CN110561484A - joint device of cooperative robot - Google Patents
joint device of cooperative robot Download PDFInfo
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- CN110561484A CN110561484A CN201910794421.9A CN201910794421A CN110561484A CN 110561484 A CN110561484 A CN 110561484A CN 201910794421 A CN201910794421 A CN 201910794421A CN 110561484 A CN110561484 A CN 110561484A
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- motor
- shell
- speed reducer
- fixedly connected
- cooperative robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 41
- 238000004804 winding Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a joint device of a cooperative robot, which comprises a motor rear shell, a motor front shell and a speed reducer shell, wherein the motor rear shell, the motor front shell and the speed reducer shell are matched with a motor output shaft, and the joint device further comprises: the motor driving mechanism is arranged in the motor rear shell and the motor front shell and used for outputting power; the speed reducer mechanism is arranged in the speed reducer shell, is concentrically and fixedly connected with the motor driving mechanism and is used for reducing speed; the sensor mechanism is fixedly connected with the reducer mechanism in a concentric mode and used for being matched with the robot to sense, the motor rear shell, the motor front shell and the reducer shell are arranged into an integrated structure, when the sensor mechanism is connected with other structures, the sensor mechanism can be directly used, a modular design principle and detachable connection are adopted, all parts are flexible to disassemble and assemble, the operation is sensitive and quick, and the robot operation is facilitated; greatly reducing a series of design and installation errors caused by the separated structure.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a joint device of a cooperative robot.
Background
Collaborative robots are today an important area of robotic research. One of the main challenges in designing a collaborative robot is to design light, compact joints that can react quickly to forces acting on the manipulator (e.g., when colliding with colleagues) to eliminate the risk of injury. Traditional robot joint, all still not enough in the compactedness of structure, response precision and speed, the most ideal solution is the modular joint module promptly, through with motor, reduction gear and sensor integration together, can further promote response speed and precision, the structure also can be compacter.
For example, chinese patent application No. 109551513 discloses a multifunctional highly integrated modular robot joint, which includes a motor driving mechanism, a reducer mechanism and a joint output mechanism, wherein the motor driving mechanism includes a motor, a motor fixing flange, a joint housing fixedly connected to the motor flange, a controller and a clamping shaft sleeve fixedly connected to the motor output shaft, and a hall sensor and a photoelectric encoder are provided inside the motor; the speed reducer mechanism adopts a harmonic speed reducer; the joint output mechanism comprises a torque sensor, an output flange, a cross roller bearing, two bearing positioning rings, a thin-wall deep groove ball bearing fixing ring, an output outer shell and an output inner end cover.
However, the device has the advantages of fixed assembly mode, poorer flexibility, complex structure, lower integration level, slower response speed and difficult control.
disclosure of Invention
In order to solve the above problem, the present invention proposes a cooperative robot joint device.
The utility model provides a joint device of cooperation robot, includes with motor output shaft complex motor backshell, motor front shell, reduction gear shell, still includes:
the motor driving mechanism is arranged in the motor rear shell and the motor front shell and used for outputting power;
The speed reducer mechanism is arranged in the speed reducer shell, is concentrically and fixedly connected with the motor driving mechanism and is used for reducing speed;
And the sensor mechanism is concentrically and fixedly connected with the speed reducer mechanism and is used for sensing in cooperation with the robot.
The motor driving mechanism comprises an encoder arranged in the motor rear shell, an encoder support which is concentrically and fixedly connected with the encoder, and a supporting sheet which is concentrically and fixedly connected with the encoder support and arranged between the motor rear shell and the motor front shell.
The supporting sheet, the motor rear shell and the motor front shell are fixedly connected for convenient disassembly.
and a 12mm deep groove ball bearing for sleeving the supporting sheet is arranged on the rear shell of the motor.
one end of the output shaft of the motor is in a step shape which is matched with the speed reducer mechanism and has a corresponding distance; the output shaft of the motor is provided with a connecting shaft sleeve which is matched and connected with the encoder; the motor comprises a rotor and a stator, wherein the rotor is arranged on an output shaft of the motor in a sleeved mode, the stator is sleeved on the rotor, and a distributed winding with good running performance and high winding efficiency is arranged on the stator.
One end of the motor front shell, which is far away from the speed reducer mechanism, is sleeved with a 10mm deep groove ball bearing; and one end of the motor output shaft, which is far away from the speed reducer mechanism, is sleeved with a bearing cover fixedly connected with the front motor shell.
The speed reducer mechanism comprises a harmonic generator sleeved on an output shaft of the motor, a flexible gear sleeved outside the harmonic generator, and a rigid gear meshed with the flexible gear.
The rigid wheel is concentrically and fixedly connected with one end of the front shell of the motor.
The sensor mechanism comprises a deep groove ball bearing welded on a reducer shell, a force sensor which is in a cross beam structure and is fixedly connected with a flexible gear, and a sensor cover fixedly connected on the force sensor, wherein a plurality of groups of countersunk holes matched with the force sensor are formed in the sensor cover.
The upper side, the lower side, the left side and the right side of the cross beam of the force sensor are respectively provided with a resistance strain gauge which is used for measuring force and detecting eight parameters and calculating force and moment in the direction of X, Y, Z by using the parameters.
the invention has the beneficial effects that: the motor rear shell, the motor front shell and the reducer shell are arranged into an integrated structure, so that the motor rear shell, the motor front shell and the reducer shell can be directly used when being connected with other structures, a modular design principle and detachable connection are adopted, all parts are flexible to disassemble and assemble, the operation is sensitive and quick, and the operation of a robot is facilitated; a series of design and installation errors caused by a separated structure are greatly reduced, later maintenance is facilitated, and the novel split type solar water heater has a wide market prospect; the multi-degree-of-freedom motion of joints required by the robot is realized by continuously changing the meshing state of the flexible gear and the rigid gear, the disassembly and the assembly are convenient, and the harmonic generator and the force sensor are flexible in structural design so as to meet different use requirements.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a front view of the present invention;
FIG. 2 is a front cross-sectional view of the present invention;
FIG. 3 is a schematic view of an encoder support structure according to the present invention;
FIG. 4 is a schematic view of a support sheet according to the present invention;
FIG. 5 is a schematic view of a stator structure according to the present invention;
FIG. 6 is a schematic view of a rotor structure according to the present invention;
FIG. 7 is a schematic view of the harmonic reducer assembly of the present invention;
FIG. 8 is a schematic diagram of a force sensor apparatus according to the present invention;
FIG. 9 is a schematic view of a sensor cover structure according to the present invention;
Fig. 10 is a schematic structural view of the rigid wheel of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 10, in order to solve the above problem, the present invention proposes a cooperative robot joint device.
a joint device of a cooperative robot comprises a motor rear shell 11 matched with a motor output shaft 19, a motor front shell 16, a speed reducer shell 22 and also comprises:
The motor driving mechanism 1 is arranged in the motor rear shell 11 and the motor front shell 16 and used for outputting power;
The speed reducer mechanism 2 is arranged in the speed reducer shell 22, is concentrically and fixedly connected with the motor driving mechanism 1, and is used for reducing speed;
and the sensor mechanism 3 is concentrically and fixedly connected with the speed reducer mechanism 2 and is used for sensing in cooperation with the robot.
the motor driving mechanism 1 comprises an encoder 12 arranged in a motor rear shell 11, an encoder bracket 13 concentrically and fixedly connected with the encoder 12, and a supporting piece 14 concentrically and fixedly connected with the encoder bracket 13 and arranged between the motor rear shell 11 and a motor front shell 16.
The supporting sheet 14, the motor rear shell 11 and the motor front shell 16 are fixedly connected for convenient disassembly.
The motor rear shell 11 is provided with a 12mm deep groove ball bearing 15 for sleeving a supporting sheet 14.
The motor rear shell 11, the motor front shell 16 and the reducer shell 22 are arranged into an integrated structure, so that the integrated structure can be directly used when being connected with other structures, a modular design principle and detachable connection are adopted, all parts are flexibly assembled and disassembled, the operation is sensitive and quick, and the operation of a robot is facilitated; a series of design and installation errors caused by a separated structure are greatly reduced, later maintenance is facilitated, and the novel split type solar water heater has a wide market prospect.
the supporting piece 14 is used for supporting the 10mm deep groove ball bearing 6 and is connected with the encoder bracket 13.
one end of the motor output shaft 19 is in a step shape which is matched with the speed reducer mechanism 2 and has a corresponding distance; the motor output shaft 19 is provided with a coupling sleeve 4 which is matched and connected with the encoder 12; the motor comprises a rotor 18 and a stator 17, wherein the rotor 18 is arranged on an output shaft 19 of the motor in a sleeved mode, the stator 17 is sleeved on the rotor 18, and the stator 17 is provided with a distributed winding 10 which is good in running performance and high in winding efficiency.
The outer diameter of the stator 17 is 110mm, and the inner diameter is 74 mm; the outer diameter of the rotor 18 is set to 64 mm.
The motor output shaft 19 is connected to the reduction gear mechanism 2 with a corresponding distance at the front end.
The coupling sleeve 4 has the functions of fastening and positioning.
one end of the motor front shell 16, which is far away from the speed reducer mechanism 2, is sleeved with a 10mm deep groove ball bearing 6; and one end of the motor output shaft 19, which is far away from the speed reducer mechanism 2, is sleeved with a bearing cover 7 fixedly connected with the motor front shell 16.
The motor front shell 16 can be connected with the front joint of the robot.
The multiple-freedom-degree movement of joints required by the robot is realized by continuously changing the meshing state of the flexible gear 23 and the rigid gear 21, the disassembly and the assembly are convenient, and the structure design of the harmonic generator 24 and the force sensor 31 is flexible so as to meet different use requirements.
the speed reducer mechanism 2 comprises a harmonic generator 24 sleeved on the motor output shaft 19, a flexible gear 23 sleeved outside the harmonic generator 24, and a rigid gear 21 meshed with the flexible gear 23.
Because of the integrated structure, the reducer casing 22, the rigid wheel 21 and the motor casing 16 are connected together, which is equivalent to that the reducer mechanism 2 and the motor driving mechanism 1 share one casing to form a whole, and at this time, the input shaft of the harmonic generator 24 is the output shaft 19 of the motor.
As shown in fig. 10, a is the major axis and b is the minor axis.
The rigid wheel 21 is fixed, the wave generator 24 is driven, and the flexible wheel 23 outputs, namely after the harmonic generator 24 is installed in the flexible wheel 23, the flexible wheel 23 is forced to deform from the original circular shape with regular moment to the elliptical shape, at the moment, teeth on the periphery of two ends of the long shaft of the flexible wheel 23 are meshed with the rigid wheel 21, teeth on the periphery of two ends of the short shaft of the flexible wheel 23 are disengaged from the rigid wheel 21, and other parts are in a transition state of meshing and disengaging.
When the wave generator 24 rotates, the flexible gear 23 will be deformed continuously, and the meshing state of the flexible gear 23 and the rigid gear 21 will be changed continuously, so that the flexible gear 23 rotates along the opposite direction of the wave generator 24 relative to the fixed rigid gear 21.
The rigid wheel 21 is concentrically and fixedly connected with one end of the motor front shell 16.
The sensor mechanism 3 comprises a deep groove ball bearing 33 welded on the reducer shell 22, a force sensor 31 fixedly connected with the flexible gear 23 to form a cross beam structure, and a sensor cover 32 fixedly connected on the force sensor 31, wherein a plurality of groups of countersunk holes 8 connected and matched with the force sensor 31 are formed in the sensor cover 32.
the sensor cover 32 is fixedly connected to the force sensor 31, and the sensor cover 32 is thicker due to the consideration of connection with the next mechanical arm, the sensor cover 32 at this time is equivalent to a flange, the influence of a bolt which is conventionally used is removed through the countersunk hole 8, and the joint can be directly connected with the next mechanical arm.
The upper, lower, left and right sides of the cross beam of the force sensor 31 are respectively provided with resistance strain gauges for measuring force and detecting eight parameters, and calculating force and moment in the direction of X, Y, Z by using the parameters.
The detection principle is that a group of half bridges are formed by two resistance strain gauges on opposite surfaces, and one parameter can be detected by detecting the output of the group of half bridges. Eight parameters can be detected by sixteen strain gages on the beam.
The specific working mode of the invention is as follows: the motor output shaft 19 transmits the rotation motion of the motor rotor 18 to the harmonic generator 24, the harmonic generator 24 drives the flexible gear 23 to rotate continuously, the force sensor 31 is fixedly connected to the flexible gear 23 and can detect the force and the moment in each direction, and finally, the sensor cover 32 outputs the force and the torque to transmit the power to the next mechanical arm connected with the sensor cover 32.
the foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A joint device of a cooperative robot comprises a motor rear shell (11) matched with a motor output shaft (19), a motor front shell (16) and a speed reducer shell (22), and is characterized in that: further comprising:
The motor driving mechanism (1) is arranged in the motor rear shell (11) and the motor front shell (16) and is used for outputting power;
The speed reducer mechanism (2) is arranged in the speed reducer shell (22), is concentrically and fixedly connected with the motor driving mechanism (1), and is used for reducing speed;
and the sensor mechanism (3) is concentrically and fixedly connected with the speed reducer mechanism (2) and is used for sensing in cooperation with the robot.
2. A joint arrangement of a cooperative robot as recited in claim 1, wherein: the motor driving mechanism (1) comprises an encoder (12) arranged in a motor rear shell (11), an encoder support (13) concentrically and fixedly connected with the encoder (12), and a supporting sheet (14) concentrically and fixedly connected with the encoder support (13) and arranged between the motor rear shell (11) and a motor front shell (16).
3. A joint arrangement of a cooperative robot as recited in claim 2, wherein: the supporting sheet (14), the motor rear shell (11) and the motor front shell (16) are fixedly connected for convenient disassembly.
4. A joint arrangement of a cooperative robot as recited in claim 2, wherein: and a 12mm deep groove ball bearing (15) for sleeving the supporting sheet (14) is arranged on the motor rear shell (11).
5. A joint arrangement of a cooperative robot as recited in claim 1, wherein: one end of the motor output shaft (19) is in a step shape which is matched with the speed reducer mechanism (2) and has a corresponding distance; a connecting shaft sleeve (4) which is matched and connected with the encoder (12) is arranged on the motor output shaft (19); the motor comprises a rotor (18) sleeved on a motor output shaft (19) and a stator (17) sleeved on the rotor (18), wherein a distributed winding (10) with good running performance and high winding efficiency is arranged on the stator (17).
6. A joint arrangement of a cooperative robot as recited in claim 5, wherein: one end of the motor front shell (16) far away from the speed reducer mechanism (2) is sleeved with a 10mm deep groove ball bearing (6); one end of the motor output shaft (19) far away from the speed reducer mechanism (2) is sleeved with a bearing cover (7) fixedly connected with the motor front shell (16).
7. A joint arrangement of a cooperative robot as recited in claim 1, wherein: the speed reducer mechanism (2) comprises a harmonic generator (24) sleeved on the motor output shaft (19), a flexible gear (23) sleeved outside the harmonic generator (24), and a rigid gear (21) meshed with the flexible gear (23).
8. A joint arrangement of a cooperative robot as recited in claim 7, wherein: the rigid wheel (21) is concentrically and fixedly connected with one end of the motor front shell (16).
9. A joint arrangement of a cooperative robot as recited in claim 1, wherein: the sensor mechanism (3) comprises a deep groove ball bearing (33) welded on a speed reducer shell (22), a force sensor (31) which is in a cross beam structure and is fixedly connected with a flexible gear (23), and a sensor cover (32) fixedly connected on the force sensor (31), wherein a plurality of groups of counter sink holes (8) which are connected and matched with the force sensor (31) are arranged on the sensor cover (32).
10. A joint arrangement of a cooperative robot as recited in claim 9, wherein: the upper side, the lower side, the left side and the right side of the cross beam of the force sensor (31) are respectively provided with a resistance strain gauge which is used for measuring force and detecting eight parameters and calculating force and moment in the direction of X, Y, Z by using the parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794421.9A CN110561484A (en) | 2019-08-27 | 2019-08-27 | joint device of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910794421.9A CN110561484A (en) | 2019-08-27 | 2019-08-27 | joint device of cooperative robot |
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| Publication Number | Publication Date |
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| CN110561484A true CN110561484A (en) | 2019-12-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910794421.9A Pending CN110561484A (en) | 2019-08-27 | 2019-08-27 | joint device of cooperative robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111037598A (en) * | 2019-12-31 | 2020-04-21 | 意优智能科技(无锡)有限公司 | Integrated flexible intelligent joint actuator |
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2019
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| Title |
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| CN111037598A (en) * | 2019-12-31 | 2020-04-21 | 意优智能科技(无锡)有限公司 | Integrated flexible intelligent joint actuator |
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Application publication date: 20191213 |