CN205668278U - A kind of robot rotary articulation in full degree of freedom controlled in wireless set associative joint - Google Patents
A kind of robot rotary articulation in full degree of freedom controlled in wireless set associative joint Download PDFInfo
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- CN205668278U CN205668278U CN201620593843.1U CN201620593843U CN205668278U CN 205668278 U CN205668278 U CN 205668278U CN 201620593843 U CN201620593843 U CN 201620593843U CN 205668278 U CN205668278 U CN 205668278U
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- rotary articulation
- robot rotary
- set associative
- robot
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Abstract
nullThis utility model is the robot rotary articulation in a kind of full degree of freedom controlled in wireless set associative joint，Nonmetal mounting seat it is fixedly installed respectively between the fixing end of robot rotary articulation and robot rotary articulation movable end，The respective side of nonmetal mounting seat is fixing respectively and is uniformly arranged power coil and induction coil and hollow tubular passage，Hollow tubular passage two ends are fixedly installed infrared ray transceiving probe respectively，To fill power distribution assembly with frequency wireless induction drives organic assembling integral with the transmission of infrared ray short-distance wireless and coding type modulation /demodulation，Its simple in construction is anti-interference、Easily install、Safe and practical，More preferably solve cable connection control set associative joint and entirely can not contact unstable and that the numerous and diverse fault rate of cable is high problem with multichannel rotary slip ring by freedom degree rotating，And save material cost and reduce maintenance cost，Meet development trend and the performance requirement of modern efficient industrial automation.
Description
Technical field
This utility model relates to Robot Design and manufacture field, specifically a kind of full degree of freedom controlled in wireless set associative joint
Robot rotary articulation.
Background technology
At present, known current robot seldom possesses the rotary joint in full degree of freedom controlled in wireless set associative joint, along with working as
Sharply increasing of modern Chinese industrial robot and medical robot demand, has solved the problem in robot full freedom degree rotating joint
Become the task of top priority；Present stage solves the control method in robot set associative joint, and its enforcement has the characteristics that 1. in solid mechanical
Arm end and moving machine mechanical arm end use cable to be connected to control set associative joint；2. adopt with moving machine mechanical arm end at solid mechanical arm end
Connect full degree of freedom with multichannel rotary slip ring and control set associative joint；With present robot set associative joint use cable connect control and
Using multichannel rotary slip ring to connect the function that full degree of freedom controls, cable to be resolved connects control set associative joint can not entirely freely
Degree rotates and contact instability and cable numerous and diverse fault rate height with multichannel rotary slip ring and cause the full degree of freedom set associative joint can not shape
The problem that established practice modelling uses.
Summary of the invention
Cable can only be relied on to connect control and the connection of rotary slip ring press-contacting type to solve existing robot set associative joint
Controlling and cause full degree of freedom set associative joint can not form the problem that scale uses, the purpose of this utility model is at mechanical arm
Fixing end and movable end between a kind of safer controlled in wireless mechanism easily is provided, can preferably solve cable and connect and control
Set associative joint can not contact the unstable and one of cable numerous and diverse fault rate high problem by freedom degree rotating entirely with multichannel rotary slip ring
The robot rotary articulation in full degree of freedom controlled in wireless set associative joint.
This utility model solves the fixing end of the technical scheme is that robot rotary articulation of its technical problem and machine
By arranging bearing flexible connection between people's rotary joint movable end, the lower end outside robot rotary articulation movable end is fixing to be set
Putting gear ring, the inner side fixing end at robot rotary articulation is fixedly installed driving motor and servo sensing with gear ring correspondence position
Device, gear ring engages with the shaft gear that enters driving gear and servo sensor driving motor respectively, solid at robot rotary articulation
Fixed end and robot rotary articulation movable end are fixedly installed nonmetal mounting seat respectively, and nonmetal mounting seat is parallel each other
And concentric is arranged, the shaft core position of nonmetal mounting seat is respectively provided with hollow tubular passage, fixes at robot rotary articulation
The upside holding nonmetal mounting seat is fixed respectively and is uniformly arranged power coil, in the nonmetal peace of robot rotary articulation movable end
The downside of dress seat is fixing respectively and is uniformly arranged induction coil, and power coil and induction coil are with frequency coil, corresponding hollow pipe
Shape passage two ends are fixed at robot rotary articulation and are held the relevant position with robot rotary articulation movable end to be fixedly installed respectively
Infrared ray transceiving is popped one's head in, and is respectively provided with and fills Power entry module, rechargeable battery, modulatedemodulate mode transfer in robot rotary articulation movable end
Block, set associative joint power line, set associative joint output control line and set associative joint input signal cable；Fix at robot rotary articulation
End, drive motor connects cable, the connection cable of servo sensor, the connection cable of power coil, infrared ray transceiving probe
The cable respective terminal with master control circuit plate respectively that connects electrically connect；At robot rotary articulation movable end, fill distribution mould
The block discharge and recharge connecting cable management rechargeable battery by rechargeable battery, fills the Power entry module connection cable by induction coil
By electricity, fill Power entry module by correspondence connection cable to modulation /demodulation modular power distribution, fill Power entry module by set associative joint power supply
Line is to set associative joint drive assembly distribution, and the respective terminal of modulation /demodulation module is electric with the connection of infrared ray transceiving probe respectively
Cable, output control line one end, set associative joint and the electrical connection of input signal cable one end, set associative joint；The wireless power control of set associative joint
Molding formula is: master control circuit plate is powered to power coil, fills Power entry module and by electricity and is distributed to charging by induction coil respectively
Battery, modulation /demodulation module and set associative joint power line, when induction coil induced voltage deficiency, fill Power entry module switching and use
Rechargeable battery supplies distribution to modulation /demodulation module and set associative joint power line；Set associative joint control signal transfer mode is: master control
Set associative joint control signal is first carried out coding type modulation and is fixed the infrared ray receipts of end again by robot rotary articulation by wiring board
Send out probe to send, the master control circuit plate set associative joint control that the infrared ray transceiving probe of robot rotary articulation movable end will receive
Coding type modulated signal processed sends the demodulation of modulation /demodulation module to, and the master control circuit plate set associative after demodulation is closed by modulation /demodulation module
Joint control signal is controlled accordingly by set associative joint output control line；Set associative joint feedback signal transmission pattern is: set associative
Set associative joint feedback signal is carried out coding type modulation by modulation /demodulation module and is revolved by robot by joint input signal cable
Turn joint motion end infrared ray transceiving probe send, robot rotary articulation fix end infrared ray transceiving probe receive again will
Set associative joint feedback signal coding type modulated signal sends master control circuit plate to and demodulates and be controlled.
The beneficial effects of the utility model are, will with frequency wireless induction fill the transmission of power distribution assembly and infrared ray short-distance wireless and
Coding type modulation /demodulation drives organic assembling integral, the installation anti-interference, easy of its simple in construction, safe and practical, more preferably solves line
Cable connects control set associative joint can not contact unstable and cable numerous and diverse fault rate height by freedom degree rotating entirely with multichannel rotary slip ring
Problem, and save material cost and reduce maintenance cost, meet development trend and the performance of modern efficient industrial automation
Requirement.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is A partial enlargement structural representation of the present utility model.
Fig. 3 is A local I-I sectional view of the present utility model.
Fig. 4 is circuit block diagram of the present utility model.
In figure: 1. the fixing end of robot rotary articulation, 2. robot rotary articulation movable end, 3. bearing, 4. gear ring, 5. drive
Galvanic electricity machine, 6. servo sensor, 7. power coil, 8. induction coil, 9. infrared ray transceiving probe, 10. master control circuit plate, 11.
Hollow tubular passage, 12. fill Power entry module, 13. rechargeable batteries, 14. modulation /demodulation modules, 15. set associative joint power lines, and 16.
Set associative joint output control line, 17. set associative joint input signal cables, 18. nonmetal mounting seats.
Detailed description of the invention
With embodiment, this utility model is further illustrated below in conjunction with the accompanying drawings.
Refering to accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, the fixing end 1 of robot rotary articulation and robot rotary articulation movable end 2
Between be flexibly connected by arranging bearing 3, the lower end outside robot rotary articulation movable end 2 is fixedly installed gear ring 4, at machine
People's rotary joint is fixed the inner side of end 1 and is fixedly installed driving motor 5 and servo sensor 6, gear ring 4 points with gear ring 4 correspondence position
Not engage with the shaft gear that enters driving gear and servo sensor 6 driving motor 5, robot rotary articulation fixing hold 1 and
Robot rotary articulation movable end 2 is fixedly installed nonmetal mounting seat 18 respectively, and nonmetal mounting seat 18 is parallel each other
And concentric is arranged, the shaft core position of nonmetal mounting seat 18 is respectively provided with hollow tubular passage 11, at robot rotary articulation
The upside of fixing end 1 nonmetal mounting seat 18 is fixing respectively and is uniformly arranged power coil 7, at robot rotary articulation movable end
The downside of 2 nonmetal mounting seats 18 is fixing respectively and is uniformly arranged induction coil 8, and power coil 7 and induction coil 8 are with frequency line
Circle, it is corresponding to robot rotary articulation movable end 2 that end 1 is fixed at robot rotary articulation in corresponding hollow tubular passage 11 two ends
Position is fixedly installed infrared ray transceiving probe 9 respectively, is respectively provided with and fills Power entry module in robot rotary articulation movable end 2
12, rechargeable battery 13, modulation /demodulation module 14, set associative joint power line 15, set associative joint output control line 16 and set associative joint
Input signal cable 17；
Refering to accompanying drawing 4, fixing end 1 at robot rotary articulation, drive motor 5 connects cable, the company of servo sensor 6
Connect cable, power coil 7 connect cable, infrared ray transceiving probe 9 connect cable corresponding to master control circuit plate 10 respectively
Terminals electrically connect；At robot rotary articulation movable end 2, fill the Power entry module 12 connection cable management by rechargeable battery 13
The discharge and recharge of rechargeable battery 13, fills Power entry module 12 by the connection cable of induction coil 8 by electricity, fills Power entry module 12 by right
Cable should be connected to modulation /demodulation module 14 distribution, fill Power entry module 12 by set associative joint power line 15 to set associative joint drive
Assembly distribution, the respective terminal of modulation /demodulation module 14 respectively with infrared ray transceiving probe 9 connection cable, set associative joint defeated
Go out control line 16 one end and the electrical connection of input signal cable 17 one end, set associative joint；Set associative joint wireless power control model is:
Master control circuit plate 10 powers to power coil 7, fills Power entry module 12 and by electricity and is distributed to rechargeable battery by induction coil 8 respectively
13, modulation /demodulation module 14 and set associative joint power line 15, when induction coil 8 induced voltage deficiency, fill Power entry module 12 and cut
Change use rechargeable battery 13 and supply distribution to modulation /demodulation module 14 and set associative joint power line 15；Set associative joint control signal transmits
Pattern is: set associative joint control signal is first carried out coding type modulation by master control circuit plate 10 to be fixed by robot rotary articulation again
Infrared ray transceiving probe 9 transmission of end 1, the master control that the infrared ray transceiving probe 9 of robot rotary articulation movable end 2 will receive
Wiring board 10 set associative joint control coding type modulated signal sends modulation /demodulation module 14 to and demodulates, and modulation /demodulation module 14 will solve
Master control circuit plate 10 set associative joint control signal after tune is controlled accordingly by set associative joint output control line 16；Set associative is closed
Joint feedback signal transmission pattern is: set associative joint input signal cable 17 passes through modulation /demodulation module 14 by set associative joint feedback signal
Carry out coding type modulation again by infrared ray transceiving probe 9 transmission of robot rotary articulation movable end 2, robot rotary articulation
Infrared ray transceiving probe 9 reception of fixing end 1 sends set associative joint feedback signal coding type modulated signal to master control circuit again
Plate 10 demodulates and is controlled.
Claims (3)
1. the robot rotary articulation in full degree of freedom controlled in wireless set associative joint, is characterized in that: robot rotary articulation is solid
Being flexibly connected by arranging bearing (3) between fixed end (1) with robot rotary articulation movable end (2), robot rotary articulation is lived
The lower end in outside, moved end (2) is fixedly installed gear ring (4), corresponding with gear ring (4) in the inner side of the fixing end (1) of robot rotary articulation
Position is fixedly installed driving motor (5) and servo sensor (6), gear ring (4) respectively with the driving gear of driving motor (5) and watching
Take sensor (6) enters shaft gear engagement, at the fixing end (1) of robot rotary articulation and robot rotary articulation movable end (2)
Being fixedly installed nonmetal mounting seat (18) respectively, the shaft core position of nonmetal mounting seat (18) is respectively provided with hollow tubular passage
(11), fix respectively in the upside of robot rotary articulation fixing end (1) nonmetal mounting seat (18) and be uniformly arranged supply lines
Circle (7), fixes respectively in the downside of robot rotary articulation movable end (2) nonmetal mounting seat (18) and is uniformly arranged the line of induction
Circle (8), corresponding hollow tubular passage (11) two ends are at the fixing end (1) of robot rotary articulation and robot rotary articulation movable end
(2) relevant position is fixedly installed infrared ray transceiving probe (9) respectively, sets respectively in robot rotary articulation movable end (2)
Put that to fill Power entry module (12), rechargeable battery (13), modulation /demodulation module (14), set associative joint power line (15), set associative joint defeated
Go out control line (16) and set associative joint input signal cable (17).
The robot rotary articulation in a kind of full degree of freedom controlled in wireless set associative joint the most according to claim 1, its feature
It is: nonmetal mounting seat (18) is arranged for parallel and concentric each other.
The robot rotary articulation in a kind of full degree of freedom controlled in wireless set associative joint the most according to claim 1, its feature
It is: power coil (7) and induction coil (8) are for frequency coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620593843.1U CN205668278U (en) | 2016-06-18 | 2016-06-18 | A kind of robot rotary articulation in full degree of freedom controlled in wireless set associative joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620593843.1U CN205668278U (en) | 2016-06-18 | 2016-06-18 | A kind of robot rotary articulation in full degree of freedom controlled in wireless set associative joint |
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| Publication Number | Publication Date |
|---|---|
| CN205668278U true CN205668278U (en) | 2016-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620593843.1U Active CN205668278U (en) | 2016-06-18 | 2016-06-18 | A kind of robot rotary articulation in full degree of freedom controlled in wireless set associative joint |
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| Country | Link |
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| CN (1) | CN205668278U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922285A (en) * | 2016-06-18 | 2016-09-07 | 朱旭红 | Robot rotary joint of full freedom wireless control union joint |
-
2016
- 2016-06-18 CN CN201620593843.1U patent/CN205668278U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922285A (en) * | 2016-06-18 | 2016-09-07 | 朱旭红 | Robot rotary joint of full freedom wireless control union joint |
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