CN205290999U - Robot joint assembly and robot with same - Google Patents
Robot joint assembly and robot with same Download PDFInfo
- Publication number
- CN205290999U CN205290999U CN201620012546.3U CN201620012546U CN205290999U CN 205290999 U CN205290999 U CN 205290999U CN 201620012546 U CN201620012546 U CN 201620012546U CN 205290999 U CN205290999 U CN 205290999U
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- driving section
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- robot assembly
- brake
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- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model provides a robot joint subassembly and have its robot, robot joint subassembly, include: an arm portion; a drive unit provided on the arm unit; the transmission part is arranged on the arm part, and the driving part drives the transmission part to rotate; and the control part is arranged on the arm part and is connected with the transmission part so as to lock or unlock the transmission part. The control part is adopted to control the motion state of the transmission part, namely the motion state of the transmission part is controlled to be a locking state and an unlocking state, when the transmission part is in a normal working state, the transmission part is in a releasing state, and when the transmission part is in an abnormal working state, the transmission part is in a locking state. Realize effectual control to transmission portion through setting up control part, prevent effectively that transmission portion from falling out of control, the utility model provides the high security performance of this robot joint subassembly. The utility model discloses the problem of breaking down easily of transmission among the prior art has been solved effectively.
Description
Technical field
This utility model relates to robotics, in particular to a kind of joint of robot assembly and the robot with it.
Background technology
Toothed belt transmission is widely used in horizontal articulated robot owing to having the advantages such as gear ratio is accurate, transmission efficiency is high, transmitting range is remote. The transmission of horizontal articulated robot linear joint is realized by synchronous pulley, Timing Belt, ball-screw and ball spline shaft. The servomotor of linear joint passes through toothed belt transmission ball-screw, and ball-screw is moved up and down by screw nut driven splined shaft, is namely realized the control of ball spline shaft position by toothed belt transmission. But, owing to Timing Belt ruptures because of service wear, the reason such as aging, causing that splined shaft is out of control falls, it is easy to cause the engineering accident such as workpiece damage, splined shaft damage.
Utility model content
Main purpose of the present utility model is in that provide a kind of joint of robot assembly and have its robot, the problem broken down to solve driving section of the prior art easily to crash.
To achieve these goals, according to an aspect of the present utility model, it is provided that a kind of joint of robot assembly, including: arm; Drive division, is arranged on arm; Driving section, is arranged on arm, and drive division drives driving section to rotate; Control portion, is arranged on arm, and control portion is connected with driving section, with locking or unblock driving section.
Further, control portion includes: brake, is connected with driving section; Monitor, electrically connects with brake, and monitor with control brake locking or unlocks driving section in order to the transmission situation monitoring driving section.
Further, driving section includes: Timing Belt, is connected with drive division, and monitor with control brake locking or unlocks driving section in order to the transmission situation monitoring Timing Belt.
Further, driving section also includes: the first driving section, and one end of the first driving section is arranged on arm;Driven synchronous pulley, is arranged on the first driving section and is connected with Timing Belt.
Further, monitor is correlation photoelectric sensor, and the both sides of Timing Belt are provided with correlation photoelectric sensor, and when Timing Belt is in non-normal working, the light that correlation photoelectric sensor is launched is in connected state, and now the first driving section is in lockup state.
Further, driving section also includes: the second driving section, and one end of the second driving section is arranged on arm; Connecting portion, connecting portion is connected on the other end of the second driving section, and connecting portion and driven synchronous pulley are positioned at the homonymy of arm, and one end away from driven synchronous pulley of connecting portion and the first driving section is connected; Wherein, the first driving section drives the second driving section to move up and down by connecting portion.
Further, the second driving section is splined shaft, and one end of splined shaft is arranged on arm, and the other end of splined shaft is connected by connecting portion and the first driving section.
Further, connecting portion is zigzag connecting plate.
Further, control portion also includes: gripper shoe, is arranged on the side relative with drive division side of arm, and brake is arranged in gripper shoe, and brake is connected with the first driving section.
Further, the first driving section includes: leading screw gripper shoe, is arranged on arm and is positioned at the top of driven synchronous pulley; Bearing support block, is arranged in leading screw gripper shoe; Ball-screw, one end of ball-screw is arranged on bearing support block, driven synchronous pulley and arm successively and is connected with brake; Feed screw nut, is movably disposed on the other end of ball-screw.
Further, drive division is servomotor, and servomotor is provided with active synchronization belt wheel.
According to another aspect of the present utility model, it is provided that a kind of robot, including joint of robot assembly, joint of robot assembly is above-mentioned joint of robot assembly.
Application the technical solution of the utility model, by adopting control portion that the kinestate of driving section is controlled, control as lockup state and released state by the kinestate of driving section, when driving section is in normal operating conditions, driving section is in release conditions, when driving section is in abnormal operating state, driving section is in lockup state. By arranging control portion, driving section realizing effective control, be effectively prevented that driving section is out of control falls, this utility model improves the security performance of this joint of robot assembly.
Accompanying drawing explanation
The Figure of description constituting the part of the application is used for providing being further appreciated by of the present utility model, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model. In the accompanying drawings:
Fig. 1 illustrates the structural representation of the embodiment according to joint of robot assembly of the present utility model; And
Fig. 2 illustrates the enlarged diagram at A place in Fig. 1.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, arm; 20, drive division; 21, active synchronization belt wheel; 30, driving section; 31, Timing Belt; 311, leading screw gripper shoe; 312, bearing support block; 313, ball-screw; 314, feed screw nut; 32, the first driving section; 33, driven synchronous pulley; 34, the second driving section; 35, connecting portion; 40, control portion; 41, brake; 42, monitor; 43, gripper shoe.
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As it is shown in figure 1, according to an embodiment of the present utility model, it is provided that a kind of joint of robot assembly, including arm 10, drive division 20, driving section 30 and control portion 40. Drive division 20 is arranged on arm 10. Driving section 30 is arranged on arm 10, and drive division 20 drives driving section 30 to rotate. Control portion 40 is arranged on arm 10, and control portion 40 is connected with driving section 30, with locking or unblock driving section 30.
In the present embodiment, by adopting control portion 40 that the kinestate of driving section 30 is controlled, control as lockup state and released state by the kinestate of driving section 30, when driving section 30 is in normal operating conditions, driving section 30 is in release conditions, when driving section 30 is in abnormal operating state, driving section 30 is in lockup state. By arranging control portion 40, driving section realizing effective control, be effectively prevented that driving section is out of control falls, this utility model improves the security performance of this joint of robot assembly.
Wherein, control portion 40 includes brake 41 and monitor 42. Brake 41 is connected with driving section 30. Monitor 42 electrically connects with brake 41, and monitor 42 with control brake 41 locking or unlocks driving section 30 in order to the transmission situation monitoring driving section 30. Adopt brake 41 and monitor 42 that driving section 30 is monitored, add the reliability that driving section 30 is controlled by control portion 40.
Further, driving section 30 includes Timing Belt the 31, first driving section 32 and driven synchronous pulley 33. Timing Belt 31 is connected with drive division 20, and one end of the first driving section 32 is arranged on arm 10. Driven synchronous pulley 33 is arranged on the first driving section 32 and is connected with Timing Belt 31. Monitor 42 with control brake 41 locking or unlocks the first driving section 32 in order to the transmission situation monitoring Timing Belt 31. Monitor 42 is adopted to go the working order of monitoring Timing Belt 31, it is possible to find the concrete working order of whole joint body timely so that this joint of robot assembly can be safeguarded by operating personnel timely.
As in figure 2 it is shown, monitor 42 is correlation photoelectric sensor, the both sides of Timing Belt 31 are provided with correlation photoelectric sensor. When Timing Belt 31 is in non-normal working, the light that correlation photoelectric sensor is launched is in connected state, and now the first driving section 32 is in lockup state. The emitter of correlation photoelectric sensor and receptor can be separately positioned on the both sides of Timing Belt 31, when Timing Belt 31 ruptures or is aging, the light that correlation photoelectric sensor is launched is in connected state, now, the transmitting of correlation photoelectric sensor transmits signals in brake 41, first driving section 32 is blocked by brake 41, it is prevented that it is rotated further. Wherein, brake 41 is fixing with the first driving section 32 is connected. So arrange and improve the brake 41 braking effect to driving section.
Driving section 30 also includes the second driving section 34 and connecting portion 35. One end of second driving section 34 is arranged on arm 10. Connecting portion 35 is connected on the other end of the second driving section 34, connecting portion 35 and driven synchronous pulley 33 are positioned at the homonymy of arm 10, connecting portion 35 is connected with one end away from driven synchronous pulley 33 of the first driving section 32, and namely connecting portion 35 is connected on the end on the first driving section 32 and the second driving section 34 homonymy. Wherein, the first driving section 32 drives the second driving section 34 to move up and down by connecting portion 35.
Preferably, the second driving section 34 is splined shaft. One end of splined shaft is arranged on arm 10, and the other end of splined shaft is connected with the first driving section 32 by connecting portion 35. Wherein, the first driving section 32 includes leading screw gripper shoe 311, bearing support block 312, ball-screw 313 and feed screw nut 314. Leading screw gripper shoe 311 is arranged on arm 10 and is positioned at the top of driven synchronous pulley 33. Bearing support block 312 is arranged in leading screw gripper shoe 311. One end of ball-screw 313 is arranged on bearing support block 312, driven synchronous pulley 33 and arm 10 successively and is connected with brake 41. Feed screw nut 314 is movably disposed on the other end of ball-screw 313. Wherein, brake 41 is fixing with ball-screw 313 to be connected, and when Timing Belt 31 is in normal operating conditions, brake 41 and ball-screw 313 are in released state, and namely ball-screw 313 is in normal operation condition. When Timing Belt 31 rupture or wear and tear, aging time, brake 41 is by stuck for ball-screw 313 pinning, now, feed screw nut 314 on ball-screw 313 stops moving up and down, so that splined shaft also stops moving down, thus preventing the crash of splined shaft and causing the breaking-up of joint of robot assembly. Namely under the unexpected crack conditions of Timing Belt 31, it is possible to be effectively realized the brake hard to splined shaft, it is prevented that accidental falling, it is to avoid the generation of engineering accident.
Preferably, connecting portion 35 is zigzag connecting plate. Zigzag connecting plate is adopted can effectively to increase the bonding strength between splined shaft and feed screw nut 314, thus the transmission efficiency added between splined shaft and ball-screw 313.
Control portion 40 also includes gripper shoe 43. Gripper shoe 43 is arranged on the side relative with drive division 20 side of arm 10, and brake 41 is arranged in gripper shoe 43, and brake 41 is connected with the first driving section 32. Brake 41 is so made to have better stability.
In the present embodiment, drive division 20 is servomotor, and servomotor is provided with active synchronization belt wheel 21, and active synchronization belt wheel 21 is connected with driven synchronous pulley 33 by Timing Belt 31. Wherein, servomotor is fixed on arm 10 by screw. Driven synchronous pulley 33 is fixed on ball-screw 313 by screw, leading screw gripper shoe 311 is fixed on arm 10 by screw, bearing support block 312 is fixed in leading screw gripper shoe 311 by screw, ball-screw 313 is flexibly connected with bearing support block 312 by bearing, feed screw nut 314 is flexibly connected with ball-screw 313, Z-type connecting plate and feed screw nut 314 are bolted to connection, and splined shaft is connected on Z-shaped connecting plate, drive splined shaft to move up and down by Z-shaped connecting plate. Gripper shoe 43 is fixed on arm 10 by screw, and brake 41 is fixed in gripper shoe 43 by screw, and the rotor of brake 41 is fixing with ball-screw 313 to be connected. Correlation photoelectric sensor is arranged on fixing plate, and fixing plate is fixed on arm 10 by screw. Wherein, unlock when brake 41 is for energising, during power-off, be in lockup state.
If Timing Belt 31 is due to damaged, aging etc. and rupture suddenly, Timing Belt 31 drops on arm 10 under weight effect, block the light that correlation photoelectric sensor is launched, then correlation photoelectric sensor sends control signal, make brake 41 power-off, brake 41 transfers lockup state to and prevents ball-screw 313 and rotate, vertically move down thus having prevented splined shaft, efficiently avoid the generation of the engineering accident such as workpiece, splined shaft damage, improve the security performance of joint of robot assembly, the security performance of especially horizontal articulated robot.
Joint of robot assembly in above-described embodiment is usable in robotics, and namely this utility model provides a kind of robot, and this includes the joint of robot assembly in above-described embodiment. Effectively raise the security performance of the robot with this assembly.
As can be seen from the above description, this utility model the above embodiments achieve following technique effect:
1, it is effectively prevented that splined shaft is out of control to fall;
2, efficiently avoid the damage of workpiece, splined shaft;
3, improve the security performance of joint of robot assembly
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations. All within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (12)
1. a joint of robot assembly, it is characterised in that including:
Arm (10);
Drive division (20), is arranged on described arm (10);
Driving section (30), is arranged on described arm (10), and described drive division (20) drives described driving section (30) to rotate;
Control portion (40), is arranged on described arm (10), and described control portion (40) is connected with described driving section (30), with locking or unlock described driving section (30).
2. joint of robot assembly according to claim 1, it is characterised in that described control portion (40) including:
Brake (41), is connected with described driving section (30);
Monitor (42), electrically connecting with described brake (41), described monitor (42) is in order to monitor the transmission situation of described driving section (30) to control described brake (41) locking or to unlock described driving section (30).
3. joint of robot assembly according to claim 2, it is characterised in that described driving section (30) including:
Timing Belt (31), being connected with described drive division (20), described monitor (42) is in order to monitor the transmission situation of described Timing Belt (31) to control described brake (41) locking or to unlock described driving section (30).
4. joint of robot assembly according to claim 3, it is characterised in that described driving section (30) also include:
First driving section (32), one end of described first driving section (32) is arranged on described arm (10);
Driven synchronous pulley (33), is arranged at described first driving section (32) and above and is connected with described Timing Belt (31).
5. joint of robot assembly according to claim 4, it is characterized in that, described monitor (42) is correlation photoelectric sensor, the both sides of described Timing Belt (31) are provided with described correlation photoelectric sensor, when described Timing Belt (31) is in non-normal working, the light that described correlation photoelectric sensor is launched is in connected state, and now described first driving section (32) is in lockup state.
6. joint of robot assembly according to claim 4, it is characterised in that described driving section (30) also include:
Second driving section (34), one end of described second driving section (34) is arranged on described arm (10);
Connecting portion (35), described connecting portion (35) is connected on the other end of described second driving section (34), described connecting portion (35) and described driven synchronous pulley (33) are positioned at the homonymy of described arm (10), and described connecting portion (35) is connected with one end away from described driven synchronous pulley (33) of described first driving section (32);Wherein, described first driving section (32) drives described second driving section (34) to move up and down by described connecting portion (35).
7. joint of robot assembly according to claim 6, it is characterized in that, described second driving section (34) is splined shaft, one end of described splined shaft is arranged on described arm (10), and the other end of described splined shaft is connected with described first driving section (32) by described connecting portion (35).
8. joint of robot assembly according to claim 6, it is characterised in that described connecting portion (35) is zigzag connecting plate.
9. joint of robot assembly according to claim 4, it is characterised in that described control portion (40) also includes:
Gripper shoe (43), it is arranged on the side relative with described drive division (20) side of described arm (10), described brake (41) is arranged in described gripper shoe (43), and described brake (41) is connected with described first driving section (32).
10. joint of robot assembly according to claim 4, it is characterised in that described first driving section (32) including:
Leading screw gripper shoe (311), is arranged on described arm (10) and is positioned at the top of described driven synchronous pulley (33);
Bearing support block (312), is arranged on described leading screw gripper shoe (311);
Ball-screw (313), one end of described ball-screw (313) is arranged in described bearing support block (312), described driven synchronous pulley (33) and described arm (10) successively and above and is connected with described brake (41);
Feed screw nut (314), is movably disposed on the other end of described ball-screw (313).
11. joint of robot assembly according to claim 1, it is characterised in that described drive division (20) is servomotor, described servomotor is provided with active synchronization belt wheel (21).
12. a robot, including joint of robot assembly, it is characterised in that described joint of robot assembly is the joint of robot assembly according to any one of claim 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620012546.3U CN205290999U (en) | 2016-01-04 | 2016-01-04 | Robot joint assembly and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620012546.3U CN205290999U (en) | 2016-01-04 | 2016-01-04 | Robot joint assembly and robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290999U true CN205290999U (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620012546.3U Active CN205290999U (en) | 2016-01-04 | 2016-01-04 | Robot joint assembly and robot with same |
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| Country | Link |
|---|---|
| CN (1) | CN205290999U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN106286739A (en) * | 2016-09-08 | 2017-01-04 | 珠海格力智能装备有限公司 | Lead screw mounting seat and robot with same |
-
2016
- 2016-01-04 CN CN201620012546.3U patent/CN205290999U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
| CN106286739A (en) * | 2016-09-08 | 2017-01-04 | 珠海格力智能装备有限公司 | Lead screw mounting seat and robot with same |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |