CN110405743A - A kind of joint of robot deceleration output mechanism - Google Patents
A kind of joint of robot deceleration output mechanism Download PDFInfo
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- CN110405743A CN110405743A CN201910602881.7A CN201910602881A CN110405743A CN 110405743 A CN110405743 A CN 110405743A CN 201910602881 A CN201910602881 A CN 201910602881A CN 110405743 A CN110405743 A CN 110405743A
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- gear
- planet carrier
- joint
- output
- flange disk
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- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 210000004907 gland Anatomy 0.000 claims abstract description 17
- 230000009467 reduction Effects 0.000 claims abstract description 14
- 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 abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
Abstract
The invention belongs to robots and artificial intelligence field, more particularly to a kind of joint of robot deceleration output mechanism, including motor, planetary reduction gear device and position feedback device, planetary reduction gear device includes sun gear, planetary gear set, planet axis, pin, ring gear, angular contact bearing, planet carrier pedestal, planet carrier gland and output flange disk, and position feedback device includes magnetic element, magnetic coder and signal connecting line.Wherein, the motor output shaft of motor is fixed with sun gear, and sun gear drives planetary gear set rotation, is realized and is slowed down for the first time, increases torque；Planetary gear set drives ring gear rotation, realizes second and slows down, increases torque；Ring gear is fixed with output flange, then output flange disk rotates together with ring gear.Output flange disk is equipped with magnetic element, and magnetic coder faces magnetic element and is installed in planet carrier gland, reads the angle position of output flange disk in real time, and cooperation driver realizes high-precision control.
Description
Technical field
The invention belongs to robots and artificial intelligence field, more particularly to a kind of joint of robot deceleration output mechanism.
Background technique
As science and technology is constantly progressive, robot has also obtained tremendous development, and each structure is also ripe day by day, robot fortune
One of dynamic critical component is exactly joint, and robot joint structure is being constantly progressive always, at present the output end of joint of robot
Just develop towards high load, high-precision and light-weighted direction.Most importantly retarder in robot joint structure, especially
There is the service humanoid robot of sensitivity requirement for weight.The RV speed reducer and harmonic wave for being widely used in industrial robot field subtract
The weight and volume of fast machine is excessively huge, and manufacturing process is complicated, at high cost, and the improper service type machine for being transplanted to multi-joint
People field.Another common steering engine, precision is low, load is small, output end rigidity is low, is generally only applicable to the machine of miniature toy grade
Device people.Traditional planetary reduction gear, output shaft is small, rigidity is insufficient, can not be directly connected to biggish load；Output end position is anti-
The installation of device difficulty is presented, joint is seldom used alone as and directly exports, the switching that generally can further be slowed down by gear or belt wheel is formed
Traffic cycle output end, such way cause entire arthritic volume excessive, transmission accuracy is difficult to due to increasing additional transmission mechanism
Guarantee.
Service robot joint speed reducer output end in the prior art is mostly small axis, is connected by key to come with load
Torque is transmitted, although a kind of very mature mode, it is upper still in the presence of as following drawbacks to be used directly in joint of robot output:
1) output shaft is too small, and rigidity is insufficient, is easily deformed, and is not suitable for bearing heavy load.
2) it is installed between output end position feedback device is busy, needs additionally to increase transmission mechanism when necessary and formed with retarder
Wrong axis installation.
3) output end bearing is small, and the load that can be born is small, is mainly subject to radial load.
If 4) think, output end bears heavy load ability, and selected speed reducer and motor volume need very greatly, to cause entire
Joint mechanism is too fat to move, and occupied space is larger.
Summary of the invention
The purpose of the present invention is to provide a kind of joint of robot deceleration output mechanisms, reduce the basis of overall structure volume
On, guarantee sufficiently large output torque, and bear axially and radially load simultaneously.
In order to achieve the above objectives, the present invention is achieved through the following technical solutions:
A kind of joint of robot deceleration output mechanism, including motor, planetary reduction gear device and position feedback device, the planet
Reducer arrangement includes sun gear, planetary gear set, planet axis, pin, ring gear, angular contact bearing, planet carrier pedestal, row
Carrier gland and output flange disk, the position feedback device include magnetic element, magnetic coder and signal connecting line, wherein
The motor output shaft of the motor is fixed with sun gear, and drives its rotation, and then sun gear drives planetary gear set to turn
It is dynamic, it realizes and slows down for the first time, increases torque；Planetary gear set drives ring gear rotation, realizes second and slows down, increases torque；
Ring gear is fixed with output flange disk, then output flange disk rotates together with ring gear.
A kind of joint of robot deceleration output mechanism, the motor output shaft and sun gear pass through interference fit
Connection, and fixed with pin, avoid sun tooth from loosening in axially and radially both direction.
A kind of joint of robot deceleration output mechanism, the final output axis of the planetary reduction gear are ring gear,
The internal tooth loop diameter is big, rigidity is big, can be directly connected to load.
A kind of joint of robot deceleration output mechanism, the planet axis are press-fitted into planet carrier base by interference fit
In seat corresponding aperture, the planetary gear set is assembled in corresponding planet axis, the planet carrier pedestal peace with planetary gear set
It is attached to and assembles on the ring gear there are two angular contact bearing, then cover planet carrier gland and fixation, the angular contact bearing can be same
When bear biggish radial load and axial load, guarantee the transmission accuracy and load capacity of entire output mechanism.
A kind of joint of robot deceleration output mechanism, the star gear set include but is not limited to 3 gears, can root
According to needing to be designed as 4 or multiple；The sun gear, planetary gear set and ring gear are all straight-tooth gear, special operation condition
Angular gear can be selected.
A kind of joint of robot deceleration output mechanism, the magnetic element are press-fitted into output end by interference fit
Ring flange corresponds on center, and magnetic coder is fixed in planet carrier gland corresponding groove, is read in real time by magnetic element defeated
The rotational angle position of outlet ring flange, cooperation driver realize High-precision angle control.
A kind of joint of robot deceleration output mechanism, the planet carrier pedestal and planet carrier gland are provided with and can wear
The wire casing of line facilitates code device signal connecting line to pass through, and signal connecting line is avoided to rotate with output flange disk and damage wire rod.
A kind of joint of robot deceleration output mechanism, the output flange disk and planet carrier gland are non-magnetic
Material, such as high-strength aluminum alloy.
In conclusion the beneficial effect comprise that
1) unlike conventional planetary retarder, joint of robot deceleration output mechanism provided by the invention, planet carrier is
Fixing end, for ring gear as output end, the ring gear strength of gear teeth is high, can bear relatively large load.
2) output end is the large flange disk rotated around center axis, is fixed with load end by screw connection, installation side
Just, rigidity is big, can bear larger torsional load.
3) by the angular contact bearing of the two big outer diameter of setting, biggish radial load and axial load can be born simultaneously,
Improve the transmission accuracy and load capacity of entire output mechanism.
4) it is reserved with space installation site feedback device on central axis direction, reduces installation error, mentions high control precision.
5) entire output mechanism space utilization rate is high, and compact-sized, used components are easy to process, at low cost.
The mentioned-above general introduction for the application, therefore necessarily have the case where simplified, summary and omissions of detail；This field
Technical staff is it should be appreciated that overview section is only the explanation to the application, and is not to be taken as any restriction to the application.
Device described in this specification and/or method and/or other aspects, features and advantages of other themes will be due to this explanations
The elaboration of book and be apparent from.Overview section be for imported in a manner of a kind of simplification it is multiple will be in following specific embodiments
The concept that part further describes.This overview section is neither for determining the key feature of claimed subject or necessary special
Sign, nor be used as determining the supplementary means of the range of claimed subject.
Detailed description of the invention
By following description and appended claims and in conjunction with attached drawing, it will more fully be clearly understood that this
The above and other feature of application.It should be appreciated that these attached drawings are only the descriptions to several embodiments of the application, it is not considered that
It is the restriction to the application range, by attached drawing, teachings herein will be obtained definitely and be explained in detail.
Fig. 1 is a kind of overall structure cross-sectional view of joint of robot output mechanism of the invention.
Fig. 2 is a kind of assembly explosive view of joint of robot output mechanism of the invention.
Fig. 3 is the sun tooth and the fixed schematic diagram of motor output shaft of a kind of joint of robot output mechanism of the invention.
Description of symbols: 11- magnetic element, 12- magnetic coder, 13- signal connecting line, 21- sun gear, 22- row
Star gear set, 23- planet axis, 24- pin, 25- ring gear, 26- angular contact bearing, 27- planet carrier pedestal, 28- planet carrier pressure
Lid, 29- output flange disk, 31- motor, 311- motor output shaft.
Specific embodiment
In following specific embodiment part, the attached drawing for being combined as specification a part is illustrated.In attached drawing
In, identical/similar label usually indicates identical/similar component, unless being otherwise noted in specification.Specific embodiment,
The embodiment for being used to illustrate described in drawings and claims is not considered as the restriction to the application.Not inclined
In the case where the spirit or scope of theme from the application statement, the other embodiments of the application can be used, and can be with
Other variations are made to the application.It is easily understood that can to description general in this specification, diagram is said in attached drawing
The various aspects of bright the application carry out various differently composed configurations, replacement, combination, design, and all these changes are all aobvious
So in the contemplation, it and constitutes part of this application.
Referring to Figures 1 and 2, joint of robot deceleration output mechanism includes that motor 31, planetary reduction gear device and position are anti-
Device is presented, planetary reduction gear device includes sun gear 21, planetary gear set 22, planet axis 23, pin 24, ring gear 25, angle
Contact bearing 26, planet carrier pedestal 27, planet carrier gland 28 and output flange disk 29, position feedback device include magnetic element
11, magnetic coder 12 and signal connecting line 13.Wherein, the motor output shaft 311 of motor 31 and sun gear 21 are fixed, and drive
It is rotated, and then sun gear 21 drives planetary gear set 22 to rotate, and is realized and is slowed down for the first time, increases torque, rotation direction phase
Instead；Then, planetary gear set 22 drives ring gear 25 to rotate, and realizes second and slows down, increases torque, rotation direction is identical；It is interior
Gear ring 25 and output flange disk 29 are fixed, then output flange disk 29 rotates together with ring gear 25.
With reference to Fig. 3, motor output shaft 311 and sun gear 21 are fixed by interference fit connection, and with pin 24, are avoided
Sun tooth 21 loosens in axially and radially both direction, guarantees that the data such as speed, angle, the torque of transmission are undistorted.Motor
31 can be the ordinary motor without deceleration, or the included decelerating motor to slow down, depending on specific operating condition.
The final output axis of planetary reduction gear is ring gear 25, and the internal tooth loop diameter is big, rigidity is big, can be directly connected to bear
It carries.Planet axis 23 is press-fitted into 27 corresponding aperture of planet carrier pedestal by interference fit, and planetary gear set 22 is assembled to corresponding planet
On axis 23, the planet carrier pedestal 27 with planetary gear set 22 is installed to assembly, and there are two the ring gears 25 of angular contact bearing 26
On, then cover planet carrier gland 28 and fix.Wherein, angular contact bearing 26 can bear biggish radial load and axial load simultaneously
Lotus guarantees the transmission accuracy and load capacity of entire output mechanism.Star gear set 22 includes but is not limited to 3 gears, can basis
Need to be designed as 4,5 or multiple, planet tooth number is more, and the intensity of load of receiving is bigger, but to requirement on machining accuracy
Also higher, it should be selected according to specific operating condition.Sun gear 21, planetary gear set 22 and ring gear 25 are all straight-tooth gear, special
Angular gear also can be selected in operating condition, and straight-tooth processing technology is simple, at low cost；Helical teeth processing technology is complicated, at high cost, but is subject to
Torque is higher, and registration is high, and rotation is more steady, and noise is smaller, should select flute profile according to specific operating condition.
Referring to Figures 1 and 2, magnetic element 31 is press-fitted into the corresponding center of output flange disk 29 by interference fit
On, magnetic coder 32 is fixed in 28 corresponding groove of planet carrier gland, reads output flange disk 29 in real time by magnetic element 31
Rotational angle position, cooperation driver realize High-precision angle control.Planet carrier pedestal 27 and planet carrier gland 28 are provided with
Threadably wire casing facilitates code device signal connecting line 13 to pass through, and signal connecting line 13 is avoided to rotate with output flange disk 29
And damage wire rod.Output flange disk 29 and planet carrier gland 28 are non-magnetic material, and such as high-strength aluminum alloy, density is steel
One third, mitigate the weight of entire output mechanism on the basis of intensity is enough.
The joint of robot deceleration output mechanism course of work of the invention are as follows: the input terminal of planetary reduction gear connects motor
31, the motor output shaft 311 of motor 31 drives the sun gear 21 of planetary reduction gear to rotate in same direction, and sun gear 21 drives planet
Gear set 22 rotates, contrary, and first time revolving speed reduces, and torque increases；Planetary gear set 22 drives ring gear 25 to rotate again,
Direction is identical, and second of revolving speed reduces, and torque increases.The state at final output end are as follows: (i.e. motor is defeated with input terminal for rotation direction
Outlet) on the contrary, reduction ratio=21 numbers of teeth of sun gear/ring gear, 25 number of teeth.Ring gear 25 drives the output for having magnetic element 11
End flanges disk 29 rotates, and direction is consistent with revolving speed, and magnetic coder 12 reads the rotational angle position of magnetic element 11 by detection,
Driver is cooperated to realize the accurate control of output end angle.
Unlike conventional planetary retarder, joint of robot deceleration output mechanism provided by the invention, planet carrier
For fixing end, for ring gear as output end, the ring gear strength of gear teeth is high, can bear relatively large load.Output end is one around center
The large flange disk of axis rotation, easy for installation, rigidity is big, can bear larger torsional load.By the corner connection that two big outer diameter is arranged
Contact bearing can bear biggish radial load and axial load simultaneously, improve the transmission accuracy and load energy of entire output mechanism
Power.It is reserved with space installation site feedback device on central axis direction, reduces installation error, mentions high control precision.It is entire defeated
Mechanism space utilization rate is high out, and compact-sized, used components are easy to process, at low cost.
It is aforementioned to be described in detail by block diagram, flow chart and/or examples of implementation, illustrate the application device and/
Or the different embodiments of method.When these block diagrams, flow chart and/or embodiment include one or more functions and/or operation
When, it will be readily apparent to those skilled in the art that each function and/or operation in these block diagrams, flow chart and/or embodiment can lead to
Cross various hardware, software, firmware or substantially they any combination and individually and/or jointly implement.The skill of this field
Then art personnel carry out engineering practice with by institute, it will be recognized that describe device and/or method in a manner of illustrating in this specification
The device and/or method integration of description are very common in this field into data processing system.That is, this explanation
At least part in device and/or method described in book can be integrated into data processing system by the experiment of fair amount
In.It can will be plural for substantially any plural number and/or singular references, those skilled in the art used in this specification
It is construed to odd number and/or odd number is construed to plural number, be suitable so long as doing from context and/or application.
For the sake of clarity, in the present specification various singular/plurals may be combined clearly statement to come out.
The many aspects and embodiment of the application disclosed herein, it will be understood by those skilled in the art that the application
Other aspects and embodiment.Many aspects and embodiment disclosed herein are only intended to for example, being not
Restriction to the application, the real protection scope of the application and spirit should be subject to following claims.
Claims (8)
1. a kind of joint of robot deceleration output mechanism, which is characterized in that including motor, planetary reduction gear device and position feedback
Device, the planetary reduction gear device include sun gear, planetary gear set, planet axis, pin, ring gear, angular contact bearing,
Planet carrier pedestal, planet carrier gland and output flange disk, the position feedback device include magnetic element, magnetic coder and letter
Number connecting line, wherein the motor output shaft of the motor is fixed with sun gear, and drives its rotation, and then sun gear drives
Planetary gear set rotation is realized and slows down for the first time, increases torque；Planetary gear set drives ring gear rotation, and realization subtracts for the second time
Speed increases torque；Ring gear is fixed with output flange disk, then output flange disk rotates together with ring gear.
2. a kind of joint of robot deceleration output mechanism as described in claim 1, which is characterized in that the motor output shaft with
Sun gear is fixed by interference fit connection with pin, and sun tooth is avoided to loosen in axially and radially both direction.
3. a kind of joint of robot deceleration output mechanism as described in claim 1, which is characterized in that the planetary reduction gear
Final output axis is ring gear, and the internal tooth loop diameter is big, rigidity is big, can be directly connected to load.
4. a kind of joint of robot deceleration output mechanism as described in claim 1, which is characterized in that the planet axis passed through
Cooperation of being full of is press-fitted into planet carrier pedestal corresponding aperture, and the planetary gear set is assembled in corresponding planet axis, described to have planet
The planet carrier pedestal of gear set, which is installed to, to be assembled on the ring gear there are two angular contact bearing, then is covered planet carrier gland and consolidated
Fixed, the angular contact bearing can bear biggish radial load and axial load simultaneously, guarantee the transmission essence of entire output mechanism
Degree and load capacity.
5. a kind of joint of robot deceleration output mechanism as described in claim 1, which is characterized in that the star gear set includes
But 3 gears are not limited to, 4 or multiple can be designed as needed；The sun gear, planetary gear set and ring gear are all
Angular gear also can be selected in straight-tooth gear, special operation condition.
6. a kind of joint of robot deceleration output mechanism as described in claim 1, which is characterized in that the magnetic element passes through
Interference fit is press-fitted into output flange disk and corresponds on center, and magnetic coder is fixed in planet carrier gland corresponding groove, leads to
The rotational angle position that magnetic element reads output flange disk in real time is crossed, cooperation driver realizes High-precision angle control.
7. a kind of joint of robot deceleration output mechanism as claimed in claim 6, which is characterized in that the planet carrier pedestal and
Planet carrier gland is provided with threadably wire casing, facilitates code device signal connecting line to pass through, avoids signal connecting line with output end
Ring flange rotates and damages wire rod.
8. a kind of joint of robot deceleration output mechanism as claimed in claim 6, which is characterized in that the output flange disk
It is non-magnetic material, such as high-strength aluminum alloy with planet carrier gland.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910602881.7A CN110405743A (en) | 2019-07-05 | 2019-07-05 | A kind of joint of robot deceleration output mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910602881.7A CN110405743A (en) | 2019-07-05 | 2019-07-05 | A kind of joint of robot deceleration output mechanism |
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| Publication Number | Publication Date |
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| CN110405743A true CN110405743A (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910602881.7A Pending CN110405743A (en) | 2019-07-05 | 2019-07-05 | A kind of joint of robot deceleration output mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111791224A (en) * | 2020-07-10 | 2020-10-20 | 珠海格力智能装备有限公司 | Transmission assembly, joint mechanism and robot |
| CN112923953A (en) * | 2021-01-28 | 2021-06-08 | 北京比得机器人科技有限公司 | Robot motor positioning method |
| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
| CN115972187A (en) * | 2022-12-27 | 2023-04-18 | 达闼机器人股份有限公司 | Transmission module output structure, executor and robot |
| US11772260B2 (en) | 2019-11-22 | 2023-10-03 | Samsung Electronics Co., Ltd. | Planetary gear transmission device and robot having the same |
| CN117086854A (en) * | 2023-10-18 | 2023-11-21 | 享刻智能技术(北京)有限公司 | Large-stroke positioning device, robot system and method |
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| KR20030064243A (en) * | 2002-01-23 | 2003-07-31 | 주식회사 포엔 | A reduction gear apparatus generating multiple output |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11772260B2 (en) | 2019-11-22 | 2023-10-03 | Samsung Electronics Co., Ltd. | Planetary gear transmission device and robot having the same |
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| CN115958626A (en) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | Joint structure of heavy-load robot |
| CN117086854A (en) * | 2023-10-18 | 2023-11-21 | 享刻智能技术(北京)有限公司 | Large-stroke positioning device, robot system and method |
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