CN210132522U

CN210132522U - Main robot single-degree-of-freedom rotary joint

Info

Publication number: CN210132522U
Application number: CN201920342572.6U
Authority: CN
Inventors: 康小盼; 管贻生; 苏满佳; 刘冠峰
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2019-03-18
Filing date: 2019-03-18
Publication date: 2020-03-10
Anticipated expiration: 2029-03-18

Abstract

The utility model discloses a single-degree-of-freedom rotary joint of a main robot, which comprises a fixed base, a rotary base, a processor, an encoder, a transmission shaft and a slip ring, wherein the processor, the encoder, the transmission shaft and the slip ring are arranged in the fixed base; a stator of the slip ring is fixedly arranged on the fixed base, and a rotor of the slip ring is fixedly sleeved on the transmission shaft; the encoder detects the rotation angle of the transmission shaft and sends the rotation angle to the processor, the processor outputs a control signal to a terminal on a stator of the slip ring, and a terminal of a rotor of the slip ring is connected to a next module connected with the rotation base. The utility model discloses utilize two-way damping to realize the retinue of host computer robot and end, improved host computer robot's commonality and operation travelling comfort, realize walking the line in completely simultaneously, improve host computer robot's security and simplified wiring structure, and realize the unrestricted function of gyration angle, improve host computer robot's commonality.

Description

Main robot single-degree-of-freedom rotary joint

Technical Field

The utility model relates to a rotary joint especially indicates a single degree of freedom rotary joint of host robot.

Background

With the development of human society and the advancement of science and technology, the robot technology has been developed unprecedentedly, and in recent years, robots are widely used in many fields of modern society, such as radiation material processing, deep sea or space operation, minimally invasive surgery operation, mine discharge operation, and the like, and there is an increasing need for robots capable of working in dangerous or unknown environments. However, due to limitations of artificial intelligence, mechanisms, control and sensing technologies, it has been a long time to develop intelligent robots that can operate autonomously in unknown environments. Therefore, at present, a master-slave control robot working under human-computer interaction is a practical and feasible choice depending on human intelligence. The master-slave control robot separates an operator from an operated object, prevents human from being injured by radiation, infection, explosion and the like, and can expand the magnitude of the operation force and the distance of operation of the human. The processor converts the control intention of the operator into a command which can be understood by the slave robot according to the pose information of the master robot, controls the slave robot to move to realize a corresponding task, and feeds back the state information of the slave robot to the operator through vision or force sense, so that the operator modifies the own control behavior.

The development of the main robot is advanced at home and abroad, but the current main robot still has some defects: 1. the versatility and flexibility are poor. At present, the configuration of a master robot is fixed, the configuration cannot be changed correspondingly according to task requirements or changes of slave robots, the degree of freedom is also fixed and unchanged, the master robot cannot be increased or decreased according to needs, and the master robot is difficult to adapt to various slave robots; 2. the operation performance is poor. The existing main robot system is of a wearable type or a falling type, the wearable type generally has a random balance problem, an operator is easy to fatigue, and the falling type main robot requires the operator to stand upright and also can fatigue after long-time operation; 3. the control is complicated. Most of the existing master robot systems and slave robots are heterogeneous, the mapping between master and slave robots is complex, the calculated amount is large, and the stability of master and slave control is influenced; 4. the cost is high, and due to lack of universality, different slave robots often need corresponding master robots, so that the development and use costs of the master robots are high;

therefore, it is necessary to develop a master robot that can control multiple slave robots and has a simple structure, high operability and low cost. The modularized design method can solve the problems of poor universality, complex structure and control and the like of the main robot. The modular main robot can obtain a plurality of different configurations by changing the connection sequence or mode of only a plurality of modules of the modular main robot so as to meet the configuration or task requirements of different slave robots, and the isomorphic mapping between the master robot and the slave robot is easy to realize. Compared with the traditional main robot, the modularized main robot has the advantages of good adaptability, flexibility, fault tolerance, low cost and the like, and meanwhile, the modularized robot is simple in structure and easy to process, and modules can be replaced with one another to realize quick assembly.

Patent No. CN104139397B discloses a counterweight type main robot, in which the joint module uses a counterweight to maintain the position between modules, the structure occupies space and the counterweight value is determined, and cannot be changed with the configuration and the degree of freedom of the main robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a simple structure, convenient to use and the unlimited host computer robot single degree of freedom rotary joint of gyration angle to above-mentioned problem. The joint realizes the following and stopping of the main robot by utilizing the bidirectional damping, improves the universality and the operation comfort of the main robot, simultaneously realizes the complete internal wiring, improves the safety of the main robot, simplifies the wiring structure, realizes the function of unlimited rotation angle and further improves the universality of the main robot.

The purpose of the utility model can be achieved by adopting the following technical scheme:

a single-degree-of-freedom rotary joint of a main robot comprises a fixed base, a rotary base, a processor, an encoder, a transmission shaft and a sliding ring, wherein the processor, the encoder, the transmission shaft and the sliding ring are arranged in the fixed base; the transmission shaft is rotatably arranged in the second containing cavity, one end of the transmission shaft extends into the first containing cavity and is fixedly connected with the coded disc of the encoder, and the other end of the transmission shaft extends out of the second containing cavity and is fixedly connected with the rotating base; the stator of the slip ring is fixedly arranged on the fixed base, and the rotor of the slip ring is fixedly sleeved on the transmission shaft; the encoder detects the rotation angle of the transmission shaft and sends the rotation angle to the processor, the processor receives the rotation angle information sent by the encoder and outputs a control signal to a wiring terminal on a stator of the slip ring, and a wiring terminal of a rotor of the slip ring is connected to a next module connected with the rotating base.

As a preferable scheme, a groove is formed in the stator of the slip ring, a protrusion is formed on the inner wall of the second cavity, and the protrusion is clamped in the groove to fixedly mount the stator of the slip ring on the fixed base.

Preferably, the transmission shaft is rotatably mounted on the fixed base through a bearing.

As a preferable scheme, an annular groove is formed in a transmission shaft between the bearing and the sliding ring, a clamping ring is arranged in the annular groove, and the clamping ring is pressed against an inner ring of the bearing; and a damper fixing plate is arranged between the rotating base and the bearing and is used for jacking the outer ring of the bearing.

As a preferable scheme, a gasket is arranged on the transmission shaft between the damper fixing plate and the bearing, and the gasket is pressed against the inner ring of the bearing.

As a preferable scheme, an elastic gasket is arranged on the transmission shaft between the damper fixing plate and the rotating base.

As a preferable scheme, a through hole is formed in the center of the rotating base, and the through hole is slidably sleeved on the transmission shaft and fixed on the transmission shaft through a nut.

As a preferable scheme, a mounting rack is arranged in the first accommodating cavity, and the encoder and the processor are fixedly mounted on the mounting rack.

As a preferable scheme, one end of the fixed base and one end of the rotating base are provided with a second annular groove, and the axial section of the second annular groove is a trapezoidal groove.

Preferably, the bearing is an angular contact ball bearing.

Implement the utility model discloses, following beneficial effect has:

1. the utility model discloses a gyration articulated treater and encoder are all built-in fixed baseplate. The encoder code wheel and the transmission shaft move synchronously, so that the encoder can acquire the rotation angle of the rotating base and transmit the rotation angle to the processor through an electric circuit. The processor receives and processes the signals to generate control signals from the robot and inputs the control signals to the terminals on the stator of the slip ring. The terminals of the rotor of the slip ring are connected by wires to the next module connected to the rotating base. The structure can realize the single-degree-of-freedom rotation angle of any angle through the slip ring, the stator of the slip ring is connected with the electric circuit of the processor to keep a static state, and meanwhile, the rotor of the slip ring and the next module connected with the rotating base are also in a relative static state, so that the problem of wire winding of the electric circuit during unidirectional rotation of the joint is avoided, wiring in the electric circuit is realized, the safety of a gas element is protected, and the safe and reliable operation of the electric circuit is protected.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a single-degree-of-freedom rotary joint of the main robot of the present invention;

fig. 2 is a sectional view of fig. 1 in the axial direction.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Examples

