person's carbon fibre material；Each driving joint module realizes abutment joint by joint sealing ring 38 at each mechanical arm place of being mutually butted
Joint buckle closure 39 is buckled in the water proof and dust proof of gap, outside, achievees the effect that tentatively protection and beauty.
Preferably, the master controller of the seven shaft mechanicals arm uses embedded development, compact-sized, is mounted on the pedestal
In 31, realize that the master controller of seven shaft mechanical arms is integrated with body construction, complete machine more lightweight improves communication control
Efficiency and reliability.
A kind of robot, including seven above-mentioned shaft mechanical arms.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；The ordinary skill people of this field
Member should be appreciated that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the spirit and scope of a technical solution.
Claims (10)
1. a kind of joint drive module, including the first joint module and second joint module, it is characterised in that: first joint
Module includes driving motor, and the driving motor includes rotor and motor stator；The rotor include rotor base,
Rotor shaft and rotor windings, the rotor shaft and the rotor windings are coaxially disposed and fix respectively with the rotor base
Connection；The motor stator includes out frame and stator winding, and the stator winding is fixedly connected with the out frame；
The rotor shaft is socketed in the out frame and the second joint module centers；Wherein, the rotor shaft with
The out frame rotation connection, the rotor shaft are fixedly connected with the second joint module, the out frame and institute
State second joint module gap setting；
The stator winding includes the first stator winding and the second stator winding, and the out frame is provided with the open chamber of annular
Room；First stator winding, second stator winding and the rotor windings are co-axially located at the open chamber of annular
It is interior；Wherein, the radially inner side of the rotor windings is arranged in first stator winding, and second stator winding is arranged in institute
The radial outside of rotor windings is stated, first stator winding is set with the rotor windings gap with second stator winding
It sets.
2. joint drive module according to claim 1, it is characterised in that: first joint module further includes for examining
The encoder of the joint drive die angle information and location information is surveyed and records, the encoder turns with the rotor respectively
Axis and the out frame are fixedly connected；The second joint module includes joint module ontology and joint drive controller, institute
Joint drive controller is stated to be mounted on the joint module ontology；The joint drive controller is electrically connected with the encoder
It connects, to read the angle information and location information of the joint drive module.
3. joint drive module according to claim 1, it is characterised in that: the open chamber of annular includes first annular
Side wall and the second annular sidewall, first annular side wall and the second annular sidewall and rotor shaft coaxial arrangement and described first
The radially inner side of second annular sidewall is arranged in annular sidewall；The opening direction of the open chamber of annular is away from described the
The setting of two joint modules, and in the opening of the spacious chamber of the annular, the relatively described first annular side of second annular sidewall
Wall protrusion setting；The rotor base be arranged in the rotor shaft deviate from the second joint module axial one end, and with
The opening of the open chamber of annular is oppositely arranged；The rotor shaft and the first annular side wall are rotatablely connected, and described turn
Handset seat and second annular sidewall are rotatablely connected.
4. joint drive module according to claim 2, it is characterised in that: it is logical that the joint module ontology is provided with center
Hole, the rotor shaft are coaxially disposed by the central through hole and the second joint module, and the rotor shaft is sky
Heart shaft.
5. joint drive module according to claim 3, it is characterised in that: the rotor shaft and the first annular side
Bearing is provided between wall and between the rotor base and second annular sidewall.
6. joint drive module according to claim 3, it is characterised in that: the opening of the open chamber of annular is installed
There is capping, the capping is fixedly connected with second annular sidewall.
7. a kind of seven shaft mechanical arms, it is characterised in that: including joint drive module as claimed in any one of claims 1 to 6, also wrap
Include pedestal, first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and the 6th mechanical arm；Its
In, between the pedestal and the first mechanical arm, between the first mechanical arm and the second mechanical arm, described second
Between mechanical arm and the third mechanical arm, between the third mechanical arm and the 4th mechanical arm, the 4th mechanical arm
Between the 5th mechanical arm, the peace of between the 5th mechanical arm and the 6th mechanical arm and the 6th mechanical arm end
Fill the joint drive module.
8. seven shaft mechanicals arm according to claim 7, it is characterised in that: by the pedestal and the first mechanical arm it
Between, between the first mechanical arm and the second mechanical arm, between the second mechanical arm and the third mechanical arm, it is described
Between third mechanical arm and the 4th mechanical arm, between the 4th mechanical arm and the 5th mechanical arm, the 5th machine
The joint drive module of between tool arm and the 6th mechanical arm and the 6th mechanical arm end installation is respectively defined as
First joint drive module, second joint drive module, third joint drive module, the 4th joint drive module, the 5th joint
Drive module, the 6th joint drive module and the 7th joint drive module；When the pedestal, the first mechanical arm, described
Two mechanical arms, the third mechanical arm, the 4th mechanical arm, the 5th mechanical arm and the 6th mechanical arm central axis
When parallel, the first joint drive module, the 5th joint drive module and the 7th joint drive module it is described
Rotor shaft is arranged in parallel, the second joint drive module, third joint drive module, the 4th joint drive module and described
The rotor shaft of 6th joint drive module is arranged in parallel, and the first joint drive module, the 5th joint are driven
Dynamic model block and the rotor shaft of the 7th joint drive module and the second joint drive module, third joint drive
The rotor shaft of module, the 4th joint drive module and the 6th joint drive module is vertically arranged.
