CN201300421Y - I-shaped joint module of a single degree-of-freedom robot - Google Patents

I-shaped joint module of a single degree-of-freedom robot Download PDF

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Publication number
CN201300421Y
CN201300421Y CNU2008202035607U CN200820203560U CN201300421Y CN 201300421 Y CN201300421 Y CN 201300421Y CN U2008202035607 U CNU2008202035607 U CN U2008202035607U CN 200820203560 U CN200820203560 U CN 200820203560U CN 201300421 Y CN201300421 Y CN 201300421Y
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CN
China
Prior art keywords
joint
speed reducer
harmonic speed
bearing
gear
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CNU2008202035607U
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Chinese (zh)
Inventor
管贻生
江励
张宪民
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华南理工大学
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Priority to CNU2008202035607U priority Critical patent/CN201300421Y/en
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Publication of CN201300421Y publication Critical patent/CN201300421Y/en

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Abstract

The utility model discloses an I-shaped joint module of a single degree-of-freedom robot. The joint module has rotational degree-of-freedom, and a rotating shaft thereof coincides with or is parallel to a central axis of the module body, thereby being called I-shaped joint module. The I-shaped joint module can realize motion or moment control by matching with a corresponding control system, and the zero position is detected via a Hall switch. The I-shaped joint module mainly comprises a servo motor, a photoelectric encoder component, a disc type harmonic speed reducer component, a harmonic speed reducer output shaft, a joint sleeve, a motor cabinet, a joint base, bearings, corresponding bearing bushes, corresponding end covers, a central gear, transition gears, an inner gear and the like, wherein an output shaft of the servo motor is connected with a wave generator of the harmonic speed reducer, the harmonic speed reducer output shaft is fixedly connected with the central gear, the central gear is engaged with two transition gears which are symmetrically arranged, the two transition gears are engaged with the inner gear, thereby realizing motion and power transmission finally. The I-shaped joint module is compact in structure and is convenient to be connected with other modules or parts, and can be applied to assemble various robots or other mechatronic systems.

Description

A kind of I type robot of single degree of freedom joint module

Technical field

The utility model relates to the Robotics field, in particular to a kind of robot of single degree of freedom joint module.

Background technology

Robotics has obtained very big development so far, but also has sizable distance from a large amount of in social production and human lives and widespread usage.Trace it to its cause, key factor comprises the complexity and the sky high cost of function, performance and intelligence and the system of robot itself.Although robot has very big flexibility and elasticity at certain application, existing most robot systems often have only a kind of major function and fixed configuration at specific application target and occasion, lack the reconstruct of function expansion and configuration.Comprehensive and integrated multiple function is a big important trend of present and future robot system development.In addition, it is very big all to develop the cost that the particular machines people spent at each field and every application, seriously restricts applying of robot.Therefore, multi-functional, easily make up and low cost is a important goal in the new system development of robot.For this reason, modularization is effective ways, is trend and characteristics in the current robot research and development.Modularization can the simplified design manufacturing and maintenance, shortening lead time, is reduced development cost, and flexibility when strengthening system constructing greatly and elasticity are just becoming the significant design method of system development.The core concept of deformable and reconfigurable robot is exactly a modularization, and entire machine people is exactly effective combination of plurality of modules.Similarly, snake-shaped robot also is connected in series successively by several joint modules without exception and forms, and for example the snake-shaped robot of Shenyang automation Research Institute is promptly formed (China Patent No.: ZL01248525.X) by a lot of single-degree-of-freedom joint modules.Aspect industrial robot, German Amtec company has developed the joint of robot module (German patent DE19939646.A1) and the commercialization of single-degree-of-freedom.Yet because the joint module type is single, contour structures is square, and the contiguous block of the needs special use that is connected with between the module is undesirable on machine configurations by the manipulator that they are built.Korea S has also developed the joint of robot module (patent No.: KR2005113975-A).Because robot modularized have a flexibility when setting up system, can freely make up multivariant system, in space robotics's system development, also favored, no matter be Canadian space robotics Canadarm, still 21 frees degree, the 3 robot test beds of U.S. robot research company exploitation have all adopted the modularized design mode.At home, at space robotics's needs, Beijing Institute of Aeronautics and Beijing University of Post ﹠ Telecommunication are at exploitation double freedom joint module, and Harbin Institute of Technology has also developed the modularized joint (patent No.: ZL1807032.A).Modularized design climbing robot and refer to also be in daily use in the hand research and development in mobile robot, climbing robot, pipe more.Though existing at present many joint modules are developed, but they or kind single (as the PowerCube of Amtec), perhaps price extremely high (as the module of Robotics Research), perhaps the module free degree is on the high side (has two frees degree as TODOM, can only constitute the robot of the even number free degree), perhaps module itself is simple and easy and targeted (as various microminiature joint modules towards reconstruction robot or snake-shaped robot), and is difficult to satisfy the widespread demand of any robot of building stock size.Therefore, be necessary the single-degree-of-freedom joint module of the conventional size of development structure compactness.

The utility model content

The purpose of this utility model is that the flexibility that increases the robot system structure provides a kind of compact conformation with rapidity, is connected and I type robot of single degree of freedom joint module easy to use in order to reduce the cost of robot design, manufacturing, debugging, operation and maintenance.

For realizing the purpose of this utility model, adopt following technical scheme:

The central axes of the rotating shaft of joint module and module itself or parallel is driven by DC servo motor.The rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and angular speed, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Be the weight and the axial dimension in control joint, the one-level decelerator adopts disc type harmonic speed reducer assembly.Harmonic speed reducer outputs to a central straight gear by an axle, and the transition gear of central gear by two symmetrical distributions drives the further deceleration force amplifier of internal tooth straight-tooth crop rotation and keeps transmission direction, another part that internal gear drives joint module relatively rotates output movement and power.Concrete structure comprises: servomotor and photoelectric encoder component 1, joint sleeve 2, motor shaft sleeve 3, motor cabinet 4, joint pedestal 5, bearing (ball) cover 6, bearing block 7, angular contact ball bearing and outer shaft 8, bearing (ball) cover 9, internal gear 10, joint output connector 11, transition gear axle 12, transition gear 13, harmonic speed reducer output shaft 14, central gear 15, little bearing (ball) cover 16, axle sleeve 17, angular contact ball bearing 18, harmonic speed reducer output transition disc 19, disc type harmonic speed reducer assembly 20.The connected mode of each parts is: servomotor and photoelectric encoder component 1 are fastening by axial bolt with motor cabinet 4; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 20 indirectly by motor shaft sleeve 3; The input and output of disc type harmonic speed reducer assembly 20 just wheel are fastenedly connected with motor cabinet 4 and harmonic speed reducer output transition disk 19 respectively by axial bolt, and the latter (19) is fastenedly connected with axial bolt and harmonic speed reducer output shaft 14 again; Joint sleeve 2 is enclosed within on the motor cabinet 4 and along the circumferential direction uses radial screw fastening; Motor cabinet 4 is fastenedly connected by axial bolt and joint pedestal 5; Bearing block 7 is supported on the joint pedestal 5 by angular contact ball bearing and outer shaft 8; Angular contact ball bearing and outer shaft 8 are by bearing (ball) cover 6 location and apply pretightning force; Harmonic speed reducer output shaft 14 is connected with central gear 15 by two keys, and central gear 15 and two transition gears, 13 engagements that are symmetrically distributed; Two transition gear axles 12 are fastenedly connected by screw thread on it and joint pedestal 5, and are connected with transition gear 13 by bearing; Two transition gears 13 mesh with internal gear 10; Internal gear 10, joint output connector 11 and bearing block 7 threes are fastenedly connected by axial bolt.All deads in line of motor and photoelectric encoder component 1, joint sleeve 2, motor cabinet 4, joint pedestal 5, disc type harmonic speed reducer assembly 20, harmonic speed reducer output shaft 14 central gears 15, internal gear 10, bearing block 7 and joint output connector 11, resemble an I word, so be called I type joint.

The energy-conservation complete cycle of doing in described pass rotates (± 180 °), and the joint zero-bit adopts Hall switch to detect.Hall switch is formed by Hall element 21 with as the small magnet piece 22 that triggers usefulness.Hall element 21 sticks with glue in the radial groove on joint pedestal 5 shaft shoulders, and small magnet piece 22 is embedded in the hole of bearing (ball) cover 6.The output shaft of servomotor is connected with the wave producer of harmonic speed reducer by axle sleeve, and harmonic speed reducer output shaft and central gear are affixed, two transition gear engagements of central gear and symmetrical distribution, the latter meshes with internal gear again, the final transmission that realizes motion and power.

The utlity model has following advantage:

1. because the main gear reducer structure adopts the three-major-items of disc type harmonic speed reducer, and its pedestal and socket joint are designed to one, thereby the utility model compact conformation, axial dimension are less.

2. owing to adopt the snap ring structure directly to be connected soon and lock, do not need other special-purpose transition or commutation connector, connection and dismantling simply, conveniently and fast with other mould;

3. can make complete cycle and rotate, no slewing area restriction;

4. the zero-bit switch adopts Hall element, and size is little, embeds easily in other parts, installs simple and convenient; There are not machinery contact and wearing and tearing, good reliability.

Description of drawings

Fig. 1 is the outside drawing of this joint module;

Fig. 2 is the profile of this joint module;

Fig. 3 is the end view of this joint module;

Fig. 4 is the scheme of installation (part sectioned view) of this joint module zero-bit switch.

The specific embodiment

In order to understand the utility model better, below in conjunction with accompanying drawing the utility model is done to describe further, but its embodiment is not limited thereto.

Be illustrated in figure 1 as the outside drawing of this joint module.Joint sleeve 2 among the figure, motor cabinet 4, joint pedestal 5 are fixed together, and bearing (ball) cover 6, bearing block 7 and joint output connector 11 also are solidly fixed, and these two parts can relatively rotate.

Be illustrated in figure 2 as the profile of this joint module.In Fig. 2, the rotating shaft of I type joint module and the central axes of module itself.Parts comprise: servomotor and photoelectric encoder component 1, joint sleeve 2, motor shaft sleeve 3, motor cabinet 4, joint pedestal 5, bearing (ball) cover 6, bearing block 7, angular contact ball bearing and outer shaft 8, bearing (ball) cover 9, internal gear 10, joint output connector 11, transition gear axle 12, transition gear 13, harmonic speed reducer output shaft 14, central gear 15, little bearing (ball) cover 16, axle sleeve 17, angular contact ball bearing 18, harmonic speed reducer output transition disc 19 and disc type harmonic speed reducer assembly 20 (three-major-items wherein do not illustrate separately in the drawings).Drive motors is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular displacement and angular velocity detection, and promptly the motor shaft rear end directly connects photoelectric encoder, becomes servomotor and photoelectric encoder component 1.The front end face of motor is connected with motor cabinet 4 usefulness screws (vertically).One end of the joint sleeve 2 of motor outside is enclosed within on the motor cabinet 4, and along the circumferential direction is connected with motor cabinet 4 usefulness screws (radially).Motor cabinet 4 is also fastening vertically with screw with joint pedestal 5.The output shaft of motor is connected with motor shaft sleeve 3, and is radially fastening with two jackscrews.Motor shaft sleeve 3 is connected with the wave producer of harmonic speed reducer 20, by a straight key transmission campaign and power.In order to obtain less joint module length, one-level is slowed down and is adopted the harmonic speed reducer three-major-items 20 of flat disk, input wherein just wheel is fastening vertically with motor cabinet 4 usefulness screws, output just wheel is fastenedly connected with harmonic speed reducer transition disk 19 vertically with screw, and transition disk 19 is connected with harmonic speed reducer output shaft 14 by screw again.Ripple reducer output shaft 14 is supported in the joint pedestal 5 by a pair of angular contact bearing 18, has inner ring sleeve 17, one ends to locate and pretensions with bearing holder (housing, cover) 16 between two bearings.A spur gear is installed as central gear 15 on the output of ripple reducer output shaft 14, by two the straight key transmission campaigns and the power of symmetry.Transition gear 13 engagements of central gear 15 and two symmetrical distributions.Each transition spur gear 13 is bearing on its gear shaft 12 by the bearing in the endoporus, and the latter (12) is fixedly mounted on the joint pedestal 5 by the screw thread on it.Transition gear 13 and internal gear 10 engagements.Internal gear 10, bearing block 7 and joint output connector 11 threes are connected fastening by axial bolt, become the last output block of joint module.This output block is bearing on the joint pedestal 5 by a pair of angular contact ball bearing and outer shaft 8.Bearing (ball) cover 6 carries out axial location and pretension to this diagonal angle contact ball bearing.

Be illustrated in figure 3 as the end view of joint module, shown the position relation between the gear.The pinion that is positioned at the center is a central gear 15, and two gears that are symmetrically distributed in its outside are transition gears 13, and the internal gear 10 that meshes with transition gear 13 is hidden invisible in the drawings by joint output connector 11.

Be illustrated in figure 4 as the scheme of installation (part sectioned view, along joint shaft to dissecing) of joint zero-bit sense switch.Hall element 21 sticks with glue in the radial groove on joint pedestal 5 shaft shoulders, and the small magnet piece 22 that triggers usefulness then is embedded in the hole of bearing (ball) cover 6.

Claims (2)

1. an I type robot of single degree of freedom joint module is characterized in that: comprise servomotor and photoelectric encoder component (1), joint sleeve (2), motor shaft sleeve (3), motor cabinet (4), joint pedestal (5), bearing (ball) cover (6), bearing block (7), angular contact ball bearing and outer shaft (8), bearing (ball) cover (9), internal gear (10), joint output connector (11), transition gear axle (12), transition gear (13), harmonic speed reducer output shaft (14), central gear (15), little bearing (ball) cover (16), axle sleeve (17), angular contact ball bearing (18), harmonic speed reducer output transition disc (19) and disc type harmonic speed reducer assembly (20); The connected mode of each parts is: servomotor and photoelectric encoder component (1) are fastening by axial bolt with motor cabinet (4); Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly (20) indirectly by motor shaft sleeve (3); The input and output of disc type harmonic speed reducer assembly (20) just wheel are fastenedly connected with motor cabinet (4) and harmonic speed reducer output transition disc (19) respectively by axial bolt, and harmonic speed reducer output transition disc (19) uses axial bolt and harmonic speed reducer output shaft (14) to be fastenedly connected again; Joint sleeve (2) is enclosed within motor cabinet (4) and upward also along the circumferential direction uses radial screw fastening; Motor cabinet (4) is fastenedly connected by axial bolt and joint pedestal (5); Bearing block (7) is supported on the joint pedestal (5) by angular contact ball bearing and outer shaft (8); Angular contact ball bearing and outer shaft (8) carry out axial location and apply pretightning force by bearing (ball) cover (6); Harmonic speed reducer output shaft (14) is connected with central gear (15) by two keys, and central gear (15) and two transition gears (13) engagement that is symmetrically distributed; Transition gear axle (12) is fastenedly connected by screw thread on it and joint pedestal (5), and is connected with transition gear (13) by bearing; Two transition gears (13) and internal gear (10) engagement; Internal gear (10), joint output connector (11) and bearing block (7) three are fastenedly connected by axial bolt; All deads in line of motor and photoelectric encoder component (1), joint sleeve (2), motor cabinet (4), joint pedestal (5), disc type harmonic speed reducer assembly (20), harmonic speed reducer output shaft (14), central gear (15), internal gear (10), bearing block (7) and joint output connector (11) form I type joint.
2. I type robot of single degree of freedom joint module according to claim 1 is characterized in that: the joint zero-bit adopts Hall switch to detect, and Hall switch is formed by Hall element (21) with as the small magnet piece (22) that triggers usefulness; Hall element (21) sticks with glue in the radial groove on joint pedestal (5) shaft shoulder, and small magnet piece (22) is embedded in the hole of bearing (ball) cover (6).
CNU2008202035607U 2008-11-18 2008-11-18 I-shaped joint module of a single degree-of-freedom robot CN201300421Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101913150A (en) * 2010-07-30 2010-12-15 华南理工大学 Robot revolute joint module with single degree of freedom
CN101927497A (en) * 2010-07-30 2010-12-29 华南理工大学 Rotating and swinging joint module of robot of single degree of freedom
CN102440853A (en) * 2011-09-19 2012-05-09 浙江大学 Wearable high-precision data acquisition upper limb exoskeleton
CN102490184A (en) * 2011-12-30 2012-06-13 北京配天大富精密机械有限公司 Robot joint and robot
CN102101298B (en) * 2009-12-18 2012-11-28 中国科学院沈阳自动化研究所 Rotational joint module of modularized reconfigurable robot
CN103802125A (en) * 2014-01-27 2014-05-21 武汉大学 Single-degree-of-freedom rotary joint module
CN104149089A (en) * 2014-07-28 2014-11-19 广东工业大学 Modular series master robot
CN105269589A (en) * 2014-07-02 2016-01-27 上海宇航系统工程研究所 Space manipulator modular driving joint
CN106335055A (en) * 2016-10-31 2017-01-18 上海未来伙伴机器人有限公司 Robot steering engine assembly and robot

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102101298B (en) * 2009-12-18 2012-11-28 中国科学院沈阳自动化研究所 Rotational joint module of modularized reconfigurable robot
CN101913150A (en) * 2010-07-30 2010-12-15 华南理工大学 Robot revolute joint module with single degree of freedom
CN101927497A (en) * 2010-07-30 2010-12-29 华南理工大学 Rotating and swinging joint module of robot of single degree of freedom
CN102440853A (en) * 2011-09-19 2012-05-09 浙江大学 Wearable high-precision data acquisition upper limb exoskeleton
CN102490184A (en) * 2011-12-30 2012-06-13 北京配天大富精密机械有限公司 Robot joint and robot
CN103802125A (en) * 2014-01-27 2014-05-21 武汉大学 Single-degree-of-freedom rotary joint module
CN103802125B (en) * 2014-01-27 2016-04-27 武汉大学 A kind of rotary joint module of single-degree-of-freedom
CN105269589A (en) * 2014-07-02 2016-01-27 上海宇航系统工程研究所 Space manipulator modular driving joint
CN105269589B (en) * 2014-07-02 2019-08-23 上海宇航系统工程研究所 A kind of spacing mechanical arm modularization driving joint
CN104149089A (en) * 2014-07-28 2014-11-19 广东工业大学 Modular series master robot
CN106335055A (en) * 2016-10-31 2017-01-18 上海未来伙伴机器人有限公司 Robot steering engine assembly and robot

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GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090902

Termination date: 20111118