CN207930693U - A kind of integrated joint of robot module - Google Patents
A kind of integrated joint of robot module Download PDFInfo
- Publication number
- CN207930693U CN207930693U CN201820204651.6U CN201820204651U CN207930693U CN 207930693 U CN207930693 U CN 207930693U CN 201820204651 U CN201820204651 U CN 201820204651U CN 207930693 U CN207930693 U CN 207930693U
- Authority
- CN
- China
- Prior art keywords
- joint
- driving motor
- speed reducer
- fixedly connected
- harmonic speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of integrated joint of robot module, including joint output link, harmonic speed reducer, articular shell, driving motor main body, braking mechanism, integrated circuit modules；The joint output link is for connecting exterior operator or load；The harmonic speed reducer is used to adjust the rotating speed of joint output link；The articular shell is for fixing harmonic speed reducer, driving motor main body, braking mechanism and integrated circuit modules；The driving motor main body is according to the instruction of integrated circuit modules for driving harmonic speed reducer；The braking mechanism is according to the instruction of integrated circuit modules for driving motor main body band-type brake；The integrated circuit modules drive driving motor main body according to the instruction of external host computer, the working condition of the working condition of driving motor main body, joint output link.The utility model simplifies drive mechanism, and internal structure is compact, and installation maintenance is more convenient, improves the safety of joint of robot module.
Description
Technical field
The utility model is related to a kind of module, more particularly to a kind of integrated joint of robot module belongs to robot
Field.
Background technology
Robot is born so far, has been widely used in every field, as vehicle assembly, component of machine processing,
The industries such as Palletised carry, surface polishing, pigment spraying, plank welding, service medical treatment and war industry equipment are all robot hot spot rows
Industry.Although traditional robot is still active in the fields such as industrial manufacturing service, the development in epoch is so that people's produces, gives birth to
The demands such as living, amusement, medical treatment and service are increasingly novel, and no matter traditional robot all can not in terms of structure, control and intelligence
Meet these requirements, people need more light, more integrated, more intelligent robot, and require robot safe
Cooperate with people.But the robot for having been put into every field extensively, in the prevalence of problems with：(1) big on hardware configuration
And it is heavy, mechanical arm is born using materials such as the big steels of rigidity, or even equipped with armed lever balance mechanism to reduce Nonlinear perturbations
It is downloaded from again than low；(2) working environment is specific single and is precognition, and robot base is substantially stationary motionless can to complete work post
Task lacks flexibility；(3) integrated level is low, and joint is sturdy, generally uses planetary reduction gear, motor to be mounted on joint, controller
In switch board, control line is miscellaneous more than external cabling, is commonly equipped with larger switch board, the power supply of joint of robot,
Motor drives and motion planning etc. is all realized by switch board, and this separate installment causes to repair cumbersome, and it is hidden to have many safety
Suffer from.
Utility model content
The technical problems to be solved in the utility model is：A kind of integrated machine is overcome the deficiencies of the prior art and provide
Device person joint's module using joint output link, harmonic speed reducer, articular shell, driving motor main body, braking mechanism, integrates
Core component of the circuit module as joint of robot module realizes mechanism, control, drives and be in communication in integrated integrated
Joint of robot module.
The utility model aim is achieved by the following technical programs：
A kind of integrated joint of robot module, including joint output link, harmonic speed reducer, articular shell, driving
Motor body, braking mechanism, integrated circuit modules；
The rotor of the driving motor main body is fixedly connected with the input terminal of harmonic speed reducer, while driving motor main body
Driving motor rotor is fixedly connected with the turning end of braking mechanism；The output end of the harmonic speed reducer is solid with joint output link
Fixed connection；The joint output link is connected with exterior operator or load；The turning end of the braking mechanism simultaneously with drive
The driving motor rotor of dynamic motor body and the hollow input shaft of harmonic speed reducer are fixedly connected with；The input end of motor coding
The turning end of device is fixedly connected with the input terminal of harmonic speed reducer；The turning end of the joint output end encoder is exported with joint
The output shaft of component is fixedly connected；The fixing end of the articular shell and harmonic speed reducer, the stator of driving motor main body, brake
The fixing end of mechanism, integrated circuit modules are fixedly connected with.
