CN206406083U - A kind of single shaft Two dimension of freedom robot joint - Google Patents

A kind of single shaft Two dimension of freedom robot joint Download PDF

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Publication number
CN206406083U
CN206406083U CN201720040561.3U CN201720040561U CN206406083U CN 206406083 U CN206406083 U CN 206406083U CN 201720040561 U CN201720040561 U CN 201720040561U CN 206406083 U CN206406083 U CN 206406083U
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China
Prior art keywords
motor
joint
main shaft
dimension
joint main
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Withdrawn - After Issue
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CN201720040561.3U
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Chinese (zh)
Inventor
周乐来
李贻斌
柴汇
荣学文
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Shandong University
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Shandong University
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Priority to CN201720040561.3U priority Critical patent/CN206406083U/en
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Withdrawn - After Issue legal-status Critical Current
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Abstract

A kind of single shaft Two dimension of freedom robot joint, including the first joint assembly and second joint assembly;First joint assembly includes the first motor, planetary reducer and the first joint main shaft, and the first joint main shaft is connected with the rotor of the first motor, and the input of planetary reducer is connected with the first joint main shaft;Second joint assembly includes the second motor, second joint main shaft and synchronizing jugged belt wheel, the output end connection of second motor housing and planetary reducer, second joint main shaft is connected with the rotor of the second motor, and synchronizing jugged belt wheel is fixedly installed on second joint main shaft.The robot joint structure is compact, realizes coaxial two-freedom, make full use of rimless straight drive torque motor output torque it is big, it is simple and compact for structure the advantages of, available for heavy-duty conduct oneself with dignity ratio cooperation humanoid robot, it can also be used to leg legged type robot.

Description

A kind of single shaft Two dimension of freedom robot joint
Technical field
The utility model is related to a kind of two-freedom degree joint for robot, belongs to robotic technology field.
Background technology
Articulated robot is one of most common industrial robot form, and joint is the important component of robot.Robot Volume, weight, output torque and the kinematic accuracy in joint, are the main determining factors of robot overall performance.Current machine Person joint, generally uses the less brshless DC motor of output torque.In order to obtain larger output torque, it usually needs configuration RV decelerators or harmonic speed reducer with larger speed reducing ratio.However, big retarding than transmission system reverse driving effect very Difference, makes robot poor to the force-sensing ability of environment, is not suitable for setting up cooperating industrial robot.
Chinese patent literature CN 104942822A are disclosed《A kind of two-freedom degree joint of robot for space》, pass through two Joint drive component and joint transmission component, realize the motion of joint two-freedom, by adjusting the rotating speed of two motors and turning Angle, realizes joint pitching, rotation, the three kinds of motions mode that both synthesize.But, the device uses multi-stage planetary gear reduction box And Bevel Gear Transmission, transmission mechanism is complex, and joint size and weight are larger.
Utility model content
The purpose of this utility model is the demand towards current cooperative humanoid robot, the rimless straight drive exported using high torque Torque motor is there is provided a kind of dynamic is good, output torque is big, simple and compact for structure, reverse driveability is good can realize list The joint of robot of axle two-freedom driving.
Single shaft Two dimension of freedom robot joint of the present utility model, is adopted the following technical scheme that:
The joint of robot, includes the first joint assembly and second joint assembly;First joint assembly includes the first driving Motor, planetary reducer and the first joint main shaft, the first joint main shaft are connected with the rotor of the first motor, planetary reducer Input be connected with the first joint main shaft;Second joint assembly includes the second motor, second joint main shaft and synchronous gear The output end connection of shape belt wheel, the second motor housing and planetary reducer, second joint main shaft and the second motor Rotor is connected, and synchronizing jugged belt wheel is fixedly installed on second joint main shaft.
First motor turns including the first motor housing, the first motor stator and the first motor Son, the first motor stator is arranged in the first motor shell.Hall is provided with the first motor stator Sensor.
First joint main shaft is supported in the first motor shell by bearing.
The planetary reducer includes decelerator shell, sun gear, planetary gear, planet carrier and ring gear, and sun gear is solid Dingan County is on the first joint main shaft, and three planetary gears are installed in planet carrier by needle bearing, and planet carrier is by planet carrier Bearing sleeve and planet carrier output sleeve are constituted, and planet carrier bearing sleeve is installed in the first motor housing by bearing, Planet carrier output sleeve is installed in decelerator shell by bearing, and ring gear is fixedly installed on the first motor housing, Three planetary gears are engaged with sun gear and ring gear simultaneously.
Second motor, including the second motor housing, the second motor stator and the second motor Rotor, the second motor stator is arranged in the second motor housing.It is provided with suddenly in the second motor stator That sensor.
The second joint main shaft is supported in the second motor housing by bearing.
The first motor in first joint assembly drives the first joint main axis, and the first joint main shaft drives planet Reductor is rotated, and planetary reducer output end drives the second motor to rotate, so that second joint assembly is relative to first Joint assembly is rotated.The second motor in second joint assembly is driven on second joint main axis, second joint main shaft Synchronizing jugged belt wheel concomitant rotation.
Robot joint structure of the present utility model is compact, realizes coaxial two-freedom, makes full use of rimless straight drive Torque motor output torque is big, it is simple and compact for structure the advantages of, the cooperation humanoid robot available for heavy-duty-deadweight ratio, it is also possible to In leg legged type robot.
Brief description of the drawings
Fig. 1 is the overall structure diagram in the utility model single shaft Two dimension of freedom robot joint.
Fig. 2 is the structural representation of the first joint assembly in the utility model.
Fig. 3 is the structural representation of second joint assembly in the utility model.
In figure:1st, the first motor casing, the 2, first motor case lid, 3, planetary reducer shell, 4, planet carrier Export sleeve, the 5, second motor case lid, the 6, second motor casing, the 7, first motor stator, the 8, first driving Rotor, the 9, first joint main shaft, 10, ball bearing, 11, planetary reducer ball bearing, 12, planet carrier bearing sleeve, 13rd, planetary reducer ring gear, 14, needle bearing 15, sun gear, 16, planetary gear, the 17, second motor stator, 18, Second motor rotor, 19, ball bearing, 20, second joint main shaft, 21, synchronizing jugged belt wheel.
Embodiment
Single shaft Two dimension of freedom robot articulation structure of the present utility model includes the first joint assembly and second joint assembly.
As depicted in figs. 1 and 2, the first joint assembly includes the first motor, planetary reducer and the first joint main shaft 9.First motor includes the first motor housing, the first motor stator 7 and the first motor rotor 8.First Motor housing includes the first motor casing 1 and the first motor case lid 2.First motor stator 7 is arranged on In first motor casing 1, compressed by the first motor case lid 2.It is provided with suddenly in first motor stator 7 That sensor.First motor rotor 8 is placed in the first motor stator 7, and is fixed by screws in the first joint master On axle 9.First joint main shaft 9 is supported on the first motor casing 1 and the first motor case by two ball bearings 10 On lid 2.Planetary reducer includes shell 3, sun gear 15, planetary gear 16, planet carrier and ring gear 13.Sun gear 15 fixes peace On the first joint main shaft 9, three planetary gears 16 are installed in planet carrier by three needle bearings 14, and planet carrier is by going Carrier bearing sleeve 12 and planet carrier output sleeve 4 are constituted, and planet carrier bearing sleeve 12 is installed on first by ball bearing 11 In motor case lid 2, planet carrier output sleeve 4 is installed in shell 3 by ball bearing.Ring gear 13 is fixedly installed in On one motor case lid 2.Three planetary gears 16 are engaged with sun gear 15 and ring gear 13 simultaneously.
As shown in figures 1 and 3, second joint assembly includes the second motor, second joint main shaft 20 and synchronizing jugged Belt wheel 21.Second motor includes the second motor housing, the second motor stator 17 and the second motor rotor 18, the second motor housing includes the second motor case lid 5 and the second motor casing 6.Second motor stator 17 are arranged in the second motor casing 6, are compressed by the second motor case lid 5.Second motor stator 17 Inside it is provided with Hall sensor.Second motor rotor 18 is fixedly connected on second joint main shaft 20 by screw.Second Joint main shaft 20 is supported on the second motor casing 6 and the second motor case lid 5 by two ball bearings 19.It is synchronous Tooth form belt wheel 21 is fixedly installed on second joint main shaft 20.
Second motor case lid 5 links together with planet carrier output sleeve 4, makes the first joint assembly and second joint Assembly is rigidly connected.
The course of work in above-mentioned single shaft Two dimension of freedom robot joint is as described below.
The first motor rotor 8 in first joint assembly rotates according to control signal, drives 9 turns of the first joint main shaft It is dynamic, the concomitant rotation of sun gear 15.Sun gear 15 and three engaged transmissions of planetary gear 16, subtract in three planetary gears 16 and planet Under the engaged transmission of fast machine ring gear 13, the rotation after deceleration is exported by planet carrier output sleeve 4.Because planet carrier exports sleeve 4 and second are rigidly connected between motor case lid 5, so as to drive second joint assembly to be rotated relative to the first joint assembly. The second motor rotor 18 in second joint assembly rotates according to control signal, drives second joint main shaft 20 to rotate, the The concomitant rotation of synchronizing jugged belt wheel 21 on two joint main shafts 20.

Claims (8)

1. a kind of single shaft Two dimension of freedom robot joint, including the first joint assembly and second joint assembly;It is characterized in that:First Joint assembly includes the first motor, planetary reducer and the first joint main shaft, the first joint main shaft and the first motor Rotor connection, the input of planetary reducer is connected with the first joint main shaft;Second joint assembly include the second motor, The output end connection of second joint main shaft and synchronizing jugged belt wheel, the second motor housing and planetary reducer, second joint Main shaft is connected with the rotor of the second motor, and synchronizing jugged belt wheel is fixedly installed on second joint main shaft.
2. single shaft Two dimension of freedom robot joint according to claim 1, it is characterized in that:First motor includes First motor housing, the first motor stator and the first motor rotor, the first motor stator are arranged on the In one motor shell.
3. single shaft Two dimension of freedom robot joint according to claim 2, it is characterized in that:The first motor stator Inside it is provided with Hall sensor.
4. single shaft Two dimension of freedom robot joint according to claim 1, it is characterized in that:First joint main shaft passes through Bearing is supported in the first motor shell.
5. single shaft Two dimension of freedom robot joint according to claim 1, it is characterized in that:The planetary reducer includes subtracting Fast machine shell, sun gear, planetary gear, planet carrier and ring gear, sun gear are fixedly mounted on the first joint main shaft, three rows Star gear is installed in planet carrier by needle bearing, and planet carrier is made up of planet carrier bearing sleeve and planet carrier output sleeve, Planet carrier bearing sleeve is installed in the first motor housing by bearing, and planet carrier output sleeve is installed on by bearing to be subtracted In fast machine shell, ring gear is fixedly installed on the first motor housing, three planetary gears simultaneously with sun gear and internal tooth Circle engagement.
6. single shaft Two dimension of freedom robot joint according to claim 1, it is characterized in that:Second motor, bag The second motor housing, the second motor stator and the second motor rotor are included, the second motor stator is arranged on In second motor housing.
7. single shaft Two dimension of freedom robot joint according to claim 6, it is characterized in that:The second motor stator Inside it is provided with Hall sensor.
8. single shaft Two dimension of freedom robot joint according to claim 1, it is characterized in that:The second joint main shaft passes through Bearing is supported in the second motor housing.
CN201720040561.3U 2017-01-13 2017-01-13 A kind of single shaft Two dimension of freedom robot joint Withdrawn - After Issue CN206406083U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720040561.3U CN206406083U (en) 2017-01-13 2017-01-13 A kind of single shaft Two dimension of freedom robot joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720040561.3U CN206406083U (en) 2017-01-13 2017-01-13 A kind of single shaft Two dimension of freedom robot joint

Publications (1)

Publication Number Publication Date
CN206406083U true CN206406083U (en) 2017-08-15

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Application Number Title Priority Date Filing Date
CN201720040561.3U Withdrawn - After Issue CN206406083U (en) 2017-01-13 2017-01-13 A kind of single shaft Two dimension of freedom robot joint

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514702A (en) * 2017-01-13 2017-03-22 山东大学 Single shaft and two-degree-of-freedom robot joint
CN107953325A (en) * 2018-01-10 2018-04-24 北京化工大学 A kind of snake-shaped robot articulation mechanism of hard and soft integral stiffness variable
WO2023116423A1 (en) * 2021-12-23 2023-06-29 Oppo广东移动通信有限公司 Motor and electronic device
CN117856527A (en) * 2024-03-07 2024-04-09 深圳市盛泰奇科技有限公司 Large-torque frameless motor for humanoid robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514702A (en) * 2017-01-13 2017-03-22 山东大学 Single shaft and two-degree-of-freedom robot joint
CN107953325A (en) * 2018-01-10 2018-04-24 北京化工大学 A kind of snake-shaped robot articulation mechanism of hard and soft integral stiffness variable
WO2023116423A1 (en) * 2021-12-23 2023-06-29 Oppo广东移动通信有限公司 Motor and electronic device
CN117856527A (en) * 2024-03-07 2024-04-09 深圳市盛泰奇科技有限公司 Large-torque frameless motor for humanoid robot

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Granted publication date: 20170815

Effective date of abandoning: 20180925

AV01 Patent right actively abandoned