CN207256275U - One kind cooperation robot joint structure - Google Patents
One kind cooperation robot joint structure Download PDFInfo
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- CN207256275U CN207256275U CN201721060477.4U CN201721060477U CN207256275U CN 207256275 U CN207256275 U CN 207256275U CN 201721060477 U CN201721060477 U CN 201721060477U CN 207256275 U CN207256275 U CN 207256275U
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- brake
- encoder
- speed reducer
- harmonic speed
- output
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Abstract
It the utility model is related to a kind of cooperation robot joint structure, including housing and the servomotor being arranged in housing, harmonic speed reducer, brake and driver, servomotor includes stator and rotor, stator is connected with housing, rotor and input axis connection, the input terminal of harmonic speed reducer and input axis connection, the output terminal of harmonic speed reducer and output axis connection, input shaft sets brake and input terminal encoder in one end away from harmonic speed reducer, output shaft sets output terminal encoder in one end away from harmonic speed reducer, driver is arranged between input terminal encoder and output terminal encoder.The utility model carries out closed-loop control, control is sensitiveer, can effectively eliminate the error due to Automatic manual transmission, and accurate control is realized to the position of reality output axis to input shaft and output shaft respectively by setting two free-standing magnetic encoders；Realize that servomotor high-torque, high-energy-density output require using the structure of stator multiple-grooved, rotor multipole.
Description
Technical field
It the utility model is related to a kind of mechanical joint structure, and in particular to one kind cooperation robot joint structure.
Background technology
At present, cooperation robot has been supplied in each industrial circle, is worked together with people, and cooperation robot is as industrial machine
Lightweight robotic in device people, assist the mankind and with the mankind's together operation, and be not required fence safe to use to be isolated, solve
Certainly the mankind compared with the accuracy for being difficult to reach or allow the mankind away from dangerous environment and work.Robot joint structure cooperate as association
Make the core building block of robot, its performance seems most important in entirely cooperation robot kinematics.Cooperation machine
Mainly carried out in device person joint by servo-drive mode, at present, servo drive method is broadly divided into two kinds：One kind is to use to watch
The driving method that motor matches somebody with somebody retarder is taken, one kind is the method that servomotor directly drives.Motor band retarder, which is driven through, to be subtracted
Su Qi mechanisms are according to 100:1 speed reduces the speed of motor than relation, and torque is increased in the range of control mechanism needs,
But the mechanical structure of current servo motor is complicated there are integrated model, control mechanism quickly cannot accurately be applied to servo
Structure, vibration noise is big during operation, in a limited space in can not realize electromechanical integration, especially after assembling, it is impossible to
Accurately control its position.
Utility model content
The purpose of this utility model is exactly to solve the above-mentioned problems and offer one kind is compact-sized, output torque is big, fortune
Row is reliable, the accurate cooperation robot joint structure of control.
The purpose of this utility model is achieved through the following technical solutions：
One kind cooperation joint of robot, including housing and be arranged in housing servomotor, harmonic speed reducer, braking
Device and driver, the servomotor include stator and rotor, and the stator is connected with housing, the rotor with it is defeated
Enter axis connection, input terminal and the input axis connection of the harmonic speed reducer, output terminal and the output axis connection of harmonic speed reducer,
The input shaft sets brake and input terminal encoder in one end away from harmonic speed reducer, and the output shaft is remote
One end of harmonic speed reducer sets output terminal encoder, and the driver is arranged on input terminal encoder and output terminal encoder
Between.
The input terminal encoder and output terminal encoder are using free-standing magnetic encoder, including encoder circuit
Plate and input shaft export the magnetic conduction ring support of axis connection, the multipair pole detection magnet ring on magnetic conduction ring support and single pair pole
Detect magnet ring.
The brake is electromagnetic brake, and the electromagnetic brake is connected with brake assemblies, the braking group
Part includes brake bumping post, brake baffle ring, wave washer and friction plate on input shaft, brake gear
Circle, wave washer and friction plate both sides are fixed by circlip for shaft.
