CN205997003U - Rotary joint - Google Patents
Rotary joint Download PDFInfo
- Publication number
- CN205997003U CN205997003U CN201620712146.3U CN201620712146U CN205997003U CN 205997003 U CN205997003 U CN 205997003U CN 201620712146 U CN201620712146 U CN 201620712146U CN 205997003 U CN205997003 U CN 205997003U
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- encoder
- drive pulley
- power transmission
- transmission shaft
- motor
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
This utility model is related to a kind of rotary joint, by being connected by encoder hold-in range between encoder belt wheel and drive pulley, and then make the drive pulley of rotation drive the rotation of encoder belt wheel by encoder hold-in range, so that encoder main body is by detecting the rotating speed of encoder belt wheel and position draws rotating speed and the positional information of drive pulley and power transmission shaft, and then realize to drive pulley and the rotating speed of power transmission shaft and the detection of positional information.Simultaneously, because the load of encoder hold-in range is less, its flexibility is less, enables to drive pulley and keeps synchronous rotary with encoder belt wheel, and then improve encoder main body to the accuracy of detection of drive pulley rotating speed and positional information so that the closed-loop control precision of rotary joint is improved.
Description
Technical field
This utility model is related to mechanical equipment technical field, more particularly to a kind of rotary joint.
Background technology
Rotary joint is through commonly used structure in "smart" products, and it exports power by power transmission shaft, so that execution
Element moves.Meanwhile, it has detection components, and detection components are by detecting rotating speed and the position of power transmission shaft or drive pulley
Information, consequently facilitating the range of activity of adjustment executive component.
In conventional rotary joint by encoder is installed additional on motor so that the rotating speed to drive pulley and power transmission shaft and
Positional information is detected, thus realizing closed loop control.However, because Timing Belt has certain flexibility, leading on motor
Install position and the speed that this mode of encoder is unable to accurate detection drive pulley additional, thus reducing the precision of closed loop control.
Utility model content
Based on this it is necessary to provide a kind of accuracy of detection higher rotary joint.
A kind of rotary joint, including：
Power transmission shaft；
Drive pulley, is fixed on described power transmission shaft, and described drive pulley rotation, to drive described power transmission shaft synchronously to revolve
Turn；And
Detection components, including encoder and encoder hold-in range, described encoder include encoder main body and with described volume
The encoder belt wheel that code device main body is connected, described encoder hold-in range connects described encoder belt wheel and described drive pulley；
Wherein, described drive pulley passes through the described encoder belt wheel rotation of described encoder hold-in range driving, described coding
Device main body can obtain described drive pulley and described transmission by the rotating speed and positional information that detect described encoder belt wheel
The rotating speed of axle and positional information.
Wherein in an embodiment, described drive pulley and described power transmission shaft are hollow structure.
Wherein in an embodiment, also include motor and motor synchronous belt, described motor includes motor master
Body and the electrical machine belt pulley being connected with described motor body, described electrical machine belt pulley passes through described motor synchronous belt and described transmission belt
Wheel connects, and described motor passes through described motor synchronous belt and drives described drive pulley rotation.
Wherein in an embodiment, also include the deceleration group between described motor synchronous belt and described drive pulley
Part, described reduction assemblies include decelerator and deceleration synchronization band, and described decelerator includes rotating shaft and is respectively arranged at described rotating shaft
First runner at two ends and the second runner, the diameter with diameter greater than described second runner of described first runner, described first turn
Wheel is connected with described electrical machine belt pulley by described motor synchronous belt, and described second runner is by described deceleration synchronization band and described biography
Movable belt pulley connects.
Wherein in an embodiment, described decelerator and described deceleration synchronization band are multiple, multiple described decelerators
Connected by described deceleration synchronization band, to realize the multi-stage speed-reducing of described drive pulley.
Wherein in an embodiment, also include panel, described panel and described encoder main body and described motor
Main body is all connected with, the rotary speed letter of the described drive pulley that described encoder main body can be detected and described power transmission shaft
Breath sends to described panel, so that the size that described panel passes through to adjust electric current in described motor body changes described electricity
The rotary speed of machine belt wheel.
Wherein in an embodiment, also include first rotating arm and the second turning arm, described power transmission shaft is arranged in described
First rotating arm, and described power transmission shaft is fixed on described second turning arm away from one end of described drive pulley, described transmission
Belt wheel drives described second turning arm to rotate relative to described first rotating arm by driving described power transmission shaft rotation, described coding
Device is fixed on described first rotating arm.
Wherein in an embodiment, also include bearing, described bearing holder (housing, cover) is on described power transmission shaft, and is located at described biography
Between moving axis and described first rotating arm, so that described power transmission shaft rotates relative to described first rotating arm.
Wherein in an embodiment, described first rotating arm and described second turning arm are hollow structure.
Wherein in an embodiment, described speed measuring device includes motor and motor synchronous belt, described motor
Described drive pulley rotation is driven by described motor synchronous belt, described motor is placed in described first rotating arm.
In above-mentioned rotary joint, by being connected by encoder hold-in range between encoder belt wheel and drive pulley, enter
And make the drive pulley of rotation drive the rotation of encoder belt wheel by encoder hold-in range, so that encoder main body passes through inspection
Survey the rotating speed of encoder belt wheel and position and draw rotating speed and the positional information of drive pulley and power transmission shaft, and then realize to transmission
Belt wheel and the rotating speed of power transmission shaft and the detection of positional information.Simultaneously as the load of encoder hold-in range is less, its flexibility is relatively
Little, enable to drive pulley and keep synchronous rotary with encoder belt wheel, and then improve encoder main body transmission belt is rotated
The accuracy of detection of speed and positional information is so that the closed-loop control precision of rotary joint is improved.
Brief description
Fig. 1 is the rotation joint structure schematic diagram of this utility model one embodiment；
Fig. 2 is the internal structure schematic diagram of rotary joint shown in Fig. 1；
Fig. 3 is the rotation joint structure schematic diagram of another embodiment；And
Fig. 4 is the internal structure schematic diagram of rotary joint shown in Fig. 3.
Specific embodiment
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is more fully retouched
State.Better embodiment of the present utility model is given in accompanying drawing.But, this utility model can come in many different forms
Realize however it is not limited to embodiments described herein.On the contrary, providing the purpose of these embodiments to be to make to this practicality newly
It is more thoroughly comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
For illustrative purposes only, being not offered as is unique embodiment for " right " and similar statement.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " bag
Include the arbitrary and all of combination of the Listed Items of one or more correlations.
In conjunction with shown in Fig. 1 and Fig. 2, the rotary joint 10 of this utility model one embodiment includes motor 100, motor together
Step band 200, drive pulley 300, power transmission shaft 400, first rotating arm 500, the second turning arm 600 and detection components 700.Wherein,
Drive pulley 300 is fixed on power transmission shaft 400.Motor 100 is connected with drive pulley 300 by motor synchronous belt 200, drives
Galvanic electricity machine 100 can drive drive pulley 300 and power transmission shaft 400 to rotate by motor synchronous belt 200.Power transmission shaft 400 is arranged in
First rotating arm 500, and power transmission shaft 400 is fixed on the second turning arm 600 away from one end of drive pulley 300, drive pulley
300 are rotated with power transmission shaft 400, to drive the second turning arm 600 to rotate relative to first rotating arm 500.Detection components 700 are located at
On one turning arm 500, and it is connected with drive pulley 300, with to the rotary speed of drive pulley 300 and power transmission shaft 400 and position
Detected.
Specifically in the present embodiment, detection components 700 include encoder 710 and encoder hold-in range 720.Encoder 710
The encoder belt wheel 712 be connected including encoder main body 711 and with encoder main body 711.Encoder hold-in range 720 connects to be compiled
Code device belt wheel 712 and drive pulley 300.When drive pulley 300 rotates, encoder hold-in range 720 drives encoder belt wheel 712
Synchronous rotary, encoder main body 711 passes through to detect the rotary speed of encoder belt wheel 712 and position and then obtain drive pulley
300 with the rotary speed of power transmission shaft 400 and position.
Because the load of encoder hold-in range 720 is less, its flexibility is less, enables to drive pulley 300 and encoder
Belt wheel 712 keeps synchronous rotary, thus improve the accuracy of detection to drive pulley 300 rotating speed and position for the encoder main body 711.
Specifically in the present embodiment, motor 100 includes motor body 110 and the electricity being connected with motor body 110
Machine belt wheel 120.Electrical machine belt pulley 120 is connected with drive pulley 300 by motor synchronous belt 200, and it is same that motor 100 passes through motor
Step band 200 driving drive pulley 300 rotates.Now, motor synchronous belt 200 is directly connected with drive pulley 300, thus by motor
The power of belt wheel 120 output is transferred to drive pulley 300.The rotating speed of the drive pulley 300 being detected according to encoder main body 711
And positional information, the size of current of motor body 110 can be adjusted, thus changing the output speed of electrical machine belt pulley 120.
Specifically in the present embodiment, rotary joint 10 also includes panel (not shown).Panel and encoder main body 711
And motor body 110 is all connected with.Drive pulley 300 and the rotation of power transmission shaft 400 that encoder main body 711 can be detected
Velocity information sends in real time to panel, so that the size that panel passes through to adjust electric current in motor body 110 changes motor
The rotary speed of belt wheel 120, thus realize to the rotating speed of drive pulley 300 and power transmission shaft 400 and the real-time detection of position and tune
Section.
In conjunction with shown in Fig. 3 and Fig. 4, in another embodiment, rotary joint 10 is also included located at motor synchronous belt 200 and biography
Reduction assemblies 800 between movable belt pulley 300, that is, motor synchronous belt 200 be connected with drive pulley 300 by reduction assemblies 800.Its
In, reduction assemblies 800 include decelerator 810 and deceleration synchronization band 820.Decelerator 810 includes rotating shaft (figure is not marked) and sets respectively
Be placed in the first runner 811 and second runner 812 at rotating shaft two ends, the first runner 811 with diameter greater than the second runner 812 and motor
The diameter of belt wheel 120.First runner 811 is connected with electrical machine belt pulley 120 by motor synchronous belt 200, and the second runner 812 passes through to subtract
Fast Timing Belt 820 is connected with drive pulley 300.
Because the first runner 811 is with diameter greater than the diameter of the second runner 812 and electrical machine belt pulley 120, so that motor
The rotating speed of belt wheel 120, in the case of change is less, is realized the quick reduction of the rotating speed of drive pulley 300, and then is realized second
The quick change of turning arm 600 athletic posture.
It is pointed out that in other embodiments, decelerator 810 and deceleration synchronization band 820 are multiple, multiple decelerations
Device 810 is connected by deceleration synchronization band 820, to realize the multi-stage speed-reducing of drive pulley 300.Specifically, two adjacent decelerations
In device 810, the second one of runner 812 and the first runner 811 of another decelerator 810 pass through deceleration synchronization band 820 even
Connect.The rotating speed being exported by electrode belt wheel can be carried out multistage reduction by multiple decelerators 810.
Referring again to shown in Fig. 1 and Fig. 2, specifically in the present embodiment, rotary joint 10 also includes bearing 910, bearing 910
It is sheathed on power transmission shaft 400, and be located between power transmission shaft 400 and first rotating arm 500, so that power transmission shaft 400 relatively first rotation
Pivoted arm 500 rotates.The side of first rotating arm 500 is provided with bearing block 920.Bearing block 920 is connected with first rotating arm 500, and
Abut with bearing 910, to prevent bearing 910 landing between power transmission shaft 400 and first rotating arm 500.Specifically, bearing 910
For two, two bearings 910 are radial ball bearing.
In the present embodiment, drive pulley 300 and power transmission shaft 400 are hollow structure.Electric connection line can be arranged in biography
Moving axis 400 and drive pulley 300, realize the flexible cabling of rotary joint 10.
Specifically, first rotating arm 500 and the second turning arm 600 are hollow structure.Encoder 710 and motor
100 can be placed in first rotating arm 500, to prevent from being exposed in the air impact service life.Electric connection line can house
In the second turning arm 600, and be arranged in power transmission shaft 400 and drive pulley 300, so with motor 100 and encoder 710 etc.
Components and parts connect.
It is pointed out that in other embodiments, first rotating arm 500 and the second turning arm 600 can omit, and only need
Power transmission shaft 400 to be passed through realizes power output.In addition, motor 100 may be replaced by other can drive transmission
The power source device of belt wheel 300 rotation.
In above-mentioned rotary joint 10, by encoder hold-in range will be passed through between encoder belt wheel 712 and drive pulley 300
720 connections, and then make the drive pulley 300 of rotation drive encoder belt wheel 712 to rotate by encoder hold-in range 720, thus
Encoder main body 711 is made to draw turning of drive pulley 300 and power transmission shaft 400 by the rotating speed of encoder belt wheel 712 and position
Speed and positional information, and then realize to drive pulley 300 and the rotating speed of power transmission shaft 400 and the detection of positional information.Simultaneously as
The load of encoder hold-in range 720 is less, and its flexibility is less, enables to drive pulley 300 and keeps same with encoder belt wheel 712
Step rotation, and then improve encoder main body 711 to the accuracy of detection of drive pulley 300 rotating speed and positional information so that rotating
The closed-loop control precision in joint 10 is improved.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, some deformation can also be made and improve, these broadly fall into
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (10)
1. a kind of rotary joint is it is characterised in that include：
Power transmission shaft；
Drive pulley, is fixed on described power transmission shaft, and described drive pulley rotation, to drive described power transmission shaft synchronous rotary；And
Detection components, including encoder and encoder hold-in range, described encoder include encoder main body and with described encoder
The encoder belt wheel that main body is connected, described encoder hold-in range connects described encoder belt wheel and described drive pulley；
Wherein, described drive pulley passes through the described encoder belt wheel rotation of described encoder hold-in range driving, described encoder master
Body can be by detecting the rotating speed of described encoder belt wheel and positional information obtains described drive pulley and described power transmission shaft
Rotating speed and positional information.
2. rotary joint according to claim 1 is it is characterised in that described drive pulley and described power transmission shaft are hollow
Structure.
3. rotary joint according to claim 1 is it is characterised in that also including motor and motor synchronous belt, described
Motor includes motor body and the electrical machine belt pulley being connected with described motor body, and described electrical machine belt pulley passes through described motor
Timing Belt is connected with described drive pulley, and described motor passes through described motor synchronous belt and drives described drive pulley rotation.
4. rotary joint according to claim 3 is it is characterised in that also include located at described motor synchronous belt and described biography
Reduction assemblies between movable belt pulley, described reduction assemblies include decelerator and deceleration synchronization band, described decelerator include rotating shaft and
Be respectively arranged at the first runner and second runner at described rotating shaft two ends, described first runner with diameter greater than described second runner
Diameter, described first runner is connected with described electrical machine belt pulley by described motor synchronous belt, and described second runner passes through described
Deceleration synchronization band is connected with described drive pulley.
5. rotary joint according to claim 4 it is characterised in that described decelerator and described deceleration synchronization band be many
Individual, multiple described decelerators are connected by described deceleration synchronization band, to realize the multi-stage speed-reducing of described drive pulley.
6. rotary joint according to claim 3 is it is characterised in that also include panel, described panel and described volume
Code device main body and described motor body are all connected with, the described drive pulley that described encoder main body can be detected and described
The rotating speed data of power transmission shaft sends to described panel, so that described panel passes through to adjust electricity in described motor body
The rotary speed to change described electrical machine belt pulley for the size of stream.
7. rotary joint according to claim 1 is it is characterised in that also include first rotating arm and the second turning arm, institute
State power transmission shaft and be arranged in described first rotating arm, and described power transmission shaft is fixed on described second away from one end of described drive pulley
On turning arm, described drive pulley drives relatively described first rotation of described second turning arm by driving described power transmission shaft rotation
Pivoted arm rotates, and described encoder is fixed on described first rotating arm.
8., it is characterised in that also including bearing, described bearing holder (housing, cover) is located at described biography for rotary joint according to claim 7
On moving axis, and it is located between described power transmission shaft and described first rotating arm, so that the relatively described first rotating arm of described power transmission shaft
Rotation.
9. rotary joint according to claim 7 is it is characterised in that described first rotating arm is equal with described second turning arm
For hollow structure.
10. rotary joint according to claim 9 is it is characterised in that described rotary joint includes motor and motor
Timing Belt, described motor passes through described motor synchronous belt and drives described drive pulley rotation, and described motor is placed in
In described first rotating arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620712146.3U CN205997003U (en) | 2016-07-07 | 2016-07-07 | Rotary joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620712146.3U CN205997003U (en) | 2016-07-07 | 2016-07-07 | Rotary joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205997003U true CN205997003U (en) | 2017-03-08 |
Family
ID=58201039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620712146.3U Active CN205997003U (en) | 2016-07-07 | 2016-07-07 | Rotary joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205997003U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877504A (en) * | 2017-11-22 | 2018-04-06 | 深圳市越疆科技有限公司 | Modular deceleration device and planar multiple-articulation robot |
| CN108356793A (en) * | 2017-11-22 | 2018-08-03 | 深圳市越疆科技有限公司 | Eccentric speed reduction device and planar multiple-articulation robot |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
-
2016
- 2016-07-07 CN CN201620712146.3U patent/CN205997003U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877504A (en) * | 2017-11-22 | 2018-04-06 | 深圳市越疆科技有限公司 | Modular deceleration device and planar multiple-articulation robot |
| CN108356793A (en) * | 2017-11-22 | 2018-08-03 | 深圳市越疆科技有限公司 | Eccentric speed reduction device and planar multiple-articulation robot |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |