CN205497523U - Robot joint flexible drive ware - Google Patents

Robot joint flexible drive ware Download PDF

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Publication number
CN205497523U
CN205497523U CN201620270955.3U CN201620270955U CN205497523U CN 205497523 U CN205497523 U CN 205497523U CN 201620270955 U CN201620270955 U CN 201620270955U CN 205497523 U CN205497523 U CN 205497523U
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CN
China
Prior art keywords
motor
shell
steering wheel
control mainboard
joint
Prior art date
Application number
CN201620270955.3U
Other languages
Chinese (zh)
Inventor
张锐
Original Assignee
张锐
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 张锐 filed Critical 张锐
Priority to CN201620270955.3U priority Critical patent/CN205497523U/en
Application granted granted Critical
Publication of CN205497523U publication Critical patent/CN205497523U/en

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Abstract

The utility model belongs to the technical field of robotechnology and specifically relates to a robot joint flexible drive ware is related to, including motor, harmonic?speed reducer ware, control mainboard and shell body, motor and harmonic?speed reducer ware all set up in the shell body, the harmonic?speed reducer ware is connected with the output shaft transmission of motor, control mainboard setting is in the shell body, and the motor is connected with control mainboard electricity, controls the mainboard and is used for driving motor. The utility model provides a robot joint flexible drive ware utilizes high -performance harmonic?speed reducer ware, can increase output torque, despin mechanism in great degree ground, guarantees the flexibility of moment output simultaneously.

Description

Joint of robot flexible actuator

Technical field

This utility model relates to robotics, especially relates to a kind of joint of robot Flexible actuator.

Background technology

Existing joint of robot is all to drive with steering wheel, motor or new material.Steering wheel Output torque is little, is not suitable for the robot that torque requirement is big.The advantage of motor is governing speed Convenient, but regulation angle existing defects, and be not easy to install.New material is expensive, Output torque is little, is the most also in conceptual phase, is not suitable for large-scale promotion.Other reality Existing mode is the most loaded down with trivial details, and cost is high, quality weight, and supply voltage is big, is not suitable for mobile model many Articulated robot uses.

Utility model content

The purpose of this utility model is to provide a kind of joint of robot flexible actuator, to solve The certainly technical problems such as output torque is little present in prior art.

The joint of robot flexible actuator that this utility model provides, subtracts including motor, harmonic wave Speed device, control mainboard and shell body;Motor and harmonic speed reducer are arranged in shell body; Harmonic speed reducer is in transmission connection with the output shaft of motor;Control mainboard to be arranged in shell body, And motor electrically connects with control mainboard, control mainboard and be used for driving motor.

Further, joint of robot flexible actuator also includes encoder;Encoder is arranged On motor, and encoder electrically connects with control mainboard, and encoder is used for detecting electric machine rotation Angle and speed signal is fed back to control mainboard.

Further, joint of robot flexible actuator also includes real axis steering wheel and imaginary axis steering wheel; Real axis steering wheel is set on the output shaft of harmonic speed reducer, and is positioned at the outside of shell body;Empty Axle steering wheel is arranged on shell body, and imaginary axis steering wheel lays respectively at shell body with real axis steering wheel Both sides.

Further, the output shaft end of motor is provided with drive pulley, harmonic speed reducer Input shaft end is provided with on driven pulley, drive pulley and driven pulley and is arranged with ring Shape Timing Belt.

Further, shell body is provided with communication interface, controls mainboard and communication interface electricity Connecting, communication interface is for communicating to connect with external control system.

The joint of robot flexible actuator that this utility model provides, utilizes high performance harmonic wave Decelerator, can increase output torque largely, reduce rotating speed, ensure moment simultaneously The flexibility of output.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model detailed description of the invention or skill of the prior art Art scheme, below by detailed description of the invention or description of the prior art required use attached Figure is briefly described, it should be apparent that, the accompanying drawing in describing below is of the present utility model Some embodiments, for those of ordinary skill in the art, are not paying creative labor On the premise of Dong, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

The joint of robot flexible actuator that Fig. 1 provides for one embodiment of this utility model Schematic diagram;

The joint of robot flexible actuator that Fig. 2 provides for another embodiment of this utility model Schematic diagram.

Reference:

1-motor;2-harmonic speed reducer;3-controls mainboard;

4-shell body;5-encoder;6-real axis steering wheel;

7-imaginary axis steering wheel;8-ring-shaped synchronous belt;9-communication interface.

Detailed description of the invention

Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely retouched State, it is clear that described embodiment is a part of embodiment of this utility model rather than complete The embodiment in portion.Based on the embodiment in this utility model, those of ordinary skill in the art exist Do not make the every other embodiment obtained under creative work premise, broadly fall into this reality By novel protected scope.

In description of the present utility model, it should be noted that term " " center ", " on ", The orientation of the instruction such as D score, "left", "right", " vertically ", " level ", " interior ", " outward " Or position relationship is based on orientation shown in the drawings or position relationship, it is for only for ease of description This utility model and simplification describe rather than indicate or imply that the device of indication or element are necessary There is specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this The restriction of utility model.Additionally, term " first ", " second ", " the 3rd " are only used for retouching State purpose, and it is not intended that indicate or hint relative importance.

In description of the present utility model, it should be noted that unless otherwise clear and definite regulation And restriction, term " is installed ", " being connected ", " connection " should be interpreted broadly, for example, it is possible to It it is fixing connection, it is also possible to be to removably connect, or be integrally connected;Can be that machinery connects Connect, it is also possible to be electrical connection;Can be to be joined directly together, it is also possible to indirect by intermediary It is connected, can be the connection of two element internals.For those of ordinary skill in the art Speech, can understand above-mentioned term concrete meaning in this utility model with concrete condition.

The joint of robot flexible actuator that Fig. 1 provides for one embodiment of this utility model Schematic diagram.As it is shown in figure 1, the joint of robot flexible actuator that the present embodiment provides, bag Include motor 1, harmonic speed reducer 2, control mainboard 3 and shell body 4;Motor 1 and harmonic wave subtract Speed device 2 is arranged in shell body 4;Harmonic speed reducer 2 and the output shaft transmission of motor 1 Connect;Control mainboard 3 to be arranged in shell body 4, and motor 1 is electrically connected with controlling mainboard 3 Connect, control mainboard 3 and be used for driving motor 1.

Wherein, the mode that motor 1 and harmonic speed reducer 2 are in transmission connection has multiple.Such as, The output shaft end of motor 1 is provided with drive pulley, and the input shaft end of harmonic speed reducer 2 sets It is equipped with on driven pulley, drive pulley and driven pulley and is arranged with ring-shaped synchronous belt 8, Motor 1 is made to drive harmonic speed reducer 2 to rotate (as shown in Figure 1) by ring-shaped synchronous belt 8; And for example, can directly harmonic speed reducer 2 be enclosed within the output shaft of motor 1 (such as Fig. 2 institute Show).

Utilize harmonic speed reducer 2, output torque can be increased largely, reduce rotating speed, Ensure the flexibility of moment output simultaneously;It addition, use Timing Belt connection motor 1 and harmonic wave to subtract During speed device 2, by the regulation of speed reducing ratio, can be bigger on the basis of harmonic speed reducer 2 Degree ground increases output torque, and is directly enclosed within motor 1 output shaft by harmonic speed reducer 2 Mode then effect not as Timing Belt connect effect.

On the basis of above-described embodiment, further, joint of robot flexible actuator is also Including encoder 5;Encoder 5 is arranged on motor 1, and encoder 5 with control mainboard 3 Electrical connection, encoder 5 is used for detecting the angle of motor 1 rotation and speed and being fed back by signal Give and control mainboard 3.

Encoder 5 gathers angle information and the rotary speed information of motor 1 that motor 1 rotates, and The information of collection being converted into the signal of telecommunication and feeds back to control mainboard 3, controlling mainboard 3 reception should With this, signal judges whether the output shaft angle of motor 1 exports correctly, to control motor 1 Start and stop.

Utilize encoder 5 to be capable of accurately to control.

Furthermore it is also possible to use potentiometer to replace encoder 5, same effect also can be reached.

On the basis of above-described embodiment, further, joint of robot flexible actuator is also Including real axis steering wheel 6 and imaginary axis steering wheel 7;Real axis steering wheel 6 is set in harmonic speed reducer 2 On output shaft, and it is positioned at the outside of shell body 4;Imaginary axis steering wheel 7 is arranged on shell body 4, And imaginary axis steering wheel 7 lays respectively at the both sides of shell body 4 with real axis steering wheel 6.

Real axis steering wheel 6 and imaginary axis steering wheel 7 lay respectively at the both sides of the shell body 4 of driver, And all have rudder hole on real axis steering wheel 6 and imaginary axis steering wheel 7, it is simple to the installation of this driver and solid Fixed.

On the basis of above-described embodiment, further, shell body 4 is provided with communication to connect Mouth 9, controls mainboard 3 and electrically connects with communication interface 9, and communication interface 9 is used for and outside is controlled System processed communicates to connect.

The present embodiment communication interface 9 is defaulted as three line schemes: power line, ground wire, holding wire. Communication interface 9 can also use other communication form, such as RS232, RS485, CAN communication Deng, it is also possible to use three lines or four-wire system communication mode.

Control mainboard 3 and receive the instruction that communication interface 9 is sent, rotating speed, the electricity to motor 1 Stream, rotational angle are controlled, it is achieved the action of joint of robot.

By embodiment of above, the joint of robot flexible actuator that the present embodiment provides, Output torque can not only be increased largely, it is ensured that flexible, and compact conformation, just In installation.

It is last it is noted that various embodiments above is only in order to illustrate technology of the present utility model Scheme, is not intended to limit;Although this utility model being carried out with reference to foregoing embodiments Detailed description, it will be understood by those within the art that: it still can be to aforementioned Technical scheme described in each embodiment is modified, or to the most some or all of skill Art feature carries out equivalent;And these amendments or replacement, do not make appropriate technical solution Essence depart from this utility model each embodiment technical scheme scope.

Claims (5)

1. a joint of robot flexible actuator, it is characterised in that include motor, harmonic wave Decelerator, control mainboard and shell body;
Described motor and described harmonic speed reducer are arranged in described shell body;Described harmonic wave Decelerator is in transmission connection with the output shaft of described motor;
Described control mainboard is arranged in described shell body, and described motor controls master with described Plate electrically connects, and described control mainboard is used for driving described motor.
Joint of robot flexible actuator the most according to claim 1, it is characterised in that Also include encoder;Described encoder is arranged on described motor, and described encoder and institute Stating control mainboard electrical connection, described encoder is for detecting angle and the speed of described electric machine rotation Signal is also fed back to described control mainboard by degree.
Joint of robot flexible actuator the most according to claim 2, it is characterised in that Also include real axis steering wheel and imaginary axis steering wheel;Described real axis steering wheel is set in described harmonic speed reducer Output shaft on, and be positioned at the outside of described shell body;Described imaginary axis steering wheel is arranged on described On shell body, and described imaginary axis steering wheel lays respectively at described shell body with described real axis steering wheel Both sides.
Joint of robot flexible actuator the most according to claim 2, it is characterised in that The output shaft end of described motor is provided with drive pulley, the power shaft of described harmonic speed reducer End is provided with on driven pulley, described drive pulley and described driven pulley and is arranged with Ring-shaped synchronous belt.
5. according to the joint of robot flexible actuator described in any one of claim 1-4, its Being characterised by, described shell body is provided with communication interface, and described control mainboard is logical with described Letter interface electrical connection, described communication interface is for communicating to connect with external control system.
CN201620270955.3U 2016-04-01 2016-04-01 Robot joint flexible drive ware CN205497523U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620270955.3U CN205497523U (en) 2016-04-01 2016-04-01 Robot joint flexible drive ware

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620270955.3U CN205497523U (en) 2016-04-01 2016-04-01 Robot joint flexible drive ware

Publications (1)

Publication Number Publication Date
CN205497523U true CN205497523U (en) 2016-08-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620270955.3U CN205497523U (en) 2016-04-01 2016-04-01 Robot joint flexible drive ware

Country Status (1)

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CN (1) CN205497523U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106182077A (en) * 2016-08-30 2016-12-07 上海交通大学 Multi-functional high pulling torque integrated robot joint
CN107263445A (en) * 2017-06-20 2017-10-20 成都黑盒子电子技术有限公司 A kind of compound transmission mechanism for being used to service humanoid robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106182077A (en) * 2016-08-30 2016-12-07 上海交通大学 Multi-functional high pulling torque integrated robot joint
CN107263445A (en) * 2017-06-20 2017-10-20 成都黑盒子电子技术有限公司 A kind of compound transmission mechanism for being used to service humanoid robot

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20170307

Address after: Room 2, block D, No. 100085, road, Haidian District, Beijing

Patentee after: BEIJING GANGTIEXIA TECHNOLOGY CO., LTD.

Address before: 100085 Beijing, Haidian District on the road to information on the ground floor, block D, No. 411, No. 2

Patentee before: Zhang Rui

TR01 Transfer of patent right