CN204094798U - Joint of robot power drive system - Google Patents
Joint of robot power drive system Download PDFInfo
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- CN204094798U CN204094798U CN201420396119.0U CN201420396119U CN204094798U CN 204094798 U CN204094798 U CN 204094798U CN 201420396119 U CN201420396119 U CN 201420396119U CN 204094798 U CN204094798 U CN 204094798U
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- decelerator
- servomotor
- joint
- rotary encoder
- drive system
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Abstract
The utility model relates to a kind of joint of robot power drive system, comprise servo-driver, servomotor, decelerator and rotary encoder, the output of servo-driver is connected to the input of servomotor, the output shaft of servomotor is connected to the power shaft of decelerator, rotary encoder is installed on the output shaft of described servomotor, the output of rotary encoder is connected to the input of described servo-driver, the rotating speed of described servomotor is 300 ~ 500 revs/min, and the speed reducing ratio of described decelerator is 10 ~ 20.The utility model adopts the servomotor of low speed to arrange in pairs or groups the decelerator of little speed reducing ratio, and to meet the requirement to the slow-speed of revolution, high-torque in joint of robot power transmission, the factors such as heating, wearing and tearing that simultaneously reduce are on the impact in decelerator life-span; In addition, increase rotary encoder, form closed-loop control, improve control accuracy.
Description
Technical field
The utility model relates to technical field of mechanical equipment, particularly relates to a kind of joint of robot power drive system.
Background technology
At present, joint of robot power drive system as shown in Figure 1, generally comprise: servo-driver 1, servomotor 2 and decelerator 3, servo-driver 1 drives described servomotor 2 to rotate, and decelerator 3 is by the high rotating speed of servomotor 2, the conversion of motion of low rotating torque is the slow-speed of revolution, the motion of high rotating torque, last driving joint motion, wherein, the rotating speed of described servomotor 2 is 1500 ~ 6000 revs/min, the speed reducing ratio of decelerator is 100 ~ 200, although can be the slow-speed of revolution by the conversion of motion of servomotor 2, the motion of high rotating torque, but the heating in process, the factors such as wearing and tearing can have a strong impact on the service life of decelerator 3, control accuracy is also lower.
Utility model content
The utility model provides a kind of joint of robot power drive system, to improve control accuracy and the service life of prolonged deceleration device.
For solving the problems of the technologies described above, the utility model provides a kind of joint of robot power drive system, comprise: servo-driver, servomotor, decelerator and rotary encoder, the output of described servo-driver is connected to the input of described servomotor, the output shaft of described servomotor is connected to the power shaft of described decelerator, described rotary encoder is installed on the output shaft of described servomotor, the output of described rotary encoder is connected to the input of described servo-driver, the rotating speed of described servomotor is 300 ~ 500 revs/min, the speed reducing ratio of described decelerator is 10 ~ 20.
Preferably, described decelerator is worm type of reduction gearing, cylinder gear speed reducer, planetary reducer or twice-enveloping decelerator.
Preferably, the output shaft of described servomotor is connected by the power shaft of shaft coupling with described decelerator.
Compared with prior art, the joint of robot power drive system tool that the utility model provides has the following advantages:
1. increase rotary encoder, to detect the output of servomotor, and using this output signal as feedback, improve control accuracy;
2. the rotating speed of servomotor of the prior art is 1500 ~ 6000 revs/min, and the speed reducing ratio of decelerator is 100 ~ 200; And the rotating speed of servomotor is 300 ~ 500 revs/min in the utility model, the speed reducing ratio of decelerator is 10 ~ 20, while meeting in joint of robot power transmission the requirement of the slow-speed of revolution, high-torque, the factors such as heating, wearing and tearing that reduce are on the impact in decelerator life-span.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of existing joint of robot power drive system;
Fig. 2 is the schematic diagram of the joint of robot power drive system of the utility model one detailed description of the invention.
In Fig. 1: 1-servo-driver, 2-servomotor, 3-decelerator;
In Fig. 2: 10-servo-driver, 20-servomotor, 30-decelerator, 40-rotary encoder.
Detailed description of the invention
In order to the technical scheme of the above-mentioned utility model of more detailed statement, below list specific embodiment and carry out Proof Technology effect; It is emphasized that these embodiments are not limited to for illustration of the utility model limit scope of the present utility model.
The joint of robot power drive system that the utility model provides, as shown in Figure 2, comprise: servo-driver 10, servomotor 20, decelerator 30 and rotary encoder 40, the output of described servo-driver 10 is connected to the input of described servomotor 20, servomotor 20 is driven to rotate, the output shaft of described servomotor 20 is connected to the power shaft of described decelerator 30, particularly, the output shaft of described servomotor 20 is connected by the power shaft of shaft coupling with described decelerator 30, decelerator 30 is by the high rotating speed of servomotor 20, the conversion of motion of low rotating torque is the slow-speed of revolution, the motion of high rotating torque, then driving joint motion, described rotary encoder 40 is installed on the output shaft of described servomotor 20, the output (code-disc line) of described rotary encoder 40 is connected to the input of described servo-driver 10, the positional information of the output shaft of servomotor 20 is directly fed back to servo-driver 10 by described rotary encoder 40, thus formation closed-loop control, improve control accuracy, the rotating speed of described servomotor 20 is 300 ~ 500 revs/min, the speed reducing ratio of described decelerator 30 is 10 ~ 20, while meeting in joint of robot power transmission the requirement of the slow-speed of revolution, high-torque, the factors such as heating, wearing and tearing that reduce are on the impact in decelerator 30 life-span.
Preferably, described decelerator 30 is the decelerator 30 of worm type of reduction gearing, cylinder gear speed reducer, planetary reducer, twice-enveloping decelerator or other kinds, can be the motion of the slow-speed of revolution, high rotating torque by the conversion of motion of the high rotating speed of servomotor 20, low rotating torque.
In sum, the joint of robot power drive system that the utility model provides, comprise servo-driver 10, servomotor 20, decelerator 30 and rotary encoder 40, the output of described servo-driver 10 is connected to the input of servomotor 20, the output shaft of described servomotor 20 is connected to the power shaft of described decelerator 30, described rotary encoder 40 is installed on the output shaft of described servomotor 20, the output of described rotary encoder 40 is connected to the input of described servo-driver 10, the rotating speed of described servomotor 20 is 300 ~ 500 revs/min, the speed reducing ratio of described decelerator 30 is 10 ~ 20.The utility model adopts the servomotor 20 of low speed to arrange in pairs or groups the decelerator 30 of little speed reducing ratio, and to meet the requirement to the slow-speed of revolution, high-torque in joint of robot power transmission, the factors such as heating, wearing and tearing that simultaneously reduce are on the impact in decelerator life-span; In addition, increase rotary encoder 40, form closed-loop control, improve control accuracy.
Obviously, those skilled in the art can carry out various change and modification to utility model and not depart from spirit and scope of the present utility model.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (6)
1. a joint of robot power drive system, it is characterized in that, comprise: servo-driver, servomotor, decelerator and rotary encoder, the output of described servo-driver is connected to the input of described servomotor, the output shaft of described servomotor is connected to the power shaft of described decelerator, described rotary encoder is installed on the output shaft of described servomotor, the output of described rotary encoder is connected to the input of described servo-driver, the rotating speed of described servomotor is 300 ~ 500 revs/min, and the speed reducing ratio of described decelerator is 10 ~ 20.
2. joint of robot power drive system as claimed in claim 1, it is characterized in that, described decelerator is worm type of reduction gearing.
3. joint of robot power drive system as claimed in claim 1, it is characterized in that, described decelerator is cylinder gear speed reducer.
4. joint of robot power drive system as claimed in claim 1, it is characterized in that, described decelerator is planetary reducer.
5. joint of robot power drive system as claimed in claim 1, it is characterized in that, described decelerator is twice-enveloping decelerator.
6. joint of robot power drive system as claimed in claim 1, it is characterized in that, the output shaft of described servomotor is connected by the power shaft of shaft coupling with described decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420396119.0U CN204094798U (en) | 2014-07-17 | 2014-07-17 | Joint of robot power drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420396119.0U CN204094798U (en) | 2014-07-17 | 2014-07-17 | Joint of robot power drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204094798U true CN204094798U (en) | 2015-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420396119.0U Active CN204094798U (en) | 2014-07-17 | 2014-07-17 | Joint of robot power drive system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204094798U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619401A (en) * | 2015-11-10 | 2016-06-01 | 江苏寰宇机器人科技有限公司 | Industrial robot |
| CN106564070A (en) * | 2015-10-12 | 2017-04-19 | 海宁新越电子科技有限公司 | Serialization small-sized robot joint structure |
-
2014
- 2014-07-17 CN CN201420396119.0U patent/CN204094798U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564070A (en) * | 2015-10-12 | 2017-04-19 | 海宁新越电子科技有限公司 | Serialization small-sized robot joint structure |
| CN105619401A (en) * | 2015-11-10 | 2016-06-01 | 江苏寰宇机器人科技有限公司 | Industrial robot |
| CN105619401B (en) * | 2015-11-10 | 2018-04-10 | 江苏寰宇机器人科技有限公司 | A kind of industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 215000, 16, five mountain road, 116 hi tech Zone, Suzhou hi tech Zone, Jiangsu, Suzhou Patentee after: Suzhou China robot Co., Ltd. Address before: Zuchongzhi road Kunshan city 215300 Suzhou City, Jiangsu province No. 1699 room 1312 Patentee before: SUZHOU HUASHU ENERGY SAVING TECHNOLOGY CO., LTD. |
|
| CP03 | Change of name, title or address |