CN112356067A - Intelligent integrated robot joint - Google Patents
Intelligent integrated robot joint Download PDFInfo
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- CN112356067A CN112356067A CN202011366833.1A CN202011366833A CN112356067A CN 112356067 A CN112356067 A CN 112356067A CN 202011366833 A CN202011366833 A CN 202011366833A CN 112356067 A CN112356067 A CN 112356067A
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- Prior art keywords
- gear
- planetary gear
- transmission mechanism
- ring
- robot joint
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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
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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
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robot joint transmission and control, and particularly discloses an intelligent integrated robot joint which comprises a main motor, an adjusting motor, a planetary gear transmission mechanism and an outer gear, wherein the main motor is the main input of the planetary gear transmission mechanism, the outer gear is rotationally connected with the planetary gear transmission mechanism, the adjusting motor is used as the adjusting input of the planetary gear transmission mechanism through the outer gear, and the planetary gear transmission mechanism is the output of the robot joint. According to the invention, the torque applied to the joint can be calculated by monitoring and adjusting the current of the motor, so that the force control is conveniently realized; the speed of the motor is monitored and adjusted to sense dynamic collision, so that the running safety of the robot is improved conveniently. The realization of the functions of the invention does not depend on force and moment sensors and complex algorithms, and the cost and the complexity of an operating system are reduced.
Description
Technical Field
The invention relates to the technical field of robot joint transmission and control, in particular to an intelligent integrated robot joint capable of realizing force position control without force and torque sensors.
Background
Industrial robots have been widely used in the industrial fields of automobiles, 3C electronics, and the like, and along with the increase of the degree of intelligence, industrial robots are increasingly widely used in the industries of metallurgy, mines, petroleum, chemical industry, and the like. When an industrial robot moves in a free space, high rigidity is often required to improve the movement accuracy, and the requirement can be met by adopting position control under the condition. However, when the end effector contacts an obstacle in the working environment, the requirement cannot be met only by means of position control, and the working task can be completed by force-position hybrid control generally. The force position control of the existing industrial robot is generally realized through feedback control based on a force or moment sensor, and the method needs to depend on the force or moment sensor and a complex algorithm, so that an operating system is complex and has high cost.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide an intelligent integrated robot joint, which is used to solve the problems of complicated structure and high cost of a transmission operation system caused by the need of relying on a force or torque sensor and complicated algorithm when the robot joint in the prior art realizes force position control.
In order to achieve the above and other related objects, the present invention provides an intelligent integrated robot joint, including a main motor, an adjusting motor, a planetary gear transmission mechanism and an external gear, wherein the main motor is a main input of the planetary gear transmission mechanism, the external gear is rotationally connected with the planetary gear transmission mechanism, the adjusting motor is used as an adjusting input of the planetary gear transmission mechanism through the external gear, and the planetary gear transmission mechanism is an output part of the robot joint.
Further, the planetary gear transmission mechanism has two degrees of freedom.
Furthermore, the planetary gear transmission mechanism is one of a simple planetary gear transmission mechanism, an involute small-tooth-difference planetary gear transmission mechanism or a cycloid pin gear planetary gear transmission mechanism.
Further, simple planetary gear drive includes input shaft, sun gear, planet wheel, planet carrier and ring gear, the both ends of input shaft are connected with sun gear and main motor respectively, sun gear meshes with the planet wheel mutually, the planet wheel is installed on the planet carrier, the ring gear is equipped with external tooth and internal tooth, the internal tooth and the planet wheel of ring gear mesh mutually, the external tooth and the external gear mesh of ring gear, the external gear is connected with the adjustment motor, the planet carrier is simple planetary gear drive's output section.
Further, poor planetary gear drive of few tooth that gradually bursts at seams includes input shaft, planet wheel, output mechanism and ring gear, the both ends of input shaft are connected with planet wheel and main motor respectively, the ring gear is equipped with external tooth and internal tooth, the internal tooth and the planet wheel of ring gear mesh mutually, the external tooth and the external gear of ring gear mesh mutually, the external gear is connected with the adjustment motor, output mechanism is connected with the planet wheel, and output mechanism is the output part of few poor planetary gear drive of the tooth that gradually bursts at seams.
Further, cycloid pin wheel planetary gear drive includes input shaft, eccentric rocking arm bearing, cycloid wheel, needle tooth, output mechanism and needle ring gear, the input shaft is connected with main motor, the cycloid wheel supports on the input shaft through eccentric rocking arm bearing, the cycloid wheel sets up for needle ring gear off-centre, the cycloid wheel meshes with the needle tooth mutually, the needle ring gear is equipped with external tooth and internal tooth, the internal tooth and the needle tooth of needle ring gear mesh mutually, the external tooth and the external gear mesh of needle ring gear, the external gear is connected with the adjustment motor, output mechanism is cycloid pin wheel planetary gear drive's output part.
Further, the planetary gear transmission mechanism is a transmission device with a large transmission ratio, and the transmission ratio is more than 11, so that the accuracy of position control is ensured.
Furthermore, the transmission mechanism formed by the planetary gear transmission mechanism and the external gear has a small transmission ratio device, and the transmission ratio is 1-11, so that force control is facilitated.
Further, the output mechanism is a pin type output mechanism or a floating disc type output mechanism.
The invention provides a robot in a second aspect, which comprises the intelligent integrated robot joint in the first aspect.
Further, the output part of the planetary gear transmission mechanism is connected with a connecting rod, and the connecting rod is connected with the robot joint arm to control the robot to move.
As described above, the intelligent integrated robot joint of the present invention has the following beneficial effects:
the robot joint can calculate the torque applied to the robot joint by monitoring and adjusting the current of the motor, thereby facilitating the realization of force control; the rotating speed of the motor is monitored and adjusted, so that the dynamic collision of the robot joint can be sensed, and the running safety of the robot is improved conveniently.
The planetary transmission device can simultaneously realize position control and force control, has high safety, does not depend on force and moment sensors and complex algorithms for realizing the functions, and reduces the equipment cost and the complexity of an operating system.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent integrated robot joint according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an involute small-tooth-difference planetary gear transmission mechanism in embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a simple planetary gear transmission mechanism according to embodiment 2 of the present invention;
fig. 4 is a schematic structural view of a cycloid pin gear planetary gear transmission mechanism in embodiment 3 of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Description of reference numerals:
the device comprises a main motor 1, a regulating motor 2, a planetary gear transmission mechanism 3, an input shaft 31, a planetary gear 32, an output mechanism 33, a gear ring 34, an external gear 4, a connecting rod 5, a sun gear 6, a planet carrier 7, needle teeth 8, a cycloidal gear 9 and a needle ring gear 10.
The invention provides an intelligent integrated robot joint capable of realizing force position control without a force and moment sensor, which comprises a main motor, an adjusting motor, a planetary gear transmission mechanism and an external gear, wherein the planetary gear transmission mechanism has two degrees of freedom, the main motor is used as the main input of the planetary gear transmission mechanism, the adjusting motor is used as the adjusting input of the planetary gear transmission mechanism through the external gear, and the output of the planetary gear transmission mechanism is used as the output of the intelligent integrated joint. The planetary gear transmission mechanism can be a simple planetary gear transmission mechanism with two degrees of freedom, an involute small-tooth-difference planetary gear transmission mechanism or a cycloid pin gear planetary gear transmission mechanism, but is not limited to the planetary gear transmission mechanism. Specifically, the planetary gear transmission mechanism is a transmission device with a large transmission ratio, and the transmission ratio is more than 11, so that the accuracy of position control is ensured; the transmission mechanism formed by the planetary gear transmission mechanism and the outer gear has a small transmission ratio device, and the transmission ratio is 1-11, so that force control is facilitated.
In 3 components of a common planetary gear transmission mechanism, for example, in a simple planetary gear transmission mechanism, 3 components respectively refer to a sun gear, a planet carrier and a gear ring, and generally, one of the components (the planet carrier) needs to be fixed at first, then one of the components (the sun gear) is used as an input, and the other component (the gear ring) is used as an output; the invention is characterized in that 3 components in the planetary gear transmission mechanism are not provided with fixed components, two components are used as input (a sun gear and a gear ring), and one component is used as output (a planet carrier), so that an integrated joint is constructed, and the aim of realizing force control without depending on a sensor is realized through an algorithm based on the structural characteristics.
The intelligent integrated robot joint has the following beneficial effects:
(1) the joint can calculate the moment applied to the joint by monitoring and adjusting the current of the motor, so that the force control is convenient to realize.
(2) The joint senses dynamic collision by monitoring the speed of the adjusting motor, so that the running safety of the robot is improved conveniently.
(3) The joint can simultaneously realize position control and force control, and simultaneously improves the safety.
(4) The realization of the functions of the joint does not depend on force and moment sensors and complex algorithms, and the cost and the complexity of an operation system are reduced.
The specific implementation process is as follows:
example 1
As shown in fig. 1 and 2, the intelligent integrated robot joint of the present embodiment includes a main motor 1, an adjusting motor 2, a planetary gear transmission mechanism 3, and an external gear 4, where the planetary gear transmission mechanism 3 is an involute small-tooth-difference planetary gear transmission mechanism. The involute small-tooth-difference planetary gear transmission mechanism comprises an input shaft 31, a planetary gear 32, an output mechanism 33 and a gear ring 34, wherein the gear ring 34 is provided with external teeth and internal teeth at the same time, the internal teeth of the gear ring 34 are meshed with the planetary gear 32, the external teeth of the gear ring 34 are meshed with an external gear 4, the external gear 4 is connected with a regulating motor 2, and the output mechanism 33 is connected with the planetary gear 32. The input shaft 31 is connected at its two ends to the planet wheels 32 and the main motor 1, respectively, and the main motor 1 serves as the main input of the planetary gear mechanism 3. The adjusting motor 2 serves as an adjusting input for the planetary gear 3 via the external gear 4. The output mechanism 33 is an output part of an involute small-tooth-difference planetary gear transmission mechanism, the output mechanism 33 can be a common pin type output mechanism 33 or a floating disc type output mechanism 33, the output mechanism 33 is connected with a connecting rod 5, and the connecting rod 5 is connected with a robot joint arm to control the robot to move. When the joint drives the connecting rod 5 to move to a designated position in free space, the main motor 1 performs drive control, and the adjusting motor 2 keeps a static locking state. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. At this time, since the motor 2 is adjusted to be in the stationary locked state, the external gear 4 is in the stationary state, and the ring gear 34 meshing with the external gear 4 is also in the stationary state. When the planetary gear 32 revolves clockwise, the planetary gear 32 generates counterclockwise rotation motion by meshing with the ring gear 34. The output mechanism 33 outputs the rotation motion of the planet wheel 32 in a ratio of 1: 1, so that the output mechanism 33 generates anticlockwise rotation motion, the connecting rod 5 is controlled to rotate anticlockwise to a specified position, and the position control function of the joint is realized.
When the joint driving connecting rod 5 meets an obstacle in the environment after moving to a specified position, the main motor 1 and the adjusting motor 2 jointly perform driving control. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the connecting rod 5 can not rotate when meeting the obstacle, the output mechanism 33 can be kept still, and the planetary wheels 32 can not rotate. The planetary gear 32 revolves clockwise and meshes with the internal teeth of the ring gear 34, and the ring gear 34 rotates counterclockwise, and the ring gear 34 meshes with the external gear 4, whereby the external gear 4 rotates clockwise, and torque is transmitted to the adjustment motor 2. When the joint meets an obstacle, the moment applied to the joint can be calculated by monitoring the current of the adjusting motor 2, so that the force control is convenient to realize; by monitoring and adjusting the rotating speed of the motor 2, dynamic collision can be sensed, and the running safety of the robot can be improved conveniently.
The current and the rotating speed of the adjusting motor 2 are parameters which are convenient to directly obtain, so that the invention can realize force position control and improve safety under the condition of not depending on expensive force and moment sensors and complex algorithms, thereby reducing the cost and the complexity of a robot operating system.
Example 2
As shown in fig. 1 and 3, the intelligent integrated robot joint of the present embodiment includes a main motor 1, an adjusting motor 2, a planetary gear transmission mechanism 3, and an external gear 4, where the planetary gear transmission mechanism 3 is a simple planetary gear transmission mechanism. The simple planetary gear transmission comprises an input shaft 31, a sun gear 6, a planet gear 32, a planet carrier 7 and a gear ring 34, wherein the sun gear 6 is meshed with the planet gear 32, the planet gear 32 is arranged on the planet carrier 7, the gear ring 34 is provided with outer teeth and inner teeth at the same time, the inner teeth of the gear ring 34 are meshed with the planet gear 32, the outer teeth of the gear ring 34 are meshed with an outer gear 4, and the outer gear 4 is connected with the adjusting motor 2. The input shaft 31 is connected at both ends to the sun gear 6 and the main motor 1, respectively, and the main motor 1 serves as the main input of the planetary gear mechanism 3. The adjusting motor 2 serves as an adjusting input for the planetary gear 3 via the external gear 4. The planet carrier 7 is the output part of a simple planetary gear transmission mechanism, the planet carrier 7 is connected with a connecting rod 5, and the connecting rod 5 is connected with a robot joint arm to control the robot to act.
When the joint drives the connecting rod 5 to move to a designated position in free space, the main motor 1 performs drive control, and the adjusting motor 2 keeps a static locking state. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. At this time, since the motor 2 is adjusted to be in the stationary locked state, the external gear 4 is in the stationary state, and the ring gear 34 meshing with the external gear 4 is also in the stationary state. When the sun gear 6 rotates clockwise, the planet gear 32 engaged with the sun gear is driven to rotate counterclockwise, the planet gear 32 is engaged with the internal teeth of the ring gear 34, but the ring gear 34 is in a static state, and therefore the planet gear 32 revolves counterclockwise along the internal teeth of the ring gear 34. The planet carrier 7 outputs the autorotation motion of the planet wheel 32 in a ratio of 1: 1, so that the planet carrier 7 generates anticlockwise rotation motion, the control connecting rod 5 rotates anticlockwise to a specified position, and the position control function of the joint is realized.
When the joint driving connecting rod 5 meets an obstacle in the environment after moving to a specified position, the main motor 1 and the adjusting motor 2 jointly perform driving control. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the link 5 will not be able to make a rotational movement when it meets an obstacle, the planet carrier 7 will remain stationary and the planet wheels 32 will not be able to make a revolving movement. The sun gear 6 rotates clockwise and simultaneously drives the planet gear 32 engaged with the sun gear to rotate anticlockwise, the planet gear 32 is engaged with the inner teeth of the gear ring 34, the gear ring 34 rotates clockwise, the outer gear 4 rotates anticlockwise through engagement of the gear ring 34 and the outer gear 4, and therefore torque is transmitted to the adjusting motor 2. When the joint meets an obstacle, the moment applied to the joint can be calculated by monitoring the current of the adjusting motor 2, so that the force control is convenient to realize; by monitoring and adjusting the rotating speed of the motor 2, dynamic collision can be sensed, and the running safety of the robot can be improved conveniently.
The current and the rotating speed of the adjusting motor 2 are parameters which are convenient to directly obtain, so that the invention can realize force position control and improve safety under the condition of not depending on expensive force and moment sensors and complex algorithms, thereby reducing the cost and the complexity of a robot operating system.
Example 3
As shown in fig. 1 and 4, the intelligent integrated robot joint of the present embodiment includes a main motor 1, an adjusting motor 2, a planetary gear transmission mechanism 3, and an external gear 4, where the planetary gear transmission mechanism 3 is a cycloidal-pin planetary gear transmission mechanism. The cycloidal-pin-wheel planetary gear transmission mechanism comprises an input shaft 31, an eccentric tumbler bearing, a cycloidal wheel 9, pin teeth 8, an output mechanism 33 and a pin gear ring 10, wherein the output mechanism 33 is a common pin-type output mechanism 33 or a floating disc-type output mechanism 33, the input shaft 31 is connected with a main motor 1, and the main motor 1 is used as the main input of the planetary gear transmission mechanism 3; the cycloidal gear 9 is supported on an input shaft 31 through an eccentric tumbler bearing, the cycloidal gear 9 is eccentrically arranged relative to a needle gear ring 10, the cycloidal gear 9 is meshed with a needle gear 8, the needle gear ring 10 is provided with external teeth and internal teeth, the internal teeth of the needle gear ring 10 are meshed with the needle gear 8, the external teeth of the needle gear ring 10 are meshed with an external gear 4, the external gear 4 is connected with the adjusting motor 2, and the adjusting motor 2 is used as the adjusting input of the planetary gear transmission mechanism 3 through the external gear 4; the output mechanism 33 is an output part of the cycloidal-pin planetary gear transmission. The output mechanism 33 is connected with a connecting rod 5, and the connecting rod 5 is connected with an intelligent integrated robot joint arm to control the robot to move.
When the joint drives the connecting rod 5 to move to a designated position in free space, the main motor 1 performs drive control, and the adjusting motor 2 keeps a static locking state. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise, and the cycloid wheel 9 is driven to rotate clockwise. At this time, since the motor 2 is adjusted to be in the stationary locked state, the external gear 4 is in the stationary state, and the needle ring gear 10 meshing with the external gear 4 is also in the stationary state. Because the needle teeth 8 are meshed with the cycloid wheel 9, when the cycloid wheel 9 rotates clockwise, the needle teeth 8 generate anticlockwise rotation movement, and because the needle teeth 8 are meshed with the inner teeth of the needle gear ring 10, the needle teeth 8 can drive the cycloid wheel 9 to revolve clockwise while rotating. The output mechanism 33 outputs the revolution motion of the cycloid wheel 9 in a ratio of 1: 1, so that the output mechanism 33 generates clockwise rotation motion, thereby controlling the connecting rod 5 to rotate clockwise to a specified position, and realizing the position control function of the joint.
When the joint driving connecting rod 5 meets an obstacle in the environment after moving to a specified position, the main motor 1 and the adjusting motor 2 jointly perform driving control. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the link 5 will not be able to rotate when it encounters an obstacle, the output mechanism 33 will remain stationary and the cycloid wheel 9 will not be able to spin. The cycloid wheel 9 revolves clockwise and is engaged with the needle teeth 8 at the same time, so that the needle teeth 8 rotate anticlockwise, the needle teeth ring 10 rotates clockwise due to the engagement of the needle teeth 8 and the inner teeth of the needle teeth ring 10, and the outer gear 4 rotates anticlockwise through the engagement of the needle teeth ring 10 and the outer gear 4, so that the torque is transmitted to the adjusting motor 2. When the joint meets an obstacle, the moment applied to the joint can be calculated by monitoring the current of the adjusting motor 2, so that the force control is convenient to realize; by monitoring and adjusting the rotating speed of the motor 2, dynamic collision can be sensed, and the running safety of the robot can be improved conveniently.
The current and the rotating speed of the adjusting motor 2 are parameters which are convenient to directly obtain, so that the invention can realize force position control and improve safety under the condition of not depending on expensive force and moment sensors and complex algorithms, thereby reducing the cost and the complexity of a robot operating system.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The intelligent integrated robot joint is characterized by comprising a main motor, an adjusting motor, a planetary gear transmission mechanism and an outer gear, wherein the main motor is the main input of the planetary gear transmission mechanism, the outer gear is in rotary connection with the planetary gear transmission mechanism, the adjusting motor is used as the adjusting input of the planetary gear transmission mechanism through the outer gear, and the planetary gear transmission mechanism is the output of the robot joint.
2. The intelligent integrated robot joint of claim 1, wherein: the planetary gear mechanism has two degrees of freedom.
3. The intelligent integrated robot joint of claim 2, wherein: the planetary gear transmission mechanism is one of a simple planetary gear transmission mechanism, an involute small-tooth-difference planetary gear transmission mechanism or a cycloid pin gear planetary gear transmission mechanism.
4. The intelligent integrated robot joint of claim 3, wherein: simple planetary gear drive includes input shaft, sun gear, planet wheel, planet carrier and ring gear, the both ends of input shaft are connected with sun gear and main motor respectively, sun gear meshes with the planet wheel mutually, the planet wheel is installed on the planet carrier, the ring gear is equipped with external tooth and internal tooth, the internal tooth and the planet wheel of ring gear mesh mutually, the external tooth and the external gear mesh of ring gear, the external gear is connected with the regulation motor, the planet carrier is simple planetary gear drive's output section.
5. The intelligent integrated robot joint of claim 3, wherein: the few poor planetary gear drive that tooth that gradually bursts at seams includes input shaft, planet wheel, output mechanism and ring gear, the both ends of input shaft are connected with planet wheel and main motor respectively, the ring gear is equipped with external tooth and internal tooth, the internal tooth and the planet wheel of ring gear mesh mutually, the external tooth and the external gear of ring gear mesh mutually, the external gear is connected with adjusting motor, output mechanism is connected with the planet wheel, and output mechanism is the few poor planetary gear drive's that tooth gradually bursts at seams output section.
6. The intelligent integrated robot joint of claim 3, wherein: the cycloidal pin wheel planetary gear transmission mechanism comprises an input shaft, an eccentric rotating arm bearing, a cycloidal gear, pin teeth, an output mechanism and a pin gear ring, wherein the input shaft is connected with a main motor, the cycloidal gear is supported on the input shaft through the eccentric rotating arm bearing, the cycloidal gear is eccentrically arranged relative to the pin gear ring, the cycloidal gear is meshed with the pin teeth, the pin gear ring is provided with outer teeth and inner teeth, the inner teeth of the pin gear ring are meshed with the pin teeth, the outer teeth of the pin gear ring are meshed with an outer gear, the outer gear is connected with an adjusting motor, and the output mechanism is an output part of the cycloidal pin wheel planetary gear transmission mechanism.
7. The intelligent integrated robot joint of claim 1, wherein: the planetary gear transmission mechanism is a transmission device with the transmission ratio of more than 11, and the transmission ratio is more than 11.
8. The intelligent integrated robot joint of claim 1, wherein: the transmission ratio of a transmission mechanism formed by the planetary gear transmission mechanism and the outer gear is 1-11.
9. The planetary transmission according to claim 4 or 5, wherein: the output mechanism is a pin type output mechanism or a floating disc type output mechanism.
10. Use of an intelligent integrated robot joint according to any of claims 1-8 on a robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011366833.1A CN112356067A (en) | 2020-11-27 | 2020-11-27 | Intelligent integrated robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011366833.1A CN112356067A (en) | 2020-11-27 | 2020-11-27 | Intelligent integrated robot joint |
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| CN112356067A true CN112356067A (en) | 2021-02-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146671A (en) * | 2021-04-09 | 2021-07-23 | 深圳鑫宏力精密工业有限公司 | Multi-degree-of-freedom mechanical arm for machine tool |
-
2020
- 2020-11-27 CN CN202011366833.1A patent/CN112356067A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146671A (en) * | 2021-04-09 | 2021-07-23 | 深圳鑫宏力精密工业有限公司 | Multi-degree-of-freedom mechanical arm for machine tool |
| CN113146671B (en) * | 2021-04-09 | 2024-05-17 | 深圳鑫宏力精密工业有限公司 | Multi-degree-of-freedom mechanical arm for machine tool |
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