CN204487591U - There is the connector of contactless energy transmission and data transmission - Google Patents
There is the connector of contactless energy transmission and data transmission Download PDFInfo
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- CN204487591U CN204487591U CN201420807639.6U CN201420807639U CN204487591U CN 204487591 U CN204487591 U CN 204487591U CN 201420807639 U CN201420807639 U CN 201420807639U CN 204487591 U CN204487591 U CN 204487591U
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Abstract
The utility model relates to a kind of joint of robot, and it has: the first joint component; Second joint element, it is set to move around rotating shaft relative to described first joint component; Wherein, described joint of robot also has at least one in following element: connector, for by induction between described first joint component and described second joint element transmitting energy; Light wave guide, for transmitting optical signal between described first joint component and described second joint element, wherein, described light wave guide has discontinuities from described first joint component to the passage of described second joint element.
Description
Technical field
The utility model relates to a kind of joint of robot, particularly a kind of joint of robot for being come transmitting energy and signal by joint of robot.
Background technology
Robot or executor are the actuation means automatically controlled, and it can be used position regularly or movingly.Robot or executor can have multiple independent limb, and these limbs are connected to each other to kinematic chain by linear steering device and/or rotary joint.Limb, joint and their driver form the axle of robot.At this, the different limb of robot or axle are connected by joint of robot.Therefore, two robots arms such as can be connected to each other by joint of robot, or a robots arm are connected with an end effector.At this typically, energy chain, control circuit and/or signal line can pass over joint and lay along manipulator shaft, make the rotary motion free degree in joint limited thus.Due to the motion in joint, these circuits are made to bear mechanical load.Therefore need to regularly replace circuit, to keep the functional of robot.
In addition, also exist and change the parts of robot or the needs of limb fastly and uncomplicatedly.Therefore such as this is favourable: change the independent limb of multiaxial joint arm robot so that robot is used for different purposes neatly.In order to such as process or manipulate little and light workpiece, with robust, slowly use compared with axle by carbon fiber make gently and thus faster axle be favourable.Not known for changing effectively and the fast method of the limb of robot.
Utility model content
Therefore the purpose of this utility model proposes a kind of joint of robot easy to maintenance.Another object of the present utility model proposes a kind of executor or robot, and its driving shaft has the freedom of motion of improvement.The purpose of this utility model is also to propose a kind of robot system, and this robot system makes it possible to effectively and changes each limb or axle rapidly.
According to joint of robot of the present utility model, there is the first joint component and second joint element.At this, second joint element is set to can relative to the first joint component around rotating shaft motion or swing.Therefore between the first joint component and second joint element, have an interface, rotating shaft extends at a right angle through this interface.
Also there is at least one for the connector by induction transmitting energy between the first joint component and second joint element and/or for signal transmission between the first joint component and second joint element, the light wave guide being preferably optical signal according to joint of robot of the present utility model.At this, light wave guide has discontinuities from the first joint component to the passage of second joint element.Preferred energy and/or signal contactlessly transmit between the first joint component and second joint element.
One skilled in the art will understand that using term " energy " to describe drives that electric actuator uses or required energy.In addition, not limited to the explanation of term " signal ", it can comprise such as the control signal that controls or manipulate each actuator and the measuring-signal exported by sensor.At this, those skilled in the art will recognize that signal strength signal intensity is typically less than energy intensity.
Energy Transfer by induction makes it possible to contactlessly transmitting energy.Therefore, slidingly contacting of making easily to be disturbed becomes unnecessary.Equally, the light wave guide interrupted is used to make it possible to contactlessly signal transmission and without the need to using expensive wiring or radio module.Therefore use light wave guide makes it possible to advantageously apply and has very high transfer rate and the optical signal not being subject to electromagnetic interference influence.Also be that wearing and tearing are less according to the feature of joint of robot of the present utility model.
Connector for Energy Transfer preferably includes corresponding converter and coil, preferably energy is transferred to second joint element from the first joint component by high-frequency induction by induction.Preferred connector can realize the connection got loose between the first joint component and second joint element.
Preferred light wave conductor along or be parallel to rotating shaft and extend, light wave guide also preferably and rotating shaft arrange with one heart.Also preferably, the interrupting portion of light wave guide in rotating shaft, thus makes the light wave in the discontinuities of light wave guide or optical signal be parallel to rotating shaft extension.Disconnected portion is advantageously located at from the first joint component to the passage of second joint element, in the interface namely between joint component hereinto.Therefore, joint component can relative to each other move, and can not be subject to the restriction of light wave guide or Signal transmissions at the volley.In addition, the motion of joint component can not hinder or interfering signal transmission.
Preferably, the discontinuities of light wave guide exists with the form in gap.Be less than 0.5mm at the width in this preferred this gap, be preferably less than 0.1mm further.Thus can to realize the complete flexibility in joint to the mode of optical signal circuit least interference.Also preferably utilize filler to carry out blind, be preferably made up of oil and/or synthetic material at this filler.Therefore, optical signal very small amount of scattering can tide over gap.This preferred filler have substantially with the corresponding refractive index of refractive index of light wave guide (core of light wave guide or cover).In other words, the difference of these two refractive indexes is less than 50% and is preferably less than 10%.Therefore, achieve light wave guide in filler by and relatively as far as possible uniformly across, minimum impact is then only had on optical signal.
Preferred joint of robot has middleware in the discontinuities of light wave guide.At this, this middleware is set to move relative to light wave guide, thus makes to hinder joint motions.Also preferably, middleware is particularly suitable for filler is remained in the discontinuities of light wave guide or in gap.At this, middleware can be made up of filler or be made up of the material being different from filler, and therefore can work as keeper.Therefore, the functional of Signal transmissions and stability can advantageously be improved by joint.
Preferred joint of robot right and wrong are pneumatic, thereby further reduce maintenance and maintenance cost.Also preferably the first joint component is connected separably with second joint element.Therefore, according to joint of robot of the present utility model be suitable for being applied in for end effector and/or limb or axle without in the replacing unit of wire.Preferably be stored in specific to the data of limb or axle and information (such as ground jack (Hebel) and angle) Modularly in (dockenden) to be accessed or unit to be replaced at this.When connecting or change, detecting these modular characteristics and being fitted in whole system.
Preferably, Contactless Power Transmission System makes it possible to the buffer memory realizing energy, the buffer memory of such as Brake Energy.When braking joint motions, can buffer memory or intermediate storage Brake Energy related to this driving be advantageously used in afterwards joint of robot or other modules.
Usually, be applicable in various robot or executor according to joint of robot of the present utility model.Preferably, will be arranged in lightweight construction robot according to joint of robot of the present utility model, the feature of this lightweight construction robot is consuming little energy.
The utility model also comprises according to the application of joint of robot of the present utility model in transmitting energy and signal.
The utility model also relates to a kind of robot system comprised according to joint of robot of the present utility model.
Accompanying drawing explanation
Describe embodiment of the present utility model with reference to the accompanying drawings in detail.Shown in it:
Fig. 1 is the schematic diagram in the cross section according to joint of robot of the present utility model, and
Fig. 2 schematically shows the composition according to joint of robot of the present utility model according to Fig. 1 with the form of the exploded view of system unit.
Detailed description of the invention
Fig. 1 illustrates the schematic diagram according to joint of robot of the present utility model with sectional view.Shown joint of robot comprises the first joint component 10, and this first joint component is connected with second joint element 20.First joint component 10 has stator 11, and the rotor 21 of this stator and second joint element 20 interacts and can cause swing or the rotation in joint at this.Shown joint of robot also comprises driver 30.Advantageously, these two joint components 10,20 are connected to each other separably.
In addition, the first joint component 10 also comprises energy transmitter 12, and this energy transmitter is set to Energy Transfer to the second energy transmitter 22 be arranged in second joint element 20.Advantageously contactless energy transmission is carried out by high-frequency induction at this.
In addition, the first joint component 10 has the first light wave guide 13 be arranged on one heart in the rotating shaft in joint.Similarly, second joint element 20 has the light wave guide 23 be arranged on equally with one heart in the rotating shaft in joint, and therefore it is the prolongation of the first light wave guide 13.Therefore, the orientation in two light wave guides 13 and 23 and joint is independently positioned on same axle.Preferably, middleware (not shown) is positioned at from the passage of the first light wave guide 13 to the second light wave guide 23, and this middleware makes it possible to realize the glitch-free passage from the optical signal of the first light wave guide 13 to the second light wave guide 23.Therefore, data transmission is realized by two-way light wave guide 13,23.
First joint component 10 and second joint element 20 have circuit board 14,24 respectively, and these circuit boards are connected with corresponding energy transmitter 12,22 and light wave guide 13,23.In addition, stator 11 is also connected with the circuit board 14 of the first joint component 10.Circuit board 14,24 also has data wire 15,25 respectively, and these data wires extend to along respective joint component 10,20 axle adjoined accordingly.Circuit board 14,24 makes it possible to read in or output signal.Therefore, circuit board 14,24 comprises for energy and data transmission and for the control electronic installation of manipulator shaft self.
Fig. 2 schematically shows each element of the joint of robot according to Fig. 1.Interaction between stator 11 and rotor 21 also makes joint motions by driver 30, does not use compressed air and electric to control at this to this motion.In addition, make energy transmitter 12,22 can contactlessly transmitting energy by high-frequency induction.Light wave guide 13,23 makes it possible to contactlessly transmit data or signal by joint of robot.
As what can be clear that, stator 11, rotor 21, driver 30 and energy transmitter 12,22 is arranged around the rotating shaft of joint of robot with one heart.Therefore, make it possible to the oscillating motion realizing joint of robot, and the mode of action of all parts can not be hindered.
Preferably, in circuit board 14,24, store the data specific to limb or axle and information.Therefore advantageously, different axles or limb can connect with joint of robot or be separated.In the utility model, robot system identification is to the interference of axle and start detach procedure.Alternatively, robot system also can receive the corresponding instruction departing from axle from trajectory planning.In a subsequent step, close the electronic installation in joint to be separated and open corresponding mechanical device.For this reason, such as brake can be opened.Subsequently, robot unclamps the axle and close second axle that will be connected with robot that have got loose.After two joint components docking (Andocken), close corresponding mechanical device and the electrical connection of setting up between joint component.The information specific to axle is provided by connected axial robot controller.After the calibration automatically carried out subsequently, the axle connected is ready.
Claims (10)
1. a joint of robot, has:
First joint component;
Second joint element, it is set to move around rotating shaft relative to described first joint component;
Wherein, described joint of robot also has at least one in following element:
Connector, for by induction between described first joint component and described second joint element transmitting energy;
Light wave guide, for transmitting optical signal between described first joint component and described second joint element, wherein, described light wave guide has discontinuities from described first joint component to the passage of described second joint element.
2. joint of robot according to claim 1, it is characterized in that, described light wave guide extends along described rotating shaft, and wherein, the discontinuities of described light wave guide is preferably placed in described rotating shaft, makes described optical signal in the discontinuities of described light wave guide, be parallel to described rotating shaft and extends.
3. joint of robot according to claim 1, is characterized in that, the discontinuities of described light wave guide exists with the form in gap.
4. joint of robot according to claim 2, is characterized in that, the discontinuities of described light wave guide exists with the form in gap.
5. joint of robot according to claim 3, is characterized in that, utilizes filler to fill described gap, and wherein, described filler preferably has the refractive index of the refractive index being substantially equal to described light wave guide.
6. joint of robot according to claim 4, is characterized in that, utilizes filler to fill described gap, and wherein, described filler preferably has the refractive index of the refractive index being substantially equal to described light wave guide.
7. the joint of robot according to claim 5 or 6, is characterized in that, also has the middleware in the discontinuities of described light wave guide, and wherein, described middleware is set to can move relative to described light wave guide.
8. joint of robot according to claim 7, is characterized in that, described middleware is particularly suitable for described filler to remain in described gap.
9. joint of robot according to any one of claim 1 to 6, is characterized in that, described joint right and wrong are pneumatic.
10. joint of robot according to any one of claim 1 to 6, is characterized in that, energy and/or signal contactlessly transmit between described first joint component and described second joint element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420807639.6U CN204487591U (en) | 2014-12-18 | 2014-12-18 | There is the connector of contactless energy transmission and data transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420807639.6U CN204487591U (en) | 2014-12-18 | 2014-12-18 | There is the connector of contactless energy transmission and data transmission |
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| CN204487591U true CN204487591U (en) | 2015-07-22 |
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| CN201420807639.6U Active CN204487591U (en) | 2014-12-18 | 2014-12-18 | There is the connector of contactless energy transmission and data transmission |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334606A (en) * | 2017-08-11 | 2017-11-10 | 哈工大机器人（合肥）国际创新研究院 | A kind of healing robot joint initial position detection apparatus and method |
| CN109888893A (en) * | 2019-02-28 | 2019-06-14 | 西安交通大学 | A kind of two-freedom WPT loop construction |
-
2014
- 2014-12-18 CN CN201420807639.6U patent/CN204487591U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334606A (en) * | 2017-08-11 | 2017-11-10 | 哈工大机器人（合肥）国际创新研究院 | A kind of healing robot joint initial position detection apparatus and method |
| CN107334606B (en) * | 2017-08-11 | 2023-03-31 | 合肥哈工力训智能科技有限公司 | Rehabilitation robot joint initial position detection device and method |
| CN109888893A (en) * | 2019-02-28 | 2019-06-14 | 西安交通大学 | A kind of two-freedom WPT loop construction |
| CN109888893B (en) * | 2019-02-28 | 2021-01-19 | 西安交通大学 | Two-degree-of-freedom WPT coil structure |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200422 Address after: South of block a, floor 2, building 4, global innovation center, Industrial Avenue, Penglai Road, Beijiao community neighborhood committee, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: Augsburg, Germany Patentee before: KUKA SYSTEMS GmbH |