Referring to fig. 1 and 2, the present embodiment relates to a single-degree-of-freedom revolute joint of a main robot, which includes a fixed base 1, a rotating base 2, and a processor 3, an encoder 4, a transmission shaft 5 and a slip ring 6 which are arranged in the fixed base 1, wherein a first accommodating cavity 11 for installing the processor 3 and the encoder 4, and a second accommodating cavity 12 for installing the transmission shaft 5 and the slip ring 6 are arranged in the fixed base 1; the transmission shaft 5 is rotatably arranged in the second accommodating cavity 12, one end of the transmission shaft 5 extends into the first accommodating cavity 11 and is fixedly connected with a code disc of the encoder 4, and the other end of the transmission shaft 5 extends out of the second accommodating cavity 12 and is fixedly connected with the rotating base 2; the stator 61 of the slip ring 6 is fixedly arranged on the fixed base 1, and the rotor 62 of the slip ring 6 is fixedly sleeved on the transmission shaft 5; the encoder 4 detects the rotation angle of the transmission shaft 5 and sends the rotation angle to the processor 3, the processor 3 receives the rotation angle information sent by the encoder 4 and outputs a control signal to a terminal on a stator of the slip ring 6, and a terminal of a rotor of the slip ring 6 is connected to the next module connected with the rotating base 2. The slip ring is an electrical component which is communicated with the rotating body and used for transmitting energy and signals. The slip ring is arranged at the rotation center of the equipment and mainly comprises a rotating part and a static part. The rotating part is connected to and moves rotationally with the rotating structure of the device, called the "rotor", and the stationary part is connected to the energy source of the stationary structure of the device, called the "stator".

The processor 3 and the encoder 4 of the rotary joint of the present structure are both built in the fixed base 1. The encoder 4 code wheel and the transmission shaft 5 move synchronously, so that the encoder 4 can acquire the rotation angle of the rotating base 2 (i.e. the rotary joint module) and transmit the rotation angle to the processor 3 through an electric circuit. The processor 3 receives and processes the signals to generate control signals from the robot and inputs the control signals to the terminals on the stator of the slip ring 6. The terminals of the rotor of the slip ring 6 are connected by wires to the next module connected to the rotating base 2. The structure can realize the single-degree-of-freedom rotation angle of any angle through the slip ring 6, the stator of the slip ring 6 is connected with the electric circuit of the processor 3 and keeps a static state, and meanwhile, the rotor of the slip ring 6 and the next module connected with the rotating base 2 are also in a relative static state, so that the problem of wire winding of the electric circuit when the joint rotates in a single direction is avoided, wiring in the electric circuit is realized, the safety of elements is protected, and the safe and reliable operation of the electric circuit is protected.

A groove is formed in the stator of the slip ring 6, a protrusion is arranged on the inner wall of the second accommodating cavity 12, and the protrusion is clamped in the groove to fixedly mount the stator of the slip ring 6 on the fixed base 1. Two grooves are formed in the stator of the sliding ring 6 and are matched with two small bosses on the inner wall of the fixing base 1 respectively, so that the stator of the sliding ring 6 is fixedly connected to the fixing base 1. And the rotor of the slip ring 6 is in transition fit with the transmission shaft 5, so that the transmission shaft 5 can drive the rotor of the slip ring 6 to synchronously rotate when rotating.

The transmission shaft 5 is rotatably mounted on the fixed base 1 through a bearing 10. An annular groove is formed in the transmission shaft 5 between the bearing 10 and the sliding ring 6, a clamping ring 7 is arranged in the annular groove, and the clamping ring 7 is pressed against the inner ring of the bearing 10; a damper fixing plate 8 is arranged between the rotating base 2 and the bearing 10, and the damper fixing plate 8 is pressed against the outer ring of the bearing 10. The bearing 10 is an angular contact ball bearing. The bearing 10 adopts an angular contact ball bearing 10, can bear bidirectional axial force and radial force, the inner ring positioning is realized at one end through the snap ring 7, the positioning of the outer ring of the bearing 10 at the end is realized by the shaft shoulder of the fixed base 1, the outer ring of the bearing 10 at the other end is positioned by the damper fixed plate 8, the transmission shaft 5 can be ensured to bear the axial force and the radial force which can be transmitted to the fixed base 1, and therefore the load of the transmission shaft 5 is reduced.

A gasket 9 is arranged on the transmission shaft 5 between the damper fixing plate 8 and the bearing 10, and the gasket 9 is pressed against the inner ring of the bearing 10. The gasket 9 is arranged between the bearing 10 and the damper fixing plate 8 to ensure that the axial positions of the transmission shaft 5 and the fixed base 1 are kept unchanged.

And an elastic gasket 91 is arranged on the transmission shaft 5 between the damper fixing plate 8 and the rotating base 2. The center of the rotating base 2 is provided with a through hole which is slidably sleeved on the transmission shaft 5 and fixed on the transmission shaft 5 through a nut 92. Two elastic washers 91 are installed between the rotating base 2 and the damper fixing plate 8 in opposite directions. The nut 92 is tightened on the end of the externally threaded drive shaft 5. Through adjusting nut 92 position on transmission shaft 5, mutual extrusion produces frictional force between rotating base 2 and the attenuator fixed plate 8 to adjust this structure and next connection module as required and keep relative position, realize the requirement of following up different moments to different joints with satisfying the series connection host robot, improve operator's travelling comfort.

One end of the fixed base 1 and one end of the rotating base 2 are provided with a second annular groove 13, and the axial cross section of the second annular groove 13 is a trapezoidal groove, so that the joint of the structure can be quickly connected with adjacent modules. The joints are connected and locked quickly through the hoops, and the two modules are axially fixed while the modules are prevented from rotating around the axial direction.

A mounting frame 14 is arranged in the first accommodating cavity 11, and the encoder 4 and the processor 3 are fixedly mounted on the mounting frame 14. The processor 3 is used for acquiring the rotation angle and the direction of the transmission shaft 5 measured by the encoder 4, and CAN bus signal transmission and power signal supply are achieved. The mounting frame is provided with a through hole, and an electric wire of a stator of the slip ring 6 is electrically connected with the processor 3 through the through hole.

The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the invention, which is defined by the claims and their equivalents.

Claims

1. A single-degree-of-freedom rotary joint of a main robot is characterized by comprising a fixed base, a rotary base, a processor, an encoder, a transmission shaft and a sliding ring, wherein the processor, the encoder, the transmission shaft and the sliding ring are arranged in the fixed base; the transmission shaft is rotatably arranged in the second containing cavity, one end of the transmission shaft extends into the first containing cavity and is fixedly connected with the coded disc of the encoder, and the other end of the transmission shaft extends out of the second containing cavity and is fixedly connected with the rotating base; the stator of the slip ring is fixedly arranged on the fixed base, and the rotor of the slip ring is fixedly sleeved on the transmission shaft; the encoder detects the rotation angle of the transmission shaft and sends the rotation angle to the processor, the processor receives the rotation angle information sent by the encoder and outputs a control signal to a wiring terminal on a stator of the slip ring, and a wiring terminal of a rotor of the slip ring is connected to a next module connected with the rotating base.

2. The single-degree-of-freedom revolute joint of the main robot as claimed in claim 1, wherein a groove is formed in a stator of the sliding ring, a protrusion is formed on an inner wall of the second cavity, and the protrusion is engaged in the groove to fixedly mount the stator of the sliding ring on the fixed base.

3. The single degree of freedom revolute joint of the main robot according to claim 1, wherein said transmission shaft is rotatably mounted on a fixed base by means of bearings.

4. The single-degree-of-freedom revolute joint of the main robot as claimed in claim 3, wherein a ring groove is formed in the transmission shaft between the bearing and the slip ring, and a snap ring is arranged in the ring groove and presses against the inner ring of the bearing; and a damper fixing plate is arranged between the rotating base and the bearing and is used for jacking the outer ring of the bearing.

5. The single-degree-of-freedom revolute joint of the main robot according to claim 4, wherein a spacer is arranged on the transmission shaft between the damper fixing plate and the bearing, and the spacer presses against the inner ring of the bearing.

6. The single-degree-of-freedom revolute joint of the main robot according to claim 4, wherein the transmission shaft between the damper fixing plate and the rotating base is provided with an elastic gasket.

7. The main robot single-degree-of-freedom revolute joint according to any one of claims 1 to 6, wherein a through hole is formed in the center of the rotating base, and the through hole is slidably sleeved on the transmission shaft and fixed to the transmission shaft through a nut.

8. The main robot single-degree-of-freedom revolute joint according to claim 1, wherein one end of the fixed base and the rotating base is provided with a second annular groove, and an axial section of the second annular groove is a trapezoidal groove.

9. The main robot single-degree-of-freedom revolute joint according to claim 1, wherein a mounting frame is disposed in the first accommodating cavity, and the encoder and the processor are fixedly mounted on the mounting frame.

10. The main robot single degree of freedom revolute joint according to any one of claims 3 to 6, wherein the bearing is an angular contact ball bearing.