CN207139844U - A kind of modularization ball-joint driver element interior layout structure - Google Patents
A kind of modularization ball-joint driver element interior layout structure Download PDFInfo
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- CN207139844U CN207139844U CN201720880488.0U CN201720880488U CN207139844U CN 207139844 U CN207139844 U CN 207139844U CN 201720880488 U CN201720880488 U CN 201720880488U CN 207139844 U CN207139844 U CN 207139844U
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- type brake
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- rolling bearing
- axle
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Abstract
It the utility model is related to joint of robot drive device, more particularly to a kind of modularization ball-joint driver element interior layout structure.It includes support, hollow motor, big synchronization wheel shaft, harmonic speed reducer, output flange axle, joint end flange, timing belt and brake apparatus, the support is hollow housing structure, the hollow motor is fixedly mounted on internal stent, the internal stent is provided with the first rolling bearing, the support left end is provided with synchronizing wheel side flange, the second rolling bearing is installed on the synchronizing wheel side flange, the big synchronization wheel shaft is hollow shaft-like structure, and the big synchronization wheel shaft is rack-mount by the first rolling bearing and the second rolling bearing.The utility model has the advantage of mesopore cabling mode is used, make wiring convenient and reasonable, avoid circuit leakage；In terms of driving, driven using hollow motor and slowed down by harmonic speed reducer, realize high torque drive, and ensure that transmission accuracy, advantages of compact and light structure.
Description
Technical field
It the utility model is related to inside joint of robot drive device, more particularly to a kind of modularization ball-joint driver element
Layout structure.
Background technology
The robot that cooperates is used as lightweight robotic, and security reliability is high, need not be on the basis of safe fence, Neng Goushi
Now with the co-operation of the mankind, solve the mankind compared with the accuracy for being difficult to reach or allow the mankind away from dangerous environment and work.
Cooperate core building block of the robot joint structure as cooperation robot, and its performance is in entirely cooperation robot motion's mistake
Seem in journey most important.Robot cooperate more using series connection articulation structure, the type articulation structure is complicated, and stability is poor, it is difficult to
Export larger torque in the confined space, the cabling in the driving structure in joint is difficult to rationally arrange, existing articulated driving equipment
Limited joint cooperation robot motion's performance performance, be badly in need of now a kind of structure is more compact, stability is higher,
The robot modularized ball-joint interior layout structure of the bigger cooperation of space.
Utility model content
Problem to be solved in the utility model be how overcome the deficiencies in the prior art, there is provided a kind of modularization ball-joint drives
Moving cell interior layout structure.
The technical scheme that the utility model uses to achieve the above object is：Inside a kind of modularization ball-joint driver element
Layout structure, it is characterised in that：Including support, hollow motor, big synchronization wheel shaft, harmonic speed reducer, output flange axle, joint end
Portion's flange, timing belt and brake apparatus, the support are hollow housing structure, and the hollow motor is fixedly mounted in support
Portion, the internal stent are provided with the first rolling bearing, and the support left end is provided with synchronizing wheel side flange, synchronizing wheel side method
Second rolling bearing is installed, the big synchronization wheel shaft is hollow shaft-like structure, and the big synchronization wheel shaft passes through the first rolling on orchid
Dynamic bearing and the second rolling bearing are rack-mount, and the big synchronization wheel shaft is fixedly connected with the quill shaft of hollow motor, institute
State harmonic speed reducer to be located on the right side of internal stent, the output flange axle is provided with the hollow axis body of flange, the support for end
Right-hand member is provided with the 3rd rolling bearing, and the output flange axle is connected with the 3rd rolling bearing, and the big synchronization wheel shaft passes through humorous
Rotation is passed to output flange axle by ripple decelerator, and the joint end flange is fixedly connected on output flange axle outer end；It is described
Support left end is installed with brake apparatus, and the brake apparatus includes band-type brake mounting flange, band-type brake fixed seat, band-type brake axle, nothing
Excitation type brake and absolute type encoder, the band-type brake mounting flange are fixedly mounted on the outside of synchronizing wheel side flange, described armful
Lock fixed seat is case type structure, and the band-type brake fixed seat is fixedly mounted on the left of band-type brake mounting flange, on band-type brake mounting flange
4th rolling bearing is installed, the 5th rolling bearing is installed in the band-type brake fixed seat, the band-type brake axle rolls by the 4th
Bearing and the 5th rolling bearing are connected with band-type brake mounting flange and band-type brake fixed seat successively, are provided with outside band-type brake fixed seat definitely
Formula encoder, band-type brake mounting flange left side are provided with no excitation type brake, and the band-type brake axle right-hand member is provided with small synchronizing wheel, described
Small synchronizing wheel is connected by timing belt with big synchronization wheel shaft left end.
Further, the firm gear of the harmonic speed reducer is fixedly mounted on support, the wave producer of the harmonic speed reducer
It is fixedly connected with big synchronization wheel shaft, the output flange axle is fixedly connected with the output flexbile gear of harmonic speed reducer.
Further, the rotor hub of the no excitation type brake and band-type brake axis connection.
Further, the support right-hand member is provided with the bearing fixed seat for preventing the 3rd rolling bearing play, and the bearing is fixed
Seat is provided with oil sealing.
Further, torque sensor is installed in the joint end flange.
The utility model has the advantage of mesopore cabling mode is used, make wiring convenient and reasonable, avoid circuit leakage；
In terms of driving, driven using hollow motor and slowed down by harmonic speed reducer, realize high torque drive, and ensure that transmission essence
Degree, advantages of compact and light structure；In terms of braking, using the brake hard without excitation type brake when having a power failure, it can keep for a long time
Halted state simultaneously prevents mechanical idle running, and braking sound is light, service life length, convenient and reliable；In configuration aspects, passed using synchronous pulley
It is dynamic so that drive part and brake portion isolation, installing/dismounting are more convenient；Functionally, there is stronger expansibility,
Pass through the mounting means of reasonable Arrangement drive device, it is easy to accomplish simple joint exports two degrees of freedom.The utility model passes through to ball
The optimization of joint drive unit interior layout structure, makes structure compacter, and cost is lower, and installation is simple and convenient, securely and reliably
Property is higher, improves modularization, systematization, the integration degree of ball-joint whole interior structure, solves conventional serial joint
The shortcomings that space-consuming is big.
Brief description of the drawings
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is Fig. 1 side view；
Fig. 3 is Fig. 2 internal structure schematic diagram.
Embodiment
Shown in Fig. 1~3, a kind of modularization ball-joint driver element interior layout structure, including support 1, hollow motor 2,
Big synchronization wheel shaft 3, harmonic speed reducer 4, output flange axle 5, joint end flange 6, timing belt 7 and brake apparatus 8, the support
1 is hollow housing structure, and the hollow motor 2 is fixedly mounted on inside support 1, and the first rolling is provided with inside the support 1
Bearing 31, the left end of support 1 are provided with synchronizing wheel side flange 12, the second rolling bearing are provided with the synchronizing wheel side flange 12
32, the big synchronization wheel shaft 3 is hollow shaft-like structure, and the big synchronization wheel shaft 3 is rolled by the first rolling bearing 31 and second
Bearing 32 is arranged on support 1, and the big synchronization wheel shaft 3 is fixedly connected with the quill shaft of hollow motor 2, the harmonic speed reducer
4 are located at the inner right side of support 1, and the output flange axle 5 is the hollow axis body that end is provided with flange, the right-hand member of support 1 installation
There is the 3rd rolling bearing 51, the output flange axle 5 is connected with the 3rd rolling bearing 51, and the big synchronization wheel shaft 3 passes through harmonic wave
Rotation is passed to output flange axle 5 by decelerator 4, and the joint end flange 6 is fixedly connected on the outer end of output flange axle 5；Institute
State the left end of support 1 and be installed with brake apparatus 8, the brake apparatus 8 include band-type brake mounting flange 81, band-type brake fixed seat 82,
Band-type brake axle 83, without excitation type brake 84 and absolute type encoder 85, the band-type brake mounting flange 81 it is fixedly mounted on synchronizing wheel
The outside of side flange 12, the band-type brake fixed seat 82 are case type structure, and the band-type brake fixed seat 82 is fixedly mounted on band-type brake installation
On the left of flange 81, the 4th rolling bearing 832 is installed on band-type brake mounting flange 81, the 5th is provided with the band-type brake fixed seat 82
Rolling bearing 833, the band-type brake axle 83 by the 4th rolling bearing 832 and the 5th rolling bearing 833 successively with band-type brake Method for Installation
Orchid 81 and band-type brake fixed seat 82 are connected, and absolute type encoder 85 is provided with outside band-type brake fixed seat 82, and band-type brake mounting flange 81 is left
Side is provided with no excitation type brake 84, and the right-hand member of band-type brake axle 83 is provided with small synchronizing wheel 831, and the small synchronizing wheel 831 passes through
Timing belt 7 is connected with the big left end of synchronization wheel shaft 3.
The firm gear of the harmonic speed reducer 4 is fixedly mounted on support 1, the wave producer of the harmonic speed reducer 4 with it is big
Synchronization wheel shaft 3 is fixedly connected, and the output flange axle 5 is fixedly connected with the output flexbile gear of harmonic speed reducer 4.The no excitation type
The rotor hub of brake 84 is connected with band-type brake axle 83.The right-hand member of support 1 is provided with the axle for preventing the play of the 3rd rolling bearing 51
Fixed seat 11 is held, the bearing fixed seat 11 is provided with oil sealing 61.Torque sensor is installed in the joint end flange 6.
During actual motion, the movement angle instruction of control system input joint output end is hollow under outside signal function
Motor 2 is powered and rotated, and its stator of hollow motor 2 is attached with support 1, without rotating, its rotor and big synchronizing wheel
Axle 3 connects, and drives big synchronization wheel shaft 3 to be rotated.The rotation of big synchronization wheel shaft 3 divides two-way to be driven, and its one end passes through
Rotation is passed to small synchronizing wheel 831 by timing belt 7, and drives band-type brake axle 83 to be rotated, while is obtained without excitation type brake 84
Electricity and as band-type brake axle 83 is rotated, absolute type encoder 85 detects the movement angle of band-type brake axle 83, and Real-time Feedback joint is defeated
Go out the angle of operation at end；The other end of big synchronization wheel shaft 3 is connected with the wave producer in harmonic speed reducer 4, drives harmonic reduction
The flexbile gear of device 4 is rotated, and the firm gear of harmonic speed reducer 4 carried out with support 1 it is affixed, the flexbile gear of harmonic speed reducer 4 by bolt with
Output flange axle 5 is attached, and after the deceleration of harmonic speed reducer 4, is realized and closed by output flange axle 5 and joint end flange 6
Save the rotation of output end.When absolute type encoder 85 detects movement angle and reaches instruction and require, no excitation type brake 84 loses
Electricity, make the brake hard of band-type brake axle 83.Because the braking moment without excitation type brake 84 is more than the output torque of hollow motor 2,
Therefore, now big synchronization wheel shaft 3 stops operating, and then realizes to harmonic speed reducer 4, output flange axle 5 and joint end method
The braking of orchid 6, final joint output end stop in specified location.
The utility model uses modularized design, realizes hollow motor 2, the hollow interior cabling of harmonic speed reducer 4, joint knot
Structure is compacter, weight is lighter, performance is more reliable and more stable, autgmentability is more preferable.By by the stator of hollow motor 2 and support 1
Fixed, the rotor of hollow motor 2 is fixed with big synchronization wheel shaft 3, and compact-sized, output torque is big, and dynamic response is high；Big synchronization wheel shaft
3 are connected with the input of harmonic speed reducer 4, and output flange axle 5 is output to after deceleration, and then arrive joint end flange 6, and can
The mounting torque sensor in joint end flange 6, moment feedback joint loads torque, compact-sized, precision is high, feedback spirit
It is quick.When running into overload or emergency, brake hard can be achieved, improve cooperation robot security's barrier propterty.
Each position that the absolute type encoder 85 is determined by mechanical location is unique, and it is without memory, nothing
Need to find reference point, and without counting always, control system can reading position information at any time, anti-interference is good, data reliability
It is high.
The utility model uses modularization ball-joint driver element interior layout structure, compact-sized, dexterous, solves association
Make the problems such as joint of robot is heavy, interchangeability is bad, integrated level is not high, structure is not compact enough；Solve that braking response is slow, hair
Heat is big, application position keeps precision deficiency, brake force deficiency problem, and innovative proposes a kind of cooperation robot ball-joint
Driver element interior layout structure, it is bad to solve joint of robot expansibility, it can not realize that simple joint exports two degrees of freedom
The problem of provide solution.The utility model layout structure is compacter, and cost is low, and security reliability is higher, dexterous, mould
Block, integrated, brake structure is simple, is easily installed, and braking ability is reliable and stable.
For above-described embodiment simply to illustrate that technical concepts and features of the present utility model, the purpose is to be to allow this area
Interior those of ordinary skill can understand content of the present utility model and implement according to this, can not be limited with this of the present utility model
Protection domain.Every equivalent change or modification according to made by the essence of the utility model content, it should all cover in this reality
With in new protection domain.
Claims (5)
- A kind of 1. modularization ball-joint driver element interior layout structure, it is characterised in that：Including support, hollow motor, Datong District It is hollow housing to walk wheel shaft, harmonic speed reducer, output flange axle, joint end flange, timing belt and brake apparatus, the support Structure, the hollow motor are fixedly mounted on internal stent, and the internal stent is provided with the first rolling bearing, and the support is left End is provided with synchronizing wheel side flange, and the second rolling bearing is provided with the synchronizing wheel side flange, and the big synchronization wheel shaft is hollow Shaft-like structure, the big synchronization wheel shaft is rack-mount by the first rolling bearing and the second rolling bearing, the big synchronization Wheel shaft is fixedly connected with the quill shaft of hollow motor, and the harmonic speed reducer is located on the right side of internal stent, the output flange axle The hollow axis body of flange is provided with for end, the support right-hand member is provided with the 3rd rolling bearing, the output flange axle and the 3rd Rolling bearing is connected, and rotation is passed to output flange axle, the joint end by the big synchronization wheel shaft by harmonic speed reducer Flange is fixedly connected on output flange axle outer end；The support left end is installed with brake apparatus, and the brake apparatus includes band-type brake mounting flange, band-type brake fixed seat, embraced Lock axle, without excitation type brake and absolute type encoder, the band-type brake mounting flange is fixedly mounted on the outside of synchronizing wheel side flange, The band-type brake fixed seat is case type structure, and the band-type brake fixed seat is fixedly mounted on the left of band-type brake mounting flange, band-type brake installation 4th rolling bearing is installed on flange, the 5th rolling bearing is installed in the band-type brake fixed seat, the band-type brake axle passes through Four rolling bearings and the 5th rolling bearing are connected with band-type brake mounting flange and band-type brake fixed seat successively, are installed outside band-type brake fixed seat There is absolute type encoder, no excitation type brake is installed on the left of band-type brake mounting flange, the band-type brake axle right-hand member is provided with small synchronization Wheel, the small synchronizing wheel are connected by timing belt with big synchronization wheel shaft left end.
- A kind of 2. modularization ball-joint driver element interior layout structure according to claim 1, it is characterised in that：It is described The firm gear of harmonic speed reducer is fixedly mounted on support, and the wave producer of the harmonic speed reducer is fixed with big synchronization wheel shaft to be connected Connect, the output flange axle is fixedly connected with the output flexbile gear of harmonic speed reducer.
- A kind of 3. modularization ball-joint driver element interior layout structure according to claim 1, it is characterised in that：It is described Rotor hub and band-type brake axis connection without excitation type brake.
- A kind of 4. modularization ball-joint driver element interior layout structure according to claim 1, it is characterised in that：It is described Support right-hand member is provided with the bearing fixed seat for preventing the 3rd rolling bearing play, and the bearing fixed seat is provided with oil sealing.
- A kind of 5. modularization ball-joint driver element interior layout structure according to claim 1, it is characterised in that：It is described Torque sensor is installed in the end flange of joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880488.0U CN207139844U (en) | 2017-07-20 | 2017-07-20 | A kind of modularization ball-joint driver element interior layout structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720880488.0U CN207139844U (en) | 2017-07-20 | 2017-07-20 | A kind of modularization ball-joint driver element interior layout structure |
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| Publication Number | Publication Date |
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| CN207139844U true CN207139844U (en) | 2018-03-27 |
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| CN201720880488.0U Active CN207139844U (en) | 2017-07-20 | 2017-07-20 | A kind of modularization ball-joint driver element interior layout structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160431A (en) * | 2017-07-20 | 2017-09-15 | 青岛欧开智能系统有限公司 | A kind of modularization ball-joint driver element interior layout structure |
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2017
- 2017-07-20 CN CN201720880488.0U patent/CN207139844U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160431A (en) * | 2017-07-20 | 2017-09-15 | 青岛欧开智能系统有限公司 | A kind of modularization ball-joint driver element interior layout structure |
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