CN111230921A

CN111230921A - Direct-connected intelligent joint

Info

Publication number: CN111230921A
Application number: CN202010142653.9A
Authority: CN
Inventors: 华懿伟; 郭家星; 郭晓晨; 郭怡然
Original assignee: Suzhou Haiyi Intelligent Technology Co ltd
Current assignee: Suzhou Haiyi Intelligent Technology Co ltd
Priority date: 2020-03-04
Filing date: 2020-03-04
Publication date: 2020-06-05

Abstract

The invention provides a direct-connected intelligent joint which comprises a base and a top end transition flange of the base, wherein the transition flange is provided with a harmonic reducer, one end of the harmonic reducer is provided with an output flange, the base is also provided with a servo motor, the servo motor is connected with a wave generator, and the wave generator is positioned in the output flange. The invention has simple and compact structure and reasonable design, and consists of a customized harmonic reducer, a servo motor with a brake, a servo driver and the like, wherein the harmonic reducer enables the intelligent joint to be more conveniently and quickly disassembled by specially customizing the cam of the reducer under the conditions of high performance and high precision. The invention, as the first joint of the industrial robot, has the advantages of compact structure, simple installation, stable output, high structural compatibility and the like.

Description

Direct-connected intelligent joint

Technical Field

The invention relates to the technical field of robot joint driving, in particular to a direct-connected intelligent joint.

Background

The harmonic speed reduction integrated machine is a driving execution element used for driving a robot connecting rod to move at a robot joint, and is a novel special driving actuator for a robot, wherein a servo motor, a harmonic speed reducer and a driving system are integrated together. At present, the integrated level of the series harmonic reducer integrated machine in the industrial field is high, the harmonic reducer and a servo motor module are more complicated to disassemble and assemble, and the knowledge of students in schools who just contact the harmonic reducer in learning and maintenance is more difficult.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides a direct-connected intelligent joint, which solves the problems in the background art.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides a direct-connected type intelligence joint, includes base and its top flange, flange is equipped with the harmonic speed reducer ware, harmonic speed reducer ware one end is equipped with the output flange, the base still is equipped with servo motor, servo motor connects wave generator, wave generator is located inside the output flange.

In a further aspect of the invention, the base is fixedly connected to the transition flange by screws.

In a further aspect of the present invention, the transition flange is fixedly connected to the harmonic reducer by screws.

In a further aspect of the present invention, the harmonic reducer is fixedly connected to the output flange by screws.

In a further description of the invention, the wave generator is connected to the servo motor by means of a socket head cap screw.

Compared with the prior art, the invention has the advantages that:

the invention has simple and compact structure and reasonable design, and consists of a customized harmonic reducer, a servo motor with a brake, a servo driver and the like, wherein the harmonic reducer enables the intelligent joint to be more conveniently and quickly disassembled by specially customizing the cam of the reducer under the conditions of high performance and high precision. The invention, as the first joint of the industrial robot, has the advantages of compact structure, simple installation, stable output, high structural compatibility and the like.

Drawings

FIG. 1 is an internal structural view;

fig. 2 is an external structural view.

Reference numerals: the method comprises the following steps of 1-base, 2-transition flange, 3-harmonic reducer, 4-output flange, 5-wave generator, 6-inner hexagonal socket head cap screw and 7-servo motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1, as shown in fig. 1 to 2:

the utility model provides a direct-connected type intelligence joint, includes base 1 and its top transition flange 2, and transition flange 2 is equipped with harmonic

speed reducer ware

3, and 3 one end of harmonic speed reducer ware are equipped with output flange 4, and base 1 still is equipped with servo motor 7, and servo motor 7 connects wave generator 5, and wave generator 5 is located inside output flange 4.

2. A direct-connected intelligent joint according to claim 1, characterized in that the base 1 is fixedly connected with the transition flange 2 by means of screws.

In a preferred technical solution of this embodiment, the transition flange 2 is fixedly connected to the harmonic reducer 3 by screws.

In a preferred embodiment of the present invention, the harmonic reducer 3 is fixedly connected to the output flange 4 by screws.

In a preferred technical scheme of the embodiment, the wave generator 5 is connected with the servo motor 7 through an inner hexagonal socket head cap screw 6.

In the present embodiment, all the components are general standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experiments.

After the servo motor is started, the high-speed shaft of the motor transmits high-speed rotation motion to the harmonic reducer 3 through key transmission, an encoder at the tail end of the motor shaft records the rotation position of the motor shaft, and after the high-speed rotation motion is reduced through the harmonic reducer 3, the low-speed motion is output outwards through the output end face of the reducer by a low-speed rigid wheel. When in disassembly, the intelligent joint module can be disassembled quickly only by disassembling the output flange 4 and the socket head cap screws 6 and then ejecting the wave generator 5 through screw thread screw transmission by using the customized socket head cap screws.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature. Also, a first feature "above," "over," and "on" a second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature, and a first feature "below," "under," and "under" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the first feature is at a lower level than the first feature.

In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments without departing from the principles and spirit of the present invention.

Claims

1. The utility model provides a direct-connected type intelligence joint, includes base (1) and top transition flange (2) thereof, its characterized in that, transition flange (2) are equipped with harmonic speed reducer ware (3), harmonic speed reducer ware (3) one end is equipped with output flange (4), base (1) still is equipped with servo motor (7), servo motor (7) connect wave generator (5), wave generator (5) are located inside output flange (4).

2. Direct connection intelligent joint according to claim 1, characterized in that the base (1) is fixedly connected with the transition flange (2) by means of screws.

3. Direct-connected intelligent joint according to claim 1, characterized in that the transition flange (2) is fixedly connected with the harmonic reducer (3) by means of screws.

4. Direct-connected intelligent joint according to claim 1, characterized in that the harmonic reducer (3) is fixedly connected with the output flange (4) by means of screws.

5. Direct-connected intelligent joint according to claim 1, characterized in that the wave generator (5) is connected to the servo motor (7) by means of socket head cap screws (6).