CN207224012U - A kind of Robot Modular Joint - Google Patents
A kind of Robot Modular Joint Download PDFInfo
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- CN207224012U CN207224012U CN201721270607.7U CN201721270607U CN207224012U CN 207224012 U CN207224012 U CN 207224012U CN 201721270607 U CN201721270607 U CN 201721270607U CN 207224012 U CN207224012 U CN 207224012U
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- joint
- rotor
- robot
- hollow shaft
- gear
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Abstract
The utility model provides a kind of Robot Modular Joint, including joint stator, joint rotor, motor stator, rotor, hollow shaft, harmonic speed reducer and joint corresponding with the joint of robot shell end cap being arranged in joint of robot shell, wherein：Rotor is rotatably arranged on hollow shaft one end, and motor stator is located on the outside of rotor；Harmonic speed reducer is located at the hollow shaft other end, including elliptic cam, firm gear and flexbile gear, elliptic cam are rotatably arranged in hollow shaft, and flexbile gear is sleeved on elliptic cam, and firm gear is arranged on outside flexbile gear, and flexbile gear external tooth and the engagement of firm gear internal tooth.A kind of Robot Modular Joint described in the utility model, designed using integral fusion, motor stator, rotor are directly anchored on joint respectively, the unnecessary parts such as motor housing, the motor front and rear cover of original motor module are deleted, reduce the number of parts of joint totality, so as to reduce joint size, joint weight is reduced.
Description
Technical field
The utility model belongs to robot building field, more particularly, to a kind of Robot Modular Joint.
Background technology
Joint of robot is the critical component of robot, and the quality of joint designs directly influences robot overall performance.
And existing joint of robot, industrial robot field should be mainly used in, volume is big, weight weight, at present industrial use
Robot is most of all heavier, can only be used in the sufficiently large factory floor in space, robot use receives greatly
Limitation.And domestic robot has harsher requirement on application scenarios, it needs the energy inside narrow space movable certainly
Such as, people are helped to complete part routine work.Therefore, the size of domestic robot overall design must be small and exquisite exquisiteness, and close
The size of section ruler cun is to influence the key factor of robot package size, and it is high to develop compact internal structure, compact dimensions, integrated level
The modularized joint problem that to be mechanical arm must capture before family field popularization.
The content of the invention
In view of this, the utility model is directed to a kind of Robot Modular Joint, to meet simple and reasonable, ruler
The demand of very little joint of robot more compact, easy to maintain, cost is lower.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of Robot Modular Joint, including joint stator, joint rotor, the electricity being arranged in joint of robot shell
Machine stator, rotor, hollow shaft, harmonic speed reducer and joint corresponding with joint of robot shell end cap, wherein：
Rotor is rotatably arranged on hollow shaft one end, and motor stator is located on the outside of rotor；
Harmonic speed reducer is located at the hollow shaft other end, including elliptic cam, firm gear and flexbile gear, elliptic cam are rotatably arranged on
In hollow shaft, flexbile gear is sleeved on elliptic cam, and firm gear is arranged on outside flexbile gear, and flexbile gear external tooth and the engagement of firm gear internal tooth；
Meet：
Joint stator at the same time and firm gear and motor stator it is affixed, which is fixed on joint of robot shell；
Elliptic cam and rotor are affixed, drive flexbile gear to rotate under rotor effect, flexbile gear and joint end cap are consolidated
Connect, joint end cap is rotatably arranged in hollow shaft, and the joint rotor and joint end cap are affixed.
Further, the motor stator is externally provided with stator pressure ring.
Further, several Hall sensors corresponding with rotor are additionally provided with the Robot Modular Joint,
The Hall sensor is installed in hollow shaft by Hall support.
Further, the Hall sensor quantity be 6,6 Hall sensors be evenly arranged in using hollow shaft as
On the same circumference at center.
Further, motor control panel is additionally provided with the joint of robot shell, which is sleeved on hollow
On axis.
Further, the harmonic speed reducer and hollow between centers are equipped with thin-wall bearing.
Relative to the prior art, a kind of Robot Modular Joint described in the utility model has the advantage that：
(1), a kind of Robot Modular Joint described in the utility model, is designed using integral fusion, respectively electricity
Machine stator, rotor are directly anchored on joint, and having deleted motor housing, motor front and rear cover of original motor module etc. need not
The part wanted, reduces the number of parts of joint totality, so as to reduce joint size, reduces joint weight.
(2), a kind of Robot Modular Joint described in the utility model is designed using integral fusion, and ripple is sent out respectively
Raw device, flexbile gear, firm gear are directly anchored on joint, eliminate the unnecessary parts such as former speed reducer housing, front and rear end housing, are reduced
Joint totality number of parts, so as to reduce joint size, reduces joint weight.
Brief description of the drawings
The attached drawing for forming the part of the utility model is used to provide a further understanding of the present invention, this practicality is new
The schematic description and description of type is used to explain the utility model, does not form the improper restriction to the utility model.
In attached drawing：
Fig. 1 is a kind of Robot Modular Joint structure diagram described in the utility model embodiment；
Fig. 2 is a kind of Robot Modular Joint decomposition diagram described in the utility model embodiment.Reference numeral is said
It is bright：
1- joints stator；2- joints rotor；3- thin-wall bearings；
4- firm gears support；5- joints end cap；6- flexbile gears；
7- firm gears；8- harmonic speed reducers；10- wave producers support；
12- rotor connecting members；13- motor stators；14- stator pressure rings；
15- rotors；16- Hall supports；17- motor control panels；
18- quill shafts.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In the description of the utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than instruction
Or imply that signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For the limitation to the utility model.In addition, term " first ", " second " etc. are only used for description purpose, and it is not intended that instruction
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In the description of the utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is described as shown in Figure 1, Figure 2, a kind of Robot Modular Joint, including the hollow shaft being arranged in joint of robot shell
18th, articulation component, electric machine assembly, harmonic speed reducer 8 and joint corresponding with joint of robot shell end cap 5, hollow shaft 8
Used for cabling, articulation component includes joint stator 1 and joint rotor 2, and electric machine assembly is arranged on 18 one end of hollow shaft, bag
Motor stator 13 and rotor 15 are included, rotor 15 is rotatably arranged in hollow shaft 18, and motor stator 13 is sleeved on motor
The outside of rotor 15, motor stator 13 are externally provided with stator pressure ring 14,13 position of motor stator are fixed by the stator pressure ring 14, prevent
Only it is moved axially, and motor stator 13 is fixedly connected with joint of robot shell, and joint stator 1 and motor stator 13 pass through screw
Affixed, in the present embodiment, in order to save space, joint stator 1 and joint rotor 2 are set on the outside of electric machine assembly.This reality
Apply in example, harmonic speed reducer 8 is arranged on 18 other end of hollow shaft, including elliptic cam, flexbile gear 6 and firm gear 7, and elliptic cam rotates
It is arranged in hollow shaft 18, and thin-wall bearing 3 is equipped between elliptic cam and hollow shaft 18, flexbile gear 6 is sleeved on elliptic cam, ellipse
Boss wheel makes flexbile gear 6 that elastic deformation occur, and flexbile gear 6 is bent to elliptical shape, and firm gear 7 is arranged on outside flexbile gear 6, bends to ellipse
The flexbile gear 6 of shape is engaged in long axis direction with the internal tooth of firm gear 7, and flexbile gear 6 and joint end cap are affixed by screw, joint end cap 5
It is rotatably arranged in hollow shaft 18, and joint rotor 2 is connected by screw and joint end cap 5；In order to assemble needs, determine in joint
Firm gear support 4 is provided between the firm gear 7 of son 1 and harmonic speed reducer 8, firm gear 7 and firm gear support 4 are fixed by screw connection, joint
Son 1 is achieved in being relatively fixed for position between firm gear 7 and joint stator 1 by 4 connection of screw and firm gear support；Closing at the same time
Rotor connecting member 12 and wave producer support 10, rotor connecting member 12 have been set gradually between section runner assembly and harmonic speed reducer 8
It is rotatably arranged on respectively in hollow shaft 18 with wave producer support 10, and thin-walled is equipped between wave producer support 10 and hollow shaft 18
Bearing 3, rotor 15 and rotor connecting member 12 pass through spiral shell by screw connection, rotor connecting member 12 and wave producer support 10
Silk connection, elliptic cam and the wave producer support 10 of harmonic speed reducer 8 are by screw connection, and thus rotor 15 rotates
When, the cam rotation of harmonic speed reducer is driven, because flexbile gear 6 and firm gear 7 are meshed, under elliptic cam drive, 6 opposite direction of flexbile gear
Rotate, because of flexbile gear 6 and joint end cap 5 by screw connection, joint rotor 2 and joint end cap 5 by screw connection, therefore joint
End cap 5 is rotated with flexbile gear 6, while joint end cap 5 is rotated with movable joint rotor 2, realizes joint rotor 2 and joint stator 1
Between relatively rotate, and rotor 15 and 2 rotating speed scale of joint rotor are determined by harmonic speed reducer 8.
In the present embodiment, in order to monitor the electric angle angle value of rotor 15, the rotor 15 and hollow shaft 18 in real time
Between be equipped with 6 Hall sensors, which is evenly arranged on the same circumference centered on hollow shaft 18, and 6
A Hall sensor is installed on Hall support 16, which is installed in hollow shaft 18.
In the present embodiment, motor control panel 17 is additionally provided with the joint of robot shell, which is set with
In hollow shaft 18.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on, should be included in the utility model
Protection domain within.
Claims (6)
- A kind of 1. Robot Modular Joint, it is characterised in that：Including the joint stator being arranged in joint of robot shell (1), joint rotor (2), motor stator (13), rotor (15), hollow shaft (18), harmonic speed reducer (8) and and robot The corresponding joint end cap (5) of articular shell, wherein：Rotor (15) is rotatably arranged on hollow shaft (18) one end, and motor stator (13) is located on the outside of rotor (15)；Harmonic speed reducer (8) is located at hollow shaft (18) other end, including elliptic cam, firm gear (7) and flexbile gear (6), elliptic cam It is rotatably arranged in hollow shaft (18), flexbile gear (6) is sleeved on elliptic cam, and firm gear (7) is arranged on flexbile gear (6) outside, and flexbile gear (6) external tooth and the engagement of firm gear (7) internal tooth；Meet：Joint stator (1) while affixed with firm gear (7) and motor stator (13), which is fixed in joint of robot On shell；Elliptic cam and rotor (15) are affixed, rotor (15) act on it is lower drive flexbile gear (6) rotation, flexbile gear (6) and Joint end cap (5) is affixed, and joint end cap (5) is rotatably arranged in hollow shaft (18), the joint rotor (2) and joint end cap (5) it is affixed.
- A kind of 2. Robot Modular Joint according to claim 1, it is characterised in that：Motor stator (13) peripheral hardware There is stator pressure ring (14).
- A kind of 3. Robot Modular Joint according to claim 1, it is characterised in that：The Robot Modular Joint The several and corresponding Hall sensor of rotor (15) is inside additionally provided with, the Hall sensor is installed by Hall support (16) In hollow shaft (18).
- A kind of 4. Robot Modular Joint according to claim 3, it is characterised in that：The Hall sensor quantity is 6, which is evenly arranged on the same circumference centered on hollow shaft (18).
- A kind of 5. Robot Modular Joint according to claim 1, it is characterised in that：In the joint of robot shell Motor control panel (17) is additionally provided with, which is sleeved in hollow shaft (18).
- A kind of 6. Robot Modular Joint according to claim 1, it is characterised in that：The harmonic speed reducer (8) and Thin-wall bearing (3) is equipped between hollow shaft (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270607.7U CN207224012U (en) | 2017-09-29 | 2017-09-29 | A kind of Robot Modular Joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270607.7U CN207224012U (en) | 2017-09-29 | 2017-09-29 | A kind of Robot Modular Joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207224012U true CN207224012U (en) | 2018-04-13 |
Family
ID=61849830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721270607.7U Active CN207224012U (en) | 2017-09-29 | 2017-09-29 | A kind of Robot Modular Joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207224012U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718039A (en) * | 2017-09-29 | 2018-02-23 | 珂伯特机器人（天津）有限公司 | A kind of joint for robot |
| CN110561488A (en) * | 2019-09-11 | 2019-12-13 | 航天科工智能机器人有限责任公司 | Modular rotary joint |
| CN112476399A (en) * | 2020-11-12 | 2021-03-12 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
-
2017
- 2017-09-29 CN CN201721270607.7U patent/CN207224012U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718039A (en) * | 2017-09-29 | 2018-02-23 | 珂伯特机器人（天津）有限公司 | A kind of joint for robot |
| CN110561488A (en) * | 2019-09-11 | 2019-12-13 | 航天科工智能机器人有限责任公司 | Modular rotary joint |
| CN112476399A (en) * | 2020-11-12 | 2021-03-12 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
| CN112476399B (en) * | 2020-11-12 | 2022-02-08 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191216 Address after: 300000 Tianjin city Xiqing District Yangliuqing town Liu Yilu No. 20 A District Patentee after: More than network technology (Tianjin) Co., Ltd. Address before: Yangliuqing town Liu Kou 300380 Tianjin District of Xiqing City Road and Jin Jing highway junction on the west side of Jingcheng Road Patentee before: Ke Ke Bert robot (Tianjin) Co., Ltd. |
|
| TR01 | Transfer of patent right |