Above-mentioned integrated joint of robot module, the harmonic speed reducer include steel wheel, flexbile gear；The steel wheel and joint
Output link is fixedly connected, and the fixed harmonic speed reducer is fixedly connected by flexbile gear with articular shell.
Above-mentioned integrated joint of robot module, the driving motor main body select rimless direct driving motor.
Above-mentioned integrated joint of robot module further includes input end of motor encoder, joint output end encoder；
Fixing end, the fixing end of joint output end encoder of the articular shell and input end of motor encoder are fixed
Connection.
Above-mentioned integrated joint of robot module, the joint output link includes output flange and output shaft；It is described
Output flange connects exterior operator or load；The output shaft is hollow tubular；The harmonic speed reducer further includes hollow
Input shaft；The output shaft passes through hollow input shaft, and there are gaps between hollow input shaft and output shaft；The output flange with
Output shaft interference fit connection.
Above-mentioned integrated joint of robot module, the driving motor main body include driving motor stator, driving motor
Rotor；The motor stator includes stator winding, stator core；The stator core is fixedly connected with articular shell, stator around
Group is connected with stator core；The driving motor rotor includes rotor rim, rotor magnetic steel；The rotor magnetic steel is uniformly mounted on
On the circumference of rotor rim；The harmonic speed reducer further includes hollow input shaft, and the rotor rim is sleeved on harmonic speed reducer
Hollow input shaft cascaded surface on.
Above-mentioned integrated joint of robot module, the braking mechanism include brake and brake transition fixing piece；
The brake includes releasable armature plate and yoke fixing end；The yoke fixing end is fixedly connected with articular shell, described
Releasable armature plate is fixedly connected with brake transition fixing piece, the brake transition fixing piece and harmonic speed reducer it is hollow
Input shaft is fixedly connected.
Above-mentioned integrated joint of robot module, the articular shell further include T-type articular shell, ramp sleeve, end
Lid, transition piece；The joint of robot module further includes input end of motor encoder, joint output end encoder；Outside T-type joint
Shell；In the opposite both ends of T-type articular shell, wherein one end install joint output link, the other end install successively ramp sleeve and
End cap；
Transition piece is fixed in T-type articular shell；Transition piece is exported with braking mechanism, input end of motor encoder, joint
End encoder and integrated circuit modules are fixedly connected with.
Above-mentioned integrated joint of robot module, the harmonic speed reducer further includes wave producer and hollow input shaft；
The joint of robot module further includes input end of motor encoder；Wave producer is connect with hollow input shaft；Hollow input shaft
It is fixedly connected with the rotor rim of the driving motor rotor of driving motor main body, while hollow input shaft is encoded with input end of motor
Device connects.
Above-mentioned integrated joint of robot module, the integrated circuit modules further include Hall sensor circuit, Hall
Sensor circuit is connect with the driving motor rotor of driving motor main body.
The utility model has the advantages that compared with the prior art：
(1) a kind of integrated joint of robot module provided by the utility model, entire intra articular are integrated with driving
Motor body, harmonic speed reducer, braking mechanism, integrated circuit modules, center shaft axis use hollow design, can be each to install
Cable between component saves structure space, while simplifying drive mechanism；Internal structure is compact, realizes robot one
Standing posture joint solution, optimization robot complete machine structure；Joint housing structure uses T-type articular shell, ramp sleeve and end
Fixed form is covered, installation and debugging method is optimized, is conducive to later maintenance and dismantles；Ramp sleeve and end cap can be used 3D hard and beat
Print is conducive to internal heat dissipating, improves overall performance；
(2) a kind of integrated joint of robot module provided by the utility model, the driving motor main body includes nothing
Frame driving motor stator and driving motor rotor, the two are directly installed in articular shell, driving motor stator and driving motor
Brush contact is not needed between rotor so that the internal structure of articular shell is more compact, and installation maintenance is more convenient；
(3) a kind of integrated joint of robot module provided by the utility model, using input end of motor encoder and
Joint output end encoder monitors the working condition of feedback driving motor main body and joint output link in real time respectively, improves defeated
Go out the measurement accuracy of end position；Integrated circuit modules pass through the electric current of real-time monitoring driving motor body, control driving electricity simultaneously
The forms of motion of owner's body reduces the impact of overload and extraneous collision, improves the safety of joint of robot module, and increase
Qiang Liao robots it is intelligent, man-machine interaction effect is good；
(4) a kind of integrated joint of robot module provided by the utility model, optimizes conventional machines person joint's mould
Traditional drive control device function and driving mechanism are integrated in intra articular by the structure and layout designs of group, and volume smaller is born
It is downloaded from again than improving；Greatly simplify the Integrated power of joint of robot module simultaneously, and reduce industrial robot exploitation and
Using threshold, robot building quotient is allowed to focus more on the exploitation of its robot application scene, rather than is entangled with and is moved in complicated
Power mechanical component.
