CN110815284A - Hollow modular joint - Google Patents
Hollow modular joint Download PDFInfo
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- CN110815284A CN110815284A CN201911216795.9A CN201911216795A CN110815284A CN 110815284 A CN110815284 A CN 110815284A CN 201911216795 A CN201911216795 A CN 201911216795A CN 110815284 A CN110815284 A CN 110815284A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 40
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000004804 winding Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 1
- 238000012356 Product development Methods 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The invention discloses a hollow modular joint, which comprises a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device, wherein the harmonic reducer is arranged on the shell; the harmonic reducer is fixedly connected with the shell, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end part of the hollow shaft is connected with the harmonic reducer, the hollow motor is arranged corresponding to the hollow shaft to drive the hollow shaft to rotate, the harmonic reducer realizes speed reduction output on the rotation of the hollow shaft, and the hollow wiring device realizes hollow wiring of a wire in the hollow modular joint; the invention solves the problems of difficult winding and wiring of the hollow wiring by arranging the hollow wiring device.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hollow modular joint.
Background
The modular technology has been widely used in product development and design in the field of robotics. The core idea of the deformable and reconfigurable robot is modularization, and the whole robot is an effective combination of a plurality of modules. As a hotspot of the current robot research, compared with the traditional robot, the reconfigurable modular robot has stronger adaptability to tasks and environments and more flexibility, and can simplify design, manufacture and maintenance, shorten the development period, reduce the development cost and greatly enhance the flexibility and elasticity of the system during construction.
The modularized joint is a core component of the reconfigurable modularized mechanical arm, and the modularized joint can be mainly divided into two types according to a wiring mode: an outer wiring type and a hollow inner wiring type. The external wiring type is not modularized, the number of wires is large, the wires are easy to wind, and the appearance is not attractive enough, so that the modularized joints are developed towards the direction of hollow internal wiring in recent years, but the common hollow modularized joints on the market at present need to customize hardware and are high in cost; the rest adopt modular joints of standard hardware, and have the advantages of complex structure, large volume, complex assembly and disassembly and poor load capacity.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the technical scheme adopted by the invention is to provide a hollow modular joint, which comprises a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device; the harmonic reducer is fixedly connected with the shell, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end portion of the hollow shaft is connected with the harmonic reducer, the hollow motor is arranged corresponding to the hollow shaft to drive the hollow shaft to rotate, the harmonic reducer realizes speed reduction output for rotation of the hollow shaft, and the hollow wiring device realizes hollow wiring of a wire in the hollow modular joint.
Preferably, the housing includes a first step, a second step and a third step which are sequentially arranged along the extension direction of the axis of the hollow shaft, the first step is fixedly installed on the harmonic reducer, the second step is fixedly provided with a motor flange, and the third step is fixedly provided with an input flange.
Preferably, the hollow shaft comprises a second shaft shoulder, a fourth shaft shoulder and a clamp spring groove, a hollow shaft bearing is arranged on the motor flange, one end of the hollow shaft is fixed on the harmonic reducer and is positioned through the second shaft shoulder, and the other end of the hollow shaft is fixed on the hollow shaft bearing through the fourth shaft shoulder; one side of the hollow shaft bearing is positioned through the step of the motor flange, and the other side of the hollow shaft bearing is positioned through a clamp spring arranged in the clamp spring groove.
Preferably, the hollow wiring device comprises a hollow wiring tube, an upper end cover, a lower end cover, an output plug and an input plug, and the hollow shaft is sleeved on the hollow wiring tube; the lower end cover with the upper end cover sets up respectively the cavity is walked line pipe both ends, the lower end cover is fixed on the input flange, the upper end cover is fixed on the cavity is walked line pipe, output plug fixes on the upper end cover, input plug fixes on the input flange.
Preferably, a wiring pipe bearing is arranged between the hollow wiring pipe and the hollow shaft; one end face of the routing pipe bearing is limited by a step through a fifth shoulder in the hollow shaft, the other end face of the routing pipe bearing is limited by a bearing end cover, and the bearing end cover is fixed on the end face of the hollow shaft.
Preferably, an opening is formed in the end portion of the hollow wiring pipe fixed on the lower end cover, a wiring groove is formed in the position, corresponding to the opening, of the input flange, and a wire passes through the opening through the wiring groove and enters the hollow wiring pipe.
Preferably, an incremental encoder is arranged corresponding to the hollow shaft, and comprises a magnetic ring, a reading head and a reading head flange; the magnetic ring is fixed in the magnetic ring groove correspondingly arranged on the outer end face of the hollow shaft, the reading head is fixed on the reading head flange, and the reading head flange is fixedly positioned through the reading head flange groove formed in the first step.
Preferably, the corresponding end surfaces of the reading head and the magnetic ring are parallel to the magnetic ring, and the corresponding end surfaces of the reading head and the magnetic ring are located at a position 0.5mm right above the magnetic ring.
Preferably, the harmonic reducer is provided with a zero returning device, and the zero returning device comprises a magnet mounting device and a Hall mounting device; the magnet mounting device comprises a first magnet, a limiting bulge, a zero-position groove and a second magnet, wherein the zero-position groove is arranged on the limiting bulge, the first magnet and the second magnet are respectively and symmetrically arranged at two sides of the limit bulge, the magnet mounting device is fixedly arranged on a flexible gear of the harmonic reducer, the Hall installation device comprises a first limit Hall, a second limit Hall, a zero returning Hall and a zero returning bulge, the first limit Hall, the second limit Hall and the zero returning Hall respectively correspond to positive electronic limit, negative electronic limit and zero returning operation of the zero returning device, the first limiting Hall, the second limiting Hall and the zero returning Hall correspond to the first magnet and the second magnet, and the Hall mounting device is fixedly arranged on a steel wheel of the harmonic reducer.
Preferably, a control device is further arranged in the housing, and the control device is connected with the hollow wiring device, the hollow motor, the braking device, the incremental encoder and the zero returning device; the control device comprises a servo driver, a driver flange and a power supply conversion module; the servo driver is fixed on the driver flange, the driver flange is fixed on the input flange, the power supply conversion module is fixed on the input flange, the servo driver corresponds to the hollow motor, and the power supply conversion module is connected with the input plug, the servo driver and the brake.
Compared with the prior art, the invention has the beneficial effects that: the invention solves the problems of difficult winding and wiring of the hollow wiring by arranging the hollow wiring device; the two ends of the joint are electrically connected through the input plug and the output plug, so that the joint electric device can be quickly and reliably connected with the next joint.
Drawings
FIG. 1 is an elevational, cross-sectional view of the hollow modular joint;
FIG. 2 is a side cross-sectional view of the hollow modular joint;
FIG. 3 is a perspective view of the hollow modular joint;
FIG. 4 is a structural view of the housing;
FIG. 5 is a structural view of the harmonic reducer;
FIG. 6 is a structural view of the hollow shaft;
FIG. 7 is a cross-sectional view of the hollow shaft;
FIG. 8 is a structural view of the motor flange;
FIG. 9 is a structural view of the input flange;
FIG. 10 is a structural view of the braking device;
FIG. 11 is a structural view of the magnet mounting apparatus;
FIG. 12 is a structural view of the Hall mounting apparatus;
fig. 13 is a structural view of the hollow wiring tube.
The figures in the drawings represent:
1-harmonic reducer; 2-a magnet mounting device; 3-a hall mount device; 4-a housing; 5-a hollow shaft; 6-a rotor; 7-a stator; 8-a servo driver; 9-a driver flange; 10-hollow wiring pipe; 11-a motor flange; 12-an input plug; 13-hollow shaft bearing; 14-input flange; 15-lower end cap; 16-a brake; 17-a rotor hub; 18-a power conversion module; 19-a magnetic ring; 20-a reading head; 21-a reading head flange; 22-a wiring pipe bearing; 23-a bearing end cap; 24-an output plug; 25-upper end cap; 0101-wave generator; 0102-steel wheel; 0103-flexible gear; 0104-positioning slot of magnet mounting device; 0201-first magnet; 0202-limit projection; 0203-zero groove; 0204-second magnet; 0301-a first limit hall; 0302-second limit hall; 0303-Return to zero Hall; 0304-Return to zero protruding; 0401 — first step; 0402-second step; 0403-third step; 0501-a first shoulder; 0502-second shoulder; 0503-third shoulder; 0505-fourth shoulder; 0506-circlip groove; 0507-fifth shoulder; 1701-circular shoulder; 1702-rectangular shoulder.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, 2 and 3, fig. 1 is a front sectional view of the hollow modular joint; FIG. 2 is a side cross-sectional view of the hollow modular joint; FIG. 3 is a perspective view of the hollow modular joint; the hollow modular joint comprises a harmonic reducer 1, a shell 4, a hollow shaft 5, a hollow motor and a hollow wiring device; the harmonic reducer 1 is fixedly connected with the shell 4, the hollow shaft 5, the hollow motor and the hollow wiring device are all arranged in the shell 4, the end portion of the hollow shaft 5 is connected with the harmonic reducer 1, the hollow motor is arranged corresponding to the hollow shaft 5 to drive the hollow shaft 5 to rotate, the harmonic reducer 1 realizes speed reduction output for rotation of the hollow shaft 5, and the hollow wiring device realizes hollow wiring of a wire inside the hollow modular joint.
Preferably, the harmonic reducer 1 is further provided with a zero returning device, and the zero returning device is used for realizing zero returning operation of the hollow modular joint; an incremental encoder is arranged corresponding to the hollow shaft 5 and used for feeding back the speed and the position of the hollow motor; the end of the hollow shaft 5 is also provided with a braking device which is used for forcibly decelerating and stopping the hollow shaft.
Generally, a control device is further disposed in the housing 4, the control device is connected to the hollow wiring device, the hollow motor, the braking device, the incremental encoder, and the zero-returning device, and the power supply provided by the hollow wiring device is converted into the power supply of the hollow motor, the braking device, the incremental encoder, and the zero-returning device, and the data information of the braking device, the incremental encoder, and the zero-returning device is collected to realize the overall control of the hollow modular joint.
Example two
As shown in fig. 4, fig. 4 is a structural view of the housing; the shell 4 comprises three-level mounting surfaces, the three-level mounting surfaces are a first step 0401, a second step 0402 and a third step 0403 which are sequentially arranged along the extension direction of the hollow shaft axis, and each step is provided with a positioning spigot for ensuring the coaxiality of each mounting part; specifically, the first step 0401 is used for fixedly mounting the harmonic reducer 1 and the incremental encoder, the second step 0402 is fixed with a motor flange 11, and the third step 0403 is fixedly provided with an input flange 14.
The shell 4, the harmonic reducer 1, the hollow shaft 5, the hollow motor, the motor flange 11, the braking device, the input flange 14 and the hollow wiring device are sequentially mounted on the same axis.
Preferably, the shell 4 is made of 7075 aluminum alloy, the machining performance is good, the weight is light, the strength is high, and the coaxiality between the step rabbets and the precision of each machining surface are well guaranteed by adopting an integrated machining mode.
As shown in fig. 5, fig. 5 is a structural view of the harmonic reducer; the harmonic reducer 1 comprises a wave generator 0101, a steel wheel 0102 and a flexible wheel 0103, the harmonic reducer 1 is positioned and fixedly connected to the first step 0401 through a spigot of the first step 0401, so that coaxiality of the harmonic reducer 1 and the shell 4 is guaranteed, and a flexible wheel flange on the flexible wheel 0103 is used as an output flange for transmission, so that transmission clearance is small, and transmission is compact. The flexspline flange is provided with a magnet installation device positioning groove 0104, and the magnet installation device positioning groove 0104 is used for fixing the zero returning device.
As shown in fig. 6 and 7, fig. 6 is a structural view of the hollow shaft; FIG. 7 is a cross-sectional view of the hollow shaft; the hollow shaft 5 comprises a four-stage outer shaft shoulder and a one-stage inner shaft shoulder, the four-stage outer shaft shoulder is sequentially a first shaft shoulder 0501, a second shaft shoulder 0502, a third shaft shoulder 0503 and a fourth shaft shoulder 0505, and the one-stage inner shaft shoulder is a fifth shaft shoulder 0507. One end of the hollow shaft 5 is fixed on the wave generator 0101 through a jackscrew, the first shaft shoulder 0501 is used as a positioning surface of the hollow shaft 5 and the wave generator 0101, the second shaft shoulder 0502 fixes the position relationship between the hollow shaft 5 and the harmonic reducer 1, and the other end is fixed on a hollow shaft bearing 13 through the fourth shaft shoulder 0505.
As shown in fig. 8 and 9, fig. 8 is a structural view of the motor flange; FIG. 9 is a structural view of the input flange; the hollow shaft bearing 13 is fixed by the motor flange 11, the motor flange 11 is a D-shaped part, and is positioned and fixedly connected to the second step 0402 through a seam allowance on the second step 0402, so as to ensure the coaxiality of the motor flange 11 and the housing 4; one side of the hollow shaft bearing 13 is positioned through a step of the motor flange 11, and the other side of the hollow shaft bearing is positioned through a clamp spring; specifically, the snap spring is mounted in a snap spring groove 0506 on the hollow shaft 5, thereby stabilizing the relative positions of the hollow shaft bearing 13, the motor flange 11, and the hollow shaft 5.
The hollow motor comprises a stator 7 and a rotor 6, the rotor 6 is positioned and fixed on the hollow shaft 5 through the third shaft shoulder 0503, the stator 7 is positioned through a rabbet on the motor flange 11 and is fixed on the motor flange 11 through screws, and therefore coaxiality between the rotor 6 and the stator 7 in the hollow motor is guaranteed.
The hollow wiring device comprises a hollow wiring pipe 10, a wiring pipe bearing 22, a bearing end cover 23, an upper end cover 25, a lower end cover 15, an output plug 24 and an input plug 12. The hollow wiring tube 10 is arranged in the hollow shaft 5, namely the hollow shaft 5 is sleeved on the hollow wiring tube 10; the lower end cover 15 and the upper end cover 25 are respectively arranged at two ends of the hollow wiring pipe 10, the lower end cover 15 is fixed on the input flange 14 through screws, and the upper end cover 25 is fixed on the hollow wiring pipe 10 through screws.
The wiring pipe bearing 22 is arranged between the hollow wiring pipe 10 and the hollow shaft 5; one end face of the wiring pipe bearing 22 is limited in a step mode through the fifth shoulder 0507 in the hollow shaft 5, the other end face of the wiring pipe bearing 22 is limited in a position through the bearing end cover 23, and the bearing end cover 23 is fixed on the end face of the hollow shaft 5 through screws. The output plug 24 is fixed on the upper end cover 25 through a nut carried by the output plug, the input plug 12 is fixed on the input flange 14 through a nut carried by the input plug 12, the output plug 24 and the input plug 12 are both gold-plated aviation plugs, and the plugging life time is more than ten thousand.
Fix on the lower end cover 15 the cavity is walked spool 10 tip and is provided with the opening, and with the opening corresponds input flange 14 department is provided with the trough, and the wire can pass the trough passes the opening gets into in the cavity is walked spool 10 to realize that the wire enters into from the joint is inside in the cavity is walked spool 10, the cavity is walked.
According to the hollow wiring device, the hollow wiring pipe is a thin-wall pipe, one end of the hollow wiring pipe is positioned by a shaft shoulder of the hollow wiring pipe, the other end of the hollow wiring pipe is fixed by a conical surface of the lower end cover in an expanding manner, the lower end cover of the hollow wiring pipe is fixed on the input flange through screws, a 90-degree notch is formed in the hollow wiring pipe, and a wiring groove is formed in the input flange corresponding to the notch, so that the problems of winding and wiring difficulty of the hollow wiring are solved; the two ends of the joint are electrically connected through the input plug and the output plug, so that the joint electric device can be quickly and reliably connected with the next joint.
As shown in fig. 10, fig. 10 is a structural view of the braking device; the braking device comprises a rotor hub 17 and a brake 16. A circular shaft shoulder 1701 and a rectangular shaft shoulder 1702 are respectively arranged at two ends of the rotor hub 17, the circular shaft shoulder 1701 is matched with the hollow shaft 5 and fixed on the hollow shaft 5 through a jackscrew, the rectangular shaft shoulder 1702 is matched with the brake 16, and the brake 16 is fixed on the input flange 14 through a screw; the input flange 14 is positioned by the third step 0403 and is fixed to the housing 4 by screws. Specifically, the friction plates of the brake 16 are disposed in cooperation with the rectangular shoulder 1702.
The harmonic reducer 1, the hollow motor, the brake 16, the hollow shaft 5 and the rotor hub 17 which are selected by the invention are all large-aperture hollow devices.
As shown in fig. 11, 12 and 13, fig. 11 is a structural view of the magnet mounting device; FIG. 12 is a structural view of the Hall mounting apparatus; FIG. 13 is a structural view of the hollow wiring tube; the incremental encoder comprises a magnetic ring 19, a reading head 20 and a reading head flange 21. The magnetic ring 19 is adhered to the magnetic ring groove correspondingly arranged on the hollow shaft 5 through self-adhesive tape, the reading head 20 is fixed on the reading head flange 21 through screws, the reading head flange 21 is positioned through the reading head flange groove formed on the first step 0401 and is fixed on the first step 0401 through screws, so that the lower end face of the reading head 20 is parallel to the magnetic ring 19, and the lower end face of the reading head 20 is located at a position 0.5mm right above the magnetic ring 19, and stable reading of the reading head 20 is realized.
The zero returning device comprises a magnet mounting device 2 and a Hall mounting device 3; as shown in fig. 10 and 11, fig. 10 is a structural view of the magnet mounting apparatus; FIG. 11 is a structural view of the Hall mounting apparatus; the magnet installation device 2 comprises a first magnet 0201, a limiting protrusion 0202, a zero position groove 0203 and a second magnet 0204, the zero position groove 0203 is arranged on the limiting protrusion 0202, the first magnet 0201 and the second magnet 0204 are symmetrically arranged on two sides of the limiting protrusion 0202 respectively, the magnet installation device 2 is installed in the magnet installation device positioning groove 0104 through screws, namely the first magnet 0201 and the second magnet 0204 rotate along with the flexspline 0103.
The Hall installation device 3 comprises a first limit Hall 0301, a second limit Hall 0302, a return-to-zero Hall 0303 and a return-to-zero bulge 0304, wherein the first limit Hall 0301, the second limit Hall 0302 and the return-to-zero Hall 0303 respectively correspond to positive electronic limit, negative electronic limit and return-to-zero operation of the return-to-zero device, the first limit Hall 0301, the second limit Hall 0302 and the return-to-zero Hall 0303 correspond to the first magnet 0201 and the second magnet 0204, and the Hall installation device 3 is fixed on the steel wheel 0102 through screws.
The magnet mounting device 2 is provided with a limiting bulge 0202 which forms a mechanical limiting device together with a screw for mounting the Hall mounting device 3; the magnet installation device 2 is provided with a zero position groove 0203, the Hall installation device 3 is provided with a zero returning projection 0304, and the zero returning projection 0304 and the Hall installation device are matched to achieve the joint mechanical zero returning function.
The zero-returning device of the invention consists of a magnet mounting device, a circular magnet, three Hall elements and a Hall mounting device. The magnet mounting device is provided with two circular magnets, three Hall elements are arranged in the Hall mounting device, and the magnets rotate on the flexible gear along with the Hall mounting device to trigger the Hall elements so as to realize positive electronic limit, negative electronic limit and zero return functions; the magnet mounting device is provided with a bulge, and the bulge and a screw for mounting the Hall mounting device form a mechanical limiting device; the magnet installation device is provided with a groove, the Hall installation device is provided with a bulge, and the magnet installation device and the Hall installation device are matched to achieve the mechanical zero returning function of the joint.
The control device comprises a servo driver 8, a driver flange 9 and a power supply conversion module 18. The servo driver 8 is fixed on the driver flange 9 through screws, the driver flange 9 is fixed on the motor flange 10 through screws, the power conversion module 18 is fixed on the motor flange 10 through screws, the servo driver 8 corresponds to the hollow motor, and the power conversion module 18 is connected with the input plug 12, the servo driver 8 and the brake 16 so as to convert the power provided by the input plug 12 and provide corresponding current for the servo driver 8 and the brake 16.
The working principle of the invention is as follows: give by outside PC servo driver 8 send instruction, through servo driver 8 control cavity motor work, cavity motor's rotor 6 rotates and drives cavity shaft 5 rotates, transmits the torque for harmonic speed reducer 1, harmonic speed reducer 1 steel wheel 0102 is fixed just flexbile gear 0103 outputs, will the flexbile gear flange directly is as output flange output, the flexbile gear flange links to each other with the connecting rod. The incremental encoder is used for feeding back the speed and the position of the hollow motor, and feeding back the speed and the position parameters of the hollow motor to the servo driver 8, so that the speed and the position parameters are displayed and fed back at an external PC (personal computer).
The specific working process of the invention is as follows: the external 48V dc power supply supplies power to the hollow modular joint of the present invention, the dc power supply supplies power to the power conversion module 18 through the input plug 12, and the power conversion module 18 divides the 48V power supply into 2 paths: one path of 48V supplies power to the servo driver 8, the other path of 24V supplies power to the brake 16, the servo driver 8 supplies power to the hollow motor through three U/V/W wires, and supplies power to the Hall mounting device 3 and the incremental encoder through a self-contained I0; an external PC sends an instruction to the servo driver 8, the hollow motor enters a servo state, and meanwhile the brake 16, the Hall sensor and the encoder are electrified; before the joint normally works each time, zero returning work is carried out, the hollow motor is operated to the position where the zero returning Hall 0303 outside the joint is detected to stop moving, the hollow motor slowly moves to a mechanical zero point, the zero point is defined as the joint origin, and the reading of the encoder is 0; the joint can then function normally.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A hollow modular joint is characterized by comprising a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device; the harmonic reducer is fixedly connected with the shell, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end portion of the hollow shaft is connected with the harmonic reducer, the hollow motor is arranged corresponding to the hollow shaft to drive the hollow shaft to rotate, the harmonic reducer realizes speed reduction output for rotation of the hollow shaft, and the hollow wiring device realizes hollow wiring of a wire in the hollow modular joint.
2. The hollow modular joint of claim 1, wherein said housing comprises a first step, a second step, and a third step sequentially arranged along the extension direction of the hollow shaft axis, said first step is fixedly installed with said harmonic reducer, said second step is fixedly installed with a motor flange, and said third step is fixedly installed with an input flange.
3. The hollow modular joint of claim 2, wherein the hollow shaft comprises a second shoulder, a fourth shoulder, and a snap spring groove, the motor flange is provided with a hollow shaft bearing, one end of the hollow shaft is fixed on the harmonic reducer and positioned by the second shoulder, and the other end of the hollow shaft is fixed on the hollow shaft bearing by the fourth shoulder; one side of the hollow shaft bearing is positioned through the step of the motor flange, and the other side of the hollow shaft bearing is positioned through a clamp spring arranged in the clamp spring groove.
4. The hollow modular joint of claim 3, wherein the hollow routing device comprises a hollow routing tube, an upper end cap, a lower end cap, an output plug, an input plug, the hollow shaft being sleeved on the hollow routing tube; the lower end cover with the upper end cover sets up respectively the cavity is walked line pipe both ends, the lower end cover is fixed on the input flange, the upper end cover is fixed on the cavity is walked line pipe, output plug fixes on the upper end cover, input plug fixes on the input flange.
5. The hollow modular joint of claim 4, wherein a conduit bearing is disposed between the hollow conduit and the hollow shaft; one end face of the routing pipe bearing is limited by a step through a fifth shoulder in the hollow shaft, the other end face of the routing pipe bearing is limited by a bearing end cover, and the bearing end cover is fixed on the end face of the hollow shaft.
6. The hollow modular joint of claim 5, wherein the end of the hollow wire tube fixed to the lower end cap is provided with a notch, and a wire groove is provided at the input flange corresponding to the notch, through which a wire passes into the hollow wire tube.
7. The hollow modular joint of claim 2, wherein an incremental encoder is provided in correspondence to said hollow shaft, said incremental encoder comprising a magnetic ring, a reading head flange; the magnetic ring is fixed in the magnetic ring groove correspondingly arranged on the outer end face of the hollow shaft, the reading head is fixed on the reading head flange, and the reading head flange is fixedly positioned through the reading head flange groove formed in the first step.
8. The hollow modular joint of claim 7, wherein the corresponding end surfaces of the reading head and the magnetic ring are parallel to the magnetic ring, and the corresponding end surfaces of the reading head and the magnetic ring are located 0.5mm directly above the magnetic ring.
9. The hollow modular joint of claim 1, wherein said harmonic reducer is provided with a zero-return device, said zero-return device comprising a magnet mounting device, a hall mounting device; the magnet installation device and the Hall installation device are arranged correspondingly, the magnet installation device comprises a first magnet, a limit bulge, a zero position groove and a second magnet, the zero-position groove is arranged on the limiting bulge, the first magnet and the second magnet are respectively and symmetrically arranged on two sides of the limiting bulge, the magnet installation device is fixedly arranged on a flexible gear of the harmonic reducer, the Hall installation device comprises a first limit Hall, a second limit Hall, a zero return Hall and a zero return bulge, the first limit Hall, the second limit Hall and the zero returning Hall respectively correspond to positive electronic limit, negative electronic limit and zero returning operation of the zero returning device, the first limiting Hall, the second limiting Hall and the zero returning Hall correspond to the first magnet and the second magnet, and the Hall mounting device is fixedly arranged on a steel wheel of the harmonic reducer.
10. The hollow modular joint of claim 4, wherein a control device is further disposed within the housing, the control device being connected to the hollow routing device, the hollow motor, the brake device, the incremental encoder, and the zero-return device; the control device comprises a servo driver, a driver flange and a power supply conversion module; the servo driver is fixed on the driver flange, the driver flange is fixed on the input flange, the power supply conversion module is fixed on the input flange, the servo driver corresponds to the hollow motor, and the power supply conversion module is connected with the input plug, the servo driver and the braking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911216795.9A CN110815284A (en) | 2019-11-29 | 2019-11-29 | Hollow modular joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911216795.9A CN110815284A (en) | 2019-11-29 | 2019-11-29 | Hollow modular joint |
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| CN110815284A true CN110815284A (en) | 2020-02-21 |
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| CN201911216795.9A Pending CN110815284A (en) | 2019-11-29 | 2019-11-29 | Hollow modular joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022041005A1 (en) * | 2020-08-26 | 2022-03-03 | Rethink Robotics Gmbh | Transmission device, robotic joint, and robot |
| WO2023051280A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Hollow-wiring actuator, mechanical arm, and robot |
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| WO2023051280A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Hollow-wiring actuator, mechanical arm, and robot |
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