9. seven shaft mechanicals arm according to claim 7, it is characterised in that: the second mechanical arm, the third mechanical arm,
The brachium ratio of 4th mechanical arm, the 5th mechanical arm and the 6th mechanical arm is 5:5:3:2:2.
10. a kind of robot, it is characterised in that: including the described in any item seven shaft mechanicals arms of claim 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543764.8A CN110154080B (en) | 2019-06-21 | 2019-06-21 | Joint driving module, seven-axis mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543764.8A CN110154080B (en) | 2019-06-21 | 2019-06-21 | Joint driving module, seven-axis mechanical arm and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110154080A true CN110154080A (en) | 2019-08-23 |
| CN110154080B CN110154080B (en) | 2024-02-13 |
Family
ID=67626407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910543764.8A Active CN110154080B (en) | 2019-06-21 | 2019-06-21 | Joint driving module, seven-axis mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154080B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673717A (en) * | 2020-06-16 | 2020-09-18 | 东莞市摩克电子科技有限公司 | Simulation multi-arm manipulator |
| CN114393594A (en) * | 2022-01-28 | 2022-04-26 | 苏州灵猴机器人有限公司 | Robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050115352A1 (en) * | 2002-07-10 | 2005-06-02 | Nikon Corporation | Motor, robot, substrate loader, and exposure apparatus |
| US20100192719A1 (en) * | 2006-09-04 | 2010-08-05 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| WO2015024818A1 (en) * | 2013-08-20 | 2015-02-26 | Kuka Roboter Gmbh | Industrial robot having at least one drive |
| CN106826801A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| DE202018101623U1 (en) * | 2018-03-22 | 2018-04-03 | Igus Gmbh | Robot joint and robot arm with robot joint |
| CN207327029U (en) * | 2017-07-12 | 2018-05-08 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN108326839A (en) * | 2018-05-08 | 2018-07-27 | 中车青岛四方车辆研究所有限公司 | Seven-degree of freedom robot |
| CN210061189U (en) * | 2019-06-21 | 2020-02-14 | 中车青岛四方车辆研究所有限公司 | Joint drive module, seven arms and robot |
-
2019
- 2019-06-21 CN CN201910543764.8A patent/CN110154080B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050115352A1 (en) * | 2002-07-10 | 2005-06-02 | Nikon Corporation | Motor, robot, substrate loader, and exposure apparatus |
| US20100192719A1 (en) * | 2006-09-04 | 2010-08-05 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| WO2015024818A1 (en) * | 2013-08-20 | 2015-02-26 | Kuka Roboter Gmbh | Industrial robot having at least one drive |
| CN106826801A (en) * | 2015-12-28 | 2017-06-13 | 苏州大学 | Selective compliance assembly robot arm and its control system |
| CN207327029U (en) * | 2017-07-12 | 2018-05-08 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| DE202018101623U1 (en) * | 2018-03-22 | 2018-04-03 | Igus Gmbh | Robot joint and robot arm with robot joint |
| CN108326839A (en) * | 2018-05-08 | 2018-07-27 | 中车青岛四方车辆研究所有限公司 | Seven-degree of freedom robot |
| CN210061189U (en) * | 2019-06-21 | 2020-02-14 | 中车青岛四方车辆研究所有限公司 | Joint drive module, seven arms and robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673717A (en) * | 2020-06-16 | 2020-09-18 | 东莞市摩克电子科技有限公司 | Simulation multi-arm manipulator |
| CN114393594A (en) * | 2022-01-28 | 2022-04-26 | 苏州灵猴机器人有限公司 | Robot |
| CN114393594B (en) * | 2022-01-28 | 2023-11-24 | 苏州灵猴机器人有限公司 | Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110154080B (en) | 2024-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7597025B2 (en) | Articulated robot | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN110154080A (en) | Joint drive module, seven shaft mechanical arms and robot | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| KR101194316B1 (en) | Driving modules with hollowness | |
| CN107116575B (en) | Integrated rotary driving actuator | |
| CN111075912B (en) | Cycloidal-pin gear speed-reducing electric steering engine | |
| CN110774277A (en) | Snake-shaped arm three-degree-of-freedom wrist joint and movement method | |
| CN111906815B (en) | Execution joint integrated structure for exoskeleton robot joint | |
| CN210061189U (en) | Joint drive module, seven arms and robot | |
| CN107150338A (en) | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator | |
| CN204487596U (en) | Based on the New Type of Robot Arm in double inclined plane deflection joint | |
| CN113799950A (en) | Gravity center adjusting system applied to underwater robot | |
| CN211220700U (en) | Snake-shaped arm three-freedom-degree wrist joint | |
| CN110861120A (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN216577935U (en) | Robot joint | |
| CN216000572U (en) | Servo joint and double-encoder system thereof | |
| CN206899237U (en) | A kind of Multi-shaft mechanical arm equipment | |
| CN110802579B (en) | Rope-driven ball coordinate robot | |
| CN208874436U (en) | A kind of electromechanical servo system | |
| CN213971203U (en) | Driving mechanism and robot | |
| CN211415236U (en) | Driving joint based on double-stator frameless torque motor and industrial robot | |
| CN206899225U (en) | A kind of multi-spindle machining arm assembly | |
| CN113561216B (en) | Joint structure of six-degree-of-freedom robot | |
| CN114393594B (en) | Robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |