CN110303484A - Joint module and robot - Google Patents
Joint module and robot Download PDFInfo
- Publication number
- CN110303484A CN110303484A CN201910598984.0A CN201910598984A CN110303484A CN 110303484 A CN110303484 A CN 110303484A CN 201910598984 A CN201910598984 A CN 201910598984A CN 110303484 A CN110303484 A CN 110303484A
- Authority
- CN
- China
- Prior art keywords
- joint module
- camshaft
- shell
- flexbile gear
- bearing
- 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
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The present invention relates to a kind of joint module and robots.The joint module includes: camshaft, shell, motor and retarder, the camshaft is arranged in the shell and being capable of the relatively described housing into rotation, the shell is formed with receiving portion, the motor is set to described accommodation section and for driving the cam axle, the camshaft includes the main part being connected and cam part, the main part offers the through-hole passed through for connecting line, the ellipsoidal cross section of the cam part, the retarder includes flexible bearing, flexbile gear and firm gear, the flexible bearing is sheathed on the cam part and fits in the inner wall of the flexbile gear, the firm gear is sheathed on the flexbile gear and is fixedly connected with the shell.Above-mentioned joint module overall structure is more compact, succinct.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of joint module and robot.
Background technique
With the promotion and popularization of robot, and the extensive use of cooperation robot, joint module is as robot
Basic components are more important.The core component of joint module is harmonic speed reducer, and most producers do not have grinding for harmonic speed reducer
Hair ability, and the harmonic speed reducer integrated level that supplier provides is higher, can not carry out personalized customization, the joint after leading to assembling
The structure of module is not compact, and size is larger, is unable to satisfy the miniature requirement of cooperation robot.
Summary of the invention
Based on this, it is necessary to which not compact, the larger-size problem for existing joint module structure provides a kind of joint mould
Block and robot.
A kind of joint module, comprising: camshaft, shell, motor and retarder, the camshaft be arranged in the shell and
Can the relatively described housing into rotation, the shell is formed with receiving portion, and the motor is set to described accommodation section and for driving institute
Cam axle is stated, the camshaft includes the main part being connected and cam part, and the main part is offered to be worn for connecting line
The through-hole crossed, the ellipsoidal cross section of the cam part, the retarder include flexible bearing, flexbile gear and firm gear, the flexibility
Bearing holder (housing, cover) is set to the cam part and fits in the inner wall of the flexbile gear, the firm gear be sheathed on the flexbile gear and with the shell
It is fixedly connected.
Above-mentioned joint module, motor are able to drive cam axle, the cam part and flexible shaft of camshaft after powering on
It holds and is equivalent to wave producer, flexbile gear is deformed therewith during cam axle, makes the meshing state of flexbile gear and firm gear
It constantly changes, to convert slowly running for flexbile gear for the high speed rotary motion of camshaft.By by machine shaft with
The oval cam of harmonic speed reducer designs the camshaft being structure as a whole, and reduces components number, so that joint module is whole
It is body more compact structure, succinct.In addition, being equipped with through-hole at the middle part of camshaft, facilitate installation connecting line, tracheae etc..
The joint module further includes separator and bearing in one of the embodiments, and the separator includes being connected
The first auxiliary section and the second auxiliary section connect, first auxiliary section are sheathed on the main part, and the bearing is set to the master
Between body portion and first auxiliary section, second auxiliary section and the flexbile gear inner wall are interference fitted.
The joint module further includes pressure spring in one of the embodiments, and the compression spring sleeve is set to the main part, and
Between the cam part and the bearing.
The joint module further includes wire-passing tube in one of the embodiments, and the wire-passing tube is contained in the through-hole
The end of the interior and described wire-passing tube and the inner wall of the flexbile gear are interference fitted.
The joint module further includes driving member in one of the embodiments, and the driving member includes rotation connection
Inner ring and outer ring, the inner ring are threadedly coupled with the flexbile gear, and the outer ring is threadedly coupled with the shell.
The inner ring is greater than the outer ring along axial size along axial size in one of the embodiments,.
