CN208962036U - Cooperate Robot Modular Joint and cooperation robot - Google Patents
Cooperate Robot Modular Joint and cooperation robot Download PDFInfo
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- CN208962036U CN208962036U CN201821381652.4U CN201821381652U CN208962036U CN 208962036 U CN208962036 U CN 208962036U CN 201821381652 U CN201821381652 U CN 201821381652U CN 208962036 U CN208962036 U CN 208962036U
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- joint
- hollow rotor
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- brake
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Abstract
The utility model discloses a kind of cooperation Robot Modular Joints and cooperation robot, which includes sequentially connected: joint output precision, retarder, motor, braking brake component, motor encoder, driving plate, joint encoders, cable support.The modularized joint of the utility model has the characteristics that high rigidity, heavy load, and the position output in joint can accurately track desired track, and position precision is high, and high integration makes the compact closing of space structure, can adapt to the requirement of high pollution or better purifying space.
Description
Technical field
The utility model relates to robot field, in particular to a kind of cooperation Robot Modular Joint and cooperation machine
People.
Background technique
Under the background of International Industry 4.0, country has put into effect " made in China 2025 " plan, proposes to high-end intelligence equipment
It is required that intelligent robot industry welcomes the new development opportunity of a wheel.To the flexible production of personalized product, Medical Devices and other
Position accuracy demand height and particular surroundings work, propose the realization, safety, being easily assembled property of robot and people's cooperative work
Deng, expedited the emergence of modular mechanical shoulder joint, for the robot arm that cooperates, which is the core component of robot, and solve
Following problems: simplifying the design cycle in joint and robot, shortens the design cycle；Differentiate complicated cabling and the coiling between joint
Problem；Lightweight demand for development with high weight bearing/self weight ratio, low-power consumption；It is easily assembled and is replaced with module.
Utility model content
The purpose of the utility model is to overcome the above-mentioned deficiencies in the presence of the prior art, provide a kind of cooperation robot
Modularized joint and cooperation robot, the modularized joint solve that joint cabling is difficult, quality volume is big, the degree of modularity is poor
The problems such as.
To achieve the goals above, the utility model provides following technical scheme:
Cooperate Robot Modular Joint, including sequentially connected: joint output precision 1, retarder 2, motor housing 3,
Stator 4, hollow rotor 5, braking brake driving lever 6, brake sticking brake block 7, electromagnet 8, motor encoder 9, driving plate 10, joint are compiled
Code device 11, cable support 12, the motor housing 3, stator 4, hollow rotor 5 form driving motor, are given by the output of hollow rotor 5
Retarder 2, slowing down to export by retarder 2 drives joint output precision 1；The joint output precision 1 includes an extension bar, institute
Stating hollow rotor 5 includes an extension end, and the extension bar passes through the extension end；It installs and makes in 5 output end of hollow rotor
Dynamic band-type brake driving lever 6；Motor encoder 9 is mounted on 5 output end of hollow rotor.
Preferably, the motor housing 3 uses lightweight hard aluminium alloy material.To mitigate weight.
Preferably, joint encoders 11 are installed close to driving plate 10, to detect the initial position of robot arm.
Preferably, the braking brake driving lever 6 is lifted by electromagnet 8, and brake sticking brake block 7 is made to bounce and limit braking brake
Driving lever 6 is to brake.
Preferably, in 5 output end end face of hollow rotor, motor encoder 9 is installed close to driving plate 10, to dally in detection
Rotor speed.
Preferably, the extension bar of the joint output precision 1 passes through hollow rotor 5, reaches joint encoders 11, the pass
Encoder 11 is saved to install close to driving plate 10, to joint initial position detection, the extension bar of the joint output precision 1 and joint
Encoder 11 uses hollow perforation, with transmitting output and crosses line.
Preferably, the driving plate 10 and electromagnet 8 are mounted on motor housing output end end face, install in driving plate 10
Cable support 12, to fix cabling.
The utility model also provides a cooperation robot, including any of the above-described cooperation robot module of at least four
Change joint.
Compared with prior art, the utility model has the beneficial effects that
1. the utility model realizes that big torque high load, multiple functional structures are integrated using lightweight hard aluminium alloy material
It is intra-articular in one, more complete function is realized with smaller volume.
2. utility model is unloaded using the power-off of electromagnet, brake sticking brake block is popped up, limits braking brake driving lever with reality
It now brakes, i.e. power-off brake.
3. the utility model uses hollow cabling, difficult wiring and cabling winding are solved the problems, such as, and then reduce mechanical arm
Design size；Interstitial hole use Thin-wall Barrel, directly formed in the extension bar of joint output precision, make its effectively, reliably with
The separation of faster circular motion part, utmostly reduces the damage of wiring.
4. the utility model uses modularized design, it is applied to robot arm joint, and all have can for each component part
Replaceability is conveniently repaired and is transformed.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the structure of the utility model cooperation Robot Modular Joint；
Fig. 2 is the joint output precision of the utility model cooperation Robot Modular Joint；
Fig. 3 is the retarder that the utility model cooperation Robot Modular Joint uses；
Fig. 4 is the motor of the utility model cooperation Robot Modular Joint；
Fig. 5 is the brake sticking brake system and motor encoder of the utility model cooperation Robot Modular Joint；
Fig. 6 is each functional unit expanded view of joint right part of the utility model cooperation Robot Modular Joint.
Wherein 1- joint output precision, 2- retarder, 3- motor housing, 4- stator, 5- hollow rotor, 6- braking brake are dialled
Bar, 7- brake sticking brake block, 8- electromagnet, 9- motor encoder, 10- driving plate, 11- joint encoders, 12- cable support.
Specific embodiment
The utility model is described in further detail below with reference to test example and specific embodiment.But it should not be by this
The range for being interpreted as the above-mentioned theme of the utility model is only limitted to embodiment below, all to be realized based on the content of the present invention
Technology belongs to the scope of the utility model.
As shown in figures 1 to 6, the cooperation Robot Modular Joint of the utility model, including sequentially connected: joint output
Component 1, retarder 2, motor housing 3, stator 4, hollow rotor 5, braking brake driving lever 6, brake sticking brake block 7, electromagnet 8, electricity
Machine encoder 9, driving plate 10, joint encoders 11, cable support 12.The motor housing 3, stator 4, hollow rotor 5 form
Driving motor is transmitted to retarder 2 by the output of 5 left end of hollow rotor, and slowing down to export by retarder 2 drives joint output precision 1,
To drive robot arm.Wherein the motor housing 3 is made of lightweight hard aluminium alloy material, to mitigate weight.It adopts
Realize big torque high load with lightweight aluminum alloy materials, multiple functional structures be integrated in one it is intra-articular, with smaller volume
Realize more complete function.
While 1 output driving of joint output precision, the extension bar of joint output precision 1 is by hollow rotor 5
Joint encoders 11 are installed close to driving plate 10, to detect the initial position of robot arm in extension end；In the hollow rotor
5 right ends install braking brake driving lever 6, are lifted by electromagnet 8, bounce brake sticking brake block 7 and limit braking brake driving lever 6 to make
It is dynamic.Using motor encoder 9, it is mounted on 5 right end of hollow rotor, to detect motor speed；Using joint encoders 11, it is mounted on
1 extension bar right end of joint output precision, to detect joint initial position.It is unloaded using the power-off of electromagnet 8, pops up brake sticking brake
Block 7 limits braking brake driving lever 6 to realize braking, i.e. power-off brake.
In 5 right side of hollow rotor, motor encoder 9 is installed close to driving plate 10, to detect rotor speed；It is described
Joint output precision 1 passes through hollow rotor 5, reaches joint encoders 11, using hollow perforation (such as Fig. 2), just with transmitting output
Beginning position detection and excessively line.
The motor output shaft left end is connect with the input terminal of retarder 2, right end and braking brake component and motor encoder
The installation connection of device 9 (such as Fig. 3)；The output end of the retarder 2 is connect with joint output precision 1, the shell peace of the retarder 2
Mounted in 3 left side of motor housing.Motor speed is carried out using the retarder 2 of high reduction ratio by deceleration output, is guaranteed in low speed
Larger and stable torque can be exported.
The ring flange of the joint output precision 1 is connect with the lower joint arm of robot, the joint output precision 1
Right end extension bar passes through the hollow rotor 5 of motor to right end, connect with joint encoders 11；The joint encoders 11, it is close
10 right side of driving plate, to joint initial position detection (such as Fig. 5).
The motor output shaft right end installation braking brake driving lever 6 and motor encoder 9；The braking brake driving lever 6 by
Electromagnet power-off unloading, bounces brake sticking brake block 7 automatically and limits braking brake driving lever 6 to brake；The motor encoder
9, close to the left side of driving plate 10, detect motor speed.
The driving plate 10 and electromagnet 8 are mounted on 3 right side of motor housing, install cable support in driving plate 10
12, to fix cabling.
Right end extension bar and joint encoders 11 use of the joint output precision 1 are hollow, so that entire robot
Arm center cabling.It realizes hollow cabling, solves the problems, such as difficult wiring and winding, and then reduce the design size of mechanical arm；It is intermediate
Hole use Thin-wall Barrel, directly formed in the extension bar of joint output precision, make its effectively, reliably with faster circular motion part
Separation, utmostly reduces the damage of wiring.Using novel modularized design, it is applied to robot arm joint, and each composition
Part all has replaceability, conveniently repairs and is transformed.
Claims (8)
1. cooperate Robot Modular Joint, which is characterized in that including sequentially connected: joint output precision (1), retarder
(2), motor housing (3), stator (4), hollow rotor (5), braking brake driving lever (6), brake sticking brake block (7), electromagnet (8),
Motor encoder (9), driving plate (10), joint encoders (11), cable support (12), the motor housing (3), stator (4),
Hollow rotor (5) forms driving motor, is exported by hollow rotor (5) and gives retarder (2), slows down by retarder (2) and exports band
Movable joint output precision (1)；The joint output precision (1) includes an extension bar, and the hollow rotor (5) includes a stretching
End, the extension bar pass through the extension end；Braking brake driving lever (6) are installed in the hollow rotor (5) output end；Motor is compiled
Code device (9) is mounted on hollow rotor (5) output end.
2. cooperation Robot Modular Joint according to claim 1, which is characterized in that the motor housing (3) uses
Lightweight hard aluminium alloy material.
3. cooperation Robot Modular Joint according to claim 1, which is characterized in that close to driving plate (10), installation is closed
It saves encoder (11), to detect the initial position of robot arm.
4. cooperation Robot Modular Joint according to claim 1, which is characterized in that the braking brake driving lever (6)
Lifted by electromagnet (8), bounces brake sticking brake block (7) and limit braking brake driving lever (6) to brake.
5. cooperation Robot Modular Joint according to claim 1, which is characterized in that in hollow rotor (5) output end
End face, close to driving plate (10) installation motor encoder (9), to detect hollow rotor (5) revolving speed.
6. cooperation Robot Modular Joint according to claim 1, which is characterized in that the joint output precision (1)
Extension bar pass through hollow rotor (5), reach joint encoders (11), the joint encoders (11) close to driving plate (10) pacify
Dress, to joint initial position detection, the extension bar and joint encoders (11) of the joint output precision (1) are passed through using hollow
It is logical, with transmitting output and cross line.
7. cooperation Robot Modular Joint according to claim 1, which is characterized in that the driving plate (10) and electromagnetism
Iron (8) is mounted on motor housing output end end face, cable support (12) is installed on driving plate (10), to fix cabling.
8. cooperate robot, which is characterized in that robot modularized including at least four cooperation as claimed in claim 1 to 7
Joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821381652.4U CN208962036U (en) | 2018-08-27 | 2018-08-27 | Cooperate Robot Modular Joint and cooperation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821381652.4U CN208962036U (en) | 2018-08-27 | 2018-08-27 | Cooperate Robot Modular Joint and cooperation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208962036U true CN208962036U (en) | 2019-06-11 |
Family
ID=66752715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821381652.4U Active CN208962036U (en) | 2018-08-27 | 2018-08-27 | Cooperate Robot Modular Joint and cooperation robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208962036U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789480A (en) * | 2018-08-27 | 2018-11-13 | 苏州艾利特机器人有限公司 | Cooperate Robot Modular Joint and cooperation robot |
| CN117381848A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
-
2018
- 2018-08-27 CN CN201821381652.4U patent/CN208962036U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789480A (en) * | 2018-08-27 | 2018-11-13 | 苏州艾利特机器人有限公司 | Cooperate Robot Modular Joint and cooperation robot |
| CN117381848A (en) * | 2022-07-05 | 2024-01-12 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
| CN117381848B (en) * | 2022-07-05 | 2024-06-04 | 苏州艾利特机器人有限公司 | Differential low inertia arm |
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