CN112692868A

CN112692868A - Integrated joint with two-end output

Info

Publication number: CN112692868A
Application number: CN202110062715.XA
Authority: CN
Inventors: 陈令凯; 钱坤; 黄冠宇; 孔令雨; 华强; 谢安桓; 张丹
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-04-23

Abstract

The invention discloses an integrated joint with two output ends, belonging to the technical field of robots, wherein the integrated joint comprises a rotor, a stator, a speed reducer, a coder, a shaft, a shell, an output end extension shaft and a shell extension part; the stator, the rotor and the shaft are sequentially arranged in the shell from outside to inside, and the shaft is of a hollow structure; the speed reducer and the encoder are arranged in the shell, an output end of the speed reducer, an output end extending shaft and a driven output end are sequentially and fixedly connected, the output end and the driven output end are respectively provided with a position avoiding hole, the output end extending shaft penetrates through the shaft, and the output end extending shaft is rotatably connected with the shaft; the shell extension parts are respectively arranged at two ends of the shell. The integrated joint provided by the invention solves the problem that the integrated joint can only be installed on the side surface.

Description

Integrated joint with two-end output

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an integrated joint with two output ends.

Background

The robot is a cross subject integrating control, mechanical, electronic, material and other subjects, and with the rapid development of the robot technology, higher index requirements are provided for each component of the system. The joint is an important core component constituting the robot, especially the mechanical arm, and the overall structure and the motion performance of the joint directly influence the overall operation space, the load capacity and the task execution capacity of the robot. Industrial robot arms in modern industrial scenes need to cooperate with workers to complete related work in a limited working space, so that the robot arm body is required to have large load capacity under the conditions of small self weight and small volume. Meanwhile, the existing requirements also require that the period from design to delivery of the mechanical arm is continuously shortened, and higher requirements are also put forward on the integration speed of the mechanical arm.

The integrated joint is used as an important component of the robot, is generally installed by using one end face at present, can only be installed on one side of a driven device, cannot meet the diversified installation requirements of the robot joint, and limits the design of the robot.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an integrated joint with two output ends.

In order to realize the purpose of the invention, the invention adopts the following technical scheme: an integrated joint with two output ends comprises a rotor, a stator, a speed reducer, a coder, a shaft, a shell, an output end extension shaft and a shell extension part; the stator, the rotor and the shaft are sequentially arranged in the shell from outside to inside, and the shaft is of a hollow structure; the speed reducer and the encoder are arranged in the shell, an output end of the speed reducer, an output end extending shaft and a driven output end are sequentially and fixedly connected, the output end and the driven output end are respectively provided with a position avoiding hole, the output end extending shaft penetrates through the shaft, and the output end extending shaft is rotatably connected with the shaft; the shell extension parts are respectively arranged at two ends of the shell.

Further, the output end extension shaft is connected with the shaft through a bearing or a shaft sleeve.

Furthermore, a threaded hole is formed in the side face of the shell extension portion.

Compared with the prior art, the method has the following beneficial effects:

1. the integrated joint output from two ends is adopted, the integrated joint is fixedly installed through the shell extending parts from the two ends, the integrated joint can be arranged in the middle of the mechanism instead of the traditional unilateral installation, the design is more attractive, and meanwhile, the design of the robot is provided with a greater degree of freedom.

2. The detachable driven output end realizes the modular design of the integrated joint, and when the output at two ends is not needed, the driven output end can be selectively detached, so that the design of the robot is more flexible, and the material cost is reduced.

Drawings

FIG. 1 is a schematic sectional view of an integrated joint with two output ends according to the present invention;

FIG. 2 is an external view of the integrated joint with two output ends according to the present invention;

fig. 3 is a schematic cross-sectional view of the two-end mounting according to the embodiment of the present invention.

Wherein: 1. a rotor; 2. a stator; 3. a speed reducer; 4. an encoder; 5. a shaft; 6. a housing; 7. an output end; 8. an output end extension shaft; 9. a driven output end; 11. a thigh panel; 12. a shank plate; 61. a housing extension; 62. a shell tail through hole; 611. a fixing device; 612. and a clearance hole.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The invention provides an integrated joint with two output ends as shown in figures 1-2, which comprises a rotor 1, a stator 2, a speed reducer 3, an encoder 4, a shaft 5, a shell 6, an output end extension shaft 8 and a shell extension part 61; the stator 2, the rotor 1 and the shaft 5 are sequentially arranged in the shell 6 from outside to inside, and the shaft 5 is of a hollow structure; reduction gear 3 and encoder 4 set up in shell 6, be equipped with shell afterbody via hole 62 on the end cover of shell 6 driven output end 9 one side, be used for passing the output extends axle 8, output 7, the output of reduction gear 3 extend axle 8 and driven output end 9 fixed connection in proper order, realize the synchronous motion of driven output end and output, output 7 and driven output end 9 are equipped with respectively and keep away a hole 612, are used for the holding respectively to connect output 7 and driven output end 9's final controlling element. The output end extension shaft 8 penetrates through the shaft 5, and the output end extension shaft 8 is rotatably connected with the shaft 5, so that a person skilled in the art can connect the output end extension shaft 8 with the shaft 5 through a bearing or a shaft sleeve to enhance the bearing capacity of the output end extension shaft 8. The shell extension part 61 is respectively arranged at two ends of the shell 6, has a detachable structure design, and the side surface of the shell extension part 61 is provided with a threaded hole 611 for fixing the integrated joint output at two ends.

Referring to fig. 3, two thigh plates 11 and two lower leg plates 12 of the robot are connected to the integrated joint of the present invention. The two thigh plates 11 are respectively and fixedly connected with two ends of the shell extension part 61 through threaded holes 611, the two shank plates 12 are respectively and fixedly connected with the output end 7 and the driven output end 9 of the reducer 3 through spacing holes 612, and thus the relative rotation of the thigh plates 11 and the shank plates 12 can be realized through the integrated joint output from the two ends. The specific movement process is as follows: the integrated joint with two output ends is fixed on two thigh plates 11 through two shell extending parts 61, a motor composed of a stator 2 and a rotor 1 drives a speed reducer 3 to rotate through a shaft 5, the speed reducer 3 drives a shank plate 12 to rotate through an output end 7, meanwhile, the output end 7 drives a driven output end 9 to rotate through an output end extending shaft 8, the driven output end 9 drives the shank plate 12 to rotate, and the driven output end 9 and the output end 7 are rigidly connected through the output end extending shaft 8, so that the synchronism of the output end 7 and the driven output end 9 is ensured, and the synchronous rotation of the two shank plates 12 is further ensured.

The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims

1. An integrated joint with two output ends is characterized by comprising a rotor (1), a stator (2), a speed reducer (3), an encoder (4), a shaft (5), a shell (6), an output end extension shaft (8) and a shell extension part (61); the stator (2), the rotor (1) and the shaft (5) are sequentially arranged in the shell (6) from outside to inside, and the shaft (5) is of a hollow structure; the speed reducer (3) and the encoder (4) are arranged in the shell (6), an output end (7), an output end extension shaft (8) and a driven output end (9) of the speed reducer (3) are sequentially and fixedly connected, the output end (7) and the driven output end (9) are respectively provided with a clearance hole (612), the output end extension shaft (8) penetrates through the shaft (5), and the output end extension shaft (8) is rotatably connected with the shaft (5); the shell extension parts (61) are respectively arranged at two ends of the shell (6).

2. The two-end output integrated joint according to claim 1, wherein: the output end extension shaft (8) is connected with the shaft (5) through a bearing or a shaft sleeve.

3. The two-end-output integrated joint according to claim 1, wherein a threaded hole (611) is provided on the side of the housing extension (61).