Description of the drawings
Fig. 1 is a kind of integrated joint of robot modular structure sectional view of the utility model；
Fig. 2 is a kind of integrated robot shutdown module harmonic speed reducer schematic diagram of the utility model；
Fig. 3 is a kind of integrated robot shutdown module articular shell schematic diagram of the utility model；
Fig. 4 is a kind of integrated robot shutdown module transition piece structural schematic diagram of the utility model；
Fig. 5 is a kind of integrated robot shutdown module driving motor main body composition schematic diagram of the utility model；
Fig. 6 is a kind of integrated robot shutdown module braking mechanism composition schematic diagram of the utility model；
Fig. 7 is a kind of integrated robot shutdown module integrated circuit composition schematic diagram of the utility model.
Specific implementation mode
It is new to this practicality below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
The embodiment of type is described in further detail.
A kind of integrated joint of robot module, including joint output link 1, harmonic speed reducer 2, articular shell 3, drive
Dynamic motor body 4, braking mechanism 5, input end of motor encoder 6, joint output end encoder 7, integrated circuit modules 8, such as Fig. 1
It is shown.
Joint output link 1 is for connecting exterior operator or load；Harmonic speed reducer 2 is for adjusting joint output structure
The rotating speed of part 1；Articular shell 3 is for fixing harmonic speed reducer 2, driving motor main body 4, braking mechanism 5, input end of motor coding
Device 6, joint output end encoder 7 and integrated circuit modules 8；Driving motor main body 4 is used for according to the instruction of integrated circuit modules 8
Drive harmonic speed reducer 2；Braking mechanism 5 is according to the instruction of integrated circuit modules 8 for 4 band-type brake of driving motor main body；Motor
Input terminal encoder 6 is used to measure the working condition of the rotor rim 421 of the driving motor rotor 42 of driving motor main body 4, so
After export to integrated circuit modules 8；Joint output end encoder 7 is used to measure the work of the output shaft 12 of joint output link 1
State is then output to integrated circuit modules 8；Instruction of the integrated circuit modules 8 according to external host computer, driving motor main body 4
Working condition, the working condition of joint output link 1, driving driving motor main body 4.
The rotor of driving motor main body 4 is fixedly connected with the input terminal of harmonic speed reducer 2, while driving motor main body 4
Driving motor rotor 42 is fixedly connected with the turning end of braking mechanism 5；The output end of harmonic speed reducer 2 and joint output link 1
It is fixedly connected；Joint output link 1 is connected with exterior operator or load；The turning end of braking mechanism 5 is electric with driving simultaneously
The driving motor rotor 42 of owner's body 4 and the hollow input shaft 23 of harmonic speed reducer 2 are fixedly connected with；Input end of motor encoder
6 turning end is fixedly connected with the input terminal of harmonic speed reducer 2；The turning end of joint output end encoder 7 exports structure with joint
The output shaft 12 of part 1 is fixedly connected；Articular shell 3 and the fixing end of harmonic speed reducer 2, the driving motor of driving motor main body 4
Rotor 42, the fixing end of braking mechanism 5, the fixing end of input end of motor encoder 6, the fixing end of joint output end encoder 7,
Integrated circuit modules 8 are fixedly connected with.
Joint output link 1 and harmonic speed reducer 2 are located at the same side of driving motor main body 4, and braking mechanism 5, motor are defeated
Enter to hold encoder 6, joint output end encoder 7, integrated circuit modules 8 to be located at the other side of driving motor main body 4.
Joint output link 1 includes output flange 11 and output shaft 12；Output flange 11 connects exterior operator or negative
It carries, while output flange 11 is fixedly connected with the steel wheel 21 of harmonic speed reducer 2；Output shaft 12 is hollow tubular；Hollow input shaft
23 are sleeved on output shaft 12, and there are gaps for hollow input shaft 23 and output shaft 12；Output flange 11 is matched with 12 interference of output shaft
Close connection.The driving motor main body 4 of joint of robot module, braking mechanism 5, input end of motor encoder 6, joint output end are compiled
Code device 7, integrated circuit modules 8 are sleeved on output shaft 12 or hollow input shaft 23, and output shaft 12 and hollow input shaft 23 form
Hollow pipeline be used for the cabling of cable, space has been saved, convenient for the miniaturization of equipment and integrated.
Harmonic speed reducer 2 is as shown in Fig. 2, include steel wheel 21, flexbile gear 22, hollow input shaft 23 and wave producer 24；Steel wheel
21 are fixedly connected with joint output link 1, and fixed harmonic speed reducer 2 is fixedly connected by flexbile gear 22 with articular shell 3；Wave is sent out
Raw device 24 is connect with hollow input shaft 23；Hollow input shaft 23 is connect with input end of motor encoder 6；Input end of motor encodes
The working condition that device 6 is used to measure driving motor main body 4 is then output to integrated circuit modules 8.Hollow input shaft 23 is as humorous
The input terminal of wave retarder 2, output end of the steel wheel 21 as harmonic speed reducer 2, fixation of the flexbile gear 22 as harmonic speed reducer 2
End.Hollow input shaft 23 is fixedly connected with the rotor rim 421 of the driving motor rotor 42 of driving motor main body 4.
Articular shell 3 includes T-type articular shell 31, ramp sleeve 32 and end cap 33, transition piece 34, as shown in Figure 3；T-type
Articular shell 31；In the opposite both ends of T-type articular shell 31, wherein joint output link 1 is installed in one end, and the other end is installed successively
Ramp sleeve 32 and end cap 33, ramp sleeve 32 and end cap 33 are connect with 31 coaxial cooperation of T-type articular shell.Transition piece 34 and brake
Mechanism of car 5, input end of motor encoder 6, joint output end encoder 7, integrated circuit modules 8 are fixedly connected with, such as Fig. 4 institutes
Show.The flexbile gear 22 of harmonic speed reducer 2, the stator core 411 of driving motor main body 4, transition piece 34 with T types articular shell 31
It is fixedly connected.End cap 33, which can be realized, to be gone to load and unload, and internal structure is facilitated to install and debug.
Specifically, being ladder-like inner cavity in T-type articular shell 31, harmonic speed reducer 2 is installed in the larger side of cavity radius,
The smaller side of cavity radius is designed with the stator core 412 of ladder location and installation driving motor stator 41；In T-type articular shell
31 inner cavities are equipped with symmetrical boss structure, for connecting installation transition piece 34.Transition piece 34 is for being fixedly mounted integrated circuit modules
8, the yoke fixing end 512 of input coding device 6, output coder 7 and brake 51.All design screw thread in each end face in inner cavity
Hole, for being connected and fixed articular device.
Driving motor main body 4 is rimless direct driving motor, as shown in figure 5, driving motor main body 4 includes driving motor stator
41, driving motor rotor 42；Motor stator 41 includes stator winding 411, stator core 412；Stator core 411 and articular shell
3 are fixedly connected, and stator winding 411 and stator core 412 connect；Driving motor rotor 42 includes rotor rim 421, rotor magnetic steel
422；Rotor magnetic steel 422 is uniformly on the circumference of rotor rim 421；Rotor rim 421 is sleeved in harmonic speed reducer 2
On empty input shaft 23.Fixing end of the stator core 412 as driving motor main body 4.Stator iron after stator winding 411 is powered
The rotary magnetic torque that interaction is generated between core 412 and rotor rim 421, being using the advantages of rimless direct driving motor can be straight
It connects inside T-type articular shell 31, it is compact-sized, convenient for safeguarding.
Braking mechanism 5 includes brake 51 and brake transition fixing piece 52, as shown in Figure 6；Brake 51 includes that can release
Electric discharge pin plate 511 and yoke fixing end 512；Yoke fixing end 512 is fixedly connected with articular shell 3, releasable armature plate 511
It is fixedly connected with brake transition fixing piece 52, brake transition fixing piece 52 and the hollow input shaft 23 of harmonic speed reducer 2 are solid
Fixed connection；The rotor rim 421 of the driving motor rotor 42 of driving motor main body 4 and the hollow input shaft 23 of harmonic speed reducer 2
It is fixedly connected.When joint module powers off, the magnetic force of yoke fixing end 512 adsorbs releasable armature plate 511, generates specified torsion
Dynamic braking；Upon power-up, the permanent magnetic of yoke fixing end 512 and coil magnetic force are offset, and releasable armature plate 511 is released, and are made
Dynamic device discharges shaft.
Integrated circuit modules 8 include band-type brake circuit 81, driving circuit 82, MCU, absolute encoder circuit 84, hall sensing
Device circuit 85, as shown in Figure 7.Band-type brake circuit 81 exports band-type brake signal to braking mechanism 5 according to the instruction of the band-type brake of MCU.Driving electricity
Road 82 is connect with driving motor main body 4, and driving motor main body 4 is driven according to the driving instruction of MCU.MCU is according to external host computer
Instruction, driving motor main body 4 working condition, the working condition of joint output link 1, output driving instruction triggers driving
Circuit 82, output band-type brake are instructed to band-type brake circuit 81.MCU can be various well known control chips and control circuit, such as singly
Piece machine, digital signal processor, embedded controller etc., for realizing the rotary motion of joint module, commutation control, precision control
System and intelligent control function.Absolute encoder circuit 84 is used to obtain the working condition and joint output structure of driving motor main body 4
The working condition of part 1, is then output to MCU.Hall sensor circuit 85 is used to measure the working condition of driving motor main body 4,
Then MCU is sent measured data to.
Driving circuit 82 commutates to the busbar voltage of driving motor main body 4 using its internal inverter circuit, then
The busbar output three-phase alternating current of driving motor main body 4 is electrically connected to the three-phase input side of the motor stator 41 of motor；Each stator
Winding 411 forms the fixed magnetic field in direction, and then under the action of phase commutation, motor stator 41 forms the magnetic of Periodic Rotating
, rotary speed is directly proportional to the full-bridge inverting frequency on integrated circuit modules 8；Turned by motor stator 41 and driving motor
42 effect of son generates corresponding magnetic field square, passes through 23 output torque of hollow input shaft.
After driving motor main body 4 realizes rotary motion, input end of motor encoder 6 measures the drive of driving motor main body 4
The position of dynamic rotor 42, the position of the output shaft 12 for the joint output link 1 that joint output end encoder 7 measures, motor
Input terminal encoder 6 and joint output end encoder 7 export measurement data to absolute value encoder circuit 84, absolute encoder
Device circuit 84 exports the position data of the position data of driving motor rotor 42 and output shaft 12 to MCU, and MCU is according to above-mentioned number
According to the rotary motion precision that can obtain joint final output, to realize more preferably precision controlling.In addition MCU is according to hall sensing
The working condition for the driving motor main body 4 that device circuit 85 measures, determines the direction of rotation of driving motor main body 4.
Band-type brake control principle be：The confession of brake 51 is cut off in the case that needing skidding, external smart controller
Power supply makes the releasable armature plate 511 of the magnetic-adsorption of yoke fixing end 512, carries out band-type brake action, and hollow input shaft 23 stops
Output.
The joint module of the utility model using mechanism, control, driving, communicating integral modularized joint design think
Road.Its main feature is that its reconstitution, redundancy and flexibility are good, the design cycle is short, design cost is low and are convenient for safeguarding.
The content not being described in detail in the utility model specification belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of integrated joint of robot module, it is characterised in that：Including joint output link (1), harmonic speed reducer
(2), articular shell (3), driving motor main body (4), braking mechanism (5), input end of motor encoder (6), joint output end are compiled
Code device (7), integrated circuit modules (8)；
The rotor of the driving motor main body (4) is fixedly connected with the input terminal of harmonic speed reducer (2), while driving motor main body
(4) driving motor rotor (42) is fixedly connected with the turning end of braking mechanism (5)；The output end of the harmonic speed reducer (2)
It is fixedly connected with joint output link (1)；The joint output link (1) connects with exterior operator or load；The brake
The turning end of mechanism of car (5) is hollow with the driving motor rotor (42) of driving motor main body (4) and harmonic speed reducer (2) simultaneously
Input shaft (23) is fixedly connected with；The turning end of the input end of motor encoder (6) is solid with the input terminal of harmonic speed reducer (2)
Fixed connection；The turning end of the joint output end encoder (7) is fixedly connected with the output shaft (12) of joint output link (1)；
The articular shell (3) and the fixing end of harmonic speed reducer (2), the stator of driving motor main body (4), braking mechanism (5) are consolidated
Fixed end, integrated circuit modules (8) are fixedly connected with.
2. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The harmonic speed reducer
(2) include steel wheel (21), flexbile gear (22)；The steel wheel (21) is fixedly connected with joint output link (1), the harmonic speed reducer
(2) it is fixedly connected with articular shell (3) by flexbile gear (22).
3. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The driving motor master
Body (4) selects rimless direct driving motor.
4. a kind of integrated joint of robot module according to claim 1, it is characterised in that：It further include motor input
Hold encoder (6), joint output end encoder (7)；
Fixing end, the fixing end of joint output end encoder (7) of the articular shell (3) and input end of motor encoder (6)
It is fixedly connected with.
5. a kind of integrated joint of robot module according to one of claims 1 to 3, it is characterised in that：The pass
It includes output flange (11) and output shaft (12) to save output link (1)；The output flange (11) connection exterior operator or
Load；The output shaft (12) is hollow tubular；The harmonic speed reducer (2) further includes hollow input shaft (23)；The output
Axis (12) passes through hollow input shaft (23), and there are gaps between hollow input shaft (23) and output shaft (12)；The output flange
(11) it is connected with output shaft (12) interference fit.
6. a kind of integrated joint of robot module according to one of claims 1 to 3, it is characterised in that：The drive
Dynamic motor body (4) includes driving motor stator (41), driving motor rotor (42)；The motor stator (41) include stator around
Group (411), stator core (412)；The stator core (412) is fixedly connected with articular shell (3), stator winding (411) and
Stator core (412) connects；The driving motor rotor (42) includes rotor rim (421), rotor magnetic steel (422)；Described turn
Sub- magnet steel (422) is uniformly mounted on the circumference of rotor rim (421)；The harmonic speed reducer (2) further includes hollow input shaft
(23), the rotor rim (421) is sleeved on hollow input shaft (23) cascaded surface of harmonic speed reducer (2).
7. a kind of integrated joint of robot module according to one of claims 1 to 3, it is characterised in that：The brake
Mechanism of car (5) includes brake (51) and brake transition fixing piece (52)；The brake (51) includes releasable armature plate
(511) and yoke fixing end (512)；The yoke fixing end (512) is fixedly connected with articular shell (3), the releasable electricity
Pin plate (511) is fixedly connected with brake transition fixing piece (52), the brake transition fixing piece (52) and harmonic speed reducer
(2) hollow input shaft (23) is fixedly connected.
8. a kind of integrated joint of robot module according to one of claims 1 to 3, it is characterised in that：The pass
It further includes T-type articular shell (31), ramp sleeve (32), end cap (33), transition piece (34) to save shell (3)；The robot closes
It further includes input end of motor encoder (6), joint output end encoder (7) to save module；T-type articular shell (31)；Outside T-type joint
In the opposite both ends of shell (31), wherein one end installation joint output link (1), the other end install ramp sleeve (32) and end successively
It covers (33)；Transition piece (34) is fixed in T-type articular shell (31)；Transition piece (34) is compiled with braking mechanism (5), input end of motor
Code device (6), joint output end encoder (7) and integrated circuit modules (8) are fixedly connected with.
9. a kind of integrated joint of robot module according to one of claims 1 to 3, it is characterised in that：It is described humorous
Wave retarder (2) further includes wave producer (24) and hollow input shaft (23)；The joint of robot module further includes that motor is defeated
Enter to hold encoder (6)；Wave producer (24) is connect with hollow input shaft (23)；Hollow input shaft (23) and driving motor main body
(4) rotor rim (421) of driving motor rotor (42) is fixedly connected, while hollow input shaft (23) is compiled with input end of motor
Code device (6) connects.
10. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The integrated circuit
Module (8) further includes Hall sensor circuit (85), the driving motor of Hall sensor circuit (85) and driving motor main body (4)
Rotor (42) connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820204651.6U CN207930693U (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820204651.6U CN207930693U (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207930693U true CN207930693U (en) | 2018-10-02 |
Family
ID=63651726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820204651.6U Active CN207930693U (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207930693U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN111360872A (en) * | 2020-04-01 | 2020-07-03 | 合肥工业大学 | Small-size integrated robot joint module |
| CN111654152A (en) * | 2020-06-15 | 2020-09-11 | 博雅工道（北京）机器人科技有限公司 | Single-drive double-shaft motor and mechanical arm |
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
-
2018
- 2018-02-06 CN CN201820204651.6U patent/CN207930693U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN111360872A (en) * | 2020-04-01 | 2020-07-03 | 合肥工业大学 | Small-size integrated robot joint module |
| CN111654152A (en) * | 2020-06-15 | 2020-09-11 | 博雅工道（北京）机器人科技有限公司 | Single-drive double-shaft motor and mechanical arm |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
| CN115199725B (en) * | 2021-09-30 | 2024-07-12 | 深圳市越疆科技股份有限公司 | Joint, mechanical arm, robot and installation method of robot |
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207930693U (en) | A kind of integrated joint of robot module | |
| CN108247668A (en) | A kind of integrated joint of robot module | |
| CN104908059A (en) | Modularization mechanical arm joint with variable freedom | |
| CN101596717B (en) | Compact type intelligent switch joint | |
| CN105313132A (en) | High-integrality robot joint | |
| CN111038578B (en) | Double-source double-winding motor drive-by-wire steering system and fault-tolerant control method thereof | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN106598050A (en) | High-integration-level driving and steering integrated steering wheel system | |
| CN101797917A (en) | Braking device of unmanned vehicle | |
| CN107263526A (en) | A kind of multifunctional light quantification service joint of robot module | |
| CN108638118A (en) | Integrated robot joint driving device | |
| CN104850036A (en) | Control system and method for dual-redundancy electric steering engine | |
| CN206282138U (en) | High integration drives steering integrated steering wheel system | |
| CN201808064U (en) | Single degree of freedom rotating device | |
| CN208133004U (en) | A kind of intelligent robot driving joint and robot | |
| CN201633712U (en) | Unmanned vehicle brake | |
| CN108098832A (en) | The direct moment of torsion control healing robot joint of modularization | |
| CN201456003U (en) | Compact intelligent joint | |
| CN107984494A (en) | A kind of apery service robot mechanical arm | |
| CN208034714U (en) | A kind of compact machines people integral joint module and compact machines people | |
| CN217801789U (en) | Reconfigurable hollow modular robot joint | |
| CN201291961Y (en) | Self-charging electric bicycle | |
| CN215946581U (en) | Low-cost gyration control system for tower machine | |
| WO2021136248A1 (en) | Heavy-loaded steering wheel system | |
| CN207638487U (en) | A kind of tire one brushless ratio wheel hub electric machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |