CN110744585A - Flexible cooperative robot modular joint - Google Patents
Flexible cooperative robot modular joint Download PDFInfo
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- CN110744585A CN110744585A CN201911222764.4A CN201911222764A CN110744585A CN 110744585 A CN110744585 A CN 110744585A CN 201911222764 A CN201911222764 A CN 201911222764A CN 110744585 A CN110744585 A CN 110744585A
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- joint
- motor
- end encoder
- reading head
- mounting seat
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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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A flexible cooperative robot modular joint relates to a modular joint. The invention aims to solve the problems of poor design flexibility and serious cable abrasion of the existing modular joint of the cooperative robot. A motor assembly and a harmonic reducer are arranged in a joint shell, an output flange is arranged on the harmonic reducer, a line protection pipe is connected with the output flange and penetrates through the interior of a motor shaft, a brake assembly is arranged in the joint shell, a reading head of a motor-end encoder is arranged in the joint shell through a reading head mounting seat of the motor-end encoder, a code disc of the motor-end encoder is arranged on the motor shaft, the reading head of the joint-end encoder is connected with the joint shell through a reading head mounting seat of the joint-end encoder, the code disc of the joint-end encoder is arranged on the line protection pipe, and a joint servo driver is connected with; the rear cover is connected with the joint shell; the axial distance between the joint end encoder reading head and the motor end encoder reading head is adjusted through a gasket. The invention is used in the field of robots.
Description
Technical Field
The invention relates to a modular joint, in particular to a modular joint of a flexible cooperative robot, and belongs to the technical field of robot joints.
Background
Under the background of German industry 4.0, the requirement is put forward on high-end intelligent equipment, and the intelligent robot industry is met with a new development opportunity. Currently, the production model of the world manufacturing industry is facing the transition from mass production to customization, and there is a strong demand for flexible, intelligent and personalized manufacturing. The collaborative robot is taken as an important branch of the robot, and since birth, the collaborative robot has high-speed development, the industrialization process is continuously accelerated, new promoting manufacturers are continuously increased, the application field is continuously expanded, and the business model is continuously innovated. The human-computer cooperative robot has the outstanding advantages of complementary human-computer advantages, strong environment sensing capability, large working range, flexible operation, high working efficiency and the like, and can be irreplaceable important equipment and automation means in future flexible manufacturing. Besides the manufacturing industry, the advanced man-machine cooperation robot technology can be widely applied to multiple industrial fields such as home service, 3C electronics, automobile parts and the like and special fields such as nuclear energy, manned space flight, moon exploration and the like, and has wide development prospects.
The modular joint for the cooperative robot is a core component, with the following trends: modularization, simplification of design flow and shortening of design period; the method has the characteristics of high load/dead weight ratio, high integration degree, light weight, high sensitivity, high precision, safety and easiness in assembly.
The modular joint of the existing cooperative robot has the problems of serious cable abrasion due to high rotating speed of a main shaft in the wiring and routing process, incapability of being suitable for encoders of different models and poor design flexibility.
In summary, the conventional modular joint of the cooperative robot has the problems of poor design flexibility and serious cable abrasion.
Disclosure of Invention
The invention aims to solve the problems of poor design flexibility and serious cable abrasion of the existing modular joint of the cooperative robot. Further provided is a flexible cooperative robotic modular joint.
The technical scheme of the invention is as follows: a flexible cooperative robotic modular joint includes a joint housing; the device also comprises a motor end encoder reading head mounting seat, a joint servo driver, a joint end encoder coded disc, a joint end encoder reading head, a joint end encoder coded disc mounting seat, a joint end encoder reading head mounting seat, a motor end encoder coded disc, a motor end encoder reading head, a rear cover, a brake assembly, a motor assembly, a harmonic reducer, a wire protecting pipe and an output flange; the motor assembly and the harmonic reducer are sequentially arranged in the joint shell from left to right, the motor assembly is connected with the input end of the harmonic reducer, the output flange is arranged on the output end of the harmonic reducer, the wire protecting pipe is arranged in a motor shaft of the motor assembly in a penetrating way and is connected with the output flange, the brake assembly is arranged in the joint shell and is positioned on the left side of the motor assembly, the brake assembly is connected with the motor shaft, a reading head of a motor-end encoder is arranged on the joint shell on the left side of the brake assembly through a mounting seat of the reading head of the motor-end encoder, a code disc of the motor-end encoder is arranged on the motor shaft, the reading head of the joint-end encoder is connected with the joint shell through the mounting seat of the reading head of the joint-end encoder, the reading head of the joint-, the joint end encoder coded disc is positioned between the motor end encoder coded disc and the joint end encoder reading head, and the joint servo driver is connected with the joint shell through a connecting column; the rear cover is connected with the joint shell; the axial distance between the joint end encoder reading head and the motor end encoder reading head is adjusted through a gasket.
