CN210061184U - Simple and direct type joint module of cooperative robot - Google Patents
Simple and direct type joint module of cooperative robot Download PDFInfo
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- CN210061184U CN210061184U CN201920626791.7U CN201920626791U CN210061184U CN 210061184 U CN210061184 U CN 210061184U CN 201920626791 U CN201920626791 U CN 201920626791U CN 210061184 U CN210061184 U CN 210061184U
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Abstract
A simple and direct type joint module of a cooperative robot is characterized in that a stator of a direct current frameless motor is fixedly arranged on a shell, and a rotor is fixedly connected with an input shaft; a flexible gear of the wave generator is fixed with the input shaft and is fastened with an outer ring of the crossed roller bearing, and a rigid gear is fixed with the output shaft and is connected with an inner ring of the crossed roller bearing; the brake is used for braking the input shaft or the rotor; the multi-turn absolute value encoder is fixedly connected with the input shaft or the rotor and synchronously rotates to measure the rotating speed and the rotating position of the rotor; the direct current servo driver controls the braking process of the brake and the starting and stopping of the rotor by controlling the braking according to the instruction of an external upper controller, and collects data fed back by the multi-turn absolute value encoder. The structure is compact, the assembly is simple, and the control, the driving and the communication of the mechanism are integrated; the multi-turn absolute value encoder is adopted to directly acquire data such as the position, the rotating speed and the like of the motor rotor, the precision of the motor rotor can be ensured without double encoders and torque sensors, the use process is stable and reliable, and the cost is lower.
Description
Technical Field
The utility model relates to a robot field, concretely relates to cooperation robot joint module of simple and direct type.
Background
Currently, one of the existing joint modules adopts a dual-encoder structure, such as CN201811559194.3, named as "a highly integrated electromechanical control integrated robot joint module", which directly obtains the position of the driving device through an absolute value encoder and controls the motion of the motor through an incremental encoder. However, due to the arrangement of the double encoders, higher requirements are generated on the diameter of the central routing pipe, so that the size of the joint module is larger, and the universality of the joint is reduced; the other type of the motor drive device adopts a structure of a torque sensor and an absolute value encoder, for example, the application number is CN201810811317.1, which is named as a drive and control integrated modular drive device, the torque information of the joint is obtained through the torque sensor, and the position information obtained through the absolute value encoder is converted into the position information, the speed information and the acceleration information of the motor, but the arrangement of the torque sensor also has influence on the size of the joint module, and under the condition that the demand for force control accuracy is low, the addition of the high-precision torque sensor also brings improvement of the overall cost for the joint module to a certain extent.
Disclosure of Invention
The utility model aims at providing a simple and direct type cooperation robot joint module, adopt joint casing, harmonic reducer, direct current frameless motor, stopper, many circles of absolute value encoders, direct current servo driver as the core component of robot joint module, compact structure, the assembly is simple, has realized that mechanism control, drive, communication are in an organic whole; the multi-turn absolute value encoder is adopted to directly acquire data such as the position, the rotating speed and the like of the motor rotor, the precision is ensured without double encoders, the use process is stable and reliable, and the cost is lower.
In order to achieve the above purpose, the utility model adopts the following technical means to implement:
a simple and direct type cooperative robot joint module comprises a shell, a harmonic reducer, a direct-current frameless motor and a brake, wherein the harmonic reducer is arranged in the shell and comprises a rigid wheel, a wave generator, an input shaft and an output shaft, the input shaft is fixedly connected with the wave generator and used for inputting power, and the output shaft is fixedly connected with the rigid wheel and used for outputting power; the stator of the direct current frameless motor is fixedly arranged on the shell, and the rotor is fixedly connected with the input shaft; a flexible gear of the wave generator is fixed with the input shaft and is fastened with an outer ring of the crossed roller bearing, and a rigid gear is fixed with the output shaft and is connected with an inner ring of the crossed roller bearing; the brake is used for braking the input shaft or the rotor; the multi-turn absolute value encoder is fixedly connected with an input shaft or a rotor and synchronously rotates to measure the rotating speed and the rotating position of the rotor; the direct current servo driver controls the braking process of the brake and the starting and stopping of the rotor by controlling the braking according to the instruction of an external upper controller, and collects data fed back by the multi-turn absolute value encoder.
Furthermore, the input shaft and the output shaft are both of hollow structures, and the hollow output shaft is sleeved inside the hollow input shaft; the rigid wheel and the multi-turn absolute value encoder are correspondingly arranged at two ends of the output shaft; the wave generator and the multi-circle absolute value encoder are correspondingly arranged at two ends of the input shaft, and the rotor is arranged in the middle of the input shaft.
Furthermore, the shell comprises a main shell and an auxiliary shell, the stator is fixedly arranged on the inner wall of the main shell, the brake and the multi-turn absolute value encoder are positioned on two sides of a channel of the auxiliary shell, the auxiliary shell and the main shell are mutually fixed, and the brake is enclosed in the auxiliary shell; the input shaft and the output shaft penetrate from the inner space of the main shell to the other side of the main shell from one side of the main shell and lead to the bearing piece in the inner space of the auxiliary shell.
Furthermore, the input shaft and the output shaft are exposed out of the auxiliary shell, and the multi-turn absolute value encoder is exposed out of the auxiliary shell.
Furthermore, the output shaft is exposed out of the input shaft along the direction extending side of the multi-turn absolute value encoder.
Furthermore, the cable of the joint module can pass through the hollow output shaft.
Furthermore, the direct current servo driver is arranged outside or fixed on the shell.
As an effective setting scheme, the direct current servo driver comprises a power supply conversion unit, a motor control unit, a brake control unit, a bus interface unit and an IO interface unit; the power supply conversion unit is used for providing power supply for the self work of the direct current servo driver and the work of the direct current frameless motor; the motor control unit is used for controlling the receiving and sending of the rotating speed and position data of the motor; the brake control unit is used for controlling the opening and closing of the brake; the bus interface unit is used for receiving an upper computer control instruction and feeding back state data of the direct current servo driver; the IO interface unit is used for detecting peripheral digital quantity input signals and analog quantity input signals and controlling peripheral digital quantity output and analog quantity output.
As an effective arrangement, the brake is a non-excitation type brake, and the rotor is engaged with the brake pad key and enables the brake pad and the rotor to coaxially and synchronously rotate; under the condition that the direct current servo driver controls the brake to brake or power off, the metal brake plate is pushed by the external elasticity of the spring to press the brake disc to brake the non-excitation type brake.
The utility model discloses have following useful part:
1. the joint module adopts a multi-turn absolute value encoder, and the multi-turn absolute value encoder is directly connected with the input shaft of the speed reducer or the motor rotor, so that the rotating speed and the rotating position of the rotor can be directly obtained and measured, and the direct current servo driver can convert the angle of the output end mechanism of the speed reducer through a system according to the data of the rotating speed and the rotating position of the rotor fed back by the multi-turn absolute value encoder, so that the running precision can be ensured, and the torque can be calculated without the intervention of an incremental encoder, a strain gauge and a torque sensor and without the need of calculating the torque by a complex algorithm on the current indirectly measured to the motor;
2. the main shell is used for fixing a motor stator, the auxiliary shell is used for fixing a brake and an encoder, and the brake and the encoder are arranged on two surfaces of the auxiliary shell, so that the motor stator has the effects of compact structure, internal spare and accessory installation and convenience in disassembly and assembly;
3. an excitation-free brake is adopted, and in a power-off state, a metal brake plate is pushed by the force of a spring to lock a brake piece, so that the effects of preventing the machine from idling, playing an emergency brake role in power-off and keeping a stop state for a long time can be achieved; the structure is small, the stable and reliable braking force is provided, and the joint module can be further intensified.
Drawings
FIG. 1 is a schematic diagram of an exploded state of the present robot joint module;
FIG. 2 is a sectional view of the joint module of the robot;
FIG. 3 is a schematic cross-sectional view of a harmonic reducer of the robot joint module;
FIG. 4 is a schematic cross-sectional view of the brake of the present robot joint module;
FIG. 5 is a schematic diagram of the DC servo driver interface of the present robot joint module.
Detailed Description
The invention is further illustrated by the following specific examples.
Examples
As shown in fig. 1-4, a simple and convenient type joint module of a cooperative robot includes a housing 3, a harmonic reducer 1 disposed in the housing 3, a dc frameless motor 2, and a brake 4, where the harmonic reducer 1 includes a rigid wheel 14, a wave generator 13, an input shaft 11 fixedly connected to the wave generator 13 and inputting power, and an output shaft 12 fixedly connected to the rigid wheel 14 and outputting power; the stator 21 of the direct current frameless motor 2 is fixedly arranged on the shell 3, and meanwhile, the direct current frameless motor 2 is convenient to radiate heat through the shell 3; the rotor 22 is fixedly connected with the input shaft 11; a flexible gear 16 of the wave generator 13 is fixed with the input shaft 11 and is fastened with the outer ring of the crossed roller bearing 15, and a rigid gear 14 is fixed with the output shaft 12 and is connected with the inner ring of the crossed roller bearing 15; the brake 4 is used for braking the input shaft 11 or the rotor 22; the multi-turn absolute value encoder 5 is fixedly connected with the input shaft 11 or the rotor 22 and synchronously rotates to measure the rotating speed and the rotating position of the rotor 22; the direct current servo driver 7 controls the braking process of the brake 4 and the start and stop of the rotor 22 according to the instruction of an external upper controller, and collects data fed back by the multi-turn absolute value encoder 5.
When the rotor 22 of the direct-current frameless motor 2 realizes rotary motion, the input shaft 11 of the harmonic speed reducer 1 is driven to rotate, the input shaft 11 drives the flexible gear 16 to rotate relative to the crossed roller bearing 15, so that the flexible gear 16 generates controllable elastic deformation waves, and the teeth of the rigid gear and the flexible gear 16 are relatively staggered to transmit power and motion; and the input shaft 11 drives the multi-turn absolute value encoder 5 to rotate, the multi-turn absolute value encoder 5 measures the rotating speed and the rotating position of the rotor 22, and the multi-turn absolute value encoder 5 transmits the data of the rotor 22 to the direct current servo driver 7, so that the direct current servo driver 7 feeds back the data to the upper controller and controls the operation of the joint module output shaft 12 according to the instruction issued by the upper controller.
As shown in fig. 2-3, the input shaft 11 and the output shaft 12 are both hollow structures, and the hollow output shaft 12 is sleeved inside the hollow input shaft 11; the rigid wheel 14 and the multi-turn absolute value encoder 5 are correspondingly arranged at two ends of the output shaft 12; wave generator 13, many circles absolute value encoder 5 correspond and set up in the both ends of input shaft 11, and rotor 22 sets up in the middle part of input shaft 11, through this setting, can maintain comparatively intensive arranging between harmonic speed reducer 1, rotor 22, the many circles absolute value encoder 5.
As shown in fig. 2, in order to facilitate the assembly and disassembly of the joint module, the housing 3 includes a main housing 31 and a sub-housing 32, the stator 21 is fixedly disposed on the inner wall of the main housing 31, the brake 4 and the multi-turn absolute value encoder 5 are located at two sides of the passage of the sub-housing 32, the sub-housing 32 and the main housing 31 are fixed to each other, and the space in the sub-housing 32 encloses the brake 4; the input shaft 11 and the output shaft 12 penetrate from one side of the main housing 31 to the inner space of the main housing 31 to the other side and lead to the bearing member 6 in the inner space of the sub housing 32.
Further, the input shaft 11 and the output shaft 12 are exposed outside the sub-housing 32, the multi-turn absolute value encoder 5 is exposed outside the sub-housing 32, and by means of the arrangement, the exposed multi-turn absolute value encoder 5 can be connected with an external direct current servo driver through the connection 7 more conveniently; of course, the multi-turn absolute value encoder 5 can be arranged in the inner space of the sub-housing 32, and the direct current servo driver 7 is fixed on the sub-housing 32, so that the structure is also convenient to mount and dismount, and meanwhile, the joint module can play a role in further intensifying the space.
Furthermore, the output shaft 12 extends towards the direction of the multi-turn absolute value encoder 5 and is exposed out of the input shaft 11, a cable of the joint module can pass through the hollow output shaft 12, the structural space of the joint module can be saved, the transmission structure is simplified, and the output shaft 12 is exposed out of the input shaft 11, the cable is arranged at the exposed part of the output shaft 12 relative to the input shaft 11, so that the problem that the cable is damaged due to friction between the inner cable extending along the hollow part and the input shaft 11 rotating at a high speed can be avoided.
As an effective setting scheme, as shown in fig. 4, the PCB of the dc servo driver 7 is provided with a power conversion unit and a corresponding interface 71 thereof, a motor control unit and a corresponding interface 72 thereof, a brake control unit and a corresponding interface 73 thereof, a bus interface unit and a corresponding interface 74 thereof, an IO interface unit and a corresponding interface 75 thereof, a corresponding interface 76 of the multi-turn absolute value encoder 5, and an analog interface 77; the power supply conversion unit is used for providing power supply for the work of the direct current servo driver 7 and the work of the direct current frameless motor 2; the motor control unit is used for controlling the receiving and sending of the rotating speed and position data of the motor, the torque information of the joint is obtained through an algorithm by monitoring the current of the direct-current frameless motor 2 in real time without intervention of a torque sensor, and the safety of the joint module and the reliability of man-machine cooperation are further improved; the brake control unit is connected to the brake wiring 46 through its corresponding interface 73, controlling the opening and closing of the brake 4; the bus interface unit is used for receiving an upper computer control instruction and feeding back state data of the direct current servo driver 7; the IO interface unit is used for detecting peripheral digital quantity input signals and analog quantity input signals and controlling peripheral digital quantity output and analog quantity output.
As an effective arrangement, as shown in fig. 1, 3 and 4, the brake 4 is a non-excitation type brake, a housing 41 of the non-excitation type brake is fixed with an inner brake plate 47 through a locking bolt 45, the housing 41 is fixed with an outer metal brake plate 41 through a spring 43, an electromagnetic coil 42 is arranged in the housing, the rotor 22 is in keyed joint with a square hole 48 of a brake plate 44 through a square key, and the brake plate 44 arranged between the inner brake plate 47 and the outer metal brake plate 41 and the rotor 22 rotate coaxially and synchronously; when the DC servo driver 7 controls the brake 4 to brake or to be in a power-off state, the outer metal brake plate 41 of the non-excitation type brake 4 is pushed by the external elastic force of the spring 43 to move toward the inner brake plate 47 to press the brake disc 44 to perform a braking operation, and when the DC servo driver is in a power-on state, the electromagnetic coil 42 generates a magnetic field to attract the outer metal brake plate 41 to release the braking state.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A simple and direct type cooperative robot joint module comprises a shell, a harmonic reducer, a direct-current frameless motor and a brake, wherein the harmonic reducer is arranged in the shell and comprises a rigid wheel, a wave generator, an input shaft and an output shaft, the input shaft is fixedly connected with the wave generator and used for inputting power, and the output shaft is fixedly connected with the rigid wheel and used for outputting power; the stator of the direct current frameless motor is fixedly arranged on the shell, and the rotor is fixedly connected with the input shaft; the rigid wheel is fixed with the output shaft and is connected with the inner ring of the crossed roller bearing; the brake is used for braking the input shaft or the rotor;
the method is characterized in that: a flexible gear of the wave generator is fixed with the input shaft and is fastened with an outer ring of the crossed roller bearing;
a multi-turn absolute value encoder and a direct current servo driver are also arranged;
the multi-turn absolute value encoder is fixedly connected with the input shaft or the rotor and synchronously rotates to measure the rotating speed and the rotating position of the rotor;
the direct current servo driver controls the braking process of the brake and the starting and stopping of the rotor by controlling the braking according to the instruction of an external upper controller, and collects data fed back by the multi-turn absolute value encoder.
