CN201913645U - Rotating joint module of single DOF (degree of freedom) robot - Google Patents
Rotating joint module of single DOF (degree of freedom) robot Download PDFInfo
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- CN201913645U CN201913645U CN2010202781648U CN201020278164U CN201913645U CN 201913645 U CN201913645 U CN 201913645U CN 2010202781648 U CN2010202781648 U CN 2010202781648U CN 201020278164 U CN201020278164 U CN 201020278164U CN 201913645 U CN201913645 U CN 201913645U
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- harmonic speed
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Abstract
The utility model relates to a rotating joint module of a single DOF (degree of freedom) robot. The joint module has a rotating freedom, the center axis of a rotating shaft of the joint module is coincided or parallel with the center axis of the module body, and rotating motion is formed. Motion or moment control can be realized by a corresponding control system, and a zero position is detected by a Hall switch. The joint module mainly comprises a servo motor, a photoelectric encoder assembly, a disc type harmonic reducer assembly, a harmonic reducer output disc, a joint base, an output sleeve, a bearing and a corresponding end cover. An output shaft of the servo motor is connected with a wave generator of a harmonic reducer through a shaft sleeve, an output rigid wheel of the harmonic reducer is fixedly connected with an output disc through a screw, the output disc is connected with the output sleeve through a spline, and motion and power transmission are finally realized. The structure of the module is simple and compact, the connection with other modules or parts is convenient, and various robots or other electromechanical systems can be combined and built.
Description
Technical field
The present invention 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.Because robot modularized have a flexibility when setting up system, can freely make up multivariant system, it is climbing robot and refer to often be used in the hand research and development in mobile robot, climbing robot, pipe not only more, 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.
Make a general survey of design and development present situation both domestic and external, 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).At home, Harbin Institute of Technology has developed the modularized joint (patent No.: ZL1807032.A), South China Science ﹠ Engineering University has also developed first generation robot, and (patent No.: ZL200820203560.7), but its structure is complicated, the weight torque ratio is not ideal with revolute joint module.In a word, though existing at present some 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 but targetedly (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.
Summary of the invention
The purpose of this utility model is that the flexibility that increases the robot system structure provides a kind of simple and compact structure with rapidity, is connected and robot revolute joint module with single degree of freedom 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:
A kind of robot revolute joint module with single degree of freedom comprises servomotor and photoelectric encoder component, joint pedestal, output sleeve, needle roller single thrust bearing, end-cover axle bearing, deep groove ball bearing, harmonic speed reducer output panel, axle sleeve and disc type harmonic speed reducer assembly.The connected mode of each parts is: servomotor and photoelectric encoder component and joint pedestal are fastening with screw, and motor shaft links to each other indirectly by the wave producer of axle sleeve with disc type harmonic speed reducer assembly; Input in this assembly has just been taken turns with screw and joint pedestal and has been fastenedly connected, and output just wheel then is connected with harmonic speed reducer output panel; On the end-cover axle bearing, the one end is connected to transmit motion and moment of torsion with the output sleeve by spline this output panel by bearings; End-cover axle bearing and joint pedestal are connected with screw axial, and it is bearing exports the active force of sleeve by thrust bearing and deep groove ball bearing; Controller is fixed in the pedestal of joint by installing rack.All deads in line of servomotor and photoelectric encoder component, joint pedestal, disc type harmonic speed reducer assembly, harmonic speed reducer output panel, end-cover axle bearing and output sleeve etc.
The joint zero-bit adopts Hall switch to detect.Hall switch is formed by Hall element with as the small magnet piece that triggers usefulness.Hall element is fixed in glue in the radial groove of end-cover axle bearing, and the small magnet piece is embedded in the hole of output sleeve.The joint pedestal is the zero-bit of module with the relative position of output sleeve when defining both and aliging.
The central axes of the rotating shaft of joint module of the present utility model and module itself or parallel forms gyration, by driven by servomotor.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, decelerator adopts disc type harmonic speed reducer assembly, and its output steel wheel is connected with output panel and output sleeve.
Unified mechanical interface is all designed at the two ends of joint module, on the axle section dovetail groove is arranged.Locate, be the trapezoidal quick connection of snap ring realization and lock by alignment pin between the joint module with the axle section.Alignment pin also has the in relative rotation effect of module around axis that link to each other that stop except locating.
Compared with prior art, the utlity model has following advantage:
1. because reducing gear adopts the three-major-items of disc type harmonic speed reducer, its pedestal and socket joint are designed to one, and in arranged superposed radially, thereby the utility model weight is lighter relatively, simple and compact for structure, axial dimension is little with needle roller single thrust bearing and angular contact ball bearing.
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 do the complete cycle gyration, 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 scheme of installation (part sectioned view) of this joint module zero-bit switch.
The specific embodiment
In order to understand the utility model better, type is done to describe further below in conjunction with accompanying drawing.
Be illustrated in figure 1 as the outside drawing of this joint module.Joint pedestal 02 among the figure there is no directly between the sleeve 07 with output and is connected, but both can relatively rotate around central axis by other part.
Be illustrated in figure 2 as the profile of this joint module.In Fig. 2, joint module relatively rotate the axle and the central axes of module itself.Parts comprise: servomotor and photoelectric encoder component 01, joint pedestal 02, motor hold-down screw 03, harmonic speed reducer input axial restraint screw 04, the axial attachment screw 05 of harmonic speed reducer output, soket head cap screw 06, output sleeve 07, needle roller single thrust bearing 08, end-cover axle bearing 09, deep groove ball bearing 10, harmonic speed reducer output panel 11, axle sleeve 12, outer-hexagonal nut 13, jump ring 14, disc type harmonic speed reducer assembly 15 (three-major-items wherein do not illustrate separately in the drawings), key 16, lock-screw 17, controller installing rack 18, controller 19, Hall element 20, small magnet piece 21.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 01.The front end face of motor and joint pedestal 02 are fastening by motor hold-down screw 03; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 15 indirectly by axle sleeve 12, axle sleeve 12 is radially fixing by four lock-screws 17 with motor shaft, transmit moment of torsion with the wave producer of disc type harmonic speed reducer assembly 15 by key 16, and prevent to move axially by jump ring 14; In order to obtain less joint module length, decelerator adopts the harmonic speed reducer three-major-items of flat disk, its input just wheel is fastenedly connected by axial restraint screw 04 and joint pedestal 02, and output just wheel then is fastenedly connected with harmonic speed reducer output panel 11 by axial attachment screw 05; Harmonic speed reducer output panel 11 is supported on the end-cover axle bearing 09 by deep groove ball bearing 10, end-cover axle bearing 09 axially is being connected by six roots of sensation soket head cap screw 06 with joint pedestal 02, and its side back to disc type harmonic speed reducer assembly 15 nestles up the retainer plate of needle roller single thrust bearing 08; Output sleeve 07 is connected with harmonic speed reducer output panel to transmit motion and moment of torsion by spline, and one end is unloaded pressure on the end-cover axle bearing near the moving-coil of needle roller single thrust bearing 08, and the other end is by 13 lockings and locking of two outer-hexagonal nuts; Controller 19 is fixed in the joint pedestal 02 by installing rack 18, and is adjacent with motor.All deads in line of servomotor and photoelectric encoder component 01, joint pedestal 02, disc type harmonic speed reducer assembly 15, harmonic speed reducer output panel 11, end-cover axle bearing 09 and output sleeve 07 etc.
Be illustrated in figure 3 as the scheme of installation (part sectioned view, along joint shaft to dissecing) of joint zero-bit sense switch.Hall switch is formed by Hall element 20 with as the small magnet piece 21 that triggers usefulness.Hall element 20 usefulness glue are fixed in the radial groove of end-cover axle bearing 09, and small magnet piece 21 is embedded in the hole of output sleeve 07.The relative position of joint pedestal and output sleeve was defined as the zero-bit of module when both alignd.
Claims (2)
1. a robot revolute joint module with single degree of freedom is characterized in that: comprise servomotor and photoelectric encoder component, joint pedestal, output sleeve, needle roller single thrust bearing, end-cover axle bearing, deep groove ball bearing, harmonic speed reducer output panel, axle sleeve and disc type harmonic speed reducer assembly; The connected mode of each parts is: servomotor and photoelectric encoder component and joint pedestal are fastening with screw, and motor shaft links to each other by the wave producer of axle sleeve with disc type harmonic speed reducer assembly; The input of disc type harmonic speed reducer has just been taken turns with screw and joint pedestal and has been fastenedly connected, and output just wheel then is connected with harmonic speed reducer output panel; On the end-cover axle bearing, an end is connected to transmit motion and moment of torsion with the output sleeve by spline this output panel by bearings; End-cover axle bearing and joint pedestal are connected with screw axial; Controller is fixed in the pedestal of joint by installing rack; All deads in line of servomotor and photoelectric encoder component, joint pedestal, disc type harmonic speed reducer assembly, harmonic speed reducer output panel, end-cover axle bearing and output sleeve.
2. robot revolute joint module with single degree of freedom according to claim 1 is characterized in that the joint zero-bit of described module adopts Hall switch to detect; Hall switch is formed by Hall element with as the small magnet piece that triggers usefulness; Hall element is fixed in glue in the radial groove of end-cover axle bearing, and the small magnet piece is embedded in the hole of exporting sleeve in relative rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202781648U CN201913645U (en) | 2010-07-30 | 2010-07-30 | Rotating joint module of single DOF (degree of freedom) robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202781648U CN201913645U (en) | 2010-07-30 | 2010-07-30 | Rotating joint module of single DOF (degree of freedom) robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201913645U true CN201913645U (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202781648U Expired - Lifetime CN201913645U (en) | 2010-07-30 | 2010-07-30 | Rotating joint module of single DOF (degree of freedom) robot |
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| CN (1) | CN201913645U (en) |
Cited By (4)
| 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 |
| CN104308856A (en) * | 2014-07-28 | 2015-01-28 | 广东工业大学 | Single-degree-of-freedom rotating joint module for main robot |
| CN105345840A (en) * | 2015-12-15 | 2016-02-24 | 山东大学齐鲁医院 | Rotary driving joint |
| CN107379007A (en) * | 2016-04-28 | 2017-11-24 | 发那科株式会社 | Articulation structure |
-
2010
- 2010-07-30 CN CN2010202781648U patent/CN201913645U/en not_active Expired - Lifetime
Cited By (6)
| 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 |
| CN101913150B (en) * | 2010-07-30 | 2012-02-01 | 华南理工大学 | Robot revolute joint module with single degree of freedom |
| CN104308856A (en) * | 2014-07-28 | 2015-01-28 | 广东工业大学 | Single-degree-of-freedom rotating joint module for main robot |
| CN105345840A (en) * | 2015-12-15 | 2016-02-24 | 山东大学齐鲁医院 | Rotary driving joint |
| CN107379007A (en) * | 2016-04-28 | 2017-11-24 | 发那科株式会社 | Articulation structure |
| CN107379007B (en) * | 2016-04-28 | 2019-07-05 | 发那科株式会社 | Joint structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110803 Effective date of abandoning: 20120201 |