CN208663857U - A kind of joint of robot arm and robot - Google Patents

Abstract

The utility model discloses a kind of joint of robot arm and robot, wherein the joint of robot arm includes shell, and motor and retarder are equipped in the shell, and the shaft of the motor is the input shaft of the retarder；The shell of the motor, the shell of the retarder and the junction of the shaft are provided with oil retaining part part, are stopped with forming at least twice.The there is provided joint of robot arm of the utility model, the junction of the shell of its motor, the shell of retarder and shaft is provided with oil retaining part part, it is capable of forming at least twice blocking, lubricating oil in retarder can be effectively stopped to leak along shaft, and therefrom to pollution caused by the components such as joint of robot arm internal encoder module.

Description

A kind of joint of robot arm and robot

Technical field

The utility model relates to robotic technology field more particularly to a kind of joint of robot arms and robot.

Background technique

Driving device is equipped in joint of robot arm, to drive joint of robot arm to be acted, the driving mechanism is usual Including motor and retarder, the shaft of motor is the input shaft of retarder, and the output shaft of retarder is for externally doing manual work.Retarder Inside there is lubricating oil, when operating normally, lubricating oil can be leaked along shaft, pollute the encoder mould in joint of robot arm The components such as block and driving plate, and influence service precision and the service life of these components.

Therefore, a kind of novel joint of robot arm how is provided, largely to avoid lubricating oil in retarder from letting out Leakage pollutes joint of robot arm internal component, is still those skilled in the art's technical problem urgently to be resolved.

Utility model content

The purpose of the utility model is to provide a kind of joint of robot arm and robots, wherein in the joint of robot arm The junction of the shell of motor, the shell of retarder and shaft is provided with oil retaining part part, is capable of forming at least twice blocking, can Lubricating oil in retarder is effectively stopped to leak along shaft, and and to first device such as joint of robot arm internal encoder module Pollution caused by part.

In order to solve the above technical problems, the utility model provides a kind of joint of robot arm, including shell, in the shell Equipped with motor and retarder, the shaft of the motor is the input shaft of the retarder；The shell of the motor, the retarder Shell and the junction of the shaft be provided with oil retaining part part, stopped with forming at least twice.

The there is provided joint of robot arm of the utility model, the junction of the shell of motor, the shell of retarder and shaft It is provided with oil retaining part part, at least twice blocking is capable of forming, can effectively stop lubricating oil in retarder to leak along shaft, And therefrom to pollution caused by the components such as joint of robot arm internal encoder module.

Optionally, the shell of the motor, the retarder shell be provided with the mounting hole passed through for the shaft； The oil retaining part part is spring bearing, and the shaft is fixed in the inner edge of the spring bearing, and the outer rim of the spring bearing is solid Due to the hole wall of the mounting hole.

It optionally, further include brake gear, the shell of the brake gear is equipped with the mounting hole, and the shaft is described in The mounting hole of brake gear protrudes into the brake gear, and is connected with the braking mechanism in the brake gear；The brake Device, the motor, the retarder are set in turn in the shaft, and the shaft is equipped at intervals with two spring bearings, Wherein, the outer rim of a spring bearing and the hole wall of the brake gear, the mounting hole of the motor are mutually fixed, another The outer rim of the spring bearing and the hole wall of the motor, the mounting hole of the retarder are mutually fixed.

It optionally, further include brake gear, the brake gear includes brake block, electromagnet, armature and guide part, described Elastic component is equipped between electromagnet and the armature, the armature is mounted on the electromagnet by the guide part, and can The shaft and/or the deceleration are fixed on axially away from or close to the electromagnet, the brake block along the guide part The output shaft of device；Under energization operating condition, the armature is pulled on the electromagnet, and compresses the elastic component, powers off under operating condition, institute Stating elastic component can discharge and the armature is pushed to compress the brake block.

It optionally, further include pressing plate in a ring, inner rim is installed on the installation axle of the brake block, and outer rim is equipped with direction The dust collection cover that the electromagnet extends, the dust collection cover and the pressing plate are enclosed dust collecting trough；The brake block is located at described In dust collecting trough.

Optionally, the brake block is installed on the pressing plate, and is fixedly mounted by the pressing plate.

Optionally, driving plate is additionally provided in the shell, the driving plate is provided with heater element；It further include cooling fin, The cooling fin press fitting can wrap up the heater element between the inner wall and the driving plate of the shell.

Optionally, coder module is additionally provided in the shell, the coder module includes matching used encoder Plate and encoder；It further include line bank, the both ends of the line bank are plugged and fixed respectively in the encoder plate, the driving Plate, to realize that the encoder plate and the signal of the driving plate connect.

Optionally, the coder module further includes the second mounting base, and the encoder is installed on second mounting base； Second mounting base is equipped with peep hole, for observing whether the encoder is installed in place.

The utility model also provides a kind of robot, including joint arm, and the joint arm is above-mentioned joint of robot arm.

Since above-mentioned joint of robot arm has been provided with technical effect as above, then, there is the joint of robot arm Robot also when having similar technical effect, therefore this will not be repeated here.

Detailed description of the invention

Fig. 1 is provided a kind of structural schematic diagram of specific embodiment of joint of robot arm by the utility model；

Fig. 2 provides structural schematic diagram of the brake gear under energization operating condition by the utility model；

Fig. 3 provides structural schematic diagram of the brake gear in the case where powering off operating condition by the utility model；

Fig. 4 is provided the structural schematic diagram of another specific embodiment of joint of robot arm by the utility model；

Fig. 5 is the connection structure diagram of rear cover and cooling fin in Fig. 4；

Fig. 6 is the connection structure diagram of driving plate and the first encoder plate and second encoder plate；

Fig. 7 is the structural schematic diagram of the first encoder；

Fig. 8 is the left view of Fig. 7；

Fig. 9 is the connection structure diagram of second encoder plate, the second mounting base and flange shaft；

Figure 10 is provided the structural schematic diagram of another specific embodiment of joint of robot arm by the utility model；

Figure 11 is the schematic diagram of energy consumption in existing joint of robot arm；

Figure 12 is a kind of structural schematic diagram of joint of robot arm provided by the embodiments of the present application；

Figure 13 is the structural schematic diagram of another joint of robot arm provided by the embodiments of the present application；

Figure 14 is a kind of structural schematic diagram for joint of robot arm that the application specific embodiment provides；

Figure 15 is the structural schematic diagram for another joint of robot arm that the application specific embodiment provides.

The reference numerals are as follows in Fig. 1-15:

1 shell, 11 rear covers；

2 motors, 21 shafts, 211 oil retaining part parts；

3 brake gears, 31 brake blocks, 32 electromagnet, 33 armature, 34 elastic components, 35 guide parts, 36 pressing plates, 361 dusts Lid, 362 dust collecting troughs；

4 retarders, 41 output shafts；

5 flanges；

6 first coder modules, 61 first encoders, 611 magnetic coders, 612 photoelectric encoders, 62 first encoders Plate, 63 first sockets, 64 first mounting bases；

7 second encoder modules, 71 second encoders, 72 second encoder plates, 73 second sockets, 74 second mounting bases, 741 peepholes；

8 driving plates, 81 heater elements, 82 cooling fins, 83 driving plate sockets；

9 line banks；

100 robots, 101 energy consumption modules, 101a control submodule, 101b feedback absorb submodule；

Vsup power supply, W cable, S switch, CON controller.

Specific embodiment

In order to make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and have The utility model is described in further detail for body embodiment.

The words such as " first " described herein, " second ", be merely for convenience of description scheme same or like two with On structure or component, be not offered as certain particular determination to sequence.

Referring to FIG. 1, a kind of structure for specific embodiment that Fig. 1 provides joint of robot arm by the utility model is shown It is intended to.

As shown in Figure 1, the utility model provides a kind of joint of robot arm, including shell 1,2 He of motor is equipped in shell 1 Retarder 4, the shaft 21 of motor 2 are the input shaft of retarder 4, and retarder 4 also has output shaft 41, does for externally exporting Function.

In being different from the prior art, in the present embodiment, the connection of the shell of motor 2, the shell of retarder 4 and shaft 21 Place is provided with oil retaining part part 211, can form at least twice blocking, can effectively stop in retarder 4 lubricating oil along shaft 21 It leaks, and therefrom to pollution caused by the components such as joint of robot arm internal encoder module.

In specific scheme, which can be spring bearing, the shell of the shell of motor 2, retarder 4 The mounting hole passed through for shaft 21 can be set, the inner edge of spring bearing can be solid by modes such as welding, press fitting, clampings Due to shaft 21, the outer rim of spring bearing can be fixed on the hole wall of mounting hole by modes such as welding, press fitting, clampings, in turn 4 oil leak of retarder can be stopped to enter the components such as coder module；Meanwhile each spring bearing can also limit shaft 21 Support can avoid the bounce of shaft 21 in normal course of operation, and then can guarantee the steady of motor 2 to form multi-point support structure Fixed operation, and improve the service life and reliability of joint of robot arm；In addition, the oil leak of retarder 4 can also be to support shaft It holds and is lubricated, to ensure the smooth operating of spring bearing.

It may be noted that above-mentioned oil retaining part part 211 is not limited to the form of spring bearing, in practical applications, this field Technical staff can also use the block piece, such as bearing shell, rubber ring etc. of other forms.

Brake gear 3 is additionally provided in joint of robot arm, the shell of brake gear 3 can also be equipped with mounting hole, shaft 21 It can protrude into brake gear 3 from the mounting hole of brake gear 3, and be connected with the braking mechanism in brake gear 3.In this implementation In example, using Fig. 1 as visual angle, brake gear 3, motor 2, retarder 4 can be set in turn in shaft 21, i.e. brake gear 3, deceleration Device 4 is located at the two sides of motor 2, largely to avoid 4 oil leak of retarder to the shadow of 3 inside braking mechanism of brake gear It rings.

It can be equipped at intervals with two spring bearings based on this set, in shaft 21, in two spring bearings, a support shaft The outer rim held can be connected with the mounting hole of brake gear 3, motor 2, the outer rim of another spring bearing can with motor 2, subtract The mounting hole of fast device 4 is connected.That is the abutting end of 3 shell of 4 shell of retarder, 2 shell of motor and brake gear can share one Spring bearing, to reduce the usage quantity of spring bearing, simultaneously, additionally it is possible to the connection compactedness between each component is improved, with contracting Subtract the axial dimension of entire joint of robot arm.

The quantity of the spring bearing is not limited to two, can also with more than two, for example, can 4 shell of retarder, Spring bearing is separately provided in the junction of 2 shell of motor and 3 shell of brake gear and shaft 21, at this point, needing to be arranged five A spring bearing, with the left and right two of 3 shell of left and right ends and brake gear of left end, 2 shell of motor to 4 shell of retarder The mounting hole at end is blocked.

Fig. 2, Fig. 3 are please referred to, Fig. 2 provides structural schematic diagram of the brake gear under energization operating condition by the utility model, Fig. 3 provides structural schematic diagram of the brake gear in the case where powering off operating condition by the utility model.

As shown in Figure 2 and Figure 3, the provided joint of robot arm of the utility model, brake gear 3 may include brake block 31, electromagnet 32 and armature 33 are equipped with elastic component 34 between electromagnet 32 and armature 33；It further include guide part 35, armature 33 is logical It crosses guide part 35 and is mounted on electromagnet 32, and can be along guide part 35 axially away from or close to electromagnet 32.

Brake block 31 can be fixed on shaft 21 and/or output shaft 41, it will be understood that turn when brake block 31 is installed on simultaneously When axis 21 and output shaft 41, two sets of brake gears 3 are provided in joint of robot arm, can guarantee brake to a greater degree Reliability；For ease of description, the installation axle of brake block 31 can be referred to as to drive shaft, i.e., above-mentioned brake block 31 is fixed on driving Axis, the drive shaft can be the shaft 21 of motor 2, or output shaft 41.

Under energization operating condition, by electromagnetic force, electromagnet 32 can adhesive armature 33, and compression elastic piece 34, at this point, Armature 33 and brake block 31 have gap, and brake block 31 can be freely rotated, and drive shaft normally can externally do manual work.In power-off work Under condition, electromagnetic force disappears, and elastic component 34 can discharge, and armature 33 is pushed to compress brake block 31, to limit the rotation of drive shaft, And then abnormal output of the drive shaft in the case where powering off operating condition can be prevented.

The scheme that middle brake block 31 can be displaced along the axial direction of drive shaft compared with the prior art, involved by the present embodiment And brake gear 3, brake block 31 are fixed on drive shaft, brake block 31 will not be displaced along the axial direction of drive shaft, can avoid The friction of (i.e. under energization operating condition) in the process between brake block 31 and armature 33 is operated normally, and thus brake block 31 is made At unnecessary abrasion, and then can substantially extend the service life of brake block 31, and joint of robot arm can be reduced normal Noise in operational process.

It is to be understood that brake block 31 can generate picking during brake block 31 and other component pressure are ground, that is to say, that In the prior art, even when operating normally, brake block 31 can also lose powder incessantly, and the powder fallen down is with drive shaft Rotation can fall on the components such as encoder, influence the service precision and service life of these components.In the present embodiment, Since brake block 31 will not generate abrasion when operating normally, picking phenomenon can be reduced, so can be to joint of robot arm inside Component forms effective protection.

Further, it can also can be installed on drive shaft including pressing plate 36 in a ring, inner rim, outer rim can be equipped with The dust collection cover 361 extended towards electromagnet 32, dust collection cover 361 and pressing plate 36 can be enclosed dust collecting trough 362, and brake block 31 can To be located in dust collecting trough 362.

So set, brake block 31 can be by dust by picking caused by 33 extrusion friction of armature in the case where powering off operating condition Slot 362 is collected, and influence of the normal braking picking to joint of robot arm internal component can be prevented.Cooperate aforementioned brake block again 31 are fixed on driving shaft design, that is to say, that in the provided brake gear 3 of the present embodiment, can overcome brake block substantially Influence of 31 pickings to joint of robot arm internal component, can guarantee the reliability service of joint of robot arm to a greater degree.

In the first embodiment, the inner edge of pressing plate 36 can be installed on drive shaft by bearing, then can be in machine The position limiting structure of the forms such as setting gag lever post, limited block in person joint's arm, to stop pressing plate 36 with the synchronous rotation of drive shaft, i.e., Dust collecting trough 362 can not be rotated synchronously with drive shaft.Using this structure, the powder being collected in dust collecting trough 362 is not likely to produce Secondary fly-up can preferably be collected powder, to form more efficiently protection to the component in joint of robot arm.

In the second embodiment, pressing plate 36 can be fixed on drive shaft, i.e. pressing plate 36 can be with the same stepping of drive shaft Row rotation.In the embodiment, pressing plate 36 can be the mounting plate of brake block 31, and brake block 31 can be installed on pressing plate 36, with It is mutually fixed by pressing plate 36 with drive shaft, and then brake block 31 can be simplified and drive the mounting structure of between centers, and brake can be shortened The axial dimension of device 3.

Comparatively, the first embodiment can largely prevent the powder for being collected in dust collecting trough 362 from generating two It is secondary to fly upward, it is more advantageous to dust；And brake block 31 and pressing plate 36 and the mounting structure of drive shaft can be big in second of embodiment Width simplifies, and the axial dimension of brake gear 3 is smaller, can shorten the axial length of entire joint of robot arm.When it is implemented, The technical effect being collected that loses powder to 31 normal braking of brake block, art technology may be implemented in above two embodiment Personnel can choose according to actual needs.In fact, in the second embodiment, brake block 31 and pressing plate 36 can also be with Independently of each other, and respectively it is fixedly installed in drive shaft.

Further, along the direction close to electromagnet 32, above-mentioned dust collecting trough 362 can be in tapered taper, i.e. dust The internal diameter of lid 361 can be gradually reduced along the direction close to electromagnet 32.In this way, the dust collection cover 361 also has dust-break effect, it can Prevent the powder being collected in dust collecting trough 362 from dropping out from dust collecting trough 362 to a certain extent.Alternatively, can also be in dust collection cover Radially inwardly extending ring baffle is arranged in 361 ends far from pressing plate 36, which equally can be realized dust-break Technical effect.But it should knowing, the setting of dust collection cover 361 can not generate interference to the movement of armature 33, therefore, actually answer In, the scheme that can also be remained unchanged in the axial direction using internal diameter, the outer diameter of dust collection cover 361, to reduce the diameter of brake gear 3 To size.

Elastic component 34 can be spring, or elastic ball etc. has compressible and resilience elastic element. By taking spring as an example, during installation, in 33 opposite end surface of electromagnet 32 and armature, locating slot is can be set at least one, in turn The end of the spring can be installed in locating slot, with guarantee the spring can be steadily placed at electromagnet 32 and armature 33 it Between；Meanwhile the locating slot also has guiding role, can elongation to spring and compression be oriented to, stretched to avoid spring Play, dislocation in compression process radially etc..

Guide part 35 can be fixed on one of electromagnet 32, armature 33, correspondingly, electromagnet to be rod-shaped 32, guide groove or pilot hole can be set in the other of armature 33, so the guide part 35 can be plugged in guide groove or In person's pilot hole, to guide the direction of motion of armature 33.The fixed connection end of guide part 35 and electromagnet 32 or armature 33 can be with Equipped with cone cell helicitic texture, similar to the tail portion of screw, so as to the fixed installation of guide part 35 and other parts.

As previously mentioned, brake block 31 can both be fixed on the shaft 21 of motor 2, the output shaft of retarder can also be fixed on 41, alternatively, brake block 31 can be set on shaft 21 and output shaft 41, it can there are two sets of brake gears 3.

However, in practical applications, due to the presence of retarder 4, to reach same braking effect, act on output shaft 41 brake weight can be much larger compared with the brake weight for acting on shaft 21, for example, acting on defeated when the transmission ratio of retarder 4 is 100 The brake weight of shaft 41 substantially acts on 100 times of the brake weight of shaft 21.In this way, pacifying to reach same braking effect Brake block 31 loaded on output shaft 41 just needs to have biggish radial dimension, and then will lead to brake gear 3 and entire machine The radial dimension of person joint's arm increases.Therefore, in the present embodiment, it is preferred to use brake gear 3 is installed on 2 shaft 21 of motor Scheme, to reduce brake weight, and reduce the radial dimension of brake gear 3.

Fig. 4-9 is please referred to, Fig. 4 is provided the knot of another specific embodiment of joint of robot arm by the utility model Structure schematic diagram, Fig. 5 are the connection structure diagram of rear cover and cooling fin in Fig. 4, and Fig. 6 is that driving plate and the first encoder plate and second are compiled The connection structure diagram of code device plate, Fig. 7 are the structural schematic diagram of the first encoder, and Fig. 8 is the left view of Fig. 7, and Fig. 9 is the second coding The connection structure diagram of device plate, the second mounting base and flange shaft.

As shown in figure 4, shell 1 may include cylindrical portion, one end (being left end in attached drawing) of the cylindrical portion in the present embodiment Rear cover 11 can be set, flange 5 has can be set in the other end (being right end in attached drawing), to be connected with other joint arms It connects；The output shaft 41 of retarder 4 may pass through flange 5, and stretch out shell 1, for externally exporting acting.

For saving space, improving the considerations of integrated level, set axis form is can be used in shaft 21 and output shaft 41.In detail and Speech, shaft 21 and output shaft 41 can be coaxially disposed, and shaft 21 can be hollow shaft, and output shaft 41 can be to wear inside the axis of rotation 21 It crosses, and the two can relatively rotate, it is non-interference.Certainly, between motor 2 and retarder 4 can also using the driving of parallel axes or Person is coaxially disposed the scheme that (non-set axis form) is driven, and in the specific implementation, those skilled in the art can be according to reality It is selected.

In shell 1 can be equipped with driving plate 8, driving plate 8 be provided with metal-oxide-semiconductor (Metal Oxide Semiconductor, That is metal-oxide semiconductor fieldeffect transistor) etc. heater elements 81, operate normally when, these heater elements 81 can produce Raw more heat, these heats can not such as be shed in time, will affect the normal use of each component in driving plate 8.

In this regard, scheme common in the art is that driving plate 8 and the interval of rear cover 11 are arranged, and then utilizes between the two Air radiate.However, the heat dissipation effect of air is poor, in joint of robot arm longtime running, it is easy in driving plate 8 Heat accumulation is generated, will affect the normal operation of driving plate 8；And waste spatially can be also generated, lead to joint of robot arm The increase of axial dimension.

For this purpose, in the present embodiment, can be radiated by the way that cooling fin 82 is arranged.Cooling fin 82 can use silica gel material Matter can be installed between the inner wall (rear cover 11) of shell 1 and driving plate 8 by way of press fitting, and can wrap up fever Element 81.It is arranged such, on the one hand, idle space, on the other hand, the heat dissipation effect of the cooling fin 82 of silica gel material is not present It is good, and can be in close contact with rear cover 11 and heater element 81, heat caused by heater element 81 can be straight by cooling fin 82 It connects and is transferred to the discharge of rear cover 11, heat dissipation effect is greatly improved, and the work effect for guaranteeing each component in driving plate 8 is more advantageous to Rate and service life.

The cooling fin 82 of silica gel material has viscosity, during installation, can be directly fitted in rear cover 11, driving plate 8 One of, the mode that press fitting then can be used pastes the cooling fin 82 and the other of rear cover 11, driving plate 8 closely It closes；Alternatively, the mode of press fitting also can be directly used, which is pressed between rear cover 11 and driving plate 8.

It is to be understood that it is set to the usual more than one of heater element 81 of driving plate 8, and the cooling fin of above-mentioned silica gel material 82 should be enough to cover all heater elements 81, to guarantee that each heater element 81 all has preferable heat dissipation effect.In this way, When cooling fin 82 is processed, installed, a monolith can be set by above-mentioned cooling fin 82, for details, reference can be made to Fig. 5, and then pass through The cooling fin 82 of one monolith is bonded all heater elements 81 simultaneously, using this scheme, the processing and installation of cooling fin 82 Process is relatively simple；Above-mentioned cooling fin 82 may be set to be muti-piece, then fit in each cooling fin 82 correspondingly Each heater element 81 can equally guarantee that each heater element 81 all has good heat dissipation effect, and can also reduce cooling fin 82 whole dosage.

It is appreciated that the cooling fin 82 can also use other materials, for example, aluminium alloy etc. in addition to using silica gel material Metal fin, but in view of the compressibility of silica gel material and the effect fitted closely, the cooling fin 82 of silica gel material are The preferred embodiment of the utility model embodiment.

It is also provided with coder module in shell 1, the parameters such as revolving speed for detecting shaft 21, output shaft 41, coding Device module may include matching used encoder plate and encoder.

It can be attached using line bank 9 between encoder plate and driving plate 8, to realize encoder plate and driving plate 8 Between signal transmitting.Specifically, as shown in fig. 6, the both ends of line bank 9 can be by the way of being plugged and fixed and coding Device plate, driving plate 8 are connected, compared with the prior art in common harness connection, above-mentioned connection type is more simple, only passes through Installation or removal can be completed in simple plug operation, and the reliability connected is higher, and anti-interference ability is stronger.

With continued reference to FIG. 4, above-mentioned coder module may include the first coder module 6 and second encoder module 7, the first coder module 6 is for detecting the parameters such as position, revolving speed, 2 commutation point of motor of 2 shaft 21 of motor, second encoder Module 7 is for detecting the parameters such as position, the revolving speed of output shaft 41.Above-mentioned encoder can be photoelectric encoder or other energy Enough realize the encoder of relevant art effect.

It may include matching used first encoder 61 and the first encoder plate by taking the first coder module 6 as an example 62, the first encoder plate 62 is equipped with the first socket 63, and driving plate 8 is equipped with driving plate socket 83, and the both ends of line bank 9 can be set There is connecting terminal, and then corresponding socket can be plugged in by connecting terminal.In connecting terminal and corresponding socket, one can be with Equipped with the first shackle member, another one can be equipped with the second shackle member, while connecting terminal is plugged in respective socket, the first card Fitting can be mutually clamped with the second shackle member, the connecting terminal for being plugged in respective socket is fixed, can avoid using Journey middle connecting terminal is deviate from along plug orientation from respective socket, and then ensures the company of line bank 9 and encoder plate, driving plate 8 Connect reliability.

Second encoder module 7 equally may include the second encoder 71 and second encoder plate 72 of mating setting, the Two encoder plates 72 are provided with the second socket 73 for being connected with line bank 9, the connection of second encoder plate 72 and driving plate 8 Structure is similar with the first encoder plate 62, does not do repetition herein.

It may be noted that the present embodiment does not limit the concrete form of above-mentioned first shackle member and the second shackle member, in reality In, those skilled in the art are referred to clamping structure in the prior art and are configured to the two；For example, the two can be with For mutually matched hook and card slot, or, or mutually matched hook and snap ring etc..

For motor 2, it is further typically provided with the magnetic coder 611 for detecting 2 commutation point of motor, the magnetic coder 611 are specifically as follows Hall sensor etc., in the prior art, above-mentioned magnetic coder 611 and the first coder module 6 above-mentioned Be it is separately installed, this results in the axial dimension of motor 2 larger.For this purpose, in the present embodiment, it can provide and a kind of compile magnetic The multiplexing and encoding device that code device 611 and photoelectric encoder 612 are integrated in one, and then using the multiplexing and encoding device as above-mentioned first Encoder 61, to reduce the axial dimension of motor 2.

As shown in Figure 7, Figure 8, multiplexing and encoding device can in a ring, and the internal ring portion of the annular can be photoelectric encoder 612, Outer portion can be magnetic coder 611, and the two is integrated in one, and the axial dimension of integrated rear multiplexing and encoding device just corresponds to magnetic volume The axial dimension of one, can reduce the axial dimension of motor 2, substantially to improve motor 2 in code device 611, photoelectric encoder 612 Functional density；Moreover, photoelectric encoder 612 will not influence between each other with magnetic coder 611, so that the multiplexing and encoding device can be same When have detection 21 revolving speed of shaft, 2 commutation point of position and motor function.

Above-mentioned multiplexing and encoding device is also provided with the first mounting base 64, and in conjunction with Fig. 4, during installation, multiplexing and encoding device can The multiplexing and encoding device is mounted on the end that shaft 21 stretches out brake gear 3 by the first mounting base 64, i.e., so that brake gear 3 Between multiplexing and encoding device and motor 2, in this way, multiplexing and encoding device may be mounted at the position apart from motor 2 relatively far away from, with It avoids the operation of motor 2 fever and the performance of encoder is impacted.

For second encoder module 7, it can be equipped with the second mounting base 74, as shown in figure 9, the second mounting base 74 is substantially It is in the form of a column, is installed on output shaft 41, and one end (being upper end in attached drawing) of second mounting base 74 is also provided with coaxially Groove, second encoder 71 can be installed in the groove.Sight radially can also be arranged in the side wall of second mounting base 74 Gaging hole 741, the peephole 741 are connected with groove, in order to which whether the second encoder 71 observed in groove is installed in place, tool Body can be determined so that whether the distance between engagement groove bottom wall to second encoder 71 meets predetermined distance.Above-mentioned " rule Set a distance " and type, the specification of second encoder 71 etc. are related, it is not limited here.

In addition, the present embodiment does not limit the shape and quantity of peephole 741 yet, quantity can be one, can also edge Circumferential setting is multiple, and the cross sectional shape of the peephole 741 can be rectangle, or round or stairstepping etc.；Regardless of How to be arranged, if guarantee by the peephole 741 can the installation site clearly to second encoder 71 be observed, with Avoid installation when there are blind spot, cause second encoder 71 to cannot be attached to position.

Referring to FIG. 10, Figure 10 is provided the knot of another specific embodiment of joint of robot arm by the utility model Structure schematic diagram.

In joint of robot arm, the installation requirement of retarder 4 is verticality 0.01mm, concentricity 0.01mm, still, When actual installation, shaft 21 and 4 mounting surface of retarder are extremely difficult to above-mentioned requirements.For this purpose, as shown in figure 12, in the present embodiment In, the setting of shaft 21 of retarder 4 and motor 2 can be an integral structure, to evade shaft 21 and 4 groups of retarder loaded onto Difficulty, and then meet installation requirement of the retarder 4 in joint of robot arm.In the present embodiment, retarder 4 is not limited Type, can be with gear reduction unit, worm reducer or harmonic speed reducer etc..

On this basis, flange 5 and retarder 4 can also be also configured as integral structure, to simplify to a greater degree The assembling process of the provided joint of robot arm of the present embodiment.

For joint of robot arm involved in the respective embodiments described above, following the utility model embodiment will also be to the machine The control process of device person joint's arm is described.

In course of normal operation, work is in acceleration or deceleration mistake when the motor 2 in joint of robot arm is most Journey.Also, the posture of robot is also in continuous variation, the posture of potential energy of robot body and its load also with robot Change and constantly changes.Which results in when, motor 2 and externally do positive work, when and externally do negative work.

When motor 2 externally does negative work, power output is converted mechanical energy into.But to the power supply electricity that robot powers Source is usually directed energy conversion, and the electric energy being converted to by mechanical energy can only constantly accumulate the capacitor of power supply On, cause the energy on capacitor constantly cumulative, as shown in figure 11.When the electric energy that motor 2 is fed back is added to capacitor and power supply Unaffordable degree will result in the hardware damage of power supply or joint of robot arm.

In order to solve this problem, currently used technological means is to increase feedback energy consumption dress in power supply part It sets, accumulated energies extra on capacitor are converted into thermal energy and distribute into air or other radiators.But utility model people It finds under study for action, usual power supply can be supplied by one section of longer cable connection to the artificial robot of machine (such as motor 2) Electricity.Due to the presence of cable equivalent inductance, in high speed dynamic, the voltage and power supply electricity at robot (such as motor 2) end will cause The inconsistent of transient state occurs for the output voltage in source, influences feedback energy consumer to the protective capability of robot body.

For this purpose, the embodiment of the present application provides a kind of joint of robot arm, setting consumption motor is anti-in robot body The device of energy regenerative amount avoids influence of the cable equivalent inductance to power supply output voltage, eliminates robotic end and power supply The transient voltage at end is inconsistent, to protect the safety of robot and power supply to greatest extent.

Referring to Figure 12, which is a kind of structural schematic diagram of joint of robot arm provided by the embodiments of the present application.

Joint of robot arm provided by the embodiments of the present application, comprising: at least one motor 2 and energy consumption module 10；

Motor 2 connects power supply Vsup；

Energy consumption module 101 generates electricity generated electric energy for consuming motor 2.

Power supply Vsup provides electric energy through cable W for the motor 2 in robot, and motor 2 converts electrical energy into mechanical energy Positive work is done outward.When motor 2 does negative work outward, converts mechanical energy into electric energy and be directly output on 100 ontology of robot Energy consumption module 101 is consumed by energy consumption module 101 and is absorbed, and be will not influence and is transmitted generation robot 100 via cable W The inconsistent situation of the transient voltage at end and the end power supply Vsup, can effectively avoid the equivalent inductance of cable W to energy consumption The safety of robot 100 and power supply Vsup is protected in the influence of 101 protective capability of module to greatest extent.

In the embodiment of the present application, joint of robot arm includes at least one motor and energy consumption module, motor connection Power supply, power supply do positive work and provide energy outward for motor, and when motor does negative work outward, the energy of motor feedback Amount directly absorbs consumption by the energy consumption module being arranged on robot body, avoids electricity on capacitor and is cumulative too high, and The energy of motor feedback needs not move through long cable and is directly output to energy consumption module, avoids the equivalent inductance of cable to transient state The influence of voltage, ensure that the stabilization of voltage on robot body, and then ensure that the normal of power supply and robot body Work.

Referring to Figure 13, which is the structural schematic diagram of another robot power supply system provided by the embodiments of the present application.Phase Compared with Figure 12, a kind of more specifical robot power supply system is provided.

In some possible implementations of the embodiment of the present application, energy consumption module 101 be can specifically include: control Submodule 101a and feedback absorb submodule 101b.

Control submodule 101a is connected on motor 2 and feedback absorbs between submodule 101b, for according to power supply The voltage of Vsup and the voltage of motor 2, control motor 2 and feedback absorbs the turn-on and turn-off in circuit between submodule 101b；

Feedback absorbs submodule 101b, for consuming the electric energy of the feedback of motor 2.

It is understood that is, motor 2 generates electricity outward when motor 2 externally does negative work, the voltage value at port is greater than Voltage value at power supply Vsup.If the pressure difference between the voltage of motor 2 and the voltage of power supply Vsup is greater than or equal to Preset threshold, motor 2 is then connected in control submodule 101a and feedback absorbs circuit between submodule 101b, and control feedback absorbs son Module 101b consumes the electric energy that motor 2 is fed back, and prevents electricity from accumulating on capacitor；Conversely, if the voltage and power supply of motor 2 Pressure difference between the voltage of Vsup is less than preset threshold, and control submodule 101a then controls motor 2 and feedback absorbs submodule The shutdown in circuit between 101b, avoids the waste of electric energy.

In one example, it may include heating resistor that feedback, which absorbs submodule 101b,.

In another example, it can also include the heating resistor and capacitor being connected in parallel that feedback, which absorbs submodule 101b,.

When normal work, the motion state by robot 100, which does not stop transformation and external electromagnetic interference, to be influenced, and can be led It causes the electric current for flowing through cable W that can generate larger fluctuation, influences the operation of motor 2.Therefore, in some possible realities of the embodiment of the present application In existing mode, the influence in order to avoid current fluctuation to motor 2 can also absorb the capacitor pair in submodule 101b using feedback It exports to the electric current of motor 2 and is filtered, guarantee the stabilization of electric current.

In practical applications, as an example, energy consumption module 101 can be set in a printed circuit board On (printed circuit board, PCB), which be can be set in robot base.

The specific structure of control submodule 101a is described in detail below.

In some possible implementations of the embodiment of the present application, control submodule 101a at least has following two may Implementation.

The first possible implementation, as shown in figure 14, control submodule 101a, comprising: switch S and controller CON；

Switch S is connected on motor 2 and feedback absorbs between submodule 101b；

Controller CON, for detecting the voltage of power supply Vsup and the voltage of motor 2；It is also used to according to power supply Voltage difference on or off switch S between the voltage of Vsup and the voltage of motor 2.

In the embodiment of the present application, it is detected as controller CON between the voltage of power supply Vsup and the voltage of motor 2 Voltage difference when being greater than or equal to preset threshold, control switch S conducting absorbs motor 2 and feedback between submodule 101b Access conducting absorbs submodule 101b consumption motor 2 using feedback and generates electricity generated electric energy；When controller CON detects confession When voltage difference between the voltage of power supply Vsup and the voltage of motor 2 is less than preset threshold, control switch S shutdown makes motor 2 And feedback absorbs the access between submodule 101b and disconnects, and avoids the waste of electric energy.

Second of possible implementation, as shown in figure 15, control submodule 101a may include: that P-channel insulated gate is double Gated transistors；

The emitter of P-channel insulated gate bipolar transistor MP connects motor 2, the collection of P-channel insulated gate bipolar transistor MP Electrode connects feedback and absorbs submodule 101b, and the base stage of P-channel insulated gate bipolar transistor MP connects power supply Vsup.

In the embodiment of the present application, it is detected as controller CON between the voltage of power supply Vsup and the voltage of motor 2 Voltage difference when being greater than or equal to preset threshold, P-channel insulated gate bipolar transistor MP conducting, so that motor 2 and feedback absorb Access conducting between submodule 101b absorbs submodule 101b consumption motor 2 using feedback and generates electricity generated electric energy；Work as control When device CON processed detects that the voltage difference between the voltage of power supply Vsup and the voltage of motor 2 is less than preset threshold, P-channel Insulated gate bipolar transistor MP shutdown avoids electric energy so that motor 2 and feedback absorb the access between submodule 101b and disconnect Waste.

The utility model also provides a kind of robot, including joint arm, which is involved by the respective embodiments described above And joint of robot arm.It is appreciated that the technical effect that above-mentioned joint of robot arm has, the robot are likewise supplied with, Therefore this will not be repeated here.

Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art For member, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications Also it should be regarded as the protection scope of the utility model.

Claims (10)

1. a kind of joint of robot arm, including shell (1), the shell (1) is interior to be equipped with motor (2) and retarder (4), the electricity The shaft (21) of machine (2) is the input shaft of the retarder (4), which is characterized in that

Shell, the shell of the retarder (4) and the junction of the shaft (21) of the motor (2) are provided with oil retaining part Part (211) is stopped with forming at least twice.

2. joint of robot arm according to claim 1, which is characterized in that shell, the retarder of the motor (2) (4) shell is provided with the mounting hole passed through for the shaft (21)；

The oil retaining part part (211) is spring bearing, and the shaft (21), the support are fixed in the inner edge of the spring bearing The outer rim of bearing is fixed on the hole wall of the mounting hole.

3. joint of robot arm according to claim 2, which is characterized in that further include brake gear (3), the brake gear (3) shell is equipped with the mounting hole, and the mounting hole of shaft (21) from the brake gear (3) protrudes into the brake gear (3) in, and it is connected with the braking mechanism in the brake gear (3)；

The brake gear (3), the motor (2), the retarder (4) are set in turn in the shaft (21), the shaft (21) two spring bearings are equipped at intervals with, wherein the outer rim of a spring bearing and the brake gear (3), institute The hole wall for stating the mounting hole of motor (2) is mutually fixed, the outer rim of another spring bearing and the motor (2), the deceleration The hole wall of the mounting hole of device (4) is mutually fixed.

4. joint of robot arm according to claim 1, which is characterized in that further include brake gear (3), the brake gear It (3) include brake block (31), electromagnet (32), armature (33) and guide part (35), the electromagnet (32) and the armature (33) elastic component (34) are equipped between, the armature (33) is mounted on the electromagnet (32) by the guide part (35), and Described turn can be fixed on axially away from or close to the electromagnet (32), the brake block (31) along the guide part (35) The output shaft (41) of axis (21) and/or the retarder (4)；

Under energization operating condition, the armature (33) is pulled on the electromagnet (32), and compresses the elastic component (34), powers off operating condition Under, the elastic component (34) can discharge and the armature (33) is pushed to compress the brake block (31).

5. joint of robot arm according to claim 4, which is characterized in that further include pressing plate (36) in a ring, inner rim It is installed on the installation axle of the brake block (31), outer rim is equipped with the dust collection cover (361) extended towards the electromagnet (32), described Dust collection cover (361) and the pressing plate (36) are enclosed dust collecting trough (362)；

The brake block (31) is located in the dust collecting trough (362).

6. joint of robot arm according to claim 5, which is characterized in that the brake block (31) is installed on the pressing plate (36), it and by the pressing plate (36) is fixedly mounted.

7. joint of robot arm described in any one of -6 according to claim 1, which is characterized in that be additionally provided in the shell (1) Driving plate (8), the driving plate (8) are provided with heater element (81)；

Further include cooling fin (82), the cooling fin (82) press fitting in the inner wall of the shell (1) and the driving plate (8) it Between, and the heater element (81) can be wrapped up.

8. joint of robot arm according to claim 7, which is characterized in that it is additionally provided with coder module in the shell (1), The coder module includes matching used encoder plate and encoder；

It further include line bank (9), the both ends of the line bank (9) are plugged and fixed respectively in the encoder plate, the driving plate (8), to realize that the encoder plate and the signal of the driving plate (8) connect.

9. joint of robot arm according to claim 8, which is characterized in that the coder module further includes the second mounting base (74), the encoder is installed on second mounting base (74)；

Second mounting base (74) is equipped with peep hole (741), for observing whether the encoder is installed in place.

10. a kind of robot, including joint arm, which is characterized in that the joint arm is of any of claims 1-9 Joint of robot arm.