CN114193506A

CN114193506A - Servo rotary joint

Info

Publication number: CN114193506A
Application number: CN202010982506.2A
Authority: CN
Inventors: 龙启洪
Original assignee: Shanghai New Tronics M&E Co Ltd
Current assignee: Shanghai New Tronics M&E Co Ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2022-03-18

Abstract

A servo rotary joint comprises a servo rotating assembly, a super-large torque clutch and a rotating angle measuring assembly. The servo rotary joint realizes that each rotary joint of the manipulator can be freely switched by automatic rotation or manual rotation; the traditional power-assisted manipulator is upgraded and replaced by a flexible manipulator, so that the workpiece grabbing and carrying links are automatically completed, and the assembly link is manually assisted, so that the workload of workers is reduced compared with the traditional power-assisted manipulator; the contradiction that the full-automatic assembly of the workpiece is difficult is solved relative to the robot.

Description

Servo rotary joint

Technical Field

The invention relates to the technical field of robots, in particular to a servo rotary joint which is mainly applied to a rotary joint of a flexible robot hand.

Background

The flexible robot is not only a functional product but also a semi-automatic workpiece carrying platform, and can expand the service range of the device by adding corresponding auxiliary equipment, such as a servo electric trolley similar to a robot shaft 7, and expand the use functions of the device, such as a clamp and the like, by configuring different tools.

Three rotary joints of the traditional power-assisted mechanical arm are unpowered and need manual rotation. General robots generally have 6 degrees of freedom, i.e. 6 joints, but they can only rotate automatically, and it is difficult for workers to participate in the production process.

Disclosure of Invention

The invention aims to design a servo rotary joint which is applied to a rotary joint of a flexible robot arm and realizes free switching between automatic rotation and manual rotation of an arm rod.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a servo rotary joint comprises a servo rotating assembly, an ultra-large torque clutch and a rotating angle measuring assembly; wherein the servo rotating part includes: the fixed mounting seat comprises a fixed bottom plate and a shell on the fixed bottom plate; the center of the fixed bottom plate is provided with a shaft hole; the outer tooth type slewing bearing is arranged in the upper shell of the fixed mounting seat, and the inner ring of the outer tooth type slewing bearing is connected to the fixed bottom plate through a bolt; the servo motor and the speed reducer are arranged on one side of the fixed base plate of the fixed mounting seat; the driving gear is arranged on one side in the fixed mounting seat upper shell and meshed with the outer ring of the external tooth type slewing bearing, and the driving gear is arranged on an output shaft of the speed reducer; the super large torque clutch includes: a base plate of the slewing bearing seat is connected to an inner ring of the outer-tooth slewing bearing through a bolt; two ends of the shaft hole in the center of the rotary bearing block are respectively provided with a bearing; the center of the tooth-shaped brake disc is provided with a through hole, and the tooth-shaped brake disc outside the through hole is connected to the front end surface of the rotary bearing seat through a bolt; the outer side of the outer side surface of the tooth-shaped brake disc is provided with a tooth-shaped structure along the circumferential direction; the connecting half shaft consists of a connecting bottom plate and an upper shaft body, the shaft body passes through a through hole inserted in the center of the toothed brake disc and is inserted in bearings at two ends in a shaft hole in the center of the rotary bearing seat, and the end part of the shaft body extends into an inner ring of the outer-toothed rotary bearing; the brake device comprises a brake cylinder, and a cylinder body of the brake cylinder is connected to one side of the connecting bottom plate of the connecting half shaft through a fixing support; the end part of the piston rod of the brake cylinder is provided with a brake pressing block, and the outer side surface of the brake pressing block is a tooth surface meshed with a tooth-shaped structure on the outer side surface of the tooth-shaped brake disc; the rotation angle measuring assembly includes: one end of the encoder driving shaft penetrates through a shaft hole in the center of the fixed base plate of the fixed mounting seat and is connected with the end part of the connecting half shaft body extending into the inner ring of the external tooth type slewing bearing, and the other end of the encoder driving shaft extends out of the shaft hole in the center of the fixed base plate; the encoder is arranged at the upper end part of the encoder driving shaft extending out of the fixed bottom plate, and the encoder shell is fixed on the fixed bottom plate.

Further, the brake device further includes: the connecting block is triangular, the upper part of the connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in two sides of the lower part of the connecting block; the fixed bracket is a U-shaped body, and the connecting block is positioned on the inner side of the U-shaped body; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the connecting bottom plate; the connecting block is connected to the fixed bracket from a first shaft hole of the connecting block and a first connecting hole of the fixed bracket through a connecting shaft; the brake pressing block is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface; waist-shaped holes are formed on two side walls of the brake pressing block; the connecting block is inserted into the brake pressing block, a second shaft hole of the connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake pressing block; the clamping block is L-shaped, one side edge of the clamping block is connected with the second connecting hole at the lower part of the two side edges of the fixed support through the connecting bolt, and the other side edge of the clamping block is buckled on the inner side surface of the tooth-shaped brake disc.

Preferably, the fixing bracket of the brake device is connected to one side of the connecting bottom plate of the connecting half shaft through a connecting plate.

The servo rotary joint comprises a servo rotary component, a super-large torque clutch and a rotation angle measuring component.

When the clutch is closed, the fixed bottom plate rotates around the external tooth type slewing bearing according to the angle value given by the system.

The super-torque clutch driving torque is from 100Nm to 16000 Nm.

When the clutch is separated, the servo motor does not rotate, and the servo rotary joint is manually rotated by a worker; when the clutch is closed, the servo rotary joint can only rotate in a servo mode.

The rotation angle measuring assembly provided by the invention can realize that the encoder can measure the rotation angle of the fixed base plate of the fixed base of the connecting half shaft connecting base plate in real time no matter whether the rotation is carried out by servo rotation or manual rotation.

The invention has the beneficial effects that:

according to the servo rotary joint, the rotary joints of the manipulator can be freely switched between automatic rotation and manual rotation through the servo rotary component, the super-large torque clutch, the rotation angle measuring component and the like, so that the traditional power-assisted manipulator is upgraded and replaced by a flexible manipulator, the workpiece grabbing and carrying links are automatically completed, and the assembly link is manually assisted; therefore, compared with the traditional power-assisted mechanical arm, the work load of workers is reduced, and the contradiction that the full-automatic assembly of the workpiece is difficult is solved compared with a robot.

Drawings

FIG. 1 is a perspective view of an embodiment of the present invention 1;

FIG. 2 is a perspective view of an embodiment of the present invention 2;

FIG. 3 is a top view of an embodiment of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is an exploded perspective view of an embodiment of the present invention 1;

FIG. 6 is an exploded perspective view of an embodiment of the present invention, FIG. 2;

FIG. 7 is a perspective view of the brake apparatus of the embodiment of the present invention 1;

FIG. 8 is a perspective view of the brake apparatus of the embodiment of the present invention shown in FIG. 2;

fig. 9 is an exploded perspective view of a brake apparatus according to an embodiment of the present invention.

Detailed Description

Referring to fig. 1 to 9, the servo rotary joint of the present invention includes a servo rotating assembly 1, a super large torque clutch 2 and a rotation angle measuring assembly 3; wherein the content of the first and second substances,

the servo rotary member 1 includes:

a fixed mounting seat 11 including a fixed base plate 111 and a housing 112 thereon; a shaft hole is arranged in the center of the fixed bottom plate 111;

an outer-tooth-type slewing bearing 12 provided in the upper housing 112 of the fixed mount 11, and having an inner ring connected to the fixed base plate 111 by a bolt;

a servo motor and speed reducer 13, which is arranged on one side of the fixed base plate 111 of the fixed mounting seat 11;

a drive gear 14 provided on the fixed mount 11 on the inner side of the upper housing 112 and engaged with the outer ring of the outer-tooth slewing bearing 12, the drive gear 14 being mounted on the output shaft of the speed reducer 13;

the ultra-high torque clutch 2 includes:

a rotary bearing housing 21 having a bottom plate 211 connected to an inner ring of the outer-tooth-type rotary support bearing 12 by bolts; two ends in the shaft hole in the center of the rotary bearing block 21 are respectively provided with a bearing 22;

the center of the tooth-shaped brake disc 23 is provided with a through hole, and the tooth-shaped brake disc 23 outside the through hole is connected to the front end surface of the rotary bearing seat 21 through a bolt; a tooth-shaped structure 231 is arranged on the outer side of the outer side surface of the tooth-shaped brake disc 23 along the circumferential direction;

the connecting half shaft 24 consists of a connecting bottom plate 241 and a shaft body 242, the shaft body 242 penetrates through a through hole inserted in the center of the tooth-shaped brake disc 23 and is inserted in the bearings 22 at two ends in the shaft hole in the center of the slewing bearing seat 21, and the end part of the connecting half shaft extends into the inner ring of the external tooth-shaped slewing bearing 12;

a brake device 25, which comprises a brake cylinder 251, the cylinder body of which is connected with one side of the connecting bottom plate 241 of the connecting half shaft 24 through a fixed bracket 252; the end part of a piston rod of the brake cylinder is provided with a brake pressing block 253, and the outer side surface of the brake pressing block 253 is a tooth surface meshed with a tooth-shaped structure on the outer side surface of the tooth-shaped brake disc;

the rotation angle measuring assembly 3 includes:

an encoder driving shaft 31, one end of which passes through the shaft hole at the center of the fixed bottom plate 111 of the fixed mounting seat 11 and is connected to the end of the shaft body 242 of the connecting half shaft 24 extending into the inner ring of the external tooth type slewing bearing 12, and the other end of which extends out of the shaft hole at the center of the fixed bottom plate 111;

and an encoder 32 provided at an upper end portion of the encoder driving shaft 31 protruding from the fixed base plate 111, wherein a housing of the encoder 32 is fixed to the fixed base plate 111.

Referring to fig. 7 to 9, the braking device 25 further includes:

the connecting block 254 is triangular, the upper part of which is provided with a groove 2541 for inserting the end part of the output shaft of the brake cylinder 251 and is pivotally connected to the end part of the output shaft; a first shaft hole 2542 and a second shaft hole 2543 are respectively arranged at two sides of the lower part of the connecting block 254; the fixing bracket 252 is a U-shaped body, and the connecting block 254 is located at the inner side thereof; the bottom of the fixing bracket 252 is provided with a through hole 2521 for the output shaft of the brake cylinder 251 to pass through, and the upper parts of the two side edges thereof are connected to one side of the connecting bottom plate 241; a first connection hole 2522 and a second connection hole 2523 are respectively formed on both sides of the lower portion of both side edges of the connection block 254, and the connection block 254 is connected to the fixing bracket 252 through a first shaft hole 2542 of the connection block 254 and the first connection hole 2522 of the fixing bracket 252 by a connection shaft 255;

the brake pressing block 253 is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface 2531; two side walls of the brake pressing block 253 are provided with kidney-shaped holes 2532; the connecting block 254 is inserted into the brake pressing block 253, a pin shaft 256 is arranged in a second shaft hole 2543 of the connecting block 254, and two ends of the pin shaft 256 penetrate through kidney-shaped holes 2532 on two side walls of the brake pressing block 253;

the latch 257 is L-shaped, one side 2571 of the latch 257 is connected to the second connecting hole 2523 at the lower part of the two sides of the fixing bracket 252 through the connecting bolt 258, and the other side 2572 of the latch 257 is fastened to the inner side of the tooth-shaped brake disc 23.

Preferably, the fixing bracket 252 of the brake device 25 is connected to the side of the connecting base plate 241 of the connecting half shaft 24 through a connecting plate 259.

The working process of the servo rotary joint is as follows:

in the servo rotary joint of the present invention:

the brake device 25 and the connecting half shaft 24 (connecting arm rod) are connected into a solid-arm rod connecting component through bolts.

The rotary bearing seat 21, the tooth-shaped brake disc 23 and the outer ring of the outer tooth-shaped rotary support bearing 12 are connected into a solid body, namely a brake disc assembly, through bolts.

The servo motor reducer 13, the driving gear 14, the fixed mounting seat 11 and the inner ring of the outer tooth type slewing bearing 12 are connected into a solid-rotating assembly through bolts.

When the super-large torque clutch is closed, the arm rod connecting component and the brake disc component are connected into an entity through the pressing of the brake pressing block and the tooth-shaped brake disc, and then the servo motor rotates to rotate around the inner ring of the outer tooth-shaped slewing bearing.

When the ultra-large torque clutch is separated, the arm rod connecting assembly and the brake disc assembly are in a separated state, the arm rod connecting assembly can freely rotate around the brake disc assembly, and the servo motor is in a stop state at the moment, so that the servo motor and the brake disc assembly are meshed through the driving gear and the teeth of the outer ring of the outer tooth type slewing bearing to form a temporary entity. Thus, when the connecting half shaft (connecting arm lever) is manually rotated, the rotating member and the brake disc assembly rotate around the inner ring of the outer-tooth-type slewing bearing.

The rotation angle measuring assembly can realize that whether servo rotation or manual rotation is adopted, the encoder can measure the rotation angle of the connecting half shaft and the fixed mounting seat in real time.

Claims

1. A servo rotary joint is characterized by comprising a servo rotating assembly, an ultra-large torque clutch and a rotating angle measuring assembly; wherein the content of the first and second substances,

the servo rotating part includes:

the fixed mounting seat comprises a fixed bottom plate and a shell on the fixed bottom plate; the center of the fixed bottom plate is provided with a shaft hole;

the outer tooth type slewing bearing is arranged in the upper shell of the fixed mounting seat, and the inner ring of the outer tooth type slewing bearing is connected to the fixed bottom plate through a bolt;

the servo motor and the speed reducer are arranged on one side of the fixed base plate of the fixed mounting seat;

the driving gear is arranged on one side in the fixed mounting seat upper shell and meshed with the outer ring of the external tooth type slewing bearing, and the driving gear is arranged on an output shaft of the speed reducer;

the super large torque clutch includes:

a base plate of the slewing bearing seat is connected to an inner ring of the outer-tooth slewing bearing through a bolt; two ends of the shaft hole in the center of the rotary bearing block are respectively provided with a bearing;

the center of the tooth-shaped brake disc is provided with a through hole, and the tooth-shaped brake disc outside the through hole is connected to the front end surface of the rotary bearing seat through a bolt; the outer side of the outer side surface of the tooth-shaped brake disc is provided with a tooth-shaped structure along the circumferential direction;

the connecting half shaft consists of a connecting bottom plate and an upper shaft body, the shaft body passes through a through hole inserted in the center of the toothed brake disc and is inserted in bearings at two ends in a shaft hole in the center of the rotary bearing seat, and the end part of the shaft body extends into an inner ring of the outer-toothed rotary bearing;

the brake device comprises a brake cylinder, and a cylinder body of the brake cylinder is connected to one side of the connecting bottom plate of the connecting half shaft through a fixing support; the end part of the piston rod of the brake cylinder is provided with a brake pressing block, and the outer side surface of the brake pressing block is a tooth surface meshed with a tooth-shaped structure on the outer side surface of the tooth-shaped brake disc;

the rotation angle measuring assembly includes:

one end of the encoder driving shaft penetrates through a shaft hole in the center of the fixed base plate of the fixed mounting seat and is connected with the end part of the connecting half shaft body extending into the inner ring of the external tooth type slewing bearing, and the other end of the encoder driving shaft extends out of the shaft hole in the center of the fixed base plate;

the encoder is arranged at the upper end part of the encoder driving shaft extending out of the fixed bottom plate, and the encoder shell is fixed on the fixed bottom plate.

2. The servo rotary joint of claim 1 wherein the brake means further comprises:

the connecting block is triangular, the upper part of the connecting block is provided with a groove for inserting the end part of the output shaft of the brake cylinder, and the connecting block is pivotally connected to the end part of the output shaft; a first shaft hole and a second shaft hole are respectively formed in two sides of the lower part of the connecting block; the fixed bracket is a U-shaped body, and the connecting block is positioned on the inner side of the U-shaped body; the bottom of the fixed bracket is provided with a through hole for the output shaft of the brake cylinder to pass through, and the upper parts of two side edges of the fixed bracket are connected to one side of the connecting bottom plate; the connecting block is connected to the fixed bracket from a first shaft hole of the connecting block and a first connecting hole of the fixed bracket through a connecting shaft;

the brake pressing block is a U-shaped block, and the outer side surface of the bottom of the U-shaped block is a tooth surface; waist-shaped holes are formed on two side walls of the brake pressing block; the connecting block is inserted into the brake pressing block, a second shaft hole of the connecting block is provided with a pin shaft, and two ends of the pin shaft penetrate through kidney-shaped holes in two side walls of the brake pressing block;

the clamping block is L-shaped, one side edge of the clamping block is connected with the second connecting hole at the lower part of the two side edges of the fixed support through the connecting bolt, and the other side edge of the clamping block is buckled on the inner side surface of the tooth-shaped brake disc.

3. The servo rotary joint as claimed in claim 1 or 2, wherein the fixing bracket of the brake device is connected to the side of the connecting base plate of the connecting half shaft through a connecting plate.