The cooperation joint of robot end is equipped with the wire bushing drawn line bracket and be connected with drawing line bracket.
The harmonic speed reducer be arranged on servomotor side, the brake, driver, input terminal encoder and
Output terminal encoder is arranged on the opposite side of servomotor.
Back cover for encapsulation is installed on the housing, structural defence is provided to internal part.
The stator includes stator core and stator winding, using 18 slot structures.
The rotor includes rotor core and permanent magnet, using 16 pole surface-mount type structures.
The concrete operating principle of the utility model is that motor is by providing stator phase difference fixed three-phase alternating current
Signal, produces rotating excitation field driving p-m rotor rotation, and rotor banding driven input shaft rotates, the detection motor input of input terminal encoder
Axis rotating position signal, feeds back to driver, and driver can control the operating of motor according to feedback signal；Input shaft subtracts with harmonic wave
Fast device connection, after the rotating speed of motor is reduced, passes to output shaft, is arranged on the output terminal encoder on output shaft to actual defeated
The rotation position gone out is detected in real time, and by signal output to peripheral control unit, adjustment in time because machine error bring it is inclined
Difference, carries out full closed loop control, so as to accurately control the position of output, encoder can reach high accuracy to the position in joint
Resolution ratio, realize electric current, speed, position Full-closed servo feedback.
Compared with prior art, the utility model has the advantage of：
1st, the utility model carries out closed loop to input shaft and output shaft respectively by setting two free-standing magnetic encoders
Control, not only makes control sensitiveer, and can effectively eliminate due to error caused by Automatic manual transmission, to the position of reality output axis
Put the accurate control of realization.
2nd, stator, the groove profile of rotor, openings of sizes, pole slot number proportioning can all influence torque ripple size, the utility model
The output requirement of servomotor high-torque, high-energy-density is realized using the structure of stator multiple-grooved, rotor multipole.
3rd, harmonic speed reducer is arranged on the side of servomotor, brake, driver, input terminal encoder by the utility model
The opposite side of servomotor is arranged on output terminal encoder, so that joint structure location arrangements are reasonable, compact-sized, internal machine
Structure is simplified, and accomplishes to reduce inner space as far as possible, electromechanical integration is realized in the confined space.
Brief description of the drawings
Fig. 1 is the schematic cross-sectional view of the utility model；
Fig. 2 is the close-up schematic view of Fig. 1；
Fig. 3 is the utility model stator structure schematic diagram；
Fig. 4 is the utility model rotor structure schematic diagram；
In figure：Harmonic speed reducer 1, servomotor 2, stator 201, rotor 202, brake 3, brake bumping post 301, axis are used
Circlip 302, brake baffle ring 303, wave washer 304, friction plate 305, input terminal encoder 4, encoder circuit plate
401st, single pair pole detection magnet ring 402,502, multipair pole detection magnet ring 403,503, magnetic conduction ring support 404,504, driver 5, defeated
Outlet encoder 6, input shaft 7, output shaft 8, back cover 9, extraction line bracket 10, wire bushing 11, housing 12.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
One kind cooperation joint of robot, as shown in Figure 1, 2, including housing 12 and the servomotor that is arranged in housing 12
2nd, harmonic speed reducer 1, brake 3 and driver 5, servomotor 2 include stator 201 and rotor 202, stator 201 and housing
12 connections, rotor 202 is connected with input shaft 7, and the input terminal of harmonic speed reducer 1 is connected with input shaft 7, harmonic speed reducer 1 it is defeated
Outlet is connected with output shaft 8, and input shaft 7 sets brake 3 and input terminal encoder 4 in one end away from harmonic speed reducer 1, defeated
Shaft 8 sets output terminal encoder 6 in one end away from harmonic speed reducer 1, and driver 5 is arranged on input terminal encoder 4 and defeated
Between outlet encoder 6.
Wherein, input terminal encoder 4 and output terminal encoder 6 are using free-standing magnetic encoder, including encoder electricity
Road plate 401, the magnetic conduction ring support 404,504 being connected with input shaft 7 or output shaft 8, the multipair pole inspection on magnetic conduction ring support
Survey magnet ring 403,503 and single pair pole detection magnet ring 402,502.Brake 3 is electromagnetic brake, electromagnetic brake 3 and braking group
Part connect, brake assemblies include brake bumping post 301, the brake baffle ring 303 on input shaft 7, wave washer 304 with
And friction plate 305, brake baffle ring 303, wave washer 304 and 305 both sides of friction plate are solid by circlip for shaft 302
It is fixed.The cooperation joint of robot end is equipped with the wire bushing 11 drawn line bracket 10 and be connected with drawing line bracket 10.Harmonic wave
Retarder 1 is arranged on the side of servomotor 2, and brake 3, driver 5, input terminal encoder 4 and output terminal encoder 6 are arranged on and watch
Take the opposite side of motor 2.Back cover 9 for encapsulation is installed on housing 12, stator 201 includes stator core and stator winding,
Using 18 slot structures, as shown in Figure 3；Rotor 202 includes rotor core and permanent magnet, using 16 pole surface-mount type structures, such as Fig. 4 institutes
Show.
Specific process is as follows：
Motor stator --- -- lamination blanking --- -- wire cutting --- --- coiling --- --- test --- --- Vaccum Permeating
Paint --- -- test；
--- -- --- --- bonding magnetic steel --- -- grinds magnet steel to rotor for magnet steel and shaft processing；
Casing, end cover designs --- ----casing, end cap processing；
Fixed end plate, the customization processing of output Structural Design of Shaft --- --- retarder producer；
Brake structural designs --- --- catch part processing --- -- brake box, spring, wave washer, baffle ring buying；
--- ----controller connector components selection --- ----controller architecture is set controller principle G- Design
Meter --- ----PCB design (component sizing buying) --- --- pcb board processing --- ----component covers together --- --- -- patch
--- ------- --- --- --- three proofings --- -- --- --- -- --- survey for test for assembling by --- -- embedding --- ----for debugging for detection for welding
Examination；
--- --- encoder principle diagram design --- --- encoder pcb board designs (component for magnet ring design (single, multipair pole)
Buying) --- -- pcb board processing --- --- --- --- patch welding --- --- detection ----debugging --- --- calibration that component covers together
(frock) ----test --- --- three proofings --- -- repetition measurement；
Motor assembles, and --- ----retarder assembles --- --- brake assembling --- --- encoder installation --- --- driver
The access of --- -- cable is installed；
Performance test --- ----debugging motor (determining control parameter) --- --- motor performance test --- --- declared working condition
Performance test --- --- overload performance is tested.
Claims (8)
1. one kind cooperation joint of robot, including housing (12) and the servomotor (2), the harmonic wave that are arranged in housing (12) subtract
Fast device (1), brake (3) and driver (5), the servomotor (2) includes stator (201) and rotor (202), described
Stator (201) be connected with housing (12), the rotor (202) is connected with input shaft (7), the harmonic speed reducer (1)
Input terminal be connected with input shaft (7), the output terminal of harmonic speed reducer (1) is connected with output shaft (8), it is characterised in that described
Input shaft (7) in one end away from harmonic speed reducer (1), brake (3) and input terminal encoder (4), the output are set
Axis (8) sets output terminal encoder (6) in one end away from harmonic speed reducer (1), and the driver (5) is arranged on input terminal
Between encoder (4) and output terminal encoder (6).
A kind of 2. cooperation joint of robot according to claim 1, it is characterised in that the input terminal encoder (4)
With output terminal encoder (6) using free-standing magnetic encoder, including encoder circuit plate (401), with input shaft (7) or defeated
Shaft (8) connection magnetic conduction ring support (404,504), on magnetic conduction ring support multipair pole detection magnet ring (403,503) and
Single pair pole detection magnet ring (402,502).
3. a kind of cooperation joint of robot according to claim 1, it is characterised in that the brake (3) is electromagnetism
Brake, the electromagnetic brake (3) are connected with brake assemblies, and the brake assemblies include brake bumping post (301), peace
Brake baffle ring (303), wave washer (304) and friction plate (305) on input shaft (7), brake gear
It is fixed by circlip for shaft (302) to enclose (303), wave washer (304) and friction plate (305) both sides.
4. a kind of cooperation joint of robot according to claim 1, it is characterised in that the cooperation joint of robot end is set
The wire bushing (11) for having extraction line bracket (10) and being connected with drawing line bracket (10).
5. a kind of cooperation joint of robot according to claim 1, it is characterised in that the harmonic speed reducer (1) is set
In the side of servomotor (2), the brake (3), driver (5), input terminal encoder (4) and output terminal encoder
(6) it is arranged on the opposite side of servomotor (2).
6. a kind of cooperation joint of robot according to claim 1, it is characterised in that be provided with the housing (12)
Back cover (9) for encapsulation.
7. a kind of cooperation joint of robot according to claim 1, it is characterised in that the stator (201) includes fixed
Sub- iron core and stator winding, using 18 slot structures.
8. a kind of cooperation joint of robot according to claim 1, it is characterised in that the rotor (202) includes turning
Sub- iron core and permanent magnet, using 16 pole surface-mount type structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721060477.4U CN207256275U (en) | 2017-08-23 | 2017-08-23 | One kind cooperation robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721060477.4U CN207256275U (en) | 2017-08-23 | 2017-08-23 | One kind cooperation robot joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207256275U true CN207256275U (en) | 2018-04-20 |
Family
ID=61922168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721060477.4U Expired - Fee Related CN207256275U (en) | 2017-08-23 | 2017-08-23 | One kind cooperation robot joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207256275U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789480A (en) * | 2018-08-27 | 2018-11-13 | 苏州艾利特机器人有限公司 | Cooperate Robot Modular Joint and cooperation robot |
| CN108890688A (en) * | 2018-08-17 | 2018-11-27 | 上海节卡机器人科技有限公司 | A kind of cooperation robot integral joint |
| CN110394825A (en) * | 2019-05-30 | 2019-11-01 | 苏州大学 | Selective compliance assembly robot arm and internal rotor joint arrangement |
| WO2019229232A1 (en) * | 2018-06-02 | 2019-12-05 | Franka Emika Gmbh | Drive device for a manipulator |
| CN110605736A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Compact modular joint and light arm for endowment service robot |
-
2017
- 2017-08-23 CN CN201721060477.4U patent/CN207256275U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019229232A1 (en) * | 2018-06-02 | 2019-12-05 | Franka Emika Gmbh | Drive device for a manipulator |
| CN110605736A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Compact modular joint and light arm for endowment service robot |
| CN108890688A (en) * | 2018-08-17 | 2018-11-27 | 上海节卡机器人科技有限公司 | A kind of cooperation robot integral joint |
| CN108789480A (en) * | 2018-08-27 | 2018-11-13 | 苏州艾利特机器人有限公司 | Cooperate Robot Modular Joint and cooperation robot |
| CN110394825A (en) * | 2019-05-30 | 2019-11-01 | 苏州大学 | Selective compliance assembly robot arm and internal rotor joint arrangement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 3286, Zhao Lou Road, Minhang District, Shanghai Patentee after: Shanghai Aerospace Intelligent Equipment Co.,Ltd. Patentee after: SUZHOU BEST ASSEMBLING AUTOMATION TECHNOLOGY Co.,Ltd. Address before: No. 3286, Zhao Lou Road, Minhang District, Shanghai Patentee before: SHANGHAI AEROSPACE COMMUNICATION ELECTRIC Co. Patentee before: SUZHOU BEST ASSEMBLING AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |