CN212736065U - Joint module of cooperation robot - Google Patents
Joint module of cooperation robot Download PDFInfo
- Publication number
- CN212736065U CN212736065U CN202021366702.9U CN202021366702U CN212736065U CN 212736065 U CN212736065 U CN 212736065U CN 202021366702 U CN202021366702 U CN 202021366702U CN 212736065 U CN212736065 U CN 212736065U
- Authority
- CN
- China
- Prior art keywords
- motor
- flexible
- output shaft
- gear
- roller bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a joint module of cooperation robot, harmonic speed reducer ware left end is connected with the shell through the switching dish by flexbile gear and cross roller bearing, and harmonic speed reducer ware right-hand member and output shaft, output shaft and motor shaft axial positioning, flexbile gear and rigid wheel are connected with cross roller bearing, and rigid wheel and output shaft are connected, and flexible bearing housing is on the cam, and cam and motor shaft integration, cam and flexible bearing constitute wave generator, and the flexbile gear nestification is on wave generator. The utility model provides a joint module of cooperation robot, according to the size error adjustment switching dish size of motor, when the motor shaft rotates, wave generator rotates, force the flexbile gear only to take place to warp, the rigid wheel rotates, give the output shaft with power transmission, keep apart shell and output module through the switching dish, the space that reduces output module accounts for the ratio, reduce its volume, be connected with other load axial, increase the transmission moment of torsion, be applicable to precision trades such as commodity circulation trade, space research, medical treatment, laser.
Description
Technical Field
The utility model belongs to the technical field of the cooperation robot, concretely relates to joint module of cooperation robot.
Background
In recent years, the cooperative robot has been developed rapidly, but the high integration of the joint modules determines the body volume of the cooperative robot and the adaptability to the work site. The joint module is integrated with a speed reducer, a motor, a driver, an encoder, a controller and the like. How to improve the manufacturing process and reduce the volume of the joint module as much as possible on the premise of ensuring the precision, the moment and the power is a great bottleneck.
The existing cooperative robot needs to meet the requirement of load rigidity and reduce the size, so that a highly integrated joint module needs to be designed urgently, and the size of the joint module is reduced under the condition of meeting the rigidity of the cooperative robot.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem that exists among the prior art, the utility model aims to provide a joint module of cooperation robot.
In order to realize the above purpose, reach above-mentioned technological effect, the utility model discloses a technical scheme be:
a joint module of a cooperative robot comprises a cooperative robot control module, a switching disc, an output shaft, a motor shaft and a wave generator, wherein a controller of the cooperative robot control module is connected with the motor, the wave generator comprises a flexible gear, a crossed roller bearing, a rigid gear and a wave generator, the left end of the wave generator is connected with a shell through the switching disc by the flexible gear and the crossed roller bearing, the right end of the wave generator is connected with the output shaft, the output shaft is axially positioned and concentric with the motor shaft of the motor, the right end faces of the flexible gear and the rigid gear are respectively connected with the crossed roller bearing, the rigid gear is in threaded connection with the output shaft through a screw, the cam and the flexible bearing form the wave generator, the flexible bearing is sleeved on the cam to generate deformation, the cam and the motor shaft are integrated, the rigid gear is positioned with a shaft shoulder of the crossed roller bearing, the motor shaft is positioned with, the flexible gear is contacted with the flexible bearing, an outer gear ring of the flexible gear is meshed with an inner gear ring of the rigid gear, the motor rotates, the motor shaft rotates and drives the wave generator to rotate, the flexible gear deforms and does not rotate, the flexible gear deforms to enable the rigid gear to rotate, and power is transmitted to the output shaft.
Furthermore, the shell is in threaded connection with the switching disc and the harmonic reducer through screws, the shell only plays a role in fixed matching, the space occupation of the output device is reduced, and therefore the structural compactness of the whole device is guaranteed.
Furthermore, a sealing ring is arranged in a groove on the right end face of the adapter plate for sealing, and a sealing ring is arranged in a groove on the left end face of the crossed roller bearing for sealing.
Furthermore, a sleeve is fixed on the right side of the crossed roller bearing, a protective sleeve is detachably embedded in the sleeve, and the protective sleeve is made of elastic materials.
Furthermore, the output shaft is of a hollow structure, so that power lines, signal lines and the like of the joint module can be conveniently routed, and the output shaft is axially positioned and assembled with the motor shaft through a bearing, so that the concentricity of the output shaft and the motor shaft is ensured.
Furthermore, a plurality of first through holes and second through holes are distributed in sequence from outside to inside along the circumferential direction on the right end face of the output shaft, the first through holes are in a gourd shape, the output shaft is in threaded connection with the rigid wheel and the crossed roller bearing through the second through holes, the output shaft is connected with other loads through the first through holes to transmit power, and transmission torque is increased.
Furthermore, the motor shaft is of a hollow structure, the cam is directly machined on the motor shaft, and the flexible bearing is positioned through a second section of shaft shoulder at the right end of the motor shaft.
Furthermore, the cam is oval, and the flexible bearing is sleeved on the cam and generates oval deformation.
The motor rotor is fixed with the motor shaft through the shaft shoulder positioning and the sealant, and the motor sequentially transmits power to the wave generator and the output shaft by driving the motor shaft to rotate.
Further, the motor is a frameless torque motor.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a joint module of cooperation robot, include: the harmonic reducer mainly comprises a rigid wheel, a flexible wheel, a crossed roller bearing and a wave generator, wherein the flexible wheel and the crossed roller bearing are connected with a shell through a threaded connection through the adapter plate at the left end of the harmonic reducer, the right end of the harmonic reducer is connected with an output shaft through a thread, the output shaft is axially positioned and matched with the motor shaft through the bearing and is concentric with the motor shaft, the right end faces of the flexible wheel and the rigid wheel are respectively connected with the crossed roller bearing, the rigid wheel is connected with the output shaft through a thread, the flexible bearing is sleeved on a cam to generate deformation, the cam is directly and integrally processed on the motor shaft, the motor shaft is positioned with a shaft shoulder of the flexible bearing, and the cam and the flexible bearing form the wave generator, the inner wall of the right end of the flexible gear is nested on the wave generator, the flexible gear is contacted with the flexible bearing, and the flexible gear is meshed with the rigid gear. The utility model provides a joint module of cooperation robot, the sleeve is fixed in the cross roller bearing right side, the detachable embedding of lag is in the sleeve, the lag adopts elastic material to make, through the screw with cross roller bearing, the flexbile gear, switching dish and shell fixed connection, adjust switching dish size according to the dimensional error of motor, avoid causing whole assembly problem because the dimensional error of motor, the harmonic speed reducer ware is fixed for the flexbile gear, the rigid wheel output, wave generator comprises cam and flexible bearing, when the motor shaft rotates, drive wave generator rotation, force the flexbile gear to produce deformation, because the flexbile gear passes through threaded connection and shell is fixed, therefore the flexbile gear only takes place to warp and does not rotate, the outer ring gear of flexbile gear meshes with the ring gear of rigid wheel, the flexbile gear warp and impels the rigid wheel to rotate, the rigid wheel is fixed a position with cross roller bearing shaft shoulder, the rigid wheel passes through screw and output shaft threaded connection, the power transmission is transmitted to the output shaft, the shell is in threaded connection with the adapter plate and the harmonic reducer through screws, the shell only plays a role in fixed matching, the shell is isolated from the output module through the adapter plate, the space occupation ratio of the output module is reduced, and the size of the output module is reduced, so that the compact structure of the joint module is ensured, the whole device is reliable and stable, is axially connected with other loads, the transmission torque is increased, the structure is simple, the practicability is high, and the device is suitable for precision industries such as logistics industry, space research, medical treatment and laser.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a right side view of the output shaft of the present invention;
fig. 3 is a schematic structural diagram of the harmonic reducer of the present invention;
fig. 4 is a schematic view of the motor of fig. 1 according to the present invention;
the method comprises the following steps that 1, a cooperative robot control module; 2. a switching disk; 3. a flexible gear; 4. a crossed roller bearing; 5. a sleeve; 6. a protective sleeve; 7. an output shaft; 8. a compliant bearing; 9. a motor shaft; 10. a bearing; 11. a rigid wheel; 12. a housing; 13. a motor; 14. a first through hole; 15. a second through hole; 16. a harmonic reducer; 17. a motor stator; 18. a rotor of an electric machine.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the invention can be more easily understood by those skilled in the art, thereby making the scope of the invention more clearly defined.
As shown in fig. 1-3, a joint module of a cooperative robot includes an input module, a cooperative robot control module 1 and an output module, the input module is a motor 13, the cooperative robot control module 1 includes an encoder, a driver, a controller, a brake, etc., the controller is connected with the motor 13, the encoder, the driver, the brake, and converts received signals or data into signals recognizable by the controller through the encoder, the controller drives the motor 13 to decelerate to stop or start through controlling the brake or the driver, and the motor shaft 9 rotates while the motor 13 rotates to drive the wave generator to rotate, which can be implemented by adopting the prior art, belongs to the common general knowledge of the technicians in the field, and is not described herein; the output module comprises an adapter plate 2, a sleeve 5, a protective sleeve 6, an output shaft 7, a motor shaft 9, a harmonic reducer 16 and the like, the harmonic reducer 16 mainly comprises a flexible gear 3, a crossed roller bearing 4, a rigid gear 11 and a wave generator, the left end of the harmonic reducer 16 is in threaded connection with a shell 12 through the adapter plate 2 by the flexible gear 3 and the crossed roller bearing 4, the right end of the harmonic reducer is in threaded connection with the output shaft 7, the output shaft 7 is in axial positioning fit with the motor shaft 9 through a bearing 10, the output shaft 7 is concentric with the motor shaft 9, a cam and the flexible bearing 8 form the wave generator, the cam of the wave generator is directly and integrally processed on the motor shaft 9, the sleeve 5 is fixed on the right side of the crossed roller bearing 4, the protective sleeve 6 is detachably embedded in the sleeve 5, the protective sleeve 6 is made of elastic material and can be, switching dish 2 is through left shoulder and the cooperation of shell 12, switching dish 2 is through right shoulder and the cooperation of flexbile gear 3, there is a sealing washer in recess and the recess is seted up to the one side that switching dish 2 contacted with flexbile gear 3, cross roller bearing 4 and the fixed and also have a sealing washer in its recess in the flexbile gear 3 right side, adjust switching dish 2 sizes according to motor 13's dimensional error, avoid leading to whole assembly problem because motor 13's dimensional error.
The shell 12 is in threaded connection with the adapter plate 2 and the harmonic reducer 16 through screws, the shell 12 only plays a role in fixed cooperation, the shell 12 is isolated from the output module through the adapter plate 2, the space occupation ratio of the output module is reduced, and therefore the structural compactness of the whole device of the joint module is guaranteed.
Specifically, the right end face of the shell 12 is positioned through a spigot and a shaft shoulder at the left end of the switching disc 2, the shaft shoulder at the right end of the switching disc 2 is positioned and connected with a spigot at the left end of the flexible wheel 3, a sealing ring is sealed in a groove formed in the right end face of the switching disc 2, the right end face of the flexible wheel 3 is connected with the upper end of the crossed roller bearing 4, a sealing ring is sealed in a groove on the left end face of the crossed roller bearing 4, and the switching disc 2, the flexible wheel 3, the crossed roller bearing 4 and the shell 12 are fixedly connected through screws.
The cam is of an oval structure, the flexible bearing 8 is sleeved on the cam to generate deformation, the inner wall of the right end of the flexible gear 3 is nested on the wave generator to force the flexible gear 3 to deform, the flexible gear 3 is in contact with the flexible bearing 8 to form an oval structure matched with the shape of the cam, an outer gear ring of the flexible gear 3 is meshed with an inner gear ring of the rigid gear 11, the number of teeth of the rigid gear 11 is two more than that of the flexible gear 3, speed reduction and transmission are realized through the difference of the number of teeth, the right end face of the rigid gear 11 is positioned with a lower end shaft shoulder of the crossed roller bearing 4, a sealing ring is arranged between the rigid gear 11 and the crossed roller bearing 4 for sealing, the right side of the rigid gear 11 is in threaded connection with the output shaft 7, a sealing ring is arranged in a groove formed in the rigid gear 11 for.
As shown in fig. 2, the motor 13 is a frameless torque motor, a motor stator 17 of the motor is fixed to the housing 12 by means of shoulder positioning and sealant, a motor rotor 18 of the motor is fixed to the motor shaft 9 by means of shoulder positioning and sealant, the motor shaft 9 is of a hollow structure, an inner spigot is arranged at the right end of the motor shaft 9 for mounting a bearing 10, the motor shaft 9 is axially positioned to the output shaft 7 by means of the bearing 10, concentricity between the motor shaft and the output shaft 7 is maintained, and structural stability and rigidity are increased, two shoulders are arranged on the motor shaft 9, one of the shoulders is used for mounting the bearing 10, the other is used for directly processing an elliptical cam on the motor shaft 9, the elliptical cam is integrally designed with the motor shaft 9, a flexible bearing 8 is sleeved on the cam, positioning matching between the flexible bearing 8 is realized by means of a second section of the shoulder at the right end of the motor shaft 9, the, the flexspline 3 deforms during rotation.
The harmonic reducer is fixed by the flexible gear 3, the rigid gear 11 outputs power, when the motor shaft 9 rotates, the wave generator is driven to rotate, the flexible gear 3 is forced to deform, and the flexible gear 3 is fixed with the shell through threaded connection, so that the flexible gear 3 only deforms and does not rotate. The outer gear ring of the flexible gear 3 is meshed with the inner gear ring of the rigid gear 11, the flexible gear 3 deforms to drive the rigid gear 11 to rotate, the rigid gear 11 is positioned with the shaft shoulder of the crossed roller bearing 4 and is in threaded connection with the output shaft 7 through screws, and power is transmitted to the output shaft 7.
The unexplained parts of the present invention include the products and methods that are not explained in detail, and can be realized by using the prior art, which is not described herein in detail.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. A joint module of a cooperative robot is characterized by comprising a cooperative robot control module (1), a switching disc (2), an output shaft (7), a motor (13) and a harmonic reducer (16), wherein a controller of the cooperative robot control module (1) is connected with the motor (13), the harmonic reducer (16) comprises a flexible gear (3), a crossed roller bearing (4), a rigid gear (11) and a wave generator, the left end of the harmonic reducer (16) is connected with a shell (12) through the switching disc (2) by the flexible gear (3) and the crossed roller bearing (4), the right end of the harmonic reducer (16) is connected with the output shaft (7), the output shaft (7) and a motor shaft (9) of the motor (13) are axially positioned and concentric, the right end faces of the flexible gear (3) and the rigid gear (11) are respectively connected with the crossed roller bearing (4), the rigid gear (11) is in threaded connection with the output shaft (7), the cam and the flexible bearing (8) form a wave generator, the flexible bearing (8) is sleeved on the cam to generate deformation, the cam and the motor shaft (9) are integrated, the motor shaft (9) and a shaft shoulder of the flexible bearing (8) are positioned, the inner wall of the right end of the flexible gear (3) is nested on the wave generator, the flexible gear (3) is contacted with the flexible bearing (8), the flexible gear (3) is meshed with the rigid gear (11), the motor shaft (9) rotates and drives the wave generator to rotate, the flexible gear (3) deforms and does not rotate, the rigid gear (11) is driven to rotate, and power is output and transmitted to the output shaft (7).
2. The joint module of the cooperative robot as claimed in claim 1, wherein the housing (12) is in threaded connection with the adapter plate (2) and the harmonic reducer (16) through screws, the right end face of the housing (12) is positioned with the left end shoulder of the adapter plate (2) through a spigot, the right end shoulder of the adapter plate (2) is positioned and connected with the left end spigot of the flexible wheel (3), the right end face of the flexible wheel (3) is connected with the upper end of the crossed roller bearing (4), the right end face of the rigid wheel (11) is positioned with the lower end shoulder of the crossed roller bearing (4), and the adapter plate (2), the flexible wheel (3), the crossed roller bearing (4) and the housing (12) are in threaded connection through screws.
3. Joint module of a collaborative robot according to claim 1, characterized in that the right end face groove of the adapter disc (2) has a sealing ring seal and the left end face groove of the crossed roller bearing (4) has a sealing ring seal.
4. Joint module of a co-operating robot according to claim 1, characterized in that a sleeve (5) is fixed to the right side of the crossed roller bearing (4), the protective sleeve (6) is detachably embedded in the sleeve (5), and the protective sleeve (6) is made of elastic material.
5. Joint module of a cooperative robot in accordance with claim 1, wherein the output shaft (7) is a hollow structure, and the output shaft (7) is axially positioned and assembled with the motor shaft (9) through a bearing (10).
6. The joint module of the cooperative robot as claimed in claim 1, wherein the right end face of the output shaft (7) is sequentially provided with a plurality of first through holes (14) and second through holes (15) from outside to inside along the circumferential direction, the first through holes (14) are gourd-shaped, the output shaft (7) is in threaded connection with the cross roller bearing (4) and the rigid wheel (11) through the second through holes (15), and the output shaft (7) is connected with other loads through the first through holes (14) to increase the transmission torque.
7. Joint module of a cooperative robot in accordance with claim 1, wherein the motor shaft (9) is hollow, the cam is machined directly on the motor shaft (9), and the flexible bearing (8) is positioned by a second shoulder at the right end of the motor shaft (9).
8. Joint module of a cooperative robot according to claim 1, characterized in that the cam is oval shaped and the flexible bearing (8) is fitted over the cam and deformed oval.
9. A joint module of a cooperative robot according to claim 1, further comprising a motor (13), wherein a motor stator (17) thereof is fixed to the housing (12) by a shoulder positioning and sealing compound, a motor rotor (18) thereof is fixed to the motor shaft (9) by a shoulder positioning and sealing compound, and the motor (13) transmits power to the wave generator and the output shaft (7) in turn by driving the motor shaft (9) to rotate.
10. Joint module of a cooperative robot according to claim 9, characterized in that the motor (13) is a frameless torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021366702.9U CN212736065U (en) | 2020-07-13 | 2020-07-13 | Joint module of cooperation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021366702.9U CN212736065U (en) | 2020-07-13 | 2020-07-13 | Joint module of cooperation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212736065U true CN212736065U (en) | 2021-03-19 |
Family
ID=75022142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021366702.9U Active CN212736065U (en) | 2020-07-13 | 2020-07-13 | Joint module of cooperation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212736065U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851244A (en) * | 2022-06-02 | 2022-08-05 | 四川福德机器人股份有限公司 | Compact transmission structure of adjacent joints and mechanical arm |
-
2020
- 2020-07-13 CN CN202021366702.9U patent/CN212736065U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851244A (en) * | 2022-06-02 | 2022-08-05 | 四川福德机器人股份有限公司 | Compact transmission structure of adjacent joints and mechanical arm |
| CN114851244B (en) * | 2022-06-02 | 2023-09-22 | 四川福德机器人股份有限公司 | Compact transmission structure and arm of adjacent joint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111791261A (en) | Joint module of cooperation robot | |
| CN111005988A (en) | Harmonic reducer with force sensing function | |
| CN110774277A (en) | Snake-shaped arm three-degree-of-freedom wrist joint and movement method | |
| CN106826906A (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN111425580B (en) | Harmonic reducer and driver | |
| CN211841989U (en) | Cooperative robot joint module with torque sensor | |
| CN109551513A (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN111152258A (en) | Mechanical integrated joint with force sensing function | |
| CN204076277U (en) | A kind of joint of robot | |
| CN212736065U (en) | Joint module of cooperation robot | |
| CN112720568A (en) | Dual-module integrated joint with force perception | |
| CN214446511U (en) | Dual-module integrated joint with force perception | |
| CN113977625A (en) | Electric joint module integrating double speed reducers | |
| CN102562949B (en) | Worm reducer, robot joint and robot arm | |
| KR20150087451A (en) | The harmonic reduction for flexible spline and its manufacturing apparatus | |
| CN111795120A (en) | Self-locking planetary reducer | |
| CN108775383B (en) | Adjustable precise planetary gear reducer | |
| JPH09177905A (en) | Control device fro planetary differential type speed reduction gear | |
| CN216543375U (en) | Integrated joint driving unit | |
| CN214617735U (en) | Motor direct-coupled harmonic reducer with eccentric shaft | |
| CN211806233U (en) | Mechanical integrated joint with force sensing function | |
| CN212763548U (en) | Robot joint driving device with external brake | |
| CN115741769A (en) | Arm joint structure of nai high irradiation | |
| CN207753554U (en) | A kind of servo electric jar system | |
| CN111376304A (en) | Built-in solid cycloid electric joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |