CN205325700U - A intelligent joint drive device for all -purpose robot - Google Patents
A intelligent joint drive device for all -purpose robot Download PDFInfo
- Publication number
- CN205325700U CN205325700U CN201620055731.0U CN201620055731U CN205325700U CN 205325700 U CN205325700 U CN 205325700U CN 201620055731 U CN201620055731 U CN 201620055731U CN 205325700 U CN205325700 U CN 205325700U
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- China
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- outfan
- hollow axle
- ring gear
- input
- sun gear
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Abstract
The utility model provides an intelligent joint drive device for all -purpose robot, including the electromagnetic braking ware, with the fixed lid of the input in axle center, input ring gear, rotor sun gear, output enclosing cover, output ring gear and planet carrier, further including integrated panel of DC Brushless motor, the drive control of electricity connection in proper order and absolute position sensor. The utility model provides an intelligent joint drive device for all -purpose robot adopts DC Brushless motor as drive power, nested pair planet tooth, the braking of electromagnetic braking ware, integrates the integrated panel of absolute position sensor and drive control simultaneously, has the advantage of highly integrated, little volume, high intellectuality.
Description
Technical field
This utility model relates to robot decelerator, is specifically related to a kind of intelligent switch joint driving device for all-purpose robot。
Background technology
Conventional machines person joint's driving device is generally adopted independent motor, driver and brake, it is necessary to setting up between three and connect, and when equating volume, its transmission is smaller, output moment of torsion is less, and load is low from anharmonic ratio。Therefore for meeting performance requirement, situation occurs to cause that robot architecture is complicated, electric wiring is loaded down with trivial details, bulky and unknown problem is more etc., and on the market temporarily without suitable related driving device。
Existing decelerator is when gear ratio requires big, and it is bulky, structure is complicated, the accuracy of manufacture requires height, it is difficult to reduce production cost。
Accordingly, it is desirable to provide a kind of intelligent switch joint driving device for all-purpose robot is to solve above-mentioned technical problem。
Utility model content
The technical problems to be solved in the utility model is to provide a kind of intelligent switch joint driving device for all-purpose robot, reaches highly integrated, intelligent and light-weighted purpose。
This utility model solves the technical scheme of above-mentioned technical problem and is to provide a kind of intelligent switch joint driving device for all-purpose robot with following structure, including the fixing lid of input of electromagnetic brake, concentric, input ring gear, rotor sun gear, outfan enclosing cover, outfan ring gear and planet carrier, farther include the DC brushless motor, driving control integrated panel and the absolute position transducer that are sequentially connected electrically；
Input is fixed lid and is included along the coaxial annular being linked in sequence fixing lid, the first hollow axle, the second hollow axle, the first hollow axle internal diameter internal diameter equal to the fixing lid of annular, the internal diameter more than the second hollow axle, second hollow axle is provided with external screw thread away from the end of the first hollow axle, the second externally threaded part of hollow axle band connects outfan enclosing cover, drives and controls integrated panel and be arranged at that input is fixing to be covered；
Rotor sun gear is enclosed within the excircle of the first hollow axle and the second hollow axle, and rotor sun gear and the first hollow axle are connected by input glass bead bearing；
Input ring gear connects outfan ring gear by middle part glass bead bearing group, and outfan ring gear is fixed on outside output and covers, and output enclosing cover is parallel to the fixing lid of annular；
Absolute position transducer is arranged at outfan enclosing cover on the face of output enclosing cover, and outfan enclosing cover connects outfan ring gear by outfan glass bead bearing；
DC brushless motor is arranged on rotor sun gear and input ring gear, planet carrier has at least three duplex planet wheel shaft, planet carrier relies on position-limit mechanism spacing between outfan enclosing cover and rotor sun gear, duplex planet wheel shaft is provided with planet wheel bearing, planet wheel bearing is provided with duplex planet tooth, duplex planet tooth contact input ring gear and outfan ring gear, the toothed part contact duplex planet tooth of rotor sun gear；
Electromagnetic brake is arranged at that input is fixing to be covered。
Preferred described electromagnetic brake includes braking dish, armature, coil and the first spring, braking dish and armature are enclosed within the excircle of the second hollow axle, braking dish and rotor sun gear fix, armature passes through the first spring compression braking dish, first spring be nested in the first hollow axle towards the center of circle protrude part in, coil is arranged on the inner periphery of the first hollow axle, and the electrical connection of described coil drives and controls integrated panel。
Preferred described position-limit mechanism includes the second spring and ball, and the second spring is nested in planet carrier, and ball presses to rotor sun gear by the second spring one end, the other end presses to outfan enclosing cover, and wherein, the second spring and ball are at least 3 pairs。
Preferred described duplex planet tooth is at least 3。
Preferably the described intelligent switch joint driving device for all-purpose robot adopts lightweight plastic material。
Preferred DC brushless motor includes the iron hoop, magnetic core and the stator that are fixed together, and wherein, iron hoop and magnetic core and rotor sun gear fix, and stator and input ring gear fix。
The beneficial effects of the utility model are mainly: by DC brushless motor, absolute position transducer and driving controlling circuit board and driving frame for movement itself to integrate, Highgrade integration, intelligentized purpose are reached, further integrally disposed electromagnetic brake further provides of the present utility model integrated and intelligent, thus reducing the purpose of the accuracy of manufacture and cost。
Accompanying drawing explanation
Fig. 1 be the intelligent switch joint driving device for all-purpose robot of the present utility model fix the axial generalized section of lid along being perpendicular to input。
Fig. 2 is the electromagnetic brake principle schematic of the intelligent switch joint driving device for all-purpose robot of the present utility model；
Fig. 3 is the annexation schematic diagram of the planet carrier of the intelligent switch joint driving device for all-purpose robot of the present utility model and position-limit mechanism。
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in detail。
As shown in Figure 1, intelligent switch joint driving device for all-purpose robot, including the fixing lid 10 of input of electromagnetic brake 8, concentric, input ring gear 5, rotor sun gear 6, outfan enclosing cover 2, outfan ring gear 3 and planet carrier 9, farther include the DC brushless motor 7, driving control integrated panel 12 and the absolute position transducer 1 that are sequentially connected electrically。
Please referring further to Fig. 1, in the present embodiment, input is fixed lid 10 and is included along fixing lid the 101, first hollow axle the 102, second hollow axle 103 of the coaxial annular being linked in sequence, first hollow axle 102 internal diameter internal diameter equal to the fixing lid 101 of annular, the internal diameter more than the second hollow axle 103, second hollow axle 103 is provided with external screw thread away from the end of the first hollow axle 102, second hollow axle 103 is with externally threaded part to connect outfan enclosing cover 2, drives control integrated panel 12 to be arranged on the fixing lid 10 of input；
Rotor sun gear 6 is enclosed within the excircle of the first hollow axle 102 and the second hollow axle 103, rotor sun gear 6 and the first hollow axle 102 are connected by input glass bead bearing 14, thus limiting rotor sun gear 6 toward driving the direction axial float controlling integrated panel 12；
Input ring gear 5 connects outfan ring gear 3 by middle part glass bead bearing group 16, limits outfan ring gear 3 toward input ring gear 5 axial float, and outfan ring gear 3 is fixed on output enclosing cover 15, and output enclosing cover 15 is parallel to the fixing lid 101 of annular；
Absolute position transducer 1 is arranged at outfan enclosing cover 2 on the face of output enclosing cover 15, outfan enclosing cover 2 connects outfan ring gear 3 by outfan glass bead bearing 17, and the effect of outfan glass bead bearing 17 is the past direction axial float away from input ring gear 5 of restriction outfan ring gear 3；
DC brushless motor 7 is arranged on rotor sun gear 6 and input ring gear 5, planet carrier 9 has at least three duplex planet wheel shaft 13, planet carrier 9 is spacing between outfan enclosing cover 2 and rotor sun gear 6 by position-limit mechanism, duplex planet wheel shaft 13 is provided with planet wheel bearing 11, planet wheel bearing 11 is provided with duplex planet tooth 4, duplex planet tooth 4 contact input ring gear 5 and outfan ring gear 3, the toothed part contact duplex planet tooth 4 of rotor sun gear 6；
Electromagnetic brake 8 is arranged on the fixing lid 10 of input。
The present embodiment for the operation principle of the intelligent switch joint driving device of all-purpose robot is: when driving control integrated panel 12 to be energized, drive control integrated panel 12 to detect absolute position transducer 1 and learn current position, electromagnetic brake 8 is started while starting DC brushless motor 7, rotor sun gear 6 is rotated, and drive outfan ring gear 3 output to rotate by duplex planet tooth 4, meanwhile, absolute position transducer 1 detects corresponding positional value and feeds back to driving control integrated panel 12。
The present embodiment provides the benefit that: adopt DC brushless motor as driving force, nested duplex planet tooth, electromagnetic brake braking, integrate absolute position transducer simultaneously and drive control integrated panel, there is Highgrade integration and reduce volume, highly intelligentized advantage。
As shown in Figure 2, in a preferred embodiment of the present utility model, electromagnetic brake 8 includes braking dish 81, armature 82, coil 83 and the first spring 84, braking dish 81 and armature 82 are enclosed within the excircle of the second hollow axle 103, braking dish 81 and rotor sun gear 6 fix, armature 82 compresses braking dish 81 by the first spring 84, first spring 84 be nested in the first hollow axle 102 towards the center of circle protrude part in, coil 84 is arranged on the inner periphery of the first hollow axle 102, and coil 83 electrical connection drives and controls integrated panel 12。
The operation principle of electromagnetic brake 8 is: when coil 84 is energized, and produces magnetic field, and armature 82 is drawn to yoke by magnetic force, and armature 82 and braking dish 81 disengage, and rotor sun gear 6 just can drive braking dish 81 rotary motion。
As shown in Figure 3, in a preferred embodiment of the present utility model, position-limit mechanism 18 includes the second spring 181 and ball 182, second spring 181 is nested in planet carrier 9, ball 182 presses to rotor sun gear 6 by second spring 181 one end, the other end presses to outfan enclosing cover 2, wherein, the second spring 181 and ball 182 are at least 3 pairs。
The effect of the position-limit mechanism 18 in Fig. 3: the axial float of planet carrier 9 can be limited, axial with limit rotor sun gear 6。
In a preferred embodiment of the present utility model, for increasing transmission stability, the number of packages of duplex planet tooth 4 is at least 3。
In preferred embodiment of the present utility model, in order to improve load from anharmonic ratio, the intelligent switch joint driving device for all-purpose robot preferentially selects lightweight plastic material。
The above only lists the way of realization of this utility model design; protection domain of the present utility model is not construed as being only limitted to the concrete form that embodiment is stated; all within spirit of the present utility model and principle; any amendment of being made, equivalent replacement, improvement etc., should be included within protection domain of the present utility model。
Claims (6)
1. the intelligent switch joint driving device for all-purpose robot, it is characterized in that: include electromagnetic brake, the fixing lid of input of concentric, input ring gear, rotor sun gear, outfan enclosing cover, outfan ring gear and planet carrier, farther include the DC brushless motor, driving control integrated panel and the absolute position transducer that are sequentially connected electrically；
Input is fixed lid and is included along the coaxial annular being linked in sequence fixing lid, the first hollow axle, the second hollow axle, the first hollow axle internal diameter internal diameter equal to the fixing lid of annular, the internal diameter more than the second hollow axle, second hollow axle is provided with external screw thread away from the end of the first hollow axle, the second externally threaded part of hollow axle band connects outfan enclosing cover, drives and controls integrated panel and be arranged at that input is fixing to be covered；
Rotor sun gear is enclosed within the excircle of the first hollow axle and the second hollow axle, and rotor sun gear and the first hollow axle are connected by input glass bead bearing；
Input ring gear connects outfan ring gear by middle part glass bead bearing group, and outfan ring gear is fixed on outside output and covers, and output enclosing cover is parallel to the fixing lid of annular；
Absolute position transducer is arranged at outfan enclosing cover on the face of output enclosing cover, and outfan enclosing cover connects outfan ring gear by outfan glass bead bearing；
DC brushless motor is arranged on rotor sun gear and input ring gear, planet carrier has at least three duplex planet wheel shaft, planet carrier relies on position-limit mechanism spacing between outfan enclosing cover and rotor sun gear, duplex planet wheel shaft is provided with planet wheel bearing, planet wheel bearing is provided with duplex planet tooth, duplex planet tooth contact input ring gear and outfan ring gear, the toothed part contact duplex planet tooth of rotor sun gear；
Electromagnetic brake is arranged at that input is fixing to be covered。
2. the intelligent switch joint driving device for all-purpose robot as claimed in claim 1, it is characterized in that: described electromagnetic brake includes braking dish, armature, coil and the first spring, braking dish and armature are enclosed within the excircle of the second hollow axle, braking dish and rotor sun gear fix, armature passes through the first spring compression braking dish, first spring be nested in the first hollow axle towards the center of circle protrude part in, coil is arranged on the inner periphery of the first hollow axle, and the electrical connection of described coil drives and controls integrated panel。
3. the intelligent switch joint driving device for all-purpose robot as claimed in claim 1 or 2, it is characterized in that: position-limit mechanism includes the second spring and ball, second spring is nested in planet carrier, ball presses to rotor sun gear by the second spring one end, the other end presses to outfan enclosing cover, wherein, the second spring and ball are at least 3 pairs。
4. the intelligent switch joint driving device for all-purpose robot as claimed in claim 3, it is characterised in that: described duplex planet tooth is at least 3。
5. the intelligent switch joint driving device for all-purpose robot as claimed in claim 1, it is characterised in that: the described intelligent switch joint driving device for all-purpose robot adopts lightweight plastic material。
6. the intelligent switch joint driving device for all-purpose robot as claimed in claim 1, it is characterized in that: DC brushless motor includes the iron hoop, magnetic core and the stator that are fixed together, wherein, iron hoop and magnetic core and rotor sun gear fix, and stator and input ring gear fix。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620055731.0U CN205325700U (en) | 2016-01-20 | 2016-01-20 | A intelligent joint drive device for all -purpose robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620055731.0U CN205325700U (en) | 2016-01-20 | 2016-01-20 | A intelligent joint drive device for all -purpose robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205325700U true CN205325700U (en) | 2016-06-22 |
Family
ID=56196451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620055731.0U Expired - Fee Related CN205325700U (en) | 2016-01-20 | 2016-01-20 | A intelligent joint drive device for all -purpose robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205325700U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN111015728A (en) * | 2019-12-24 | 2020-04-17 | 天津工业大学 | Compound planet magnetism transmission integration robot joint |
-
2016
- 2016-01-20 CN CN201620055731.0U patent/CN205325700U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107662221B (en) * | 2017-07-12 | 2024-04-05 | 哈尔滨工大特种机器人有限公司 | Mechanical arm joint |
| CN111015728A (en) * | 2019-12-24 | 2020-04-17 | 天津工业大学 | Compound planet magnetism transmission integration robot joint |
| CN111015728B (en) * | 2019-12-24 | 2023-11-28 | 天津工业大学 | Composite planetary magnetic transmission integrated robot joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20210120 |