CN115765305A - But closed-loop control's integrated form drive joint - Google Patents
But closed-loop control's integrated form drive joint Download PDFInfo
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- CN115765305A CN115765305A CN202211448670.0A CN202211448670A CN115765305A CN 115765305 A CN115765305 A CN 115765305A CN 202211448670 A CN202211448670 A CN 202211448670A CN 115765305 A CN115765305 A CN 115765305A
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Abstract
The invention provides an integrated driving joint capable of being controlled in a closed loop mode, which relates to the technical field of robot control and comprises a motor shell, a rear end cover and a cover plate, and further comprises an RV reducer body, a motor stator and rotor assembly, a motor control unit, an input unit encoder, an output unit encoder connecting shaft, a motor supporting seat and a motor shaft; the RV reducer body is adjacently arranged at one side of the opening of the main shell, a motor shaft and a motor supporting seat are arranged in the motor stator-rotor assembly, the motor shaft and the RV reducer body are linked, and the motor shaft and the motor supporting seat are linked; the input unit encoder is coaxially connected with the motor supporting seat through a set screw; an output unit encoder connecting shaft is coaxially arranged in the motor shaft, one end of the output unit encoder connecting shaft is linked with the RV reducer body, and the other end of the output unit encoder connecting shaft is linked with the output unit encoder after penetrating through the input unit encoder and the motor control unit.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an integrated driving joint capable of being controlled in a closed loop mode.
Background
With the development of science and technology, robots and related automation equipment have entered various industries, relate to a plurality of fields, not only are used for auxiliary production, also have extensive application in fields such as medical rehabilitation. The driving joint is one of the core components in the robot system, is used for converting high-rotating-speed and low-torque power at a power end into low-rotating-speed and high-torque power to be output, and has a decisive influence on the kinematic performance and the dynamic behavior of an operating arm system of the robot. The conventional integrated drive joint mainly has the following problems:
(1) Closed-loop control is not carried out, the transmission precision is low, and the precision of the robot system is low;
(2) The transmission system is a harmonic speed reducer, so that the rigidity is poor and the output capacity is low;
(3) The structure is not compact, the size is large, and the weight is heavy;
at present, the RV reducer consists of a front stage of a planetary gear reducer and a rear stage of a cycloidal pin gear reducer, has a compact structure and a large transmission ratio, has a self-locking function under a certain condition, is one of the most common reducers, and has small vibration, low noise and low energy consumption. In order to overcome the defects, the invention provides an integrated driving joint capable of being controlled in a closed loop mode by combining with an RV reducer, and the integrated driving joint has important significance for improving the rigidity, the transmission precision and the output capacity of the robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an integrated driving joint capable of being controlled in a closed loop mode, and the specific scheme is as follows:
an integrated driving joint capable of being controlled in a closed loop mode comprises a motor shell, a rear end cover and a cover plate, wherein a main shell with one side opened is formed by the motor shell, the rear end cover and the cover plate in a surrounding mode;
the RV reducer body is adjacently arranged beside an opening of a main shell and is detachably connected with the main shell, the motor stator-rotor assembly and the motor control unit are sequentially arranged inside the main shell at intervals, the motor shaft and the motor support seat are coaxially arranged in the motor stator-rotor assembly from inside to outside, and the motor shaft and the motor support seat are linked;
the input unit encoder and the output unit encoder are respectively arranged on two sides of the motor control unit, and the input unit encoder is coaxially connected with the motor supporting seat through a set screw;
still coaxially be provided with output unit encoder connecting axle in the motor shaft, the one end of output unit encoder connecting axle with RV speed reducer body linkage, the other end wears to establish behind input unit encoder, the motor control unit and output unit encoder linkage.
Further, the RV reducer body comprises a reducer body supporting seat and a reducer output seat, the reducer output seat is close to the main shell, and the reducer body supporting seat and the reducer output seat are connected through taper pins and set screws.
Further, one end of the motor control unit is mounted on the cover plate by a set screw.
Furthermore, the input unit encoder and the output unit encoder are both composed of a static disc and a movable disc, the movable disc of the input unit encoder is installed on the motor supporting seat through a set screw, and the static disc is installed on the motor control unit through a set screw;
the movable disc of the output unit encoder is arranged on the output unit encoder connecting shaft through a set screw, and the static disc is arranged on the rear end cover through a set screw.
Furthermore, the motor shaft is of a hollow structure, and the shaft diameter of the output unit encoder connecting shaft is smaller than the hollow inner diameter of the motor shaft;
a flange structure is formed at the end part of the output unit encoder connecting shaft, and the flange structure is in interference connection with the speed reducer body supporting seat;
in addition, the output unit encoder connecting shaft is connected with the motor shaft through a first bearing.
Furthermore, the motor shaft is installed on the motor shell through two second bearings, an input tooth on the motor shaft is meshed with a planet wheel on the output seat of the speed reducer, and the diameter of an addendum circle of the input tooth is smaller than the inner diameter of the supporting bearing.
Compared with the prior art, the invention has the following beneficial effects:
(1) The integrated driving joint capable of being controlled in a closed loop mode adopts a double-encoder structure, namely an input unit encoder and an output unit encoder, when the driving joint works, a motor shaft rotates under the driving of a motor stator and rotor assembly, the input unit encoder collects the motor shaft, the rotating speed angle information of the motor shaft is collected to serve as an input signal, the motor shaft drives an RV reducer body to work to drive the joint of a robot, the RV reducer body further drives an output unit encoder connecting shaft to rotate, the output unit encoder collects the driving output unit encoder connecting shaft, the output rotating speed information of the RV reducer body is collected to serve as an output signal, the input unit encoder and the output unit encoder respectively collect and control the input signal and the output signal in a closed loop mode, and the transmission precision is greatly improved;
(2) The transmission system is an RV reducer body, and is high in overall rigidity and strong in output capacity;
(3) The invention is an integrated structure, compact in structure, small in size and light in weight.
Drawings
FIG. 1 is a schematic diagram of the working principle of an embodiment of the present invention;
fig. 2 is a cross-sectional view showing the position of the planet, input teeth.
Reference numerals: 1. an RV reducer body; 01. a speed reducer body supporting seat; 02. a reducer output base; 021. a stepped groove; 2. a motor housing; 3. a motor stator-rotor assembly; 4. a motor control unit; 5. an input unit encoder; 6. an output unit encoder; 7. an output unit encoder connecting shaft; 71. a boss; 72. a flange structure; 8. a rear end cap; 9. a cover plate; 10. a motor supporting seat; 101. a planet wheel; 11. a motor shaft; 111. an input tooth; 12. a first bearing; 13. a second bearing; 14. a taper pin; 15. a first convex plate; 16. and a second convex plate.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
In the prior art, closed-loop control refers to a basic concept of control theory. Refers to a control relationship in which the output quantity as controlled is returned to the input end as control in a certain manner, and a control influence is exerted on the input end.
Robots on the market mainly use three driving methods, i.e., hydraulic driving, pneumatic driving, and motor driving. In the motor drive, joints of the robot are directly driven by using force or torque generated by various motors, or are driven by a mechanism such as deceleration to obtain desired position, velocity, acceleration and other indexes. There are four types of motors: a stepping motor, a DC servo motor, an AC servo motor and a linear motor.
In motor drive, based on a drive implementation mode of closed-loop control for a robot, the invention provides an integrated drive joint capable of being controlled in a closed-loop manner, and the drive joint is composed of an RV reducer body 1, a motor shell 2, a motor stator and rotor assembly 3, a motor control unit 4, an input unit encoder 5, an output unit encoder 6, an output unit encoder connecting shaft 7, a rear end cover 8, a cover plate 9, a motor supporting seat 10 and a motor shaft 11.
As shown in fig. 1 and 2, the motor housing 2, the rear end cover 8 and the cover plate 9 are surrounded to form a main housing with one side opened, and a space for installing some structures except the three structures of the motor housing 2, the rear end cover 8 and the cover plate 9 in the driving joint is formed in the main housing, so that the space is reasonably used. It should be noted that, RV reducer body 1 is adjacently disposed beside the opening of the main housing and detachably connected to the main housing, specifically, RV reducer generally comprises a front stage of a planetary gear reducer and a rear stage of a cycloidal pin gear reducer, and can be purchased directly from the market. Therefore, the speed reducer comprises a speed reducer body supporting seat 01 and a speed reducer output seat 02, wherein the speed reducer output seat 02 is arranged close to the main shell, as can be seen from the figure, a taper pin 14 is arranged on the speed reducer body supporting seat 01 and the speed reducer output seat 02 in a penetrating mode together at a position close to the lower side for positioning, and then a set screw is screwed on the speed reducer body supporting seat 01 and the speed reducer output seat 02 at other positions together except the position of the taper pin 14 to realize fastening connection. Moreover, as can be seen from the figure, a first convex plate 15 is formed on one side of the reducer output base 02 facing the main shell, a second convex plate 16 is correspondingly formed on the main shell, and the two convex plates are attached together and then detachably connected by screws or other connecting pieces.
Because RV speed reducer body 1 sets up in the outside of total casing, the inside space of total casing also can be utilized, consequently, motor stator and rotor subassembly 3, motor control unit 4 locate the inside of total casing at intervals in proper order, and from inside to outside coaxial be provided with motor shaft 11, motor supporting seat 10 in the motor stator and rotor subassembly 3, input unit encoder 5, output unit encoder 6 lay respectively in motor control unit 4's both sides, avoid mutual electromagnetic interference, compact structure.
The motor stator and rotor assembly 3 comprises a motor stator and a motor rotor, the motor stator is fixedly connected with the motor shell 2, the motor rotor is fixedly connected with the motor supporting seat 10, and the motor supporting seat 10 is fixedly connected with the motor shaft 11. Thus, the motor serves as a driving source for transmitting power to the motor shaft 11.
Secondly, the motor control unit 4 is used as an integrated structure for controlling the working parameters of the motor, the control principle in the motor control unit is not improved in the invention, detailed description is not needed, the invention mainly explains the position and installation relationship, and as can be seen from the figure, the motor control unit 4 is arranged along the height direction of the cover plate 9, and one side of the motor control unit is arranged on the cover plate 9 through a set screw to realize detachable connection.
Furthermore, as can be seen from the figure, the motor shaft 11 is mounted on the motor housing 2 through two second bearings 13 which are adjacently arranged, that is, the motor shaft 11 can rotate relative to the motor housing 2, in addition, an input tooth 111 on the motor shaft 11 is meshed with a planet gear 101 on the output base 02 of the speed reducer, and the diameter of the addendum circle of the input tooth 111 is smaller than the inner diameter of the second bearing 13, so that the second bearing 13 is prevented from influencing the normal operation of the input tooth 111. When the motor works, the generated power drives the motor shaft 11 to rotate, and under the meshing action, the driving torque is transmitted to the speed reducer body, and one end, away from the planet wheel 101, of the speed reducer output base 02 of the speed reducer body can be used for being connected with an external device, so that the driving torque is transmitted to an external device needing power to rotate, such as a joint of a robot, and required positions, speed, acceleration and other indexes are obtained.
In order to realize that the joint of the robot is used as an output end when in work and to realize that the output end feeds back a motor to realize bidirectional closed-loop control, the closed-loop control is mainly realized by matching an input unit encoder 5 and an output unit encoder 6. Input unit encoder 5 comprises quiet dish and driving disk, and whole all is the arch, can see from the picture, because the one end of motor support seat 10 extends towards the direction of input unit encoder 5, and input unit encoder 5's driving disk is established earlier on motor support seat 10, then installs on motor support seat 10 through holding screw. The static disc of the input unit encoder 5 is U-shaped, has a larger contact area with the motor control unit 4, and is mounted on the motor control unit 4 through a set screw after being attached. So far, input unit encoder 5 and motor supporting seat 10 realize coaxial coupling, when motor shaft 11 rotated, can drive input unit encoder 5 synchronous revolution to gather input rotational speed angle information.
Still coaxial output unit encoder connecting axle 7 that is provided with in motor shaft 11 particularly, motor shaft 11 is hollow structure, the diameter of axle of output unit encoder connecting axle 7 is less than motor shaft 11 hollow internal diameter, avoid hindering output unit encoder connecting axle 7 to be rotation motion, furthermore, output unit encoder connecting axle 7 is close to the position cover at middle part and is equipped with first bearing 12, the outside and the motor shaft 11 rigid coupling of first bearing 12, make and realize relative motion through first bearing 12 between output unit encoder connecting axle 7 and the motor shaft 11, optimize, motor shaft 11's end still can embed a spacing ring and be used for output unit encoder connecting axle 7 to pass, spacing ring and bearing guarantee motor shaft 11 and output unit encoder connecting axle 7's coaxial axle jointly.
In fact, one end of the output unit encoder connecting shaft 7 is inserted through the input unit encoder 5 and the motor control unit 4, and then is used for being connected with the output unit encoder 6. In the same way in input unit encoder 5, output unit encoder 6 also comprises quiet dish and driving disk, it is whole all to be the arch, because be formed with the great boss 71 of diameter on the outer wall of the tip of output unit encoder connecting axle 7, this boss 71 just with output unit encoder 6's driving disk gomphosis, make the two overlap each other and establish, later install the driving disk on output unit encoder connecting axle 7 through holding screw, in addition, output unit encoder 6's quiet dish also is the U font, with the inner wall laminating of rear end cap 8, area of contact is great, after the two laminates, quiet dish also installs on rear end cap 8 through holding screw.
In order to realize the driving of the output unit encoder connecting shaft 7 to the output unit encoder 6, the end of the output unit encoder connecting shaft 7 is formed with a flange structure 72, the flange structure 72 is in a T shape, a stepped groove 021 matched with the flange structure 72 is formed in the speed reducer supporting seat, the flange structure 72 is penetrated in the stepped groove 021, the flange structure 72 is in interference connection with the speed reducer body supporting seat 01, then the flange structure 72 is fixedly connected with the speed reducer body supporting seat 01 through a set screw, because the speed reducer body supporting seat 01 is fixedly connected with the speed reducer output seat 02, the output unit encoder connecting shaft 7 can transmit output rotating speed information to the output unit encoder 6, and then signals or data are compiled, and are converted into signal forms which can be used for communication, transmission and storage.
From the above, it can be seen that the driving portion of the driving joint is an integral body composed of the motor housing 2, the rear end cover 8, the cover plate 9, the motor stator and rotor assembly 3, the motor control unit 4, the motor support seat 10 and the motor shaft 11, the transmission portion of the driving joint is the RV reducer body 1, and the driving portion and the transmission portion are arranged in a left-right split manner. Because transmission part compact structure can't install output unit encoder 6 nearby, and in the drive division, because there is the space between motor drive unit and rear end cap 8, utilize this space to be used for installing output unit encoder 6, reasonable in design. Moreover, need be connected through output unit encoder connecting axle 7 between transmission part and the output unit encoder 6, consequently, output unit encoder connecting axle 7 is as the connecting piece, on the basis of not many occupation space, increase drive joint volume, only need do simple mechanical structure change to motor shaft 11, motor supporting seat 10, open promptly and establish central through hole, be convenient for pass of unit encoder connecting axle to and set up the bearing, alright accomplish the assembly of unit encoder connecting axle, and structural stability is high.
In summary, all structures in the driving joint are sequentially arranged along the direction of power output of the motor, so that the driving joint is compact in structure and high in applicability.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. An integrated driving joint capable of being controlled in a closed loop mode comprises a motor shell (2), a rear end cover (8) and a cover plate (9), wherein the motor shell (2), the rear end cover (8) and the cover plate (9) are surrounded to form a main shell with one side open, and the integrated driving joint is characterized by further comprising an RV reducer body (1), a motor stator and rotor assembly (3), a motor control unit (4), an input unit encoder (5), an output unit encoder (6), an output unit encoder connecting shaft (7), a motor supporting seat (10) and a motor shaft (11);
the RV reducer body (1) is adjacently arranged beside an opening of a main shell and is detachably connected with the main shell, the motor stator-rotor assembly (3) and the motor control unit (4) are sequentially arranged inside the main shell at intervals, the motor shaft (11) and the motor support seat (10) are coaxially arranged in the motor stator-rotor assembly (3) from inside to outside, the motor shaft (11) and the RV reducer body (1) are linked, and the motor shaft (11) and the motor support seat (10) are linked;
the input unit encoder (5) and the output unit encoder (6) are respectively arranged on two sides of the motor control unit (4), and the input unit encoder (5) is coaxially connected with the motor support seat (10) through a set screw;
still coaxial output unit encoder connecting axle (7) that is provided with in motor shaft (11), the one end of output unit encoder connecting axle (7) with RV speed reducer body (1) linkage, the other end wears to establish behind input unit encoder (5), the motor control unit (4) and the linkage of output unit encoder (6).
2. The integrated drive joint capable of realizing closed-loop control according to claim 1, wherein the RV reducer body (1) comprises a reducer body support seat (01) and a reducer output seat (02), the reducer output seat (02) is arranged close to the main shell, and the reducer body support seat (01) and the reducer output seat (02) are connected through a taper pin (14) and a set screw.
3. Closed-loop controllable integrated drive joint according to claim 1, characterized in that one end of the motor control unit (4) is mounted on the cover plate (9) by means of a set screw.
4. The integrated drive joint capable of realizing closed-loop control according to claim 2, wherein the input unit encoder (5) and the output unit encoder (6) are composed of a static disc and a dynamic disc, the dynamic disc of the input unit encoder (5) is installed on the motor support base (10) through a set screw, and the static disc is installed on the motor control unit (4) through a set screw;
the movable disc of the output unit encoder (6) is installed on the output unit encoder connecting shaft (7) through a set screw, and the static disc is installed on the rear end cover (8) through a set screw.
5. The integrated drive joint capable of closed-loop control according to claim 1, wherein the motor shaft (11) is of a hollow structure, and the shaft diameter of the output unit encoder connecting shaft (7) is smaller than the hollow inner diameter of the motor shaft (11);
a flange structure (72) is formed at the end part of the output unit encoder connecting shaft (7), and the flange structure (72) is in interference connection with the speed reducer body supporting seat (01);
in addition, the output unit encoder connecting shaft (7) is connected with the motor shaft (11) through a first bearing (12).
6. Integrated drive joint for closed-loop control according to claim 5, characterized in that the motor shaft (11) is mounted on the motor housing (2) by means of two second bearings (13), the input teeth (111) on the motor shaft (11) meshing with the planet wheels (101) on the reducer output block (02), the addendum diameter of the input teeth (111) being smaller than the inner diameter of the support bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211448670.0A CN115765305A (en) | 2022-11-18 | 2022-11-18 | But closed-loop control's integrated form drive joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211448670.0A CN115765305A (en) | 2022-11-18 | 2022-11-18 | But closed-loop control's integrated form drive joint |
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| Publication Number | Publication Date |
|---|---|
| CN115765305A true CN115765305A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211448670.0A Pending CN115765305A (en) | 2022-11-18 | 2022-11-18 | But closed-loop control's integrated form drive joint |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209875867U (en) * | 2019-01-25 | 2019-12-31 | 成都双创时代科技有限公司 | RV speed reducer capable of realizing closed-loop control |
| CN216543375U (en) * | 2021-11-09 | 2022-05-17 | 上海羿弓精密科技有限公司 | Integrated joint driving unit |
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2022
- 2022-11-18 CN CN202211448670.0A patent/CN115765305A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209875867U (en) * | 2019-01-25 | 2019-12-31 | 成都双创时代科技有限公司 | RV speed reducer capable of realizing closed-loop control |
| CN216543375U (en) * | 2021-11-09 | 2022-05-17 | 上海羿弓精密科技有限公司 | Integrated joint driving unit |
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