CN207139841U - A kind of hollow type controls integral intelligent modularized joint - Google Patents

Abstract

It the utility model is related to a kind of hollow type and control integral intelligent modularized joint, including shell, incremental encoder, absolute value encoder, brake apparatus, harmonic speed reducer, motor output shaft, output flange, control device, left end cap and it is hollow walk spool, it is characterized in that the joint also includes hollow rimless torque motor, the control device, incremental encoder, brake apparatus, hollow rimless torque motor, harmonic speed reducer, absolute value encoder is sequentially sleeved on motor output shaft and output flange respectively, and output flange, shell and left end cap form confined space, installation incremental encoder in the confined space, absolute value encoder, hollow rimless torque motor, brake apparatus, harmonic speed reducer, motor output shaft, control device and it is hollow walk spool；It is described it is hollow walk spool be applied among the inner chamber of output flange, the flexbile gear of harmonic speed reducer, firm gear, wave producer and motor output shaft.

Description

A kind of hollow type controls integral intelligent modularized joint

Technical field

The utility model is applied to modular mechanical arm technical field, and specifically a kind of hollow type controls integrated intelligence Can modularized joint.

Background technology

Up to the present, mechanical arm both domestic and external be all traditional mode mechanical arm, volume ratio is huger, assembling and Dismounting is more troublesome, and either in service industry or industrial robot, nowadays the requirement to mechanical arm is more and more stricter, and one Aspect needs enough flexibilities and reliability, and on the other hand, assembling needs safe and convenient, repeats assembly and disassembly, knot Structure is compact, in addition, the new specific requirement proposed for some particular applications to the mode of cabling, such as in mechanical arm shell Do not allow cable occur on 1, influence attractive in appearance.For this technical problem, the mode of hollow cabling have developed both at home and abroad, but this Kind mode can improve cost to a certain extent, because the size of the diameter of axle causes the selection of many components to have limitation, patent Document is " although a kind of hollow module joints that are related to of hollow intelligent modularized joint CN 104416579A " are using passing through flange And cage connection, compact-sized, connection is reliable, but overall weight is larger, the complex structural designs of brake apparatus, passes through tooth The torque that wheel transmission needs is larger, and the mode of disassembling and assembling machine is complex, and output flange does not have harmonic decelerator to be directly connected to, Therefore drive gap is produced, brake apparatus and incremental encoder bias, and cause gap larger by gear drive, except this it Outside, the joint of the modularized joint is separate type, adds difficulty in location structure design, does not have Hall component, harmonic wave Wave producer does not have axially position so that total is unstable in the running.

Utility model content

In view of the above-mentioned problems, technical problem to be solved in the utility model is：A kind of hollow type is provided and controls integration Intelligent modularized joint.The hollow type controls integral intelligent modularized joint and solves chaotic outside cabling, easy kinking, quality With the problems such as volume is big, the degree of modularity is not high, custom hardware is not required to, effectively reduces cost.

The utility model solves the technical scheme that the technical problem uses：A kind of hollow type is provided and controls integrated intelligence Can modularized joint, including shell, incremental encoder, absolute value encoder, brake apparatus, harmonic speed reducer, motor output shaft, Output flange, control device, left end cap and it is hollow walk spool, it is characterised in that the joint also includes hollow rimless torque motor, The control device, incremental encoder, brake apparatus, hollow rimless torque motor, harmonic speed reducer, absolute value encoder difference It is sequentially sleeved on motor output shaft and output flange, and output flange, shell and left end cap form confined space, the confined air Interior installation incremental encoder, absolute value encoder, hollow rimless torque motor, brake apparatus, harmonic speed reducer, motor output Axle, control device and it is hollow walk spool；It is described it is hollow walk spool be applied in output flange, the flexbile gear of harmonic speed reducer, firm gear, ripple Among the inner chamber of generator and motor output shaft, wherein it is described it is hollow walk spool left end be connected by screw in electromagnet install On portable plate right side, the right-hand member of the electromagnet installation activity plate is connected by single head hexagonal copper post with active plate；Control Device processed controls the action of each part；

The enclosure is radially from left to right sequentially provided with the first round platform projection along shell and the second round platform is raised, and second Round platform projection is provided with crescent hole, and electromagnet installation activity plate, the first round platform are raised and the second round platform projection is empty by enclosure Between be divided into four cavitys, be from left to right followed successively by the first cavity, the second cavity, the 3rd cavity and the 4th cavity；

The motor output shaft includes the level Four shaft shoulder, be from left to right followed successively by first shaft shoulder, second shaft shoulder, the 3rd shaft shoulder and 4th shaft shoulder, the right-hand member of motor output shaft is provided with boss；

The active plate edge is connected by screw with the first round platform projection on shell；In active plate and electricity Deep groove ball bearing, second shaft shoulder that the deep groove ball bearing right side passes through motor output shaft are installed in the gap between machine output shaft Positioning, passes on left active plate and is positioned；

The brake apparatus includes brake disc and passage formula electromagnet, and brake disc and incremental encoder are installed in and be located at On motor output shaft in second cavity, brake disc is arranged on motor output shaft left end；The incremental encoder includes increment Formula encoder code disc and incremental encoder brush, incremental encoder code-disc are connected on motor output shaft by jackscrew, institute The right side of incremental encoder code-disc and the first axle shoulder of motor output shaft are stated into axially position, the incremental encoder electricity Brush is connected on active plate；

The hollow rimless torque motor is located in the 3rd cavity, and hollow rimless torque motor passes through on motor output shaft 4th shaft shoulder and active plate are fixed, and the hollow rimless torque motor includes rotor, motor stator and Hall, institute The inside that motor stator is located at rotor is stated, the Hall is installed on motor stator, and it is defeated that the rotor is stuck in motor On 3rd shaft shoulder of shaft, and connected by the 4th shaft shoulder of screw and motor output shaft；The side of the motor stator passes through Active plate carries out axially position；

The harmonic speed reducer, absolute value encoder code-disc and absolute value encoder brush may be contained within the 4th cavity, The motor output shaft is connected by the boss of right-hand member and the wave producer of harmonic speed reducer, and harmonic speed reducer is positioned, The wave producer of harmonic speed reducer carries out axially position by locating flange simultaneously；On the flexbile gear and shell of harmonic speed reducer Two round platforms project through mode connects for screw, and form axially position, and the firm gear of harmonic speed reducer is connected with output flange, export method Blue right-hand member connects next joint；Angular contact bearing is installed between output flange and locating flange, angular contact bearing it is inside and outside Circle is positioned by locating flange and output flange respectively；Absolute value encoder code-disc is attached with output flange, definitely Value encoder brush is connected by screw with the otic placode welded on shell；

The control device includes modular event driven device and pcb board, and modular event driven device is located in the first cavity, described Modular event driven device is arranged on electromagnet installation activity plate, and modular event driven device is connected with pcb board, is connected with this joint The cable drawn in next joint by it is hollow walk spool be connected with the modular event driven device in this joint.

Compared with prior art, the beneficial effects of the utility model are：

The utility model modularized joint structure design is compact, and hollow cabling reduces the complexity that cable collects, and avoids To the influence of cable during joint motions, there is very high flexibility, modularized design can be assembled more easily.

The substantive distinguishing features of protrusion of the present utility model are：

1) harmonic speed reducer in the utility model joint is directly connected with output flange, and drive gap is smaller, and transmission is compact；

