CN202399276U - Robot joint and robot - Google Patents
Robot joint and robot Download PDFInfo
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- CN202399276U CN202399276U CN 201120566211 CN201120566211U CN202399276U CN 202399276 U CN202399276 U CN 202399276U CN 201120566211 CN201120566211 CN 201120566211 CN 201120566211 U CN201120566211 U CN 201120566211U CN 202399276 U CN202399276 U CN 202399276U
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- hall switch
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Abstract
The utility model relates to an industrial robot, in particular to a robot joint and a robot. The robot joint comprises a first joint part, a second joint part which can rotate around the circumference of the first joint part and rotating angle induction devices which are arranged on the first joint part and the second joint part, wherein the robot joint acquires a rotating angle of the second joint part relative to the first joint part through the rotating angle induction devices so as to limit the second joint part and make the rotating angle of the second joint part be not greater than a preset rotating angle. The robot joint belongs to a non-contact rotating angle limiting method, a phenomenon of structure collision in a mechanical limiting method is avoided, and the robot joint is relatively safe; furthermore, the robot joint is implemented by hardware instead of software algorithms, so that the robot joint is relatively reliable; and therefore, the robot joint cannot be damaged and is safe and reliable.
Description
Technical field
The utility model relates to the industrial robot technical field, especially a kind of joint of robot and robot.
Background technology
Existing industrial robot joint receives the restriction of its body construction and all positions environment, only allows in limited angle, to rotate.If joint of robot surmounts angle range when rotating, can threaten to robot body and all positions environment, for preventing accident, must carry out the spacing design of corner to joint of robot.
Traditional corner limit method mainly comprises mechanical position limitation and software limit.Mechanical position limitation is to realize a kind of method that corner is spacing through design limited block or boss on articulation structure, and it is spacing to belong to a kind of contact; Software limit then is through the software counting, in control algolithm, realizes the spacing a kind of method of corner.When mechanical position limitation played a role, mutual collision can take place in limited block on the joint or boss, and the robot body structure is caused certain damage; And when using software limit, must note the reference zero of joint rotation angle in advance, if the reference zero position the unknown in joint or zero point information dropout, then can't use software limit.
Can know that to sum up existing joint of robot and robot obviously exist inconvenience and defective, so be necessary to improve on reality is used.
The utility model content
In view of this, the utility model provides a kind of robot and joint of robot, can effectively solve the existing structural collision phenomenon of mechanical position limitation method; Safer; Do not rely on software algorithm simultaneously, more reliable, can guarantee the stability that joint of robot moves.
The utility model embodiment solves the problems of the technologies described above a technical scheme of being taked, and a kind of joint of robot is provided, and said joint of robot comprises:
The first joint part;
The second joint part can be around the said first joint part circumference rotation;
Anglec of rotation induction installation; Be located on said first joint part and the said second joint part; Said joint of robot obtains the anglec of rotation of said second joint part with respect to the said first joint part through said anglec of rotation induction installation, is no more than preset corner said second joint part is carried out spacing its anglec of rotation that makes.
According to the joint of robot of the utility model, said anglec of rotation induction installation comprises Hall switch and the magnet adaptive with said proximity Hall switch.
According to the joint of robot of the utility model, said Hall switch is the unipolarity Hall switch, and said magnet is a magnet steel.
Joint of robot according to the utility model; The said first joint part comprises first articular surface; Said second joint part comprises the second joint face corresponding with said first articular surface, and said second joint face can wind the rotating shaft rotation perpendicular to said first articular surface.
According to the joint of robot of the utility model, said first articular surface is provided with at least one Hall switch, and the intersection point that said Hall switch is arranged on said rotating shaft and said first articular surface is on the circumference in the center of circle; Said second joint face is provided with at least two magnets corresponding with said Hall switch, and the intersection point that said magnet is arranged on said rotating shaft and said second joint face is on the circumference in the center of circle; The installation pitch circle equal and opposite in direction of said magnet and said Hall switch.
According to the joint of robot of the utility model, the preset angle range of the corresponding said second joint part of the central angle that forms between said two magnets.
According to the joint of robot of the utility model, said first articular surface is provided with at least two Hall switch, and the intersection point that said Hall switch is arranged on said rotating shaft and said first articular surface is on the circumference in the center of circle;
Said second joint face is provided with at least one magnet corresponding with said Hall switch, and the intersection point that said magnet is arranged on said rotating shaft and said second joint face is on the circumference in the center of circle; The installation pitch circle equal and opposite in direction of said magnet and said Hall switch.
According to the joint of robot of the utility model, the preset angle range of the corresponding said second joint part of the central angle that forms between said two Hall switch.
According to the joint of robot of the utility model, said Hall switch and the said first joint part or second joint part are spirally connected, and pass through bolt; Said magnet steel is contained in the unthreaded hole of the said second joint part or the first joint part, and passes through a magnet steel lid may enclose in said unthreaded hole.
The utility model also provides a kind of robot; Said robot comprises according to above-mentioned joint of robot; Said robot also comprises mechanical arm and manipulator; Said mechanical arm is connected through said joint of robot with said manipulator, and the said first joint part is arranged at mechanical arm, and said second joint part is arranged at said manipulator.
The utility model obtains the anglec of rotation of second joint part with respect to the first joint part through the induced signal of anglec of rotation induction installation, and then the second joint part is carried out spacing its anglec of rotation that makes is no more than predetermined angle.The utility model belongs to a kind of contactless corner limit method, and the existing structural collision phenomenon of mechanical limit method can not take place, and is safer; Secondly, the utility model hardware is realized, does not rely on software algorithm, and is more reliable.Whereby, the utility model can not cause damage to joint of robot, and is safe and reliable.
Description of drawings
Fig. 1 is the sketch map of a kind of embodiment of a kind of joint of robot of the utility model;
Fig. 2 is the sketch map of a kind of another embodiment of joint of robot of the utility model;
Fig. 3 is the Hall switch of a kind of joint of robot of the utility model and the fit structure sketch map of magnet steel.
The specific embodiment
For the purpose, technical scheme and the advantage that make the utility model is clearer, combine accompanying drawing and embodiment once, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
As shown in Figure 1, a kind of joint of robot 100 of the utility model is used for robot, comprising: the first joint part 10, second joint part 20 and anglec of rotation induction installation 30.
The first joint part 10 comprises first articular surface 11.
Second joint part 20; Can rotate around the first joint part, 10 circumference; Second joint 20 also comprises the second joint face 21 corresponding with first articular surface 11; Because second joint part 20 can rotate around the first joint part, 10 circumference, so second joint face 21 can wind the rotating shaft X rotation perpendicular to first articular surface 11.
Anglec of rotation induction installation; Be located on the first joint part 10 and the second joint part 20; Joint of robot 100 obtains the anglec of rotation of second joint part 20 with respect to the first joint part 10 through anglec of rotation induction installation, is no more than preset corner second joint part 20 is carried out spacing its anglec of rotation that makes.This anglec of rotation induction installation preferably includes the Hall switch 31 of being located at first articular surface 10 and the magnet 32a that is located at second joint face 21,32b, Hall switch 31 and magnet 32a; 32b is adaptive; This Hall switch 31 is preferably the unipolarity Hall switch, magnet 32a, and the 32b correspondence is made as magnet steel.Obviously, Hall switch 31 also can be arranged on the second joint part 20, and magnet 32a, 32b is arranged on the first joint part 10.
Because the working environment of industrial robot is comparatively complicated; Hall switch 31 has characteristics such as no electric shock, low-power consumption, long life, response frequency height; The inner epoxy resin envelope that adopts is irritated being integral; So can be under all kinds of adverse circumstances reliable work, therefore adopt Hall switch can make the operation of joint of robot 100 more reliable as anglec of rotation induction installation.And the working method of unipolarity Hall switch is simple, and cost is lower, is suitable for large-scale commercial Application.
The utility model obtains the anglec of rotation of second joint part 20 with respect to the first joint part 10 through the induced signal of anglec of rotation induction installation, and then second joint part 20 is carried out spacing its anglec of rotation that makes is no more than predetermined angle.The utility model belongs to a kind of contactless corner limit method, and the existing structural collision phenomenon of mechanical limit method can not take place, and is safer; Secondly, the utility model hardware is realized, does not rely on software algorithm, and is more reliable.Whereby, the utility model can not cause damage to joint of robot, and is safe and reliable.
According to an embodiment of the utility model, as shown in Figure 1, first articular surface 11 is provided with a Hall switch 31; Second joint face 21 is provided with two magnet steel 32as corresponding with Hall switch 31,32b, Hall switch 31 be arranged on intersection point with the rotating shaft X and first articular surface 11 be the center of circle with on the circumference; Magnet steel 32a; The intersection point that 32b is arranged on rotating shaft X and second joint face 21 is on the circumference in the center of circle, and magnet 32a, the installation pitch circle equal and opposite in direction of 32b and Hall switch 31.Two magnet 32a, the preset angle range of the corresponding second joint part 20 of the central angle that forms between the 32b.
Second joint part 20 rotates along clockwise (or counterclockwise) direction with respect to the first joint part 10; When the spacing of Hall switch 31 and magnet steel 32a be equal to or less than detection apart from the time, Hall switch 31 output low levels are detected by this joint motor driver; Motor driver stops to drive this motor; And forbid the rotating function of (or counterclockwise) direction clockwise, at this moment, this joint can only be to (or clockwise) direction rotation counterclockwise.After second joint part 20 rotates along counterclockwise (or clockwise) direction with respect to the first joint part 10; When Hall switch 21 leaves magnet steel 32a; The output of Hall switch 31 becomes high-impedance state, and motor driver enables (or the clockwise) rotation counterclockwise of this motor; When Hall switch 31 during near magnet steel 32b, Hall switch 31 is output low level again, and motor driver stops drive motors, and forbids the rotation of (or clockwise) direction counterclockwise, and this moment, the joint can only be rotated to (or counterclockwise) direction clockwise.Obviously, the number of Hall switch 31 can be provided with at least one, and magnet 32 then is provided with two at least.
According to another embodiment of the utility model, as shown in Figure 2, first articular surface 11 is provided with two Hall switch 31a; 31b, second joint face 21 are provided with one and Hall switch 31a, the magnet steel 32 that 31b is corresponding; Hall switch 31a, 31b be arranged on intersection point with the rotating shaft X and first articular surface 11 be the center of circle with on the circumference, the intersection point that magnet steel 32 is arranged on rotating shaft X and second joint face 21 is on the circumference in the center of circle; And magnet 32 and Hall switch 31a, the installation pitch circle equal and opposite in direction of 31b.Two Hall switch 31a, the preset angle range of the corresponding second joint part 20 of the central angle that forms between the 31b.
Second joint part 20 rotates along clockwise (or counterclockwise) direction with respect to the first joint part 10; When the spacing of Hall switch 31a and magnet steel 32 be equal to or less than detection apart from the time, Hall switch 31a output low level is detected by this joint motor driver; Motor driver stops to drive this motor; And forbid the rotating function of (or counterclockwise) direction clockwise, at this moment, this joint can only be to (or clockwise) direction rotation counterclockwise.After second joint part 20 rotates along counterclockwise (or clockwise) direction with respect to the first joint part 10; When Hall switch 31a leaves magnet steel 32a; The output of Hall switch 31a becomes high-impedance state, and motor driver enables (or the clockwise) rotation counterclockwise of this motor; As Hall switch 31b during near magnet steel 32, Hall switch 31b is output low level again, and motor driver stops drive motors, and forbids the rotation of (or clockwise) direction counterclockwise, and this moment, the joint can only be rotated to (or counterclockwise) direction clockwise.Obviously, the number of Hall switch 31 can be provided with at least two, and magnet 32 then is provided with one at least.
As shown in Figure 3, said Hall switch 31 is through being spirally connected with the first joint part 10, and fixing through bolt 12, and magnet steel 32 is contained in the unthreaded hole of second joint part 20, and is closed in unthreaded hole through magnet steel lid 22.Magnet steel lid 22 is a non-magnet material, can not influence the magnetic direction of magnet steel 32.When mounted, the S utmost point one side of magnet steel 32 is over against proximity Hall switch 31, unthreaded hole 22 matched in clearance on the N utmost point one side and the second joint part 320.Obviously, also can Hall switch 31 be arranged on the second joint part 20, magnet steel 32 is arranged on the first joint part 10.
Magnet steel lid 22 is screwed in the screwed hole of second joint part 20 through external screw thread, and endoporus and magnet steel 32 cylindricals of magnet steel lid 22 are matched in clearance, and it is demountable structure that magnet steel covers 22, thereby is convenient to the replacing of magnet steel 32.Magnet steel 32 receives mechanical shock or thermal shock for a long time, gradually demagnetization.When magnetic field intensity drops to a certain degree, just need to change magnet steel 32, otherwise can influence the work of Hall switch 31; Might the N utmost point, the S utmost point dress of magnet steel 32 is anti-when the assembly crewman assembles, at this moment need change the installation direction of magnet steel 32.Wherein, the distance of the detection between Hall switch 31 and the magnet steel 32 is D.
The utility model also provides a kind of robot; Comprise above-mentioned joint of robot 100, robot also comprises mechanical arm and manipulator, and mechanical arm is connected through joint of robot 100 with manipulator; And the first joint part 10 is arranged at mechanical arm, and second joint part 20 is arranged at manipulator.The concrete structure of joint of robot 100 is done detailed description at preamble, so repeat no more at this.
In sum, the utility model obtains the anglec of rotation of second joint part with respect to the first joint part through the induced signal of anglec of rotation induction installation, and then the second joint part is carried out spacing its anglec of rotation that makes is no more than predetermined angle.The utility model belongs to a kind of contactless corner limit method, and the existing structural collision phenomenon of mechanical limit method can not take place, and is safer; Secondly, the utility model hardware is realized, does not rely on software algorithm, and is more reliable.Whereby, the utility model can not cause damage to joint of robot, and is safe and reliable.
Certainly; The utility model also can have other various embodiments; Under the situation that does not deviate from the utility model spirit and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.
Claims (10)
1. a joint of robot is characterized in that, said joint of robot comprises:
The first joint part;
The second joint part can be around the said first joint part circumference rotation;
Anglec of rotation induction installation; Be located on said first joint part and the said second joint part; Said joint of robot obtains the anglec of rotation of said second joint part with respect to the said first joint part through said anglec of rotation induction installation, is no more than preset corner said second joint part is carried out spacing its anglec of rotation that makes.
2. joint of robot according to claim 1 is characterized in that, said anglec of rotation induction installation comprises Hall switch and the magnet adaptive with said proximity Hall switch.
3. joint of robot according to claim 2 is characterized in that, said Hall switch is the unipolarity Hall switch, and said magnet is a magnet steel.
4. according to each described joint of robot of claim 2 to 3; It is characterized in that; The said first joint part comprises first articular surface; Said second joint part comprises the second joint face corresponding with said first articular surface, and said second joint face can wind the rotating shaft rotation perpendicular to said first articular surface.
5. joint of robot according to claim 4 is characterized in that,
Said first articular surface is provided with at least one Hall switch, and the intersection point that said Hall switch is arranged on said rotating shaft and said first articular surface is on the circumference in the center of circle;
Said second joint face is provided with at least two magnets corresponding with said Hall switch, and the intersection point that said magnet is arranged on said rotating shaft and said second joint face is on the circumference in the center of circle;
The installation pitch circle equal and opposite in direction of said magnet and said Hall switch.
6. joint of robot according to claim 5 is characterized in that, the preset angle range of the corresponding said second joint part of the central angle that forms between said two magnets.
7. joint of robot according to claim 4 is characterized in that,
Said first articular surface is provided with at least two Hall switch, and the intersection point that said Hall switch is arranged on said rotating shaft and said first articular surface is on the circumference in the center of circle;
Said second joint face is provided with at least one magnet corresponding with said Hall switch, and the intersection point that said magnet is arranged on said rotating shaft and said second joint face is on the circumference in the center of circle;
The installation pitch circle equal and opposite in direction of said magnet and said Hall switch.
8. joint of robot according to claim 7, the preset angle range of the corresponding said second joint part of the central angle that forms between said two Hall switch.
9. joint of robot according to claim 4 is characterized in that, said Hall switch and the said first joint part or second joint part are spirally connected, and pass through bolt;
Said magnet steel is contained in the unthreaded hole of the said second joint part or the first joint part, and passes through a magnet steel lid may enclose in said unthreaded hole.
10. robot; It is characterized in that; Said robot comprises that said robot also comprises mechanical arm and manipulator according to each described joint of robot in the claim 1 to 9, and said mechanical arm is connected through said joint of robot with said manipulator; And the said first joint part is arranged at mechanical arm, and said second joint part is arranged at said manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120566211 CN202399276U (en) | 2011-12-30 | 2011-12-30 | Robot joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120566211 CN202399276U (en) | 2011-12-30 | 2011-12-30 | Robot joint and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202399276U true CN202399276U (en) | 2012-08-29 |
Family
ID=46696951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120566211 Expired - Lifetime CN202399276U (en) | 2011-12-30 | 2011-12-30 | Robot joint and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202399276U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| TWI553298B (en) * | 2014-12-18 | 2016-10-11 | Nat Inst Chung Shan Science & Technology | Rotation angle protection device |
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
-
2011
- 2011-12-30 CN CN 201120566211 patent/CN202399276U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| TWI553298B (en) * | 2014-12-18 | 2016-10-11 | Nat Inst Chung Shan Science & Technology | Rotation angle protection device |
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: BEIJING PEITIAN TECHNOLOGY CO., LTD. Free format text: FORMER NAME: BEIJING A+E PRECISION MACHINERY CO. LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 100085 Beijing City, Haidian District information road, building 18, No. 7, digital media building, room two, Room 201 Patentee after: BEIJING PEITIAN TECHNOLOGY CO., LTD. Address before: 100085 Beijing City, Haidian District information road, building 18, No. 7, digital media building, room two, Room 201 Patentee before: Beijing A&E Precision Machinery Co. Ltd. |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Anhui SCBD Robot Technology Co Ltd Assignor: BEIJING PEITIAN TECHNOLOGY CO., LTD. Contract record no.: 2016990000487 Denomination of utility model: Robot joint and robot Granted publication date: 20120829 License type: Exclusive License Record date: 20161125 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120829 |
|
| CX01 | Expiry of patent term |