CN205497523U - Robot joint flexible drive ware - Google Patents
Robot joint flexible drive ware Download PDFInfo
- 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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- China
- Prior art keywords
- motor
- shell
- steering wheel
- control mainboard
- joint
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- 239000011257 shell materials Substances 0.000 claims abstract description 26
- 239000003638 reducing agents Substances 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000001360 synchronised Effects 0.000 claims description 4
- 238000010586 diagrams Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering processes Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 materials Substances 0.000 description 2
- 239000000686 essences Substances 0.000 description 1
- 238000004805 robotics Methods 0.000 description 1
- 239000007787 solids Substances 0.000 description 1
Abstract
Description
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)
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 |
Family
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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)
| Country | Link |
|---|---|
| CN (1) | CN205497523U (en) |
Cited By (2)
| 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 |
-
2016
- 2016-04-01 CN CN201620270955.3U patent/CN205497523U/en active IP Right Grant
Cited By (2)
| 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 |
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| TR01 | Transfer of patent right |