2) shell in the utility model joint is stamped with left end is located by connecting, and left end, which is stamped round platform projection, can form axial direction Positioning, electromagnet installation activity plate are connected with active plate by single head hexagonal copper post, and L is presented in electromagnet installation activity plate Type, passage formula electromagnet are arranged on the transverse slat of electromagnet installation activity plate, and the brake disc is arranged on motor output shaft most Left side, this reduces the space of brake apparatus；It is described it is hollow walk spool one end be arranged on electromagnet installation activity On plate, and play the axially position to hollow cabling pipe and circumferentially positioned effect, it is hollow walk spool both ends O-ring seal rise To the effect of double end sealing.Incremental encoder is arranged on first shaft shoulder of motor output shaft, the flexible connection by jackscrew Plate is axially tightened motor stator by screw thread and forms axially position, and the Hall is arranged on the middle-end of motor stator, improves commutation Speed, improve the accuracy of current feedback, the rotor is connected by screw on the 3rd shaft shoulder of motor output shaft Reach axial and circumferential positioning, the outer ring of bilateral seal deep groove ball bearing (deep groove ball bearing) passes through with active plate axial direction admittedly Surely sealed, its inner ring carries out axially position by the shaft shoulder of motor output shaft, and the flexbile gear of harmonic speed reducer is connected by screw thread Connect and lead to the raised progress axial and circumferential positioning of the round platform of outer casing inner wall, the wave producer of the locating flange and harmonic speed reducer Cross mode connects for screw and form axially position, the outer ring of double containment angular contact bearing is close by being connected axially connection progress with output flange Envelope, for its inner ring by forming axially position with locating flange, the code-disc of the absolute value encoder passes through screw thread and output flange Axially connection, and then form axial and circumferential positioning；

3) cabling mode：The cable of absolute value encoder brush from the crescent hole in the second round platform projection of outer casing inner wall again By the hollow hole of active plate, it is connected to along the inwall of shell by electromagnet installation activity plate on modular event driven device, The cable of motor stator is connected to modular event driven along wall by the hollow hole of active plate by electromagnet installation activity plate On device, the cable in a upper joint by it is hollow walk spool be connected on modular event driven device, the modularizations of all composition mechanical arms The cable in joint is connected by the form of this series connection, and the cable of last modularized joint is connected to peripheral control unit On；

4) the utility model joint designs are integral type shell, are easy to process, and sealing is preferable, can more embody modularization Characteristic, mechanical arm that can be with modularization assembling into any axle；

5) the utility model joint passes through incremental encoder and absolute value encoder respectively by the way of Dual-encoder Come measurement motor angle and connecting rod (mechanical arm) angle；

6) there is the spacing structure design of electricity in the utility model joint, and the brake apparatus is using brake disc and passage formula electromagnetism The combination of iron, the copper post of electromagnet is retracted during energization, and the copper post that formula electromagnet is elapsed without limit function, during power-off is stretched Go out, limitation brake disc is in certain angle range of motion；The brake apparatus is different from traditional brake, takes up space small, dissipates Hot fast, cost is low.

Brief description of the drawings

Fig. 1 is the half section schematic that the utility model hollow type controls integral intelligent modularized joint；

Fig. 2 is 1/4 cross section structure diagram that the utility model hollow type controls integral intelligent modularized joint；

Fig. 3 is the external structure schematic diagram that the utility model hollow type controls integral intelligent modularized joint；

Fig. 4 is the internal structure schematic diagram for the shell 1 that the utility model hollow type controls integral intelligent modularized joint；

Fig. 5 is the internal structure schematic perspective view that the utility model hollow type controls integral intelligent modularized joint；

Fig. 6 is the sectional structure for the active plate 5 that the utility model hollow type controls integral intelligent modularized joint Schematic diagram；

Fig. 7 is the plan structure for the active plate 5 that the utility model hollow type controls integral intelligent modularized joint Schematic diagram；

Fig. 8 is the vertical of the electromagnet installation activity plate 3 that the utility model hollow type controls integral intelligent modularized joint Body structural representation；

Fig. 9 is cuing open for the electromagnet installation activity plate 3 that the utility model hollow type controls integral intelligent modularized joint Depending on structural representation；

Figure 10 is the assembly structure diagram that two hollow types of the utility model control integral intelligent modularized joint；

Figure 11 is the stereochemical structure for the output flange 10 that the utility model hollow type controls integral intelligent modularized joint Schematic diagram；

Figure 12 is the sectional structure for the output flange 10 that the utility model hollow type controls integral intelligent modularized joint Schematic diagram；

Figure 13 is the three-dimensional knot for the motor output shaft 24 that the utility model hollow type controls integral intelligent modularized joint Structure schematic diagram；

Figure 14 is the section view knot for the motor output shaft 24 that the utility model hollow type controls integral intelligent modularized joint Structure schematic diagram；

Figure 15 is that the stereochemical structure for the brake disc 23 that the utility model hollow type controls integral intelligent modularized joint is shown It is intended to；

In figure：1 shell, 2 pcb boards, 3 electromagnet installation activity plates, 4 single head hexagonal copper posts, 5 active plates, 6 motors Rotor, 7 motor stators, 8 flexbile gears, 9 wave producers, 10 output flanges, 11 angular contact bearings, 12, locating flange, 13 absolute values are compiled Code device code-disc, 14 absolute value encoder brushes, 15 otic placodes, 16 firm gears, 17 deep groove ball bearings, 18 incremental encoder code-discs, 19 Incremental encoder brush, 20 passage formula electromagnet, 21 modular event driven devices, 22 left end caps, 23 brake discs, the output of 24 motors Axle, 25 it is hollow walk spool, 26 first O-ring seals, 27 second O-ring seals, 101 first round platforms are raised, and 102 second round platforms are convex Rise, 103 crescent holes, 2301 fixed pedestals, 2302 disk teeth, 2,401 first shaft shoulders, 2,402 second shaft shoulders, 2403 the 3rd shaft shoulders, 2404 the 4th shaft shoulders, 2405 boss, 1001 first flange round platforms are raised, and 1002 second flange round platforms are raised, 501 hollow holes, and 502 Neck, 503 central through holes.

Embodiment

Utility model is further discussed below with reference to embodiment and its accompanying drawing, but is not wanted in this, as to the application right Ask the restriction of protection domain.

The utility model hollow type controls integral intelligent modularized joint (abbreviation joint or modularized joint, referring to figure 1-12) include shell 1, incremental encoder, absolute value encoder, hollow rimless torque motor, brake apparatus, harmonic speed reducer, Motor output shaft 24, output flange 10, control device, left end cap 22 and it is hollow walk spool 25, the control device, incremental encoding Device, brake apparatus, hollow rimless torque motor, harmonic speed reducer, absolute value encoder are sequentially sleeved in motor output shaft 24 respectively And on output flange 10, and output flange 10, shell 1 and left end cap 22 form confined space, install and increase in the confined space Measure encoder, absolute value encoder, hollow rimless torque motor, brake apparatus, harmonic speed reducer, motor output shaft 24, control Device and it is hollow walk spool 25；It is described it is hollow walk spool 25 be applied in output flange 10, the flexbile gear 8 of harmonic speed reducer, firm gear 16, Among the inner chamber of wave producer 9 and motor output shaft 24, wherein it is described it is hollow walk spool 25 left end be connected by screw in electricity On the right side of magnet installation activity plate 3, the right-hand member of the electromagnet installation activity plate 3 is connected by single head hexagonal copper post 4 and activity Fishplate bar 5 connects；Control device controls the action of each part；

The shell 1 (referring to Fig. 4) is internal to be radially from left to right sequentially provided with the first round platform projection 101 and second along shell Round platform projection 102, the second round platform projection 102 are provided with crescent hole 103, electromagnet installation activity plate 3, the first round platform projection 101 Housing interior volume is divided into four cavitys with the second round platform projection 102, be from left to right followed successively by the first cavity, the second cavity, 3rd cavity and the 4th cavity；

The motor output shaft 24 (referring to Figure 13 and Figure 14) includes the level Four shaft shoulder, is from left to right followed successively by first shaft shoulder 2401st, second shaft shoulder 2402, the 3rd shaft shoulder 2403 and the 4th shaft shoulder 2404, the right-hand member of motor output shaft is provided with boss 2405；

The output flange 10 (referring to Figure 11 and Figure 12) includes two-stage flange round platform projection, is from left to right first flange Round platform projection 1001 and second flange round platform projection 1002；

The electromagnet installation activity plate 3 (referring to Fig. 8 and Fig. 9) is made up of transverse slat 301 and riser 302, the transverse slat edge The length direction in joint is fixed on riser, is installed passage formula electromagnet 20 by screw on transverse slat 301, is fixed on riser 302 Modular event driven device 21；The riser is shape structure in four/March, can easily operate brake disc 23, all cables It is connected to being passed through from the space position of electromagnet installation activity plate 3 on described the corresponding interface of modular event driven device 21；

The active plate 5 (referring to Fig. 6 and Fig. 7) is provided with neck 502, hollow hole 501 and central through hole 503, engraves Emptying aperture 501 is used for cabling, central through hole be used for through it is hollow walk spool and fixed deep groove ball bearing, neck be used for fixed increment formula Encoder brush 19；The edge of active plate 5 is connected by screw with the first round platform projection 101 on shell 1, is risen simultaneously To the effect of positioning；Deep groove ball bearing 17, the deep-groove ball are installed in the gap between active plate 5 and motor output shaft The right side of bearing 17 is positioned by second shaft shoulder 2402 of motor output shaft 24, is passed on left active plate 5 and is positioned, described Deep groove ball bearing 17 plays a part of centering；

The brake apparatus includes brake disc 23 and passage formula electromagnet 20, and brake disc 23 and incremental encoder are respectively mounted On the motor output shaft 24 in the second cavity, brake disc 23 is arranged on the left end of motor output shaft 24 by screw, in electricity With rotating with it when machine operates；The incremental encoder includes incremental encoder code-disc 18 and incremental encoder brush 19, incremental encoder code-disc 18 is connected on motor output shaft 24 by the jackscrew of itself, the incremental encoder code-disc 18 right side forms axially position with first shaft shoulder 2401 of motor output shaft 24, and the incremental encoder brush 19 passes through spiral shell Nail is connected on active plate 5 and snapped into the neck 502 of active plate 5；

The hollow rimless torque motor is located in the 3rd cavity, and hollow rimless torque motor passes through on motor output shaft 24 The 4th shaft shoulder 2404 and active plate 5 fix, the hollow rimless torque motor is by rotor 6 and motor stator 7th, Hall is formed, and the motor stator 7 is located at the inside of rotor 6, and the Hall is installed on motor stator 7, the electricity Machine rotor 6 is stuck on the 3rd shaft shoulder 2403 of motor output shaft 24, and passes through screw and the 4th shaft shoulder of motor output shaft 24 2404 connections；The side of the motor stator 7 carries out axially position by active plate 5；

The harmonic speed reducer, absolute value encoder code-disc and absolute value encoder brush may be contained within the 4th cavity, The motor output shaft 24 is connected by the boss 2405 of right-hand member with the wave producer 9 of harmonic speed reducer, and harmonic speed reducer is entered Row positioning, while the wave producer 9 of harmonic speed reducer carries out axially position by locating flange 12；The flexbile gear 8 of harmonic speed reducer Be connected by screw with the second round platform projection 102 on shell 1, and form axially position, the firm gear 16 of harmonic speed reducer with Raised 1001 mode connects for screw of the first flange round platform of output flange 10, the right-hand member of output flange are connected by screw next joint； Angular contact bearing 11 is installed between output flange and locating flange, the inside and outside circle of angular contact bearing 11 passes through positioning mode respectively Orchid 12 and output flange 10 are positioned；Absolute value encoder code-disc 13 passes through screw and the second flange round platform of output flange 10 Projection 1002 is attached, and absolute value encoder brush 14 is connected by screw with the otic placode 15 welded on shell 1；

The control device includes modular event driven device 21 and pcb board 2, and modular event driven device 21 is located in the first cavity Interior, the modular event driven device 21 is arranged on electromagnet installation activity plate 3, and modular event driven device 21 is connected with pcb board 2, The cable drawn in the next joint being connected with this joint by it is hollow walk spool 25 and this joint modular event driven device 21 Connection；Modular event driven device 21 is used to drive hollow rimless torque motor action, and corresponding control circuit is integrated with pcb board, Realize the control to joint；

The passage formula electromagnet 20 is connected by screw on electromagnet installation activity plate 3, and formula electricity is elapsed when being powered The copper post of magnet 20 is in retracted mode, and in the event of a power failure, the copper post of passage formula electromagnet 20 is in stretching state, is formed Mechanical position limitation, so as to reach braking effect, this brake apparatus radiating is very fast；

The active plate 5 and electromagnet mounting plate 3 are hollow outs.

It is above-mentioned it is hollow walk spool and the junction of locating flange 12 and electromagnet installation activity plate and it is hollow walk spool company The place of connecing is provided with sealing ring, the second O-ring seal 27 be used to connecting it is hollow walk spool 25 and locating flange 12, first is O-shaped close Seal I26 be used for electromagnet installation activity plate 3 with it is hollow walk spool be connected.

The signal wire drawn in the next joint being connected with this joint is passed through in end output flange 10 with power line Heart hole, by it is hollow walk spool 25, be connected to through electromagnet installation activity plate 3 on the corresponding interface of modular event driven device 21；Absolutely The SSI signal wires of value encoder are fixed along shell 1, and pass through the crescent hole in the second round platform projection 102 on outer casing inner wall 103 with the active plate 5 of hollow out, around electromagnet installation activity plate 3, be connected to the corresponding interface of modular event driven device 21 On；The connecting line of motor stator 7 is fixed with HALL sensor signal lines along shell 1, and passes through the active plate 5 of hollow out, around Electromagnet installation activity plate 3 is crossed, is connected on the corresponding interface of modular event driven device 21.

Harmonic speed reducer is directly connected to output flange 10 in the utility model, the wave producer 9 of the harmonic speed reducer Right side is positioned by locating flange 12, can effectively reduce drive gap；Absolute value encoder is directly installed on output method On orchid 10, and brake apparatus and incremental encoder are co-axially mounted with motor output shaft, reduce gap, and the application shell is Integral structure, inside is comprising modular event driven device and pcb board can be realized and control integration, and positioning method is simple, hollow nothing Hall element is installed, and wave producer realizes axially position on frame torque motor so that whole joint operating is stable.With this pass Save in next joint of connection the cable drawn by it is hollow walk spool 25 be connected with this joint moduleization driver 21, this pass The cable of each component is saved by the crescent hole and engraved structure of intra-articular setting, modular event driven device 21 is connected to and connects accordingly Mouthful, realize each joint serial communication.The modularized joint structure design is compact, and hollow cabling reduces the complexity that cable collects Property, avoid, due to joint motions and to the influence of cable, there is very high flexibility, modularized design can be more convenient group Dress.

Brake disc 23 described in the utility model is Magen David structure, and the brake disc 3 (referring to Figure 15) includes fixed base Seat 2301 can effectively and stably realize barrier effect with six mutually isostructural disk teeth 2302, disk tooth 2302；Six disk teeth 2302 are evenly distributed on the cylindrical side of fixed pedestal centered on fixed pedestal, each disk tooth from fixed pedestal connection end to Disk tooth end, disk tooth width are gradually reduced；The end both sides of disk tooth are symmetrically arranged with V-type groove；The fixed pedestal is bottom The cylinder type of capping, fixed pedestal bottom are directly fixed with the left end of motor output shaft；In braking, passage formula electromagnet 20 Copper post can be stuck in V-type groove just, prevent the copper post end of passage formula electromagnet 20 from radial slippage occurs with respect to disk tooth and leads Cause brake fade；Electromagnet installation activity plate section is L-shaped.

The operation principle in the utility model joint is：By peripheral control unit drive module driver, modular event driven device Hollow rimless torque motor is connected, and then controls hollow rimless torque motor action.Harmonic speed reducer is used for hollow rimless torque The deceleration of motor, harmonic speed reducer connection output flange, output flange connect next joint.Incremental encoder is used for speed closed loop Feedback, feeds back to modular event driven device by the speed parameter of motor, so as to show and operate on computers.Absolute value encoder is used Fed back in position closed loop, the outgoing position of output flange is fed back into modular event driven device, so as to show and feed back on computers.

Specific work process is as follows：Modular event driven device receives instruction, and it is powered by 48V dc sources, modular event driven Device by three U V W lines connect hollow rimless torque motor, powered to hollow rimless torque motor and control hollow rimless power Torque motor works；Hollow rimless torque motor is connected harmonic speed reducer by output flange 10 with motor output shaft 24, and harmonic wave subtracts Fast device can play a part of high speed reducing ratio and slow down and increase output torque, harmonic speed reducer connection output flange, output flange Connect next joint.

Incremental encoder is powered by modular event driven device, and the speed closed loop for servo-control system feeds back, can Give the real-time speed parameter feedback of hollow rimless torque motor to modular event driven device, modular event driven device 21 is by speed data Pass, hollow rimless torque motor motion conditions are judged, and make a policy, with PID control principle, to hollow rimless power Torque motor motion conditions are controlled in real time.

The position closed loop that absolute value encoder is used for servo-control system feeds back, and is the output of output flange 10 by load end Angular position feedback gives modular event driven device, and modular event driven device uploads position data, and the situation of load end is carried out Judge, and make a policy, so as to improve positional precision.

Utilize absolute value encoder and the relative position relation of incremental encoder, and the electricity of hollow rimless torque motor Situation of change is flowed, the stress of load end can timely perceive and feed back, to a certain extent moment of torsion can be replaced to pass The effect of sensor, realize the perception of load end power so that load end can carry out force-location mix control in motion.It is described hollow Formula controls integral intelligent modularized joint to control integral joint, is filled simultaneously equipped with drive device and control in this joint Put, wherein drive device mainly includes hollow rimless torque motor, and control device includes modular event driven device and pcb board.

Embodiment 1

The joint overall dimension of the present embodiment Preliminary design is diameter 100mm, long 145mm, and maximum nominal torque is 16.7Nm, the external diameter of DC servo motor are 60mm, maximum rated torque 319mN.m, and the external diameter of harmonic speed reducer is 80mm, speed reducing ratio 1：100, harmonic speed reducer maximum output torque is 20N.m, and the length of motor output shaft 24 is 73.5mm.

The present embodiment hollow type controls the small-sized of integral intelligent modularized joint, and very light in weight, brake apparatus dissipates It is hot very fast, and the brake apparatus in this joint is directly connected with motor output shaft, it is not necessary to by gear drive come be driven compared with Big torque, the shelling machine in this joint is integrated, easy to process, good airproof performance, with more modular characteristic, this joint Harmonic speed reducer be directly connected with output flange, so substantially reduce drive gap.

Left and right is a relative concept described in the utility model, and the side of left end cap 22 is left in definition text, output The side of flange 10 is the right side.

Component involved by the utility model can not be addressed part and be applied to prior art by commercially available.

Claims (5)

1. a kind of hollow type controls integral intelligent modularized joint, including shell, incremental encoder, absolute value encoder, system Dynamic device, harmonic speed reducer, motor output shaft, output flange, control device, left end cap and it is hollow walk spool, it is characterised in that The joint also includes hollow rimless torque motor, the control device, incremental encoder, brake apparatus, hollow rimless torque electricity Machine, harmonic speed reducer, absolute value encoder are sequentially sleeved on motor output shaft and output flange respectively, and output flange, outer Shell and left end cap form confined space, and incremental encoder, absolute value encoder, hollow rimless torque electricity are installed in the confined space Machine, brake apparatus, harmonic speed reducer, motor output shaft, control device and it is hollow walk spool；It is described it is hollow walk spool be applied in it is defeated Go out among the inner chamber of flange, the flexbile gear of harmonic speed reducer, firm gear, wave producer and motor output shaft, wherein the hollow cabling The left end of pipe is connected by screw on electromagnet installation activity plate right side, and the right-hand member of the electromagnet installation activity plate passes through Single head hexagonal copper post is connected with active plate；Control device controls the action of each part；

The enclosure is radially from left to right sequentially provided with the first round platform projection along shell and the second round platform is raised, the second round platform Projection is provided with crescent hole, and electromagnet installation activity plate, the first round platform are raised and the second round platform projection divides housing interior volume Into four cavitys, the first cavity, the second cavity, the 3rd cavity and the 4th cavity are from left to right followed successively by；

The motor output shaft includes the level Four shaft shoulder, is from left to right followed successively by first shaft shoulder, second shaft shoulder, the 3rd shaft shoulder and the 4th The shaft shoulder, the right-hand member of motor output shaft is provided with boss；

The active plate edge is connected by screw with the first round platform projection on shell；It is defeated in active plate and motor Deep groove ball bearing is installed in the gap between shaft, determined on the right side of the deep groove ball bearing by second shaft shoulder of motor output shaft Position, passes on left active plate and is positioned；

The brake apparatus includes brake disc and passage formula electromagnet, and brake disc and incremental encoder are installed in positioned at second On motor output shaft in cavity, brake disc is arranged on motor output shaft left end；The incremental encoder is compiled including increment type Code device code-disc and incremental encoder brush, incremental encoder code-disc are connected on motor output shaft by jackscrew, the increasing The right side of amount formula encoder code disc and the first axle shoulder of motor output shaft connect into axially position, the incremental encoder brush It is connected on active plate；

The hollow rimless torque motor is located in the 3rd cavity, and hollow rimless torque motor passes through the 4th on motor output shaft The shaft shoulder and active plate are fixed, and the hollow rimless torque motor includes rotor, motor stator and Hall, the electricity Machine stator is located at the inside of rotor, and the Hall is installed on motor stator, and the rotor is stuck in motor output shaft The 3rd shaft shoulder on, and pass through the 4th shaft shoulder of screw and motor output shaft connect；The side of the motor stator passes through activity Connecting plate carries out axially position；

The harmonic speed reducer, absolute value encoder code-disc and absolute value encoder brush may be contained within the 4th cavity, described Motor output shaft is connected by the boss of right-hand member and the wave producer of harmonic speed reducer, harmonic speed reducer is positioned, simultaneously The wave producer of harmonic speed reducer carries out axially position by locating flange；The second circle on the flexbile gear and shell of harmonic speed reducer Platform convex is risen and is connected by screw, and forms axially position, and the firm gear of harmonic speed reducer is connected with output flange, output flange Right-hand member connects next joint；Angular contact bearing, the inside and outside circle point of angular contact bearing are installed between output flange and locating flange Do not positioned by locating flange and output flange；Absolute value encoder code-disc is attached with output flange, and absolute value is compiled Code device brush is connected by screw with the otic placode welded on shell；

The control device includes modular event driven device and pcb board, and modular event driven device is located in the first cavity, the module Change driver to be arranged on electromagnet installation activity plate, and modular event driven device is connected with pcb board, is connected with this joint next The cable drawn in individual joint by it is hollow walk spool be connected with the modular event driven device in this joint.

2. hollow type according to claim 1 controls integral intelligent modularized joint, it is characterised in that the electromagnet Installation activity plate is made up of transverse slat and riser, and the transverse slat is fixed on riser along the length direction in joint, passes through spiral shell on transverse slat Follow closely and passage formula electromagnet is installed, stuck-module driver on riser；The riser is shape structure in four/March.

3. hollow type according to claim 1 controls integral intelligent modularized joint, it is characterised in that the activity is even Fishplate bar be provided with for the neck of fixed increment formula encoder brush, the hollow hole for cabling and for through it is hollow walk spool And the central through hole of fixed deep groove ball bearing.

4. hollow type according to claim 1 controls integral intelligent modularized joint, it is characterised in that it is hollow walk spool With the junction of locating flange and electromagnet installation activity plate and it is hollow walk spool junction be provided with O-ring seal.

5. hollow type according to claim 1 controls integral intelligent modularized joint, it is characterised in that the brake disc For Magen David structure.