Further, motor element includes motor stator, electric motor rotor and motor shaft, and motor stator fixed mounting is on the inside wall of joint casing, and the motor shaft level is worn to establish in the joint casing, and electric motor rotor is located between electric motor stator and the motor shaft, and electric motor rotor and motor shaft fixed connection.
Further, the brake component is a magnetic friction type brake.
Furthermore, a sealing ring is adopted for sealing between the rear cover and the joint shell.
Furthermore, the brake device also comprises a sealing ring mounting seat and a sealing ring, wherein the sealing ring is connected with an inner hole of the brake assembly through the sealing ring mounting seat, and the inner ring of the sealing ring is connected with the motor shaft.
Furthermore, the novel wire protection sleeve comprises a wire protection sleeve and a wire protection sleeve support, wherein the wire protection sleeve is arranged at the left end of the wire protection pipe through the wire protection sleeve support.
Furthermore, the joint comprises a dustproof support and a rubber ring, wherein the dustproof support is arranged between the inner wall of the right side of the joint shell and the output flange, and the rubber ring is sleeved on the dustproof support.
Preferably, the pipe diameter of the wire protecting pipe is gradually reduced from the side of the output flange to the side of the joint servo driver.
Preferably, the conduit is made of an aluminum alloy.
Preferably, the line protection pipe is connected with the output flange through a screw, and the joint end encoder code wheel mounting seat is connected with the line protection pipe through threads.
Compared with the prior art, the invention has the following effects:
1. according to the invention, the motor shaft is connected with the input end of the harmonic reducer through the screw, the motor shaft can be flexibly adjusted and replaced according to the design scheme requirement, the design flexibility and diversity are increased, and the influence on design iteration due to long shelf life of the harmonic reducer is avoided.
2. The joint end encoder coded disc mounting base is connected with the low-speed line protecting pipe through threads; the line protecting pipe and the joint end encoder coded disc mounting base can be flexibly configured according to the design scheme requirement, the design flexibility and diversity are increased, and meanwhile the output flange is not affected. The line protecting pipe is connected with the output flange in a split mode, and machining cost is reduced.
3. The motor end encoder reading head and the joint end encoder reading head adjust the axial distance through the adjusting gaskets, so that the influences caused by the use conditions and the manufacturing errors of different encoders are met, and the design flexibility is increased;
4. the brake assembly is of a magnetic attraction friction type, a friction plate is locked by the brake through the built-in spring when the power is off, and the motor shaft cannot rotate through the brake hub; when the robot is in emergency stop, the brake assembly is safer and more reliable compared with a bolt type brake because of the friction braking principle. The problems of bending of the bolt and shaking of the power-on joint do not exist;
5. the invention adopts light-weight superhard aviation aluminum alloy material to realize heavy load, light dead weight and high integration degree;
6. the invention adopts the central hole for wiring, thus solving the problems of difficult wiring and wiring winding of the traditional industrial robot; the wire protecting pipe is connected with the output flange, so that the rotating speed is low, and the abrasion of the cable is reduced;
7. the invention adopts a modular design, the same joint is applied to each joint of the robot, and each component can have interchangeability and is easy to maintain.
Drawings
FIG. 1 is a structural cross-sectional view of a modular joint of the present invention designed to be flexible and cooperative;
FIG. 2 is an output flange and grommet of a flexible cooperative robotic modular joint of the present invention;
FIG. 3 is a harmonic reducer of a modular joint of the present invention designed to be flexible in cooperation with a robot;
FIG. 4 is a brake assembly of the present invention designed for a flexible, cooperative robotic modular joint;
FIG. 5 is a motor shaft of a modular joint of the present invention designed to be flexible in cooperation with a robot;
the device comprises a 1-motor end encoder reading head mounting seat, a 2-joint servo driver, a 3-joint end encoder coded disc, a 4-joint end encoder reading head, a 5-joint end encoder coded disc mounting seat, a 6-wire protection sleeve, a 7-wire protection sleeve support, an 8-joint end encoder reading head mounting seat, a 9-sealing ring mounting seat, a 10-sealing ring, an 11-motor end encoder coded disc, a 12-motor end encoder reading head, a 13-joint rear cover, a 14-brake assembly, a 15-joint shell, a 16-motor shaft, a 17-motor assembly, an 18-harmonic speed reducer, a 19-dustproof support, a 20-rubber ring, a 21-wire protection pipe and a 22-output flange.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, and a flexible cooperative robot modular joint of the present embodiment includes a joint housing 15; the device also comprises a motor end encoder reading head mounting seat 1, a joint servo driver 2, a joint end encoder coded disc 3, a joint end encoder reading head 4, a joint end encoder coded disc mounting seat 5, a joint end encoder reading head mounting seat 8, a motor end encoder coded disc 11, a motor end encoder reading head 12, a rear cover 13, a brake component 14, a motor component 17, a harmonic reducer 18, a wire protecting pipe 21 and an output flange 22; the motor assembly 17 and the harmonic reducer 18 are sequentially installed in the joint shell 15 from left to right, the motor assembly 17 is connected with the input end of the harmonic reducer 18, the output flange 22 is installed at the output end of the harmonic reducer 18, the wire protecting pipe 21 is arranged in the motor shaft 16 of the motor assembly 17 in a penetrating mode and is connected with the output flange 22, the brake assembly 14 is installed in the joint shell 15 and is located on the left side of the motor assembly 17, the brake assembly 14 is connected with the motor shaft 16, the motor end encoder reading head 12 is installed on the joint shell 15 on the left side of the brake assembly 14 through the motor end encoder reading head installation seat 1, the motor end encoder coded disc 11 is installed on the motor shaft 16, the joint end encoder reading head 4 is connected with the joint shell 15 through the joint end encoder reading head installation seat 8, and the joint end encoder reading head 4 is located on the left side, the joint end encoder coded disc 3 is installed on the protective tube 21 through a joint end encoder coded disc installation seat 5, the joint end encoder coded disc 3 is located between a motor end encoder coded disc 11 and a joint end encoder reading head 4, and the joint servo driver 2 is connected with the joint shell 15 through a connecting column; the rear cover 13 is connected with the joint housing 15; the axial distance between the joint end encoder reading head 4 and the motor end encoder reading head 12 is adjusted through a gasket.
The harmonic reducer of the embodiment is arranged in the joint shell through screws, and the output flange is fixed on the output end of the harmonic reducer through a connecting screw; the outer ring of the brake assembly is connected with the joint shell through a screw, and the inner ring friction plate of the brake assembly is connected with a motor shaft through a hub in a flat key manner;
the joint shell of the embodiment is made of aviation hard aluminum alloy materials and is used for reducing weight;
in the embodiment, a motor end encoder is arranged close to the motor end and is used for detecting the position and the speed of the motor; a joint end encoder is arranged close to the driving plate and used for detecting the position and the rotating speed of the harmonic output end;
the motor shaft of the embodiment is connected with the input end of the harmonic reducer through the screw, the motor shaft can be flexibly adjusted and replaced according to the design scheme requirement, and the design flexibility and diversity are improved;
the wire protection sleeve of the embodiment is fixed at one end of the wire protection pipe through the wire protection sleeve support, the joint is wired through the center hole, the wire protection pipe isolates the cable from the motor shaft, and the cable is effectively protected from abrasion;
the line protecting tube 21 and the joint end encoder code wheel mounting connection seat 5 of the embodiment can be flexibly configured according to the design scheme requirement, the design flexibility and diversity are increased, and the output flange 22 is not influenced. The low-speed line protecting pipe 21 and the output flange 22 are connected in a split mode, and machining cost is reduced.
The axial distance between the reading head 12 of the motor-end encoder and the coded disc 11 of the motor-end encoder can be adjusted by adjusting the spacer, so that the influences caused by the use conditions and the manufacturing errors of different encoders are met, and the design flexibility is increased.
The axial distance between the joint end encoder reading head 4 and the joint end encoder coded disc 3 can be adjusted through the adjusting shim, the influences caused by the use conditions and the manufacturing errors of different encoders are met, and the design flexibility is improved.
The second embodiment is as follows: referring to fig. 1 for explaining the present embodiment, the motor assembly 17 of the present embodiment includes a motor stator, a motor rotor and a motor shaft 16, the motor stator is fixedly installed on an inner side wall of the joint housing 15, the motor shaft 16 horizontally penetrates through the joint housing 15, the motor rotor is located between the motor stator and the motor shaft 16, and the motor rotor is fixedly connected with the motor shaft 16. So set up, be convenient for provide sufficient power for the joint. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the brake assembly 14 of the present embodiment is a magnetic friction brake. According to the arrangement, the brake assembly is of a magnetic attraction friction type, a friction plate is locked by the brake through the built-in spring when the power is off, and the motor shaft cannot rotate through the brake hub; when the power is on, the electromagnet sucks the friction plate to press the spring, and the brake component is in contact braking; due to the adoption of the friction braking principle, when the robot is in emergency stop, the robot brake is safer and more reliable than a bolt type brake. The problems of bending of the bolt and shaking of the power-on joint do not exist. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the rear cover 13 and the joint housing 15 of the present embodiment are sealed with a gasket. So set up, dustproof and waterproof. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 1, the present embodiment further includes a seal ring mounting seat 9 and a seal ring 10, the seal ring 10 is connected to an inner hole of a brake assembly 14 through the seal ring mounting seat 9, and an inner ring of the seal ring 10 is connected to a motor shaft 16. So set up, sealed effectual. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1, and further includes a grommet 6 and a grommet holder 7, and the grommet 6 is attached to the left end of the grommet 21 via the grommet holder 7. So set up, the protection cable prevents wearing and tearing. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1, and further includes a dust-proof bracket 19 and a rubber ring 20, the dust-proof bracket 19 is installed between the right inner wall of the joint housing 15 and the output flange 22, and the rubber ring 20 is fitted over the dust-proof bracket 19. So set up, dustproof effectual. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: the present embodiment will be described with reference to fig. 1, and the pipe diameter of the grommet 21 of the present embodiment is gradually reduced from the output flange 22 side to the joint servo actuator 2 side. So set up, the wire sheath passes through the wire sheath support to be fixed in low-speed wire sheath one end, and the joint adopts the centre bore to walk the line, and low-speed wire sheath keeps apart cable and motor shaft, effectively protects the cable and prevents wearing and tearing. Other constitutions and connection relations are the same as those of any one of the first to seventh embodiments.
The specific implementation method nine: the present embodiment will be described with reference to fig. 1, and the grommet 21 of the present embodiment is made of an aluminum alloy. So set up, heavy load light dead weight, high integration. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.
The detailed implementation mode is ten: the present embodiment will be described with reference to fig. 1, and the grommet 21 of the present embodiment is made of an aluminum alloy. So set up, heavy load light dead weight, high integration. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.
The working process of the invention is as follows:
after the joint servo driver 2 receives a control system starting instruction, the brake component 14 is powered on, the electromagnet attracts the compression spring, the brake component 14 is opened, the joint servo driver 2 drives the motor component 17 to drive the motor shaft 16 to rotate, so that the input end of the harmonic reducer 18 is driven to rotate, after the speed of the harmonic reducer 18 is reduced, the output end of the harmonic reducer 18 drives the output flange 22 to rotate, and therefore the joint outputs torque and rotating speed. The motor-end encoder reads the rotation angle and rotation speed of the motor shaft 16, and the joint-end encoder reads the rotation angle and rotation speed of the output flange 22. When the joint servo driver 2 receives a control system stop command, the motor assembly 17 is controlled to decelerate. The brake assembly 14 is powered off, the spring returns to compress the friction plates, and the joint stops.
Claims (10)
1. A flexible cooperative robotic modular joint comprising a joint housing (15); the method is characterized in that: the device is characterized by also comprising a motor end encoder reading head mounting seat (1), a joint servo driver (2), a joint end encoder coded disc (3), a joint end encoder reading head (4), a joint end encoder coded disc mounting seat (5), a joint end encoder reading head mounting seat (8), a motor end encoder coded disc (11), a motor end encoder reading head (12), a rear cover (13), a brake assembly (14), a motor assembly (17), a harmonic reducer (18), a line protection pipe (21) and an output flange (22);
a motor component (17) and a harmonic reducer (18) are sequentially arranged in a joint shell (15) from left to right, the motor component (17) is connected with the input end of the harmonic reducer (18), an output flange (22) is arranged at the output end of the harmonic reducer (18), a line protection pipe (21) is arranged in a motor shaft (16) of the motor component (17) in a penetrating way and is connected with the output flange (22), a brake component (14) is arranged in the joint shell (15) and is positioned at the left side of the motor component (17), the brake component (14) is connected with the motor shaft (16), a motor end encoder reading head (12) is arranged on the joint shell (15) at the left side of the brake component (14) through a motor end encoder reading head mounting seat (1), a motor end encoder (11) is arranged on the motor shaft (16), a joint end encoder reading head (4) is connected with the joint shell (15) through a joint end encoder reading head mounting seat (8), the joint end encoder reading head (4) is located on the left side of a motor end encoder coded disc (11), a joint end encoder coded disc (3) is installed on a wire protecting tube (21) through a joint end encoder coded disc installation seat (5), the joint end encoder coded disc (3) is located between the motor end encoder coded disc (11) and the joint end encoder reading head (4), and a joint servo driver (2) is connected with a joint shell (15) through a connecting column; the rear cover (13) is connected with the joint shell (15); the axial distance between the joint end encoder reading head (4) and the motor end encoder reading head (12) is adjusted through a gasket.
2. A flexible cooperative robotic modular joint as claimed in claim 1, wherein: motor element (17) include motor stator, electric rotor and motor shaft (16), and motor stator fixed mounting is on the inside wall of joint casing (15), and in joint casing (15) was worn to establish by motor shaft (16) level, electric rotor was located between motor stator and motor shaft (16), and electric rotor and motor shaft (16) fixed connection.
3. A flexible cooperative robotic modular joint as claimed in claim 2, wherein: the brake assembly (14) is a magnetic friction brake.
4. A flexible cooperative robotic modular joint as claimed in claim 3, wherein: and a sealing ring is adopted for sealing between the rear cover (13) and the joint shell (15).
5. A flexible cooperative robotic modular joint as claimed in claim 4, wherein: the brake device is characterized by further comprising a sealing ring mounting seat (9) and a sealing ring (10), wherein the sealing ring (10) is connected with an inner hole of the brake assembly (14) through the sealing ring mounting seat (9), and an inner ring of the sealing ring (10) is connected with a motor shaft (16).
6. A flexible cooperative robotic modular joint as claimed in claim 5, wherein: the novel wire protection sleeve is characterized by further comprising a wire protection sleeve (6) and a wire protection sleeve support (7), wherein the wire protection sleeve (6) is installed at the left end of the wire protection pipe (21) through the wire protection sleeve support (7).
7. A flexible cooperative robotic modular joint as claimed in claim 6, wherein: the joint shell further comprises a dustproof support (19) and a rubber ring (20), wherein the dustproof support (19) is installed between the inner wall of the right side of the joint shell (15) and the output flange (22), and the rubber ring (20) is sleeved on the dustproof support (19).
8. A flexible cooperative robotic modular joint as claimed in claim 1 or 7, wherein: the pipe diameter of the wire protection pipe (21) is gradually reduced from one side of the output flange (22) to one side of the joint servo driver (2).
9. The flexible cooperative robotic modular joint of claim 8, wherein: the conduit (21) is made of aluminum alloy.
10. A flexible cooperative robotic modular joint as claimed in claim 1 or 9, wherein: the guard pipe (21) is connected with the output flange (22) through screws, and the joint end encoder code disc mounting seat (5) is connected with the guard pipe (21) through threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222764.4A CN110744585A (en) | 2019-12-03 | 2019-12-03 | Flexible cooperative robot modular joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222764.4A CN110744585A (en) | 2019-12-03 | 2019-12-03 | Flexible cooperative robot modular joint |
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| Publication Number | Publication Date |
|---|---|
| CN110744585A true CN110744585A (en) | 2020-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911222764.4A Pending CN110744585A (en) | 2019-12-03 | 2019-12-03 | Flexible cooperative robot modular joint |
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| Country | Link |
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| CN (1) | CN110744585A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687879A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Low-noise modular joint of cooperative robot |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
-
2019
- 2019-12-03 CN CN201911222764.4A patent/CN110744585A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687879A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Low-noise modular joint of cooperative robot |
| CN111687879B (en) * | 2020-06-18 | 2021-05-25 | 敬科(深圳)机器人科技有限公司 | Modularized joint of cooperative robot |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
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Address after: Room 02, 4th Floor, Building A3, Nanshan Zhiyuan, No. 1001 Xueyuan Avenue, Changyuan Community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province, 518055 Applicant after: Jing Ke (Shenzhen) robot technology Co.,Ltd. Address before: 518110 Room 403, building 7, Jinxiu Dadi, No. 117, Hudi Pai, songyuanxia community, Guanhu street, Longhua District, Shenzhen City, Guangdong Province Applicant before: Jing Ke (Shenzhen) robot technology Co.,Ltd. |
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