2. The compact form factor cooperative robot joint module of claim 1, wherein: the input shaft and the output shaft are both of hollow structures, and the hollow output shaft is sleeved inside the hollow input shaft; the rigid wheel and the multi-turn absolute value encoder are correspondingly arranged at two ends of the output shaft; the wave generator and the multi-circle absolute value encoder are correspondingly arranged at two ends of the input shaft, and the rotor is arranged in the middle of the input shaft.
3. The compact form factor cooperative robot joint module of claim 1, wherein: the shell comprises a main shell and an auxiliary shell, the stator is fixedly arranged on the inner wall of the main shell, the brake and the multi-turn absolute value encoder are positioned on two sides of a channel of the auxiliary shell, the auxiliary shell and the main shell are fixed with each other, and the brake is enclosed in the auxiliary shell; the input shaft and the output shaft penetrate from the inner space of the main shell to the other side of the main shell from one side of the main shell and lead to the bearing piece in the inner space of the auxiliary shell.
4. The compact form factor cooperative robot joint module of claim 3, wherein: the input shaft and the output shaft are exposed out of the auxiliary shell, and the multi-turn absolute value encoder is exposed out of the auxiliary shell.
5. The compact form factor cooperative robot joint module of claim 4, wherein: the direction extending side of the output shaft to the multi-turn absolute value encoder is exposed out of the input shaft.
6. The compact form factor cooperative robot joint module of claim 5, wherein: the cable of the joint module can pass through the hollow output shaft.
7. The compact form factor cooperative robot joint module of claim 1, wherein: the direct current servo driver is arranged outside or fixed on the shell.
8. The compact form of the cooperative robotic joint module of any of claims 1-7, wherein: the direct current servo driver comprises a power supply conversion unit, a motor control unit, a brake control unit, a bus interface unit and an IO interface unit; the power supply conversion unit is used for providing power supply for the self work of the direct current servo driver and the work of the direct current frameless motor; the motor control unit is used for controlling the receiving and sending of the rotating speed and position data of the motor; the brake control unit is used for controlling the opening and closing of the brake; the bus interface unit is used for receiving an upper computer control instruction and feeding back state data of the direct current servo driver; the IO interface unit is used for detecting peripheral digital quantity input signals and analog quantity input signals and controlling peripheral digital quantity output and analog quantity output.
9. The compact form of the cooperative robotic joint module of any of claims 1-7, wherein: the brake is a non-excitation type brake, the rotor is in key joint with the brake disc, and the brake disc and the rotor coaxially and synchronously rotate; under the condition that the direct current servo driver controls the brake to brake or power off, the metal brake plate is pushed by the external elasticity of the spring to press the brake disc to brake the non-excitation type brake.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920626791.7U CN210061184U (en) | 2019-04-30 | 2019-04-30 | Simple and direct type joint module of cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920626791.7U CN210061184U (en) | 2019-04-30 | 2019-04-30 | Simple and direct type joint module of cooperative robot |
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| CN210061184U true CN210061184U (en) | 2020-02-14 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN113500625A (en) * | 2021-06-29 | 2021-10-15 | 苏州艾利特机器人有限公司 | Robot joint, cooperation robot, reduction gear subassembly and stopper |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
| CN113829383A (en) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | Driving joint |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
-
2019
- 2019-04-30 CN CN201920626791.7U patent/CN210061184U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN113500625A (en) * | 2021-06-29 | 2021-10-15 | 苏州艾利特机器人有限公司 | Robot joint, cooperation robot, reduction gear subassembly and stopper |
| CN113760012A (en) * | 2021-08-13 | 2021-12-07 | 中国科学院宁波材料技术与工程研究所 | Rotation driving device and method for correcting system error of rotation driving device |
| CN115237186A (en) * | 2021-08-13 | 2022-10-25 | 中国科学院宁波材料技术与工程研究所 | Rotary driving device |
| CN113829383A (en) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | Driving joint |
| CN113829383B (en) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | Driving joint |
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