The joint module further includes counting component in one of the embodiments, and the counting component includes encoder
Read head and code-disc, the code-disc are fixed on the camshaft, and the encoder head is disposed in the housing, and the encoder is read
Head can read the scale of the code-disc to obtain the revolution and location information of the camshaft.
The motor includes stator and rotor in one of the embodiments, and the stator is fixed on the side of the shell
Wall, the rotor include bracket and the magnet set on the bracket, and the bracket is fixed on the camshaft.
The joint module further includes circuit board in one of the embodiments, and the stator and the circuit board are electrical
Connection, the circuit board are equipped with control chip, and the control chip is for converting direct current into three-phase pulse electric current.
A kind of robot, including the joint module.
Detailed description of the invention
Fig. 1 is the cross-sectional view of joint module in an embodiment；
Fig. 2 is the enlarged drawing in Fig. 1 at A；
Fig. 3 is the enlarged drawing in Fig. 1 at B.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
A kind of robot can be applied to service industry, manufacturing industry etc..Referring to Fig. 1, robot includes joint module 100.
Fig. 1 and Fig. 2 are please referred to, joint module 100 includes shell 10, camshaft 20, motor 30 and retarder 40.Camshaft
20 are arranged in shell 10 and can rotate relative to shell 10, and shell 10 is formed with receiving portion, and motor 30 is set to receiving portion and is used for
Camshaft 20 is driven to rotate.Camshaft 20 includes the main part 21 being connected and cam part 22, and main part 21 is offered for connection
The through-hole that line passes through, the ellipsoidal cross section of cam part 22.Retarder 40 includes flexible bearing 41, flexbile gear 42 and firm gear 43, soft
Property bearing 41 be sheathed on cam part 22 and fit in the inner wall of flexbile gear 42, firm gear 43 be sheathed on flexbile gear 42 and with shell 10 is fixed connects
It connects.
It should be understood that flexbile gear 42 is in substantially thin cup-shaped, flexible deformation can occur with the rotation of wave producer, flexbile gear
42 opening portion is equipped with the outer ring gear teeth.Firm gear 43 is equipped with the inner ring gear teeth.The outer ring gear teeth of flexbile gear 42 and the inner ring gear teeth of firm gear 43
Tooth pitch it is equal, the number of teeth is different.Mounting hole is offered in firm gear 43, firm gear 43 is mounted on by pedestal by bolt or screw
On 11.
Above-mentioned joint module 100, motor 30 are able to drive the rotation of camshaft 20, the cam part of camshaft 20 after powering on
22 and flexible bearing 41 collectively form wave producer, cam part 22 with camshaft 20 rotate during flexbile gear 42 by flexible shaft
It holds 41 extruding to be deformed, and then flexbile gear 42 and the meshing state of firm gear 43 constantly change, and make on flexbile gear 42 and firm gear 43
The gear teeth it is engaging-in, engage, nibble out and disengage four kinds of motion states and constantly convert, finally by the high speed rotary motion of camshaft 20
It is converted into slowly running for flexbile gear 42.Camshaft 20, which is equivalent to, is designed as the oval cam of machine shaft and harmonic speed reducer
Integral structure effectively reduces components number, so that 100 overall structure of joint module is more compact, succinct.In addition, in cam
The middle part of axis 20 is equipped with through-hole, facilitates installation connecting line, tracheae etc..
Shell 10 includes pedestal 11 and end cap 13, and pedestal 11 is in irregular shape, and inside forms receiving portion.End cap 13 is removable
It unloads and is connected to pedestal 11, it is convenient that components in receiving portion are installed.First axle is equipped between pedestal 11 and camshaft 20
23 are held, to limit camshaft 20 and shell 10 relative position radial along camshaft 20.It is also set between pedestal 11 and camshaft 20
It is equipped with the first oil sealing 112, the lubricating oil coated on other components is avoided to enter in receiving portion, influences the normal fortune of motor 30
Turn.
Motor 30 includes stator 31 and rotor 32, and stator 31 is fixed on the side wall of shell 10, and rotor 32 includes 321 He of bracket
Set on the magnet 322 of bracket 321, bracket 321 is fixed on camshaft 20.Specifically, stator 31 is adhered to using retaining rubber
On shell 10, bracket 321 is fixed with camshaft 20 by close-fitting mode.When the winding coil of stator 31 is passed through three-phase pulse electricity
Stream, stator 31 is interior to generate alternating magnetic field, and under magneticaction rotary motion occurs for rotor 32, so that camshaft 20 be driven to rotate.
Referring to Fig. 3, joint module 100 further includes separator 50 and second bearing 25, separator 50 includes being connected
First auxiliary section 51 and the second auxiliary section 52, the first auxiliary section 51 are sheathed on main part 21, and second bearing 25 is set to main part 21
And first between auxiliary section 51, the second auxiliary section 52 is interference fitted with 42 inner wall of flexbile gear.
The inner ring of second bearing 25 can be with 20 high speed rotation of camshaft, and the outer ring of second bearing 25 and separator 50 can
Camshaft 20 and flexbile gear 42 is set to keep phase so that camshaft 20 and flexbile gear 42 is mutually isolated with flexbile gear 42 together low speed rotation
To independent motion state.Also, second bearing 25 jointly plays a supporting role to camshaft 20 with first bearing 23, avoids convex
Deviate the center line of joint module 100 in 20 high-speed rotation of wheel shaft.
Also referring to Fig. 1 and Fig. 2, joint module 100 further includes pressure spring 60, and pressure spring 60 is sheathed on main part 21, and position
Between cam part 22 and second bearing 25.For convenience of assembly, it has been pre-machined on camshaft 20 and first bearing 23 has been determined
The shaft shoulder of position, the other end of first bearing 23 are held in the bending part 111 on pedestal 11.Elastic acting force on pressure spring 60 makes
Camshaft 20 is pushed against in first bearing 23, to limit along axial direction to camshaft 20.
It should be noted that being placed with gasket between second bearing 25 and pressure spring 60, the end of pressure spring 60 is avoided to be caught in
Inside two bearings 25.
It further, further include limiting section 24 on camshaft 20, which is adjacent to cam part 22, in joint module
In 100 assembling process, limiting section 24 can play positioning action to flexible bearing 41, be conducive to improve installation effectiveness and precision.
Joint module 100 further includes wire-passing tube 70, and wire-passing tube 70 is contained in through-hole and end and the flexbile gear of wire-passing tube 70
42 inner wall interference fit.Wire-passing tube 70 is hollow structure, for passing through for various connecting lines and tracheae.Motor 30 powers on
After will drive camshaft 20 and run at high speed, wire-passing tube 70 can effectively avoid connecting line or tracheae directly contacted with camshaft 20 and
It is scratched or damages.Also, by the way that the end of wire-passing tube 70 to be set as being interference fitted with flexbile gear 42, i.e., flexbile gear 42 is able to drive
Wire-passing tube 70 rotates together, and connecting line is avoided mutually to wind.
Referring to Fig. 3, in some embodiments, the first stepped groove 421 and the second stepped groove are offered on 42 inner wall of flexbile gear
422, wherein the side wall of separator 50 and the first stepped groove 421 interference fit, the side wall of wire-passing tube 70 and the second stepped groove 422
Interference fit.The end sections of wire-passing tube 70 are overlapped in the bottom wall of the second stepped groove 422, can to a certain extent, along axial direction
Limit or supporting role are played to wire-passing tube 70.
It should be noted that the material of wire-passing tube 70 includes PVC, PE or PP etc., so that the gross mass of wire-passing tube 70 is lighter.
Referring to Fig. 1, joint module 100 further includes driving member 80, and driving member 80 includes the inner ring 81 of rotation connection
With outer ring 82, inner ring 81 is threadedly coupled with flexbile gear 42, and outer ring 82 is threadedly coupled with shell 10.The inner ring 81 of the driving member 80 can
It is rotated under the drive of flexbile gear 42, as the output end of joint module 100, for connecting the other assemblies of robot.This
Outside, driving member 80 is arranged between shell 10 and flexbile gear 42, radially can play limit and supporting role to flexbile gear 42.
Driving member 80 includes crossed roller bearing, deep groove ball bearing etc..In one embodiment, driving member 80 is using intersection rolling
Sub- bearing, crossed roller bearing combine the compactedness of single-row bearing and the stability of double-row bearing, so that 100 knot of joint module
Structure is more compact, and the ability of resistance to tipping moment with higher, so that joint module 100 can use shape suitable for a variety of
State, such as can joint module 100 is horizontal positioned, vertical placement or slant setting.
It is placed with the second oil sealing 113 between driving member 80 and shell 10, the lubricating oil coated on driving member 80 is avoided to fly
It splashes outside robot.
The inner ring 81 of driving member 80 is greater than size of the outer ring 82 along axial direction of driving member 80 along axial size, to facilitate this
Joint module 100 assemble with robot other assemblies.Further, the end of driving member 80 offers several screw threads
Hole facilitates connection.
Joint module 100 further includes circuit board (not shown), and the stator 31 and circuit board of motor 30 are electrically connected, circuit board
Equipped with control chip, control chip is for converting direct current into three-phase pulse electric current.External 48V DC power supply is to circuit board
After power supply, control chip converts electrical current into three-phase pulse electric current, so that alternating magnetic field is generated in the winding coil of stator 31,
Magneticaction lower rotor part 32 rotates movement, and camshaft 20 is driven to rotate.
It should be understood that offering cable-through hole on end cap 13 so that circuit board connects with external power supply.
Joint module 100 further includes counting component 90, and counting component 90 includes encoder head 91 and code-disc 92, code-disc 92
It is fixed on camshaft 20, encoder head 91 is set in shell 10, and encoder head 91 can read the scale of code-disc 92 to obtain
Take the revolution and location information of camshaft 20.Groove is opened up on encoder head 91, code-disc 92 protrudes into the groove.It needs to illustrate
, chip and 90 communication connection of counting component are controlled, so as to according to the read revolution of counting component 90 or location information control
Motor 30 processed starts or stops.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
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.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of joint module characterized by comprising camshaft, shell, motor and retarder, the camshaft are arranged in
The shell and can the relatively described housing into rotation, the shell is formed with receiving portion, and the motor is set to described accommodation section simultaneously
For driving the cam axle, the camshaft includes the main part being connected and cam part, and the main part offers
For the through-hole that connecting line passes through, the ellipsoidal cross section of the cam part, the retarder include flexible bearing, flexbile gear and just
Wheel, the flexible bearing are sheathed on the cam part and fit in the inner wall of the flexbile gear, and the firm gear is sheathed on the flexbile gear
And it is fixedly connected with the shell.
2. joint module according to claim 1, which is characterized in that the joint module further includes separator and bearing,
The separator includes the first auxiliary section and the second auxiliary section being connected, and first auxiliary section is sheathed on the main part,
The bearing is set between the main part and first auxiliary section, and second auxiliary section is matched with the flexbile gear inner wall interference
It closes.
3. joint module according to claim 2, which is characterized in that the joint module further includes pressure spring, the pressure spring
It is sheathed on the main part, and between the cam part and the bearing.
4. joint module according to claim 1, which is characterized in that the joint module further includes wire-passing tube, the mistake
Spool is contained in the through-hole and the inner wall of the end of the wire-passing tube and the flexbile gear is interference fitted.
5. joint module according to claim 1, which is characterized in that the joint module further includes driving member, the biography
Moving part includes the inner ring and outer ring of rotation connection, and the inner ring is threadedly coupled with the flexbile gear, the outer ring and the shell spiral shell
Line connection.
6. joint module according to claim 5, which is characterized in that the inner ring is greater than the outer ring along axial size
Along axial size.
7. joint module according to claim 1, which is characterized in that the joint module further includes counting component, described
Counting component includes encoder head and code-disc, and the code-disc is fixed on the camshaft, and the encoder head is set to described
In shell, the encoder head can read the scale of the code-disc to obtain the revolution and location information of the camshaft.
8. joint module according to claim 1, which is characterized in that the motor includes stator and rotor, the stator
It is fixed on the side wall of the shell, the rotor includes bracket and the magnet set on the bracket, and the bracket is fixed at institute
It states on camshaft.
9. joint module according to claim 8, which is characterized in that the joint module further includes circuit board, described fixed
Sub to be electrically connected with the circuit board, the circuit board is equipped with control chip, and the control chip is for converting DC current
For three-phase pulse electric current.
10. a kind of robot, which is characterized in that including the described in any item joint modules of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910598984.0A CN110303484A (en) | 2019-07-04 | 2019-07-04 | Joint module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910598984.0A CN110303484A (en) | 2019-07-04 | 2019-07-04 | Joint module and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303484A true CN110303484A (en) | 2019-10-08 |
Family
ID=68079619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910598984.0A Pending CN110303484A (en) | 2019-07-04 | 2019-07-04 | Joint module and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110303484A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
| WO2023050846A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
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| US20020135241A1 (en) * | 2001-02-19 | 2002-09-26 | Yukitoshi Kobayashi | Actuator having a wave gear reduction drive |
| JP2006144971A (en) * | 2004-11-22 | 2006-06-08 | Harmonic Drive Syst Ind Co Ltd | Hollow actuator |
| CN205036820U (en) * | 2015-09-23 | 2016-02-17 | 浙江来福谐波传动股份有限公司 | Take well casement harmonic speed reducer ware of cross cross roller bearing |
| JP2016161088A (en) * | 2015-03-04 | 2016-09-05 | 上銀科技股▲分▼有限公司 | Reduction gear with motor |
| CN106026515A (en) * | 2016-08-16 | 2016-10-12 | 马新全 | Hollow brushless motor and harmonic reducer integrated machine |
| CN106015469A (en) * | 2016-08-15 | 2016-10-12 | 广州市昊志机电股份有限公司 | Hollow harmonic reducer |
| CN106230186A (en) * | 2016-08-15 | 2016-12-14 | 广州市昊志机电股份有限公司 | A kind of set has the hollow type harmonic speed reducer of motor |
| CN206738541U (en) * | 2017-04-24 | 2017-12-12 | 大族激光科技产业集团股份有限公司 | Robot, joint of robot and its harmonic speed reducer |
| CN208123379U (en) * | 2018-02-05 | 2018-11-20 | 广东宝控智能装备科技有限公司 | The hollow harmonic wave speed reducing machine of modified |
| 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 |
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2019
- 2019-07-04 CN CN201910598984.0A patent/CN110303484A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020135241A1 (en) * | 2001-02-19 | 2002-09-26 | Yukitoshi Kobayashi | Actuator having a wave gear reduction drive |
| JP2006144971A (en) * | 2004-11-22 | 2006-06-08 | Harmonic Drive Syst Ind Co Ltd | Hollow actuator |
| JP2016161088A (en) * | 2015-03-04 | 2016-09-05 | 上銀科技股▲分▼有限公司 | Reduction gear with motor |
| CN205036820U (en) * | 2015-09-23 | 2016-02-17 | 浙江来福谐波传动股份有限公司 | Take well casement harmonic speed reducer ware of cross cross roller bearing |
| CN106015469A (en) * | 2016-08-15 | 2016-10-12 | 广州市昊志机电股份有限公司 | Hollow harmonic reducer |
| CN106230186A (en) * | 2016-08-15 | 2016-12-14 | 广州市昊志机电股份有限公司 | A kind of set has the hollow type harmonic speed reducer of motor |
| CN106026515A (en) * | 2016-08-16 | 2016-10-12 | 马新全 | Hollow brushless motor and harmonic reducer integrated machine |
| CN206738541U (en) * | 2017-04-24 | 2017-12-12 | 大族激光科技产业集团股份有限公司 | Robot, joint of robot and its harmonic speed reducer |
| CN208123379U (en) * | 2018-02-05 | 2018-11-20 | 广东宝控智能装备科技有限公司 | The hollow harmonic wave speed reducing machine of modified |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
| WO2023050846A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
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Application publication date: 20191008 |