CN208409914U - integrated robot joint driving device - Google Patents
integrated robot joint driving device Download PDFInfo
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- CN208409914U CN208409914U CN201820948633.9U CN201820948633U CN208409914U CN 208409914 U CN208409914 U CN 208409914U CN 201820948633 U CN201820948633 U CN 201820948633U CN 208409914 U CN208409914 U CN 208409914U
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- retarder
- joint
- motor
- shaft
- control
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Abstract
A kind of integrated robot joint driving device, is related to robotic technology field, and the solution is to the technical problems that the prior art is at high cost and assembly is inconvenient.The device includes main casing, and is mounted on the intracorporal joint motor of main casing, retarder, main circuit board, brake, equipped with joint control module on main circuit board；The retarder is cycloidal reducer, two Cycloidal Wheels of retarder are separately mounted in the shaft of joint motor by two capacity eccentric bearings, the ring gear of retarder and main casing sliding friction cooperate, and the end cap of retarder is fixed on a main housing, and the pin of retarder is hollow tube body；The cavity realization cabling that motor control cable and control for brake cable pass through the pin of retarder.Device provided by the utility model, output torque is high, and impact resistance is good, and manufacturing cost is low, easy to assembly.
Description
Technical field
The utility model relates to robot technology, more particularly to a kind of skill of integrated robot joint driving device
Art.
Background technique
Small scale robot (especially cooperation robot) has miniaturization, lightweight and modular requirement.Robot closes
Section component is the basic components of modularization robot, has more advantage using integral joint module, can simplify user
Design, quickly assembling, and the robot for meeting specific function requirement can be customized.
Existing integrated robot joint driving device has graduallyd mature, but because structure is asked there are following with technological reason
Topic:
1) joint of robot generallys use harmonic speed reducer increase joint torque, and harmonic speed reducer is to meet torque demand,
Flexbile gear is needed using high-intensitive and flexible metal manufacture, and the accuracy of manufacture requires high, complex process, and due to the flexbile gear period
Property deform, alternate stress can be generated, make it easy to generate fatigue rupture, and the impact resistance of harmonic speed reducer also compared with
Difference.
2) joint of robot usually all uses crossed roller bearing, since joint of robot can be held simultaneously because of structure limitation
Rigidity and rotating accuracy by radial and axial load, therefore to crossed roller bearing have very high requirement, and difficulty of processing is larger.
3) existing integrated robot joint driving device generallys use the rimless torque motor of hollow shaft as power source,
Using motor hollow mandrel interior cabling, design is more compact, but the air gap between hollow motor rotor is small, and motor bearings is outstanding
Arm, to matching requirements height, installation difficulty is larger.
Utility model content
For above-mentioned defect existing in the prior art, the technical problem to be solved by the utility model is to provide a kind of defeated
Torque is high out, and impact resistance is good, and manufacturing cost is low, integrated robot joint driving device easy to assembly.
In order to solve the above-mentioned technical problem, a kind of integrated robot joint driving device provided by the utility model,
Including main casing, and it is mounted on the intracorporal joint motor of main casing, retarder, main circuit board, is equipped in main casing for joint
The shaft of motor implements the brake of braking, equipped with the joint for controlling joint motor, brake operation on main circuit board
Control module；It is characterized by:
Capacity eccentric bearing there are two being nested in the shaft of the joint motor, and two capacity eccentric bearing mutual dislocation 180 degrees；
The retarder is cycloidal reducer, and two Cycloidal Wheels of retarder are separately mounted to close by two capacity eccentric bearings
In the shaft for saving motor, the ring gear of retarder and main casing sliding friction cooperate, and the end cap of retarder is fixed on a main housing,
The pin of retarder is mounted on the end cap of retarder, and the pin of retarder is hollow tube body；
Motor control cable, control for brake cable are equipped in the main casing；
One end of the motor control cable is connected to the control port of joint motor, and the other end passes through the pin of retarder
Cavity is followed by the motor control signal output port of joint control module；
One end of the control for brake cable is connected to the control port of brake, and the other end passes through the sky of the pin of retarder
Chamber is followed by the brake control signal output port of joint control module.
Further, the shaft end central part of the shaft of the joint motor is fixed with the first magnet, the ring gear of retarder
On be fixed with the magnetic that coaxially rotates and compile shaft, magnetic is compiled and is fixed with the second magnet in shaft；
The main circuit board is laid between the first magnet, the second magnet, is carried on main circuit board there are two magnetic coder,
The inductive signal output port of two magnetic coders is coupled with the data collection terminal mouth of joint control module, one of magnetic
The first magnet of encoder face, another second magnet of magnetic coder face.
Further, the joint motor is external rotor electric machine, and the inner stator of joint motor is fixed on a main housing, joint
The shaft of motor and the outer rotor of joint motor are coaxially affixed.
Integrated robot joint driving device provided by the utility model, using the cycloidal reducer of fixed pin mode
Replace harmonic speed reducer in the prior art, using the ring gear output power of retarder, and cleverly utilizes ring gear
With the sliding friction mode of main casing, replace the crossed roller bearing in existing joint, shortens joint entire length, and have
Stronger anti-turning torque, to keep more succinct entire joint, lightweight, production and processing convenient.And it is solid due to using
The cycloidal reducer of fixed column pin mode, no motion of pin can use hollow structure, be conducive to mitigate weight, and can benefit
It with pin through-hole cabling, is no longer restricted because of cabling by hollow shaft mode, external rotor brushless torque motor can be used, thus
Bigger torque can be obtained under same motor volume weight.And due to by the way of ring gear output power, making winner electric
Road plate also may be mounted at retarder end, acquire motor and retarder so as to use combined magnetic encoder scheme
Revolving speed, the complexity for the structure that can be reduced have output torque high, and impact resistance is good and manufacturing cost is low, spy easy to assembly
Point.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the integrated robot joint driving device of the utility model embodiment.
Specific embodiment
The embodiments of the present invention are described in further detail below in conjunction with Detailed description of the invention, but the present embodiment and are not had to
In limitation the utility model, all similar structures and its similar variation using the utility model should all be included in the utility model
Protection scope, the pause mark in the utility model indicates the relationship of sum.
As shown in Figure 1, a kind of integrated robot joint driving device provided by the utility model embodiment, including master
Shell 1, and the joint motor, retarder, the main circuit board 4 that are mounted in main casing 1, main casing 1 is interior to be equipped with for joint electricity
The shaft 21 of machine implements the brake 3 of braking, equipped with the pass for controlling joint motor, brake 3 is run on main circuit board 4
Save control module (joint control module is the prior art)；
The joint motor is external rotor electric machine, and the inner stator 23 of joint motor is fixed on main casing 1, joint motor
Shaft 21 and the outer rotor 22 of joint motor are coaxial affixed；It is nested in the shaft 21 of joint motor there are two capacity eccentric bearing 81,82,
And two capacity eccentric bearings 81,82 mutual dislocation 180 degrees；
The retarder is cycloidal reducer (structure of cycloidal reducer is the prior art), two Cycloidal Wheels of retarder
51, it 52 is separately mounted in the shaft 21 of joint motor by two capacity eccentric bearings 81,82, the ring gear 53 and main casing of retarder
1 sliding friction of body cooperation, and the joint output 9 coaxially rotated is fixed on the ring gear of retarder 53, slow down
The end cap 50 of device is fixed on main casing 1, and the pin 54 of retarder is mounted on the end cap 50 of retarder, and the column of retarder
Pin 54 is hollow tube body；
Motor control cable 20, control for brake cable 30 are equipped in the main casing 1；
One end of the motor control cable 20 is connected to the control port of joint motor, and the other end passes through the pin of retarder
54 cavity is followed by the motor control signal output port of the joint control module on main circuit board 4；
One end of the control for brake cable 30 is connected to the control port of brake 3, and the other end passes through the pin of retarder
54 cavity is followed by the brake control signal output port of the joint control module on main circuit board 4；
The shaft end central part of the shaft 21 of the joint motor is fixed with the first magnet 61, consolidates on the ring gear 53 of retarder
There is the magnetic coaxially rotated to compile shaft 7, magnetic is compiled and is fixed with the second magnet 62 in shaft 7, and second magnet 62 is and magnetic surely
Compile the magnet ring that shaft 7 is coaxially laid；
The main circuit board 4 is laid between the first magnet 61, the second magnet 62, and there are two magnetic for carrying on main circuit board 4
The inductive signal output port of encoder, two magnetic coders is coupled with the data collection terminal mouth of joint control module, wherein
First magnet of magnetic coder face 61, another second magnet of magnetic coder face 62.
In the utility model other embodiments, the joint motor is also possible to inner rotor motor.
The working principle of the utility model other embodiments is as follows:
Two Cycloidal Wheels movement of the shaft driving retarder of joint motor, turns so that the ring gear of retarder be driven to slow down
Dynamic, band movable joint output rotates synchronously the ring gear of retarder again, passes through joint output output power.
Joint control module on main circuit board passes through the cooperation of magnetic coder and the first magnet, detects turning for joint motor
The rotation data of axis to control the operating of joint motor, and passes through the cooperation of magnetic coder and the second magnet, detects retarder
The rotation data of ring gear, to detect the rotational angle of joint of robot.
Claims (3)
1. a kind of integrated robot joint driving device, including main casing, and it is mounted on the intracorporal joint motor of main casing, deceleration
Device, main circuit board, are equipped with the brake for implementing braking for the shaft to joint motor in main casing, on main circuit board equipped with
For controlling the joint control module of joint motor, brake operation；It is characterized by:
Capacity eccentric bearing there are two being nested in the shaft of the joint motor, and two capacity eccentric bearing mutual dislocation 180 degrees；
The retarder is cycloidal reducer, and two Cycloidal Wheels of retarder are separately mounted to joint electricity by two capacity eccentric bearings
In the shaft of machine, the ring gear of retarder and main casing sliding friction cooperate, and the end cap of retarder is fixed on a main housing, slow down
The pin of device is mounted on the end cap of retarder, and the pin of retarder is hollow tube body；
Motor control cable, control for brake cable are equipped in the main casing；
One end of the motor control cable is connected to the control port of joint motor, and the other end passes through the cavity of the pin of retarder
It is followed by the motor control signal output port of joint control module；
One end of the control for brake cable is connected to the control port of brake, after the other end passes through the cavity of the pin of retarder
It is connected to the brake control signal output port of joint control module.
2. integrated robot joint driving device according to claim 1, it is characterised in that: the joint motor turns
The shaft end central part of axis is fixed with the first magnet, and the magnetic coaxially rotated is fixed on the ring gear of retarder and compiles shaft, magnetic
It compiles and is fixed with the second magnet in shaft；
The main circuit board is laid between the first magnet, the second magnet, magnetic coder there are two carryings on main circuit board, and two
The inductive signal output port of magnetic coder is coupled with the data collection terminal mouth of joint control module, one of magnetic coding
The first magnet of device face, another second magnet of magnetic coder face.
3. integrated robot joint driving device according to claim 1, it is characterised in that: the joint motor is outer
Rotor electric machine, the inner stator of joint motor is fixed on a main housing, and the shaft of joint motor and the outer rotor of joint motor are coaxial
It is affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820948633.9U CN208409914U (en) | 2018-06-20 | 2018-06-20 | integrated robot joint driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820948633.9U CN208409914U (en) | 2018-06-20 | 2018-06-20 | integrated robot joint driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208409914U true CN208409914U (en) | 2019-01-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820948633.9U Active CN208409914U (en) | 2018-06-20 | 2018-06-20 | integrated robot joint driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208409914U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276997A (en) * | 2020-10-14 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
-
2018
- 2018-06-20 CN CN201820948633.9U patent/CN208409914U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276997A (en) * | 2020-10-14 | 2021-01-29 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
| CN112276997B (en) * | 2020-10-14 | 2021-09-10 | 江苏集萃智能制造技术研究所有限公司 | Integrated magnetic encoder and high-performance robot integrated joint device |
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