CN114245768A - 机器人关节及机器人 - Google Patents

机器人关节及机器人 Download PDF

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Publication number
CN114245768A
CN114245768A CN201980098993.1A CN201980098993A CN114245768A CN 114245768 A CN114245768 A CN 114245768A CN 201980098993 A CN201980098993 A CN 201980098993A CN 114245768 A CN114245768 A CN 114245768A
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CN
China
Prior art keywords
bearing
output shaft
housing
robot
robot joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201980098993.1A
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English (en)
Inventor
杨勇
张晟
姜超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ruixinke Robot Co ltd
Original Assignee
Ruixinke Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ruixinke Robot Co ltd filed Critical Ruixinke Robot Co ltd
Publication of CN114245768A publication Critical patent/CN114245768A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • B25J9/108—Bearings specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J9/1025—Harmonic drives
    • 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
    • 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
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/541—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing
    • F16C19/542—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/56—Systems consisting of a plurality of bearings with rolling friction in which the rolling bodies of one bearing differ in diameter from those of another
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Rolling Contact Bearings (AREA)
  • Manipulator (AREA)

Abstract

一种机器人关节，包括：一壳体(1)；一输出轴(5)，至少部分地容纳于壳体(1)内部，具有轴部(51)和位于轴部的第一端的法兰部(52)；一第一轴承部(3)，容纳在壳体(1)中，支撑输出轴(5)的法兰部(52)的第一位置；一第二轴承部(20)，容纳在壳体(1)中，支撑输出轴(5)的沿轴向的第二位置；以及一电机(21)，容纳在壳体(1)中，其中第二轴承部(20)沿输出轴的轴向布置在电机(21)与第一轴承部(3)之间。还提供一种机器人。通过在多点对输出轴进行有效支撑，使得输出轴能够更有效和稳固的承受负载的力矩或弯矩，并使得机器人关节结构紧凑，质量更轻。

Description

PCT国内申请，说明书已公开。

Claims (10)

  1. PCT国内申请，权利要求书已公开。
CN201980098993.1A 2019-08-01 2019-08-01 机器人关节及机器人 Pending CN114245768A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/098921 WO2021017002A1 (zh) 2019-08-01 2019-08-01 机器人关节及机器人

Publications (1)

Publication Number Publication Date
CN114245768A true CN114245768A (zh) 2022-03-25

Family

ID=74229969

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980098993.1A Pending CN114245768A (zh) 2019-08-01 2019-08-01 机器人关节及机器人

Country Status (4)

Country Link
US (1) US11938627B2 (zh)
EP (1) EP4008502A4 (zh)
CN (1) CN114245768A (zh)
WO (1) WO2021017002A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114311014A (zh) * 2021-12-13 2022-04-12 珠海格力智能装备有限公司 一种锥齿轮传动的机器人关节机构及其形成的机器人
CN117182960B (zh) * 2023-11-07 2024-01-19 睿尔曼智能科技（北京）有限公司 一种一体化关节及机械臂
CN117927634A (zh) * 2024-01-23 2024-04-26 天津朗道自动化技术有限公司 一种串联弹性执行器

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CN102218739A (zh) * 2011-05-23 2011-10-19 哈尔滨工业大学 具有力位感知功能的机械臂模块化关节
CN202684927U (zh) * 2012-05-23 2013-01-23 深圳众为兴技术股份有限公司 一种高精度机器人关节机构
CN103128746A (zh) * 2011-11-24 2013-06-05 上海电气集团股份有限公司 一种机械臂模块化关节
CN103527720A (zh) * 2012-07-05 2014-01-22 北京精密机电控制设备研究所 一种谐波减速器
US20160305527A1 (en) * 2015-03-04 2016-10-20 Hiwin Technologies Corp. Motor-incorporating reducer
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CN102218739A (zh) * 2011-05-23 2011-10-19 哈尔滨工业大学 具有力位感知功能的机械臂模块化关节
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US20220274249A1 (en) 2022-09-01
WO2021017002A1 (zh) 2021-02-04
US11938627B2 (en) 2024-03-26
EP4008502A1 (en) 2022-06-08
EP4008502A4 (en) 2022-08-03

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