CN205704263U - A kind of articulated driving equipment of robot - Google Patents
A kind of articulated driving equipment of robot Download PDFInfo
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- CN205704263U CN205704263U CN201620533337.3U CN201620533337U CN205704263U CN 205704263 U CN205704263 U CN 205704263U CN 201620533337 U CN201620533337 U CN 201620533337U CN 205704263 U CN205704263 U CN 205704263U
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Abstract
The utility model discloses the articulated driving equipment of a kind of robot, include DC servo motor, planet-gear speed reducer and belt pulley reductor, the output of described DC servo motor connects planet-gear speed reducer, described planet-gear speed reducer is connected with belt pulley reductor by synchronizing wheel, the speed reducing ratio of described planet-gear speed reducer is 200:1, described belt pulley reductor use diameter than for 3:1 two aluminum alloy wheels and use double supporting structure oscillating bearing, described aluminum alloy wheel is arranged on oscillating bearing, the radial position of axle is limited jointly by two supportings, centripetal or the angular contact bearing of radially positioning action has been had at each supporting, axial location is by two axial displacements supporting each one direction of restriction, or limited different running accuracies by a supporting.This utility model can make robot have good dynamic characteristic and kinematic accuracy.
Description
Technical field
This utility model relates to the technical field that joint of robot drives, and refers in particular to the joint drive of a kind of robot
Device.
Background technology
Proper motion to be allowed the robot to and fulfiling assignment, most important factor is that robot to have excellent driving machine
Structure.It can be said that the drive mechanism of robot is one of its most important components.Because the motion of robot and operation are actual
On be just located against its drive mechanism.The joint motions of robot mainly by articulated driving equipment produce, the various fortune in joint
Dynamic is exactly that articulated driving equipment is to operate joint of robot in fact.Owing to there being many articulated driving equipments in robot, this
The performance of a little articulated driving equipments directly decides the performance of robot.Therefore, for ensureing that robot has good dynamic spy
Property and kinematic accuracy, it is desirable to these articulated driving equipments should have that kinematic accuracy is high, torsional rigidity is big, return difference is little, shock resistance energy
Power is strong, compact conformation, volume are little, lightweight, efficiency advantages of higher.In order to reach this purpose, every country is developed the most in succession
Go out the articulated driving equipment differed from one another.
Along with the development of robotics, the articulated driving equipment kind of robot also gets more and more, but most pass
Joint driving means can be divided into cylinder driver, cylinder drive, motor driver three kinds.The most with the most use goes back
It it is motor driver.In motor driver, driving motor great majority is all (direct current) motor or servomotor.Choosing
Depending on selecting the concrete applicable cases of step motor drive or driven by servomotor robot to be regarded, namely: 1. load characteristic, such as water
Flat still normal load etc.；2. motor characteristic, such as torque, inertia, rotating speed, precision, acceleration and deceleration etc.；3. upper control requirement, as
To the requirement in terms of port interface and communication；4. control mode, is position, torque or speed mode.5. power supply, is straight
Stream or exchange, or battery, voltage range etc..
The articulated driving equipment of robot, in addition to including motor or servomotor, also includes: reducing gear,
Oscillating bearing etc..Wherein, reducing gear can be divided into again: planet-gear speed reducer, belt pulley reductor, harmonic reduction machinery,
Cycloidal planetary gear speed reducer structure, ball screw framework, screw-drive mechanism, synchronous cog belt mechanism.Wherein, planet-gear speed reducer
It is reducing gear the most frequently used in the articulated driving equipment of robot with belt pulley reductor.
Planet-gear speed reducer specifically includes that planetary gear, sun gear, external toothing.Planet-gear speed reducer is because structure is former
Cause, single-stage speed reducing minimum 3, maximum is usually no more than 10, and reductor progression is usually no more than 3, but has part big retarding than fixed
Reductor processed has 4 grades of decelerations.Other reductors relatively, planet-gear speed reducer has high rigidity, in high precision, high transmission efficiency,
High torque/volume ratio, the feature such as maintenance-free.Because these features, planet-gear speed reducer majority is mounted in stepping electricity
On machine and servomotor, it is used for reducing rotating speed, promotes moment of torsion, mate inertia.The specified input speed of planet-gear speed reducer is
Height can reach more than 18000rpm (size own with reductor is relevant, and reductor is the biggest, and specified input speed is the least), technical grade
Planet-gear speed reducer output moment of torsion is usually no more than 2000Nm, and special super large moment of torsion planet-gear speed reducer can be accomplished
More than 10000Nm.Operating temperature, at about-25 DEG C to 100 DEG C, can change its operating temperature by grease.About planet tooth
Several concepts of wheel reductor: 1. progression: planetary tricks.Owing to a set of planetary gear cannot meet bigger transmission
Ratio, it is sometimes desirable to 2 sets or 3 sets meet the requirement supporting relatively big speed ratio.Owing to adding planetary quantity, so
The length of 2 grades or 3 grades reductors can increased, and efficiency can decline.2. backhaul gap: outfan is fixed, input
Rotate clockwise and counterclockwise, make input produce nominal torque ± 2% moment of torsion time, reductor input have one small
Angular displacement, this angular displacement is exactly backhaul gap.Unit is " dividing ", it is simply that sixtieth once, also someone is referred to as back clearance.
Being a kind of new property reductor with extensive versatility just because of planet-gear speed reducer, it is little that complete machine has physical dimension, defeated
Going out moment of torsion big, speed ratio is in, the feature such as efficiency is high, performance safety is reliable.The more important thing is, the driving motor that robot is used is equal
For DC servo motor, and planet-gear speed reducer can be used together with servomotor, and this is a kind of to reduce rotating speed, promotes and turns round
Square, the optimum selection of coupling inertia.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art and shortcoming, it is provided that the joint of a kind of robot is driven
Dynamic device, it is possible to make robot have good dynamic characteristic and kinematic accuracy.
For achieving the above object, technical scheme provided by the utility model is: the joint drive dress of a kind of robot
Putting, described articulated driving equipment is to use DC servo motor to add the drive mechanism of double reduction, include DC servo motor,
Planet-gear speed reducer and belt pulley reductor, the output of described DC servo motor connects planet-gear speed reducer, described row
Star gear reduction unit is connected with belt pulley reductor by synchronizing wheel, and the speed reducing ratio of described planet-gear speed reducer is 200:1, institute
State belt pulley reductor use diameter than for 3:1 two aluminum alloy wheels and use double supporting structure oscillating bearing, described aluminum
Alloy wheel is arranged on oscillating bearing, and the radial position of axle is limited jointly by two supportings, has had radially location at each supporting
Centripetal or the angular contact bearing of effect, axial location is by two axial displacements supporting each one direction of restriction, or is propped up by one
Hold and limit different running accuracies.
By a Flange joint between described DC servo motor and planet-gear speed reducer.
Described supporting uses angular contact bearing and taper roll bearing mounted in pairs.
This utility model compared with prior art, has the advantage that and beneficial effect:
This utility model can make joint have, and kinematic accuracy is high, torsional rigidity is big, return difference is little, strong shock resistance, knot
Structure is compact, volume is little, lightweight, efficiency advantages of higher, so that robot has good dynamic characteristic and kinematic accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation that articulated driving equipment of the present utility model is used on anthropomorphic robot.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in further detail.
Articulated driving equipment of the present invention, specifically uses DC servo motor to add the drive mechanism of double reduction,
Include DC servo motor, planet-gear speed reducer and belt pulley reductor.Described DC servo motor uses the full model of speed
Enclose the close-loop control modes such as adjustable, position/speed/torque and use the photoelectric type rotary encoder that capacity of resisting disturbance is strong, tool
Body is the 50SYXB-02 selecting Shanghai Rake development in science and technology company limited, and the rated output power of this motor is 40W, specified electricity
Pressure is 24V, and rated speed is 2000RPM, and output torque is 0.2NM；The output of this DC servo motor connects planetary gear reduction
Speed machine, described planet-gear speed reducer is connected with belt pulley reductor by synchronizing wheel, the deceleration of described planet-gear speed reducer
Than be 200:1, described belt pulley reductor use diameter than for 3:1 two aluminum alloy wheels and use double supporting structure joint
Bearing, joint total reduction ratio is designed as 600:1, and therefore, the maximum moment continuously that each joint can be provided by is 120NM.Described aluminum
Alloy wheel is mounted on corresponding oscillating bearing, and the radial position of axle is limited jointly by two supportings, has had at each supporting
The radially centripetal or angular contact bearing of positioning action, axial location by two support each one direction of restriction axial displacements, or
Different running accuracies is limited by a supporting.
Below as a example by the joint between anthropomorphic robot thigh and shank, as it is shown in figure 1, because at anthropomorphic robot
In walking modeling, the thigh of anthropomorphic robot being regarded as a particle, this particle is positioned at the midpoint of anthropomorphic robot thigh, because of
This, the installation of double reduction machine will be close proximity to the midpoint of anthropomorphic robot thigh with the needs of satisfied modeling, DC servo electricity
Being connected by a flange 3 between machine 1 and planet-gear speed reducer 2, planet-gear speed reducer 2 is with belt pulley reductor 10 even
Connect.The output shaft of planet-gear speed reducer 2 is through the thigh 4 of anthropomorphic robot, and the tip of the axis loads onto the synchronization wheel 5 that diameter is little
(steamboat).One end, joint 9 of anthropomorphic robot is connected with thigh 4, and the other end is connected with shank 6, and the axle of band movable joint 9 motion is worn
Crossing thigh 4, end installs synchronization wheel 7 (bull wheels) being relatively large in diameter.Two synchronize between wheel 5,7 by toothed driving belt
8 connect.
Planet-gear speed reducer design is mainly considered as its structure type, installation form, bearing capacity, output speed, work
Make the factors such as condition.The bearing capacity of planet-gear speed reducer is under rated speed, works every day 10 hours, starts per hour
Number is less than 10 times, steadily without drawing, so should design according to the following steps under the conditions of impact.
The first step, calculating moment of torsion and gear ratio, select model and safety coefficient
1. according to loadtype with start-stop time and the expectsted of working life determine coefficient of utilization fs per hour.
2. according to required torque T2RDraw calculating moment of torsion as the following formula
T2C=T2R*fS (1)
In formula, T2CIt is calculating moment of torsion [Nm], T2RIt is actually required moment of torsion [Nm], fSIt it is coefficient of utilization.
3. by required output speed n2With input speed n1Determine gear ratio
I=n1/n2 (2)
In formula, i is gear ratio, n1It is input speed [r/min], n2It is output speed [r/min].
4. T is determinedC2After i, at input speed n1Search reductor rated value table, select the gear ratio closest to value of calculation
And meet the reductor model of following condition:
T2N≥TC2 (3)
In formula, T2NIt it is specified output moment of torsion [Nm].
5. safety coefficient, safety coefficient can select by according to the form below 1.
Table 1
| Use requirement | Minimum safety factor |
| High-reliability | 1.50～1.60 |
| Relatively high-reliability | 1.25～1.30 |
| General reliability | 1.00～1.10 |
Second step, checks:
1. torque capacity, confirm instantaneous peak value load torque and bringing onto load starting torque not can exceed that reductor specified
High pulling torque Max{T2N}。
2. contilever load, checks institute's arrangement.Power shaft and output shaft upper cantilever load can be obtained by following formula
In formula, Fc1-c2It is contilever load (N), c1It is to represent power shaft, c2It is to represent output shaft, Tr1-r2It it is the moment of torsion on axle
(Nm), d is the reference diameter (sprocket wheel, gear, belt wheel etc.) (mm) of drive disk assembly, and s is velocity of rotation, Kr=1 is that chain passes
Dynamic, Kr=1.25 is gear drive, Kr=1.5～2.0 is V-belt drive.
3. output shaft.For acting on the load at axle midpoint, need to check as the following formula:
Fn2≥Fc2*fL (5)
In formula, Fn2Refer to the specified radial load at output shaft midpoint, Fc2Refer to output shaft calculating radial force.
4. power shaft.According to formula (4) and formula (5), available load Fc1Value.
3rd step, determines type selecting.Parameter through type selecting considers, and combines anthropomorphic robot, the planetary gear of selection
Reductor is PL40 dual shaft planetary gear reduction unit, and speed reducing ratio is three grades of deceleration 200:1, and its substance parameter is as shown in table 2 below.
Table 2
Oscillating bearing in articulated driving equipment to set according to the height of anthropomorphic robot, weight and motion feature
Meter.Anthropomorphic robot body weight designed by the present embodiment reaches 80kg, and this makes the design difficulty of oscillating bearing bigger.Particularly
For ankle, these important stress joints of knee, more a stress and friction there is special requirement.Therefore, oscillating bearing
Design must take into following factor: 1. selects suitable bearing type；2. suitable bearing size is determined；3. other portion in configuration
The structure of part and design；4. the mode of bearing is fixed；The most suitable tolerance fit and the play of bearing or pretension；The most suitable is close
Envelope system；7. the type of lubricant and consumption；8. the mode mounted and dismounted.
In the case of bearing radial load and axial load at the same time, supporting is frequently with angular contact bearing and taper roller axle
Hold mounted in pairs.Two bearing outer ring wide end surfaces are mounted opposite the back-to-back installation of title.Two supporting force application points fall at bearing stride
Outside.This arrangement mode is big because of bearing stride, good rigidly during axle suspension arm, axle by circle inside and outside during thermal stretching in the trend of disengagement, because of
And axle will not be stuck, therefore use ratio wide.But as installed according to pretension, then when axle is heated, pretension amount will reduce.Two
Individual bearing outer ring narrow end surface is mounted opposite title and installs face-to-face.Within the point of force application of two supportings falls bearing stride.Here
Arrangement mode simple in construction, mounting or dismounting, debugging are the most more convenient therefore use the most wide, are mainly used in short axle and the highest field of temperature rise
Close, but it is noted that standby play must be left.End-play is also unsuitable excessive, can reduce the running accuracy of axle time excessive.When
Axial load is relatively big, when needing multiple bearings to bear simultaneously, and the series system being mounted opposite frequently with bearing outer ring width, narrow end surface.
Each bearing application point all falls within the same side of bearing therefore claims to be collectively aligned also known as series connection.When using this kind of arrangement mode it is noted that
Ensure in structure that each bearing can be tried one's best and uniformly bear load.
The examples of implementation of the above are only the preferred embodiment of this utility model, not limit of the present utility model with this
Practical range, therefore the change that all shapes according to this utility model, principle are made, all should contain at protection domain of the present utility model
In.
Claims (3)
1. the articulated driving equipment of a robot, it is characterised in that: described articulated driving equipment is for using DC servo electricity
Machine adds the drive mechanism of double reduction, includes DC servo motor, planet-gear speed reducer and belt pulley reductor, described directly
The output of flow servo motor connects planet-gear speed reducer, and described planet-gear speed reducer is by synchronizing wheel and belt pulley reductor
Connecting, the speed reducing ratio of described planet-gear speed reducer is 200:1, and described belt pulley reductor uses diameter ratio for two of 3:1
Aluminum alloy wheel and the oscillating bearing of employing double supporting structure, described aluminum alloy wheel is arranged on oscillating bearing, the radial position of axle
Jointly being limited by two supportings, had the centripetal or angular contact bearing of radially positioning action at each supporting, axial location is by two
The axial displacement in one direction of each restriction of individual supporting, or limited different running accuracies by a supporting.
The articulated driving equipment of a kind of robot the most according to claim 1, it is characterised in that: described DC servo electricity
By a Flange joint between machine and planet-gear speed reducer.
The articulated driving equipment of a kind of robot the most according to claim 1, it is characterised in that: described supporting uses angle
Contact bearing and taper roll bearing mounted in pairs.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620533337.3U CN205704263U (en) | 2016-06-02 | 2016-06-02 | A kind of articulated driving equipment of robot |
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| CN201620533337.3U CN205704263U (en) | 2016-06-02 | 2016-06-02 | A kind of articulated driving equipment of robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108127692A (en) * | 2017-12-28 | 2018-06-08 | 江苏木盟智能科技有限公司 | The noise-reduction method and system of a kind of mechanical arm |
| CN108186285A (en) * | 2018-01-18 | 2018-06-22 | 浙江理工大学 | The device for rehabilitation and its workflow that oscillating rod type cam is combined with multistage train |
| CN108930770A (en) * | 2018-09-21 | 2018-12-04 | 北京大圣格尔冶金设备有限公司 | A kind of external planetary reducer dipper crowding gear |
| CN112247989A (en) * | 2020-10-13 | 2021-01-22 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
-
2016
- 2016-06-02 CN CN201620533337.3U patent/CN205704263U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108127692A (en) * | 2017-12-28 | 2018-06-08 | 江苏木盟智能科技有限公司 | The noise-reduction method and system of a kind of mechanical arm |
| CN108186285A (en) * | 2018-01-18 | 2018-06-22 | 浙江理工大学 | The device for rehabilitation and its workflow that oscillating rod type cam is combined with multistage train |
| CN108186285B (en) * | 2018-01-18 | 2024-05-03 | 浙江理工大学 | Rehabilitation device combining swing rod type cam and multi-stage gear train and working flow thereof |
| CN108930770A (en) * | 2018-09-21 | 2018-12-04 | 北京大圣格尔冶金设备有限公司 | A kind of external planetary reducer dipper crowding gear |
| CN112247989A (en) * | 2020-10-13 | 2021-01-22 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
| CN112247989B (en) * | 2020-10-13 | 2022-02-25 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
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