CN209682229U - Lightweight robotic drives joint - Google Patents
Lightweight robotic drives joint Download PDFInfo
- Publication number
- CN209682229U CN209682229U CN201822026409.7U CN201822026409U CN209682229U CN 209682229 U CN209682229 U CN 209682229U CN 201822026409 U CN201822026409 U CN 201822026409U CN 209682229 U CN209682229 U CN 209682229U
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- encoder
- brake
- motor
- retarder
- articular shell
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Abstract
A kind of lightweight robotic drives joint, and including articular shell and the retarder of articular shell one end is arranged in, is provided with motor, brake and encoder in the articular shell, the motor, brake, encoder are sequentially connected with the retarder respectively.The utility model is separately connected by motor, encoder, brake, realize brake, encoder and motor being set side by side spatially, drive joint in production, the length for leaving brake, encoder and motor for only needs maximum length in brake, encoder and motor, it reduces and drives diarthrodial length, avoid subsequent excessive using machine human body product when multiple driving joints.
Description
Technical field
The utility model relates to a kind of driving devices, drive joint more particularly, to a kind of lightweight robotic.
Background technique
Since the sixties in last century, robot is more and more widely used in all trades and professions, especially machine
The fields such as tool, space flight.These traditional robots are fixed on specific position, it is artificial it is pre-designed they
Workflow, it is duplicate specifically to be operated.With the continuous expansion in robot application field, traditional industrial robot
It not only specifically to be operated in many cases, also to carry out some other operations, carry out the dynamic of some various dimensions
It when making, and carrying out the movement of various dimensions, needs that joint is driven to drive robot, driving joint is usually by motor, system
Dynamic device, encoder and retarder composition, and the composition driving joint that is together in series, the driving joint president being made into this way spend
It is long, when robot needs multiple driving joints, robot volume can be made excessive, be unfavorable for using.
Utility model content
The purpose of the utility model is to overcome one of the above-mentioned problems in the prior art, and it is shorter to provide a kind of length
Lightweight robotic drive joint.
To realize above-mentioned technical purpose and the technique effect, the utility model is achieved through the following technical solutions:
A kind of lightweight robotic drives joint, including articular shell and is arranged in the retarder of articular shell one end, institute
State and be provided with motor, brake and encoder in articular shell, the motor, brake, encoder respectively with the retarder
Transmission connection.
Lightweight robotic described in the utility model drives joint, wherein further includes controller, the controller setting exists
In the articular shell, and it is electrically connected respectively with the encoder, the motor and the brake.
Lightweight robotic described in the utility model drives joint, wherein the articular shell inner wall is provided with heat transfer
Mounting base, the controller are arranged in the mounting base.
Lightweight robotic described in the utility model drives joint, wherein the retarder includes driving member, the transmission
Part one end is protruded into the articular shell, and the motor, the brake, the encoder pass through gear and the transmission respectively
Part is located at the transmission connection of one end in the articular shell.
Lightweight robotic described in the utility model drives joint, wherein mounting plate, institute are provided in the articular shell
Motor, brake, encoder is stated to be installed on the mounting plate.
Lightweight robotic described in the utility model drives joint, wherein the brake is electromagnetic brake.
Lightweight robotic described in the utility model drives joint, wherein the encoder is absolute encoder.
Lightweight robotic described in the utility model drives joint, wherein the retarder is harmonic speed reducer.
Compared with prior art, the utility model has the beneficial effects that in use, by motor drive retarder rotation,
Retarder is connect with the robots arm to be rotated, and the rotation of robots arm can be realized, and the utility model passes through motor, volume
Code device, brake are separately connected, and realize brake, encoder and motor being set side by side spatially, driving joint is making
When, the length for leaving brake, encoder and motor for only needs maximum length in brake, encoder and motor, drop
The low diarthrodial length of drive, avoid it is subsequent accumulated using machine human body when multiple driving joints it is excessive.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is that the utility model removes articular shell side wall main view；
The position Fig. 3 the utility model retarder front view；
Fig. 4 is that the utility model removes top view after retarder；
Fig. 5 is that the utility model forms mechanical arm view；
Specific embodiment
It please refers to shown in Fig. 1-5, it will be understood by those skilled in the art that in the exposure of the utility model, term
The orientation or positional relationship of the instructions such as "inner", " arranged side by side ", " one end ", "upper" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have spy
Fixed orientation is constructed and operated in a specific orientation, therefore above-mentioned term should not be understood as limiting the present invention.This reality
Applying example is that a kind of lightweight robotic drives joint, including articular shell 100, the motor being arranged in articular shell 100 200, is set
It sets in the brake 300 in articular shell 100, the encoder 400 that is arranged in articular shell 100, is arranged in articular shell 100
The retarder 500 of one end, retarder 500 are fixedly connected with articular shell 1, pass through screw or welding, motor 200, brake
300, encoder 400 is sequentially connected with retarder 500 respectively, in use, driving retarder 500 to rotate by motor 200, slows down
Device 500 is connect with the robots arm to be rotated, and can be realized the rotation of robots arm, and Fig. 5 is mechanical arm view, A in figure,
B, C is this driving joint, drives diarthrodial rotations by A, B, C tri-, the utility model pass through motor 200, encoder 400,
Brake 300 is separately connected, and is realized brake 300, encoder 400 and motor 200 being set side by side spatially, is driven joint
In production, the length for leaving brake 300, encoder 400 and motor 200 for only needs brake 300, encoder 400 and electricity
Maximum length in machine 200 reduces and drives diarthrodial length, avoids subsequent using machine human body when multiple driving joints
Product is excessive, is sequentially connected by brake 300 and retarder 500, can pass through motor 200 and retarder 500 with brake monitor
Transmission ratio, retarder 500 and motor 200 transmission ratio, can by calculate equipment obtain the revolving speed of motor.
In this embodiment, drive it is intra-articular be additionally provided with controller 600, controller 600 respectively with encoder
400, motor 200 and brake 300 are electrically connected, and controller 600 is electrically connected with encoder 400, for handling the electricity of encoder 400
Signal, the electric signal that controller 300 handles encoder 400 can be calculated according to the transmission ratio of encoder 400 and retarder 500
The revolving speed of retarder 500 out, controller 300 can calculate motor 200 according to the transmission ratio of motor 200 and encoder 400
Revolving speed, and then the revolving speed of motor can be monitored in real time, while controller 600 can control the power supply parameter of motor and to motor
200 real time monitoring can effectively control the revolving speed of motor, and controller 600 is electrically connected with brake 300, for needing
Control brake 300 start, stop retarder 500 rotate, illustratively, controller 300 be dedicated computing machine equipment (such as count
Word signal processor (DSP), single-chip microcontroller or programmable logic controller (PLC) (PLC) etc.), or universal computing device (such as
Central processing unit (CPU)) etc., in embodiment of the disclosure with no restriction to this, it should be further noted that with exemplary
When equipment, corresponding excuse and support plate, such as the mainboard of central processing unit (CPU) are needed, this is existing common knowledge,
It is not described herein；Illustrative brake can be selected as electromagnetic brake, can more specifically use electromagnetic brake, encoder
400 can be a variety of encoders, and such as incremental encoder, absolute encoder, illustrative the present embodiment uses absolute encoder；Show
The retarder 500 of example property uses harmonic speed reducer, can also use other types of retarder, no further details to be given herein.
In this embodiment, thermally conductive mounting base 120 is provided in articular shell 100, thermally conductive mounting base 120 is arranged
On articular shell 100, controller 600 is mounted in mounting base 120, and mounting base 120 is fixedly connected with articular shell 100, can
It to be fixedly connected by screw, can also be attached using welding manner, mounting base 120 is that heat-conducting metal is made or other
Heat Conduction Material is made into, and for conducting the heat on controller 600 to articular shell 100, is radiated to controller 600.
In this embodiment, retarder 500 includes driving member 510, and 510 one end of driving member is protruded into outside the joint
In shell 100, that is, the shaft of retarder 500, motor 200, brake 300, encoder 400 pass through gear and driving member respectively
510 transmission connections, that is, the transmission connection of one end in articular shell 100 is protruded into 500 shaft of retarder, pass through gear drive
Connection, transmission is convenient, and transmission ratio is stablized.
In this embodiment, mounting plate 110 is provided in motor housing 100, motor 200, is compiled brake 300
Code device 400 is mounted on mounting plate 110, when specific installation, can be installed using screw, can also be using welding or other sides
Board motor 200, brake 300 and encoder 400 can be fixedly mounted by installation in formula installation.
Embodiments described above is only that preferred embodiments of the present invention are described, not to this reality
It is defined with novel range, under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art couple
The various changes and improvements that the technical solution of the utility model is made should all fall into the guarantor that the utility model claims book determines
It protects in range.
Claims (7)
1. a kind of lightweight robotic drives joint, which is characterized in that including articular shell (100) and be arranged in articular shell
(100) retarder (500) of one end, the articular shell (100) is interior to be provided with motor (200), brake (300) and encoder
(400), the motor (200), brake (300), encoder (400) are sequentially connected with the retarder (500) respectively；
The retarder (500) includes driving member (510), and the articular shell (100) are protruded into described driving member (510) one end
Interior, the motor (200), the brake (300), the encoder (400) pass through gear and the driving member (510) respectively
One end transmission connection in the articular shell (100).
2. lightweight robotic according to claim 1 drives joint, which is characterized in that it further include controller (600), it is described
Controller (600) setting in the articular shell (100), and respectively with the encoder (400), the motor (200) and
Brake (300) electrical connection.
3. lightweight robotic according to claim 2 drives joint, which is characterized in that articular shell (100) inner wall
It is provided with heat transfer mounting base (120), the controller (600) is arranged on the mounting base (120).
4. lightweight robotic according to claim 1 drives joint, which is characterized in that set in the articular shell (100)
It is equipped with mounting plate (110), the motor (200), brake (300), encoder (400) are installed in the mounting plate (110)
On.
5. lightweight robotic according to claim 1 drives joint, which is characterized in that the brake (300) is electromagnetism
Band-type brake.
6. lightweight robotic according to claim 1 drives joint, which is characterized in that the encoder (400) is absolute
Encoder.
7. lightweight robotic according to claim 1 drives joint, which is characterized in that the retarder (500) is harmonic wave
Retarder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822026409.7U CN209682229U (en) | 2018-12-05 | 2018-12-05 | Lightweight robotic drives joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822026409.7U CN209682229U (en) | 2018-12-05 | 2018-12-05 | Lightweight robotic drives joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209682229U true CN209682229U (en) | 2019-11-26 |
Family
ID=68595535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822026409.7U Active CN209682229U (en) | 2018-12-05 | 2018-12-05 | Lightweight robotic drives joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209682229U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023133951A1 (en) * | 2022-01-12 | 2023-07-20 | 琦星智能科技股份有限公司 | Mechanical arm joint |
-
2018
- 2018-12-05 CN CN201822026409.7U patent/CN209682229U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023133951A1 (en) * | 2022-01-12 | 2023-07-20 | 琦星智能科技股份有限公司 | Mechanical arm joint |
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