CN112936334B - Robot joint module motor and accurate control method thereof - Google Patents
Robot joint module motor and accurate control method thereof Download PDFInfo
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- CN112936334B CN112936334B CN202110184704.9A CN202110184704A CN112936334B CN 112936334 B CN112936334 B CN 112936334B CN 202110184704 A CN202110184704 A CN 202110184704A CN 112936334 B CN112936334 B CN 112936334B
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a robot joint module motor and an accurate control method thereof, belonging to the technical field of joint module motors, comprising a frameless torque motor, wherein the output end of the frameless torque motor is provided with a rotating shaft, one end of the rotating shaft, which is far away from the frameless torque motor, is provided with an output shaft, the middle part of the outer side of the frameless torque motor is provided with double-ring frame assemblies, a fastening assembly is arranged between the double-ring frame assemblies, a precise slope speed reducer is sleeved at the outer side of the rotating shaft and between the output shaft and the frameless torque motor, the rotating motor is started to rotate so that a clamping rod of the rotating motor can be reversely clamped with a clamping groove, the rotating position of the frameless torque motor is recorded by a motor end absolute value encoder, the rotating program of the output shaft is recorded by an output end absolute value encoder to compare the two positions, the power failure restart time, the start time and the accurate position of the frameless torque motor can be accurately recorded, the precision and the repeated precision of the modularized shutdown motion position are ensured.
Description
Technical Field
The invention relates to a joint module motor, in particular to a robot joint module motor, and further relates to an accurate control method of the joint module motor, in particular to an accurate control method of the robot joint module motor, and belongs to the technical field of joint module motors.
Background
The concept of a cooperative robot was first introduced in 1996 by 2 professor j.edwad cold and Michael Peshkin university in northwest america.
The global pioneer cooperative robot RU5 was developed and produced by united states robao (Universal Robots) in 2008, and UR5 has the characteristics of rapid installation, flexible deployment, safety, reliability, simple programming and the like. Its body possess 6 joints, heavy 18kg, effective load 5kg, arm exhibition 850mm, repeatability is 0.1mm, structurally adopts the modular joint design, realizes joint power feedback through monitoring current variation, has reduced manufacturing cost when guaranteeing safety. The robot is externally connected with a Teach Pendant controller, a self-developed PolyScope control system is carried, the operation is simple, the grasping is easy, and UR3 and UR10 with the effective loads of 3kg and 10kg are provided subsequently.
In 2015, in 4 months, ABB releases Yumi of a first-style double-arm cooperative robot in the world, which mainly aims at the consumer electronics industry, wherein the single-arm effective load is 0.5kg, the maximum speed of a tail end tool is 1.5m/s, and the position repetition degree is as high as 0.02 mm;
further meeting the individual requirements of users, an RGM robot joint module is provided by Kollmorgen (Kollmorgen) in 2017, the module mainly aims at a cooperative robot with an effective load of less than 10kg and comprises four joint modules with different specifications, a manufacturer can select types according to different shaft numbers and motion requirements, the assembly is easy, the structure is compact, a robot body based on the RGM can be matched with a plurality of mainstream robot controllers for use, and developers are ensured to be concentrated on safety protection, control algorithms and functional application;
the northern industry university develops a joint module aiming at an EC75 seven-axis cooperative robot, and the expected indexes are that the maximum speed of a terminal tool is 3.4m/s, and the repeated positioning precision is 0.1 mm. The demonstrator adopts ERP300 which is self-developed by Airit, and supports Android at the same time. The modular joint is still required to be further improved in structural design, and is mainly embodied in that the mechanical structure has higher installation difficulty on a magnetic code disc, the magnetic code disc has very high requirement on the installation position, so that the machining precision of an assembly surface is extremely high, the current structure is difficult to realize accurate positioning, and a fine adjustment device is required to be designed on a low-speed shaft subsequently to realize accurate assembly of the magnetic code disc;
in recent years, the Harbin university of industry has conducted intensive research on a light mechanical arm modular flexible joint, and the modular joint integrates various components such as a driving motor, a harmonic reducer, a power loss brake, a sensor and a driver and has a standard mechanical interface and an electrical interface.
The six-degree-of-freedom modularized light mechanical arm is developed at the university of Chinese science and technology, the stress of different joints is different, in order to improve the effective utilization of the joints, two different joint modules are designed for the front three joints and the rear three joints in the structural design respectively, the modularized joint of the front three joints is compact in structure, a driver, a controller, a transmission mechanism, a sensor and other components are integrated in the joints, the power-off brake protection function is realized, and the modularization level of the joint modules on an electrical system is improved by adopting a control scheme of a distributed structure with the joint controller separated from a main controller.
A six-degree-of-freedom light mechanical arm is developed by Beijing university of transportation, and a driving motor, a speed reducer, a sensor and other parts are integrated into a whole through a modularized joint module. Each modular joint comprises a complete mechanical structure and a control circuit, a universal quick interface is designed for mechanical connection and electrical connection, and a module internal memory can store motion information, so that each joint can be plugged and replaced quickly. In order to realize the lightweight design of the modular joint, the structure of the shell is optimized according to the structural topological optimization theory.
From the current state of research at home and abroad, the modular joint has a high electromechanical integrated structure, wherein the modular joint comprises a motor, a speed reducer, a position encoder, a torque sensor, a drive control circuit and the like. Since many research institutions, especially of a commercial nature, typically have joint design as a core secret, there is relatively little literature on joint research methods, not on the design process and specific details of the public office joints.
Aiming at the task background and the use requirement of a cooperative robot, the transposition rotation position information of a modularized joint is accurately determined on line in real time and at any starting time, the method is the basis of accurate operation of the modularized joint and is also the key for the cooperative robot to execute accurate operation, but from public data, the conventional modularized joint mostly adopts a common mode of an absolute encoder or an incremental encoder and an absolute value encoder to realize detection of the transposition of the joint, the defects that the transposition precision is not high enough and the position of the joint can not be automatically determined at any starting time exist, in addition, the motor is not fastened and convenient enough for fixing, and a clamping structure does not exist for braking after the joint is rotated for a certain angle, so that the problems are optimized by designing a robot joint module motor and an accurate control method thereof.
Disclosure of Invention
The invention mainly aims to provide a robot joint module motor and a precise control method thereof, wherein a fixed screw penetrates through a second mechanical arm and then penetrates through a first fixed hole and compresses a first mounting ring and a second mounting ring, an outer buffer cylinder and an inner slide rod are compressed by the first mounting ring and the second mounting ring and are fastened by a fastening spring, a frameless torque motor is started to drive a rotating shaft to rotate, an output shaft is driven to rotate by the rotating shaft, a T-shaped connecting rod and a clamping gear disc are driven to rotate by the output shaft, the first mechanical arm is also driven to rotate by the output shaft to adjust the direction of the first mechanical arm, a precise harmonic reducer and a friction brake are started to brake the rotating shaft, a clamping rod of an electric telescopic rod is inserted into a clamping groove by starting the electric telescopic rod, and the clamping rod at the reverse motion side is clamped to avoid reverse error motion when the clamping gear disc rotates, the clamping rod is driven to be recovered by starting the electric telescopic rod, then the rotary motor is started to rotate to enable the clamping rod to reversely clamp the clamping groove, the rotating position of the frameless torque motor is recorded through the motor end absolute value encoder, the rotating program of the output shaft is recorded through the output end absolute value encoder, the rotating positions of the output shaft and the frameless torque motor are compared, the accurate positions of the output shaft and the frameless torque motor at the power-down restarting moment and the starting moment can be accurately recorded, and the accuracy and the repeatability of the movement position of the modularized joint are guaranteed.
The purpose of the invention can be achieved by adopting the following technical scheme:
a robot joint module motor comprises a frameless torque motor, wherein a rotating shaft is installed at the output end of the frameless torque motor, an output shaft is installed at one end, away from the frameless torque motor, of the rotating shaft, an output shaft is installed at the outer side of the frameless torque motor, a double-ring-frame assembly is installed at the middle portion of the outer side of the frameless torque motor, a fastening assembly is installed between the double-ring-frame assembly, a precise harmonic speed reducer is sleeved on the outer side of the rotating shaft and located between the output shaft and the frameless torque motor, a clamping gear disc assembly is installed at one end, away from the frameless torque motor, of the output shaft, a U-shaped connecting rod is installed at the position, close to the rotating shaft, of the outer side of the frameless torque motor, an annular cylinder assembly is installed at the end portion of the U-shaped connecting rod, an electric clamping assembly matched with the clamping gear disc assembly is arranged in the annular cylinder assembly, and a friction type brake, a brake and a brake are sequentially installed on one side, away from the rotating shaft, of the frameless torque motor, The double-ring-frame-assembly-type mechanical arm comprises a motor end absolute value encoder and an output end absolute value encoder, wherein a second mechanical arm assembly is installed on one side of the double-ring-frame assembly, and a first mechanical arm is installed on one side of an output shaft.
Preferably, the double-ring frame assembly comprises a first mounting ring, a second mounting ring and a first fixing hole, the first mounting ring and the second mounting ring are both mounted on the outer side of the frameless torque motor and located in the middle of the frameless torque motor, a fastening assembly is mounted between the first mounting ring and the second mounting ring, and the second mounting ring and the first mounting ring are both provided with the first fixing hole.
Preferably, the fastening assembly includes an outer buffer cylinder, a fastening spring and an inner slide bar, one side of the outer buffer cylinder is fixed along a ring portion of the second mounting ring, the fastening spring is installed at an inner end portion of the outer buffer cylinder, the inner slide bar is installed at the other end of the fastening spring, a portion of the inner slide bar is inserted into the inner side of the outer buffer cylinder, and the other end of the inner slide bar is fixed on the first mounting ring.
Preferably, screens toothed disc subassembly includes T type connecting rod, screens toothed disc and draw-in groove, the mid-mounting of output shaft one side has T type connecting rod, T type connecting rod is kept away from the one end of output shaft is installed screens toothed disc, the draw-in groove has been seted up to the equidistant outside of screens toothed disc.
Preferably, the annular barrel component comprises an outer fixing ring and a side hollow barrel, the U-shaped connecting rod is far away from the one end of the frameless torque motor and is provided with the outer fixing ring, the middle part of the outer side of the outer fixing ring is provided with the side hollow barrel, and the electric clamping component is arranged inside the side hollow barrel.
Preferably, electronic screens subassembly includes rotating electrical machines, electric telescopic handle, fixed plate, kelly and spacing spring, spacing spring mounting is in bottom department in the cavity section of thick bamboo in the side, the rotating electrical machines is installed to the one end of spacing spring, just electric telescopic handle is installed to the output of rotating electrical machines, the kelly is installed to electric telescopic handle's output, just the kelly with the draw-in groove is mutually supported, the mid-mounting in the cavity section of thick bamboo outside in the side has the fixed plate, just the middle part is fixed in the fixed plate electric telescopic handle's outside middle part.
Preferably, a dustproof cover plate is arranged between the precision harmonic speed reducer and the frameless torque motor.
Preferably, the second mechanical arm assembly comprises a second mechanical arm and a fixing screw rod, the second mechanical arm is sleeved at the end part of the outer side of the frameless torque motor, and the fixing screw rod penetrates through the side edge of the second mechanical arm and the first fixing hole and is fixed through a nut.
Preferably, a second fixing hole is formed in the output shaft, a first mechanical arm is mounted on one side of the output shaft, and the first mechanical arm and the output shaft are fixed through a screw.
A robot joint module motor accurate control method comprises the following steps:
step 1: penetrating a fixing screw through the second mechanical arm and then penetrating the fixing screw through the first fixing hole and compressing the first mounting ring and the second mounting ring;
step 2: the outer buffer cylinder and the inner slide rod are compressed through the first mounting ring and the second mounting ring and are fastened through the fastening spring;
and step 3: starting the frameless torque motor to drive the rotating shaft to rotate, and driving the output shaft to rotate through the rotating shaft;
and 4, step 4: the output shaft drives the T-shaped connecting rod and the clamping gear disc to rotate, and the output shaft also drives the first mechanical arm to rotate so as to adjust the position of the first mechanical arm;
and 5: braking the rotating shaft by starting a precise harmonic reducer and a friction brake;
step 6: the clamping rod of the electric telescopic rod is inserted into the clamping groove by starting the electric telescopic rod, and the reverse movement side is clamped by the clamping rod to avoid error reverse movement when the clamping gear disc rotates;
and 7: the electric telescopic rod is started to drive the clamping rod to be recovered, and then the rotating motor is started to rotate to enable the clamping rod to reversely clamp the clamping groove;
and 8: the rotation position of the frameless torque motor is recorded through the motor end absolute value encoder, the rotation program of the output shaft is recorded through the output end absolute value encoder, and the rotation program of the output shaft is compared with the rotation position of the frameless torque motor, so that the accurate positions of the output shaft and the frameless torque motor at the power-down restarting moment and the power-on moment can be accurately recorded, and the accuracy and the repeatability of the movement position of the modularized joint are ensured.
The invention has the beneficial technical effects that:
the invention provides a robot joint module motor and a precise control method thereof, wherein a fixed screw penetrates through a second mechanical arm and then penetrates through a first fixed hole to compress a first mounting ring and a second mounting ring, an outer buffer cylinder and an inner slide rod are compressed by the first mounting ring and the second mounting ring and are fastened by a fastening spring, a frameless torque motor is started to drive a rotating shaft to rotate, an output shaft is driven to rotate by the rotating shaft, a T-shaped connecting rod and a clamping gear disc are driven to rotate by the output shaft, the first mechanical arm is also driven to rotate by the output shaft to adjust the direction of the first mechanical arm, a precise harmonic speed reducer and a friction brake are started to brake the rotating shaft, a clamping rod of the electric telescopic rod is inserted into the inner side of a clamping groove by starting the electric telescopic rod, the reverse movement side is clamped by the clamping rod when the clamping gear disc rotates to avoid error reverse movement, the electric telescopic rod is started to drive the clamping rod to recover, and then the rotating motor is started to rotate, so that the clamping rod of the rotating motor is reversely clamped with the clamping groove, the rotating position of the frameless torque motor is recorded through the motor end absolute value encoder, the rotating program of the output shaft is recorded through the output end absolute value encoder, and the rotating positions of the output shaft and the frameless torque motor are compared, so that the accurate positions of the output shaft at the power failure restart time and the start time and the rotation of the frameless torque motor can be accurately recorded, and the precision and the repeatability of the movement position of the modular joint are ensured.
Drawings
Fig. 1 is an exploded view of an overall three-dimensional structure of a robot joint module motor and a precise control method thereof according to a preferred embodiment of the present invention;
fig. 2 is an enlarged view of a structure at a position a of a preferred embodiment of a robot joint module motor and a precise control method thereof according to the present invention;
fig. 3 is a schematic perspective view of a clamping assembly and an output shaft thereof according to a preferred embodiment of a robot joint module motor and a precise control method thereof;
fig. 4 is a schematic perspective view illustrating a combined structure of a U-shaped link, a clamping assembly, a frameless torque motor and a fixed ring assembly according to a preferred embodiment of a robot joint module motor and a precise control method thereof;
fig. 5 is a side sectional view of a fixed ring assembly of a preferred embodiment of a robot joint module motor and a precision control method thereof according to the present invention;
fig. 6 is a main sectional view of a clamping assembly of a robot joint module motor and a precise control method thereof according to a preferred embodiment of the present invention;
fig. 7 is an enlarged view of a structure at b of a preferred embodiment of a robot joint module motor and a precise control method thereof according to the present invention.
In the figure: 1-a first mechanical arm, 2-a second mechanical arm, 3-an external fixed ring, 4-a side hollow cylinder, 5-a U-shaped connecting rod, 6-a precision harmonic reducer, 7-an output shaft, 8-a clamping gear disc, 9-a T-shaped connecting rod, 10-a rotating shaft, 11-a dustproof cover plate, 12-a frameless torque motor, 13-a first mounting ring, 14-a friction brake, 15-a motor end absolute value encoder, 16-an output end absolute value encoder, 17-a second mounting ring, 18-an external buffer cylinder, 19-a first fixed hole, 20-a clamping groove, 21-a second fixed hole, 22-an internal sliding rod, 23-a fixed screw rod, 24-a fastening spring, 25-a fixed plate, 26-a rotary motor and 27-an electric telescopic rod, 28-clamping rod, 29-limit spring.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1 to 7, the robot joint module motor provided in this embodiment includes a frameless torque motor 12, a rotating shaft 10 is installed at an output end of the frameless torque motor 12, an output shaft 7 is installed at an end of the rotating shaft 10 away from the frameless torque motor 12, a double-ring frame assembly is installed at a middle portion of an outer side of the frameless torque motor 12, a fastening assembly is installed between the double-ring frame assemblies, a precision harmonic reducer 6 is sleeved outside the rotating shaft 10 and between the output shaft 7 and the frameless torque motor 12, a clamping gear disc assembly is installed at an end of the output shaft 7 away from the frameless torque motor 12, a U-shaped connecting rod 5 is installed at a position close to the rotating shaft 10 at the outer side of the frameless torque motor 12, a ring-shaped cylinder assembly is installed at an end of the U-shaped connecting rod 5, an electric clamping assembly mutually matched with the clamping gear disc assembly is installed in the ring-shaped cylinder assembly, and a friction brake 14, a friction brake, a motor end absolute value encoder 15 and an output end absolute value encoder 16, wherein a second mechanical arm assembly is arranged on one side of the double-ring assembly, and a first mechanical arm 1 is arranged on one side of the output shaft 7.
The fixed screw rod 23 penetrates through the second mechanical arm 2 and then penetrates through the first fixing hole 19 and compresses the first mounting ring 13 and the second mounting ring 17, the outer buffer cylinder 18 and the inner slide bar 22 are compressed through the first mounting ring 13 and the second mounting ring 17 and are fastened through the fastening spring 24, the frameless torque motor 12 is started to drive the rotating shaft 10 to rotate, the rotating shaft 10 drives the output shaft 7 to rotate, the output shaft 7 drives the T-shaped connecting rod 9 and the clamping gear disc 8 to rotate and also drives the first mechanical arm 1 to rotate through the output shaft 7 so as to adjust the orientation of the first mechanical arm 1, the precise harmonic reducer 6 and the friction brake 14 are started to brake the rotating shaft 10, the clamping rod 28 of the electric telescopic rod 27 is inserted into the inner side of the clamping groove 20 by starting the electric telescopic rod 27, the reverse motion side is prevented from being clamped by the clamping rod 28 when the clamping gear disc 8 rotates, and the clamping rod 28 is driven to be recovered by starting the electric telescopic rod 27, and then, the rotating motor 26 is started to rotate, so that the clamping rod 28 is used for reversely clamping the clamping groove 20, the rotating position of the frameless torque motor 12 is recorded through the motor end absolute value encoder 15, the rotating program of the output shaft 7 is recorded through the output end absolute value encoder 16, and the rotating positions of the output shaft 7 and the frameless torque motor 12 are compared, so that the accurate positions of the power failure restarting moment, the starting moment and the rotation of the frameless torque motor 12 can be accurately recorded, and the accuracy and the repeatability of the movement position of the modular joint are ensured.
In this embodiment, the dual-ring frame assembly includes a first mounting ring 13, a second mounting ring 17 and a first fixing hole 19, the first mounting ring 13 and the second mounting ring 17 are both mounted on the outer side of the frameless torque motor 12 and located in the middle of the frameless torque motor 12, a fastening assembly is mounted between the first mounting ring 13 and the second mounting ring 17, and the first fixing hole 19 is both opened on the second mounting ring 17 and the first mounting ring 13.
In this embodiment, the fastening assembly includes an outer buffer cylinder 18, a fastening spring 24 and an inner slide bar 22, one side of the outer buffer cylinder 18 is fixed along a ring portion of the second mounting ring 17, the fastening spring 24 is installed at an inner end portion of the outer buffer cylinder 18, the inner slide bar 22 is installed at the other end of the fastening spring 24, and the inner slide bar 22 is partially inserted into the inner side of the outer buffer cylinder 18, and the other end of the inner slide bar 22 is fixed on the first mounting ring 13.
In this embodiment, screens fluted disc subassembly includes T type connecting rod 9, screens fluted disc 8 and draw-in groove 20, and the mid-mounting of output shaft 7 one side has T type connecting rod 9, and screens fluted disc 8 is installed to the one end that output shaft 7 was kept away from to T type connecting rod 9, and draw-in groove 20 has been seted up to the equidistant outside of screens fluted disc 8.
In this embodiment, the ring-shaped cylinder assembly includes an outer fixing ring 3 and a side hollow cylinder 4, the end of the U-shaped connecting rod 5 away from the frameless torque motor 12 is mounted with the outer fixing ring 3, the middle part of the outer side of the outer fixing ring 3 is mounted with the side hollow cylinder 4, and the electric clamping assembly is mounted inside the side hollow cylinder 4.
In this embodiment, electronic screens subassembly includes rotating electrical machines 26, electric telescopic handle 27, fixed plate 25, kelly 28 and spacing spring 29, bottom department in the hollow section of thick bamboo 4 in the side is installed to spacing spring 29, rotating electrical machines 26 is installed to spacing spring 29's one end, and electric telescopic handle 27 is installed to rotating electrical machines 26's output, kelly 28 is installed to electric telescopic handle 27's output, and kelly 28 and draw-in groove 20 mutually support, the mid-mounting in the hollow section of thick bamboo 4 outside in the side has fixed plate 25, and the outside middle part at electric telescopic handle 27 is fixed at the middle part in the fixed plate 25.
In this embodiment, a dust cover plate 11 is installed between the precision harmonic reducer 6 and the frameless torque motor 12.
In this embodiment, the second robot arm assembly includes a second robot arm 2 and a fixing screw 23, the end of the outer side of the frameless torque motor 12 is sleeved with the second robot arm 2, and the fixing screw 23 penetrates through the side edge of the second robot arm 2 and the first fixing hole 19 and is fixed by a nut.
In this embodiment, the output shaft 7 is provided with a second fixing hole 21, the first robot arm 1 is mounted on one side of the output shaft 7, and the first robot arm 1 and the output shaft 7 are fixed by a screw.
A robot joint module motor accurate control method comprises the following steps:
step 1: by penetrating the set screw 23 through the second robot arm 2 and then through the first fixing hole 19 and compressing the first mount ring 13 and the second mount ring 17;
and 2, step: the outer buffer cylinder 18 and the inner slide bar 22 are compressed by the first mounting ring 13 and the second mounting ring 17 and are fastened by a fastening spring 24;
and step 3: starting the frameless torque motor 12 to drive the rotating shaft 10 to rotate, and driving the output shaft 7 to rotate through the rotating shaft 10;
and 4, step 4: the output shaft 7 drives the T-shaped connecting rod 9 and the clamping gear disc 8 to rotate, and the output shaft 7 also drives the first mechanical arm 1 to rotate so as to adjust the position of the first mechanical arm 1;
and 5: braking the rotating shaft 10 by starting the precision harmonic reducer 6 and the friction brake 14;
and 6: when the clamping gear disc 8 rotates, the reverse movement side is clamped by the clamping rod 28 to avoid error reverse movement by starting the electric telescopic rod 27 to enable the clamping rod 28 to be inserted into the clamping groove 20;
and 7: the electric telescopic rod 27 is started to drive the clamping rod 28 to be recovered, and then the rotating motor 26 is started to rotate so that the clamping rod 28 can be reversely clamped on the clamping groove 20;
and step 8: the rotation position of the frameless torque motor 12 is recorded through the motor end absolute value encoder 15, the rotation program of the output shaft 7 is recorded through the output end absolute value encoder 16, the two positions are compared, the accurate positions of the output shaft 7 and the frameless torque motor 12 at the power failure restarting time and the starting time can be accurately recorded, and the accuracy and the repeatability of the movement position of the modularized joint are ensured.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (7)
1. A robot joint module motor which characterized in that: the torque motor comprises a frameless torque motor (12), a rotating shaft (10) is installed at the output end of the frameless torque motor (12), an output shaft (7) is installed at one end, far away from the frameless torque motor (12), of the rotating shaft (10), double-ring frame assemblies are installed in the middle of the outer side of the frameless torque motor (12), a fastening assembly is installed between the double-ring frame assemblies, a precise harmonic speed reducer (6) is sleeved on the outer side of the rotating shaft (10) and between the output shaft (7) and the frameless torque motor (12), a clamping gear disc assembly is installed at one end, far away from the frameless torque motor (12), a U-shaped connecting rod (5) is installed at the position, close to the rotating shaft (10), of the outer side of the frameless torque motor (12), an annular cylinder assembly is installed at the end portion of the U-shaped connecting rod (5), and an electric clamping assembly matched with the clamping gear disc assembly is arranged in the annular cylinder assembly, a friction brake (14), a motor end absolute value encoder (15) and an output end absolute value encoder (16) are sequentially mounted on one side, away from the rotating shaft (10), of the frameless torque motor (12), a second mechanical arm assembly is mounted on one side of the double-ring assembly, and a first mechanical arm (1) is mounted on one side of the output shaft (7);
the double-ring assembly comprises a first mounting ring (13), a second mounting ring (17) and a first fixing hole (19), the first mounting ring (13) and the second mounting ring (17) are mounted on the outer side of the frameless torque motor (12) and located in the middle of the frameless torque motor (12), a fastening assembly is mounted between the first mounting ring (13) and the second mounting ring (17), and the second mounting ring (17) and the first mounting ring (13) are both provided with the first fixing hole (19);
the fastening assembly comprises an outer buffer cylinder (18), a fastening spring (24) and an inner sliding rod (22), one side of the outer buffer cylinder (18) is fixed along the ring part of the second mounting ring (17), the fastening spring (24) is installed at the inner end part of the outer buffer cylinder (18), the inner sliding rod (22) is installed at the other end of the fastening spring (24), the inner sliding rod (22) is partially inserted into the inner side of the outer buffer cylinder (18), and the other end of the inner sliding rod (22) is fixed on the first mounting ring (13);
screens toothed disc subassembly includes T type connecting rod (9), screens toothed disc (8) and draw-in groove (20), the mid-mounting of output shaft (7) one side has T type connecting rod (9), keep away from T type connecting rod (9) screens toothed disc (8) are installed to the one end of output shaft (7), draw-in groove (20) have been seted up to the equidistant outside of screens toothed disc (8).
2. The robot joint module motor of claim 1, wherein: the annular cylinder body assembly comprises an outer fixing ring (3) and a side hollow cylinder (4), the U-shaped connecting rod (5) is far away from the outer fixing ring (3) is installed at one end of the frameless torque motor (12), the middle portion of the outer side of the outer fixing ring (3) is provided with the side hollow cylinder (4), and the electric clamping assembly is installed inside the side hollow cylinder (4).
3. A robot joint module motor according to claim 2, wherein: electronic screens subassembly includes rotating electrical machines (26), electric telescopic handle (27), fixed plate (25), kelly (28) and spacing spring (29), install spacing spring (29) bottom department in hollow section of thick bamboo (4) in the side, rotating electrical machines (26) are installed to the one end of spacing spring (29), just electric telescopic handle (27) are installed to the output of rotating electrical machines (26), kelly (28) are installed to the output of electric telescopic handle (27), just kelly (28) with draw-in groove (20) mutually support, the mid-mounting in the hollow section of thick bamboo (4) outside in the side has fixed plate (25), just middle part is fixed in fixed plate (25) the outside middle part of electric telescopic handle (27).
4. A robot joint module motor according to claim 3, wherein: and a dustproof cover plate (11) is arranged between the precision harmonic speed reducer (6) and the frameless torque motor (12).
5. The robot joint module motor of claim 4, wherein: the second mechanical arm assembly comprises a second mechanical arm (2) and a fixing screw rod (23), the second mechanical arm (2) is sleeved at the end part of the outer side of the frameless torque motor (12), and the fixing screw rod (23) penetrates through the side edge of the second mechanical arm (2) and the first fixing hole (19) and is fixed through a nut.
6. The robot joint module motor of claim 5, wherein: the output shaft (7) is provided with a second fixing hole (21), one side of the output shaft (7) is provided with a first mechanical arm (1), and the first mechanical arm (1) and the output shaft (7) are fixed through a screw.
7. The method of claim 6, wherein the method comprises the steps of: the method comprises the following steps:
step 1: by passing a set screw (23) through the second arm (2) and then through the first set hole (19) and compressing the first mounting ring (13) and the second mounting ring (17);
step 2: the outer buffer cylinder (18) and the inner slide rod (22) are compressed by a first mounting ring (13) and a second mounting ring (17) and are fastened by a fastening spring (24);
and step 3: starting the frameless torque motor (12) to drive the rotating shaft (10) to rotate, and driving the output shaft (7) to rotate through the rotating shaft (10);
and 4, step 4: the output shaft (7) drives the T-shaped connecting rod (9) and the clamping gear disc (8) to rotate, and the output shaft (7) also drives the first mechanical arm (1) to rotate so as to adjust the position of the first mechanical arm (1);
and 5: braking the rotating shaft (10) by starting the precise harmonic reducer (6) and the friction type brake (14);
step 6: the clamping rod (28) is inserted into the inner side of the clamping groove (20) by starting the electric telescopic rod (27), and when the clamping gear disc (8) rotates, the reverse movement side is clamped by the clamping rod (28) to avoid error reverse movement;
and 7: the clamping rod (28) is driven to be recovered by starting the electric telescopic rod (27), and then the rotating motor (26) is started to rotate to enable the clamping rod (28) to clamp the clamping groove (20) reversely;
and 8: the rotation position of the frameless torque motor (12) is recorded through the motor end absolute value encoder (15), the rotation program of the output shaft (7) is recorded through the output end absolute value encoder (16) to compare the two positions, the accurate positions of the output shaft (7) and the frameless torque motor (12) at the power-down restarting moment and the starting moment can be accurately recorded, and the precision and the repeatability of the movement position of the modularized joint are ensured.
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| CN114104229B (en) * | 2021-10-26 | 2022-11-08 | 中国船舶重工集团公司第七一九研究所 | Universal configuration method for mechanical leg joint angle amplitude limiting |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
| CN116985179B (en) * | 2023-09-28 | 2024-01-12 | 深圳市大族机器人有限公司 | Joint module and robot joint |
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Effective date of registration: 20240521 Address after: 247100 Plot A, Zhanqian District, Chizhou City, Anhui Province, China. International Trade City Phase I Professional Market Comprehensive Building 5, 130th, 130th, 2nd, and 3rd floors Patentee after: Chizhou Guiqian Information Technology Co.,Ltd. Country or region after: China Address before: 212000 Wuli community industrial building, Qilidian street, Runzhou District, Zhenjiang City, Jiangsu Province Patentee before: Zhenjiang Xinghe robot Co.,Ltd. Country or region before: China |