CN212825484U - Joint transmission structure of cooperative robot - Google Patents
Joint transmission structure of cooperative robot Download PDFInfo
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- CN212825484U CN212825484U CN202020913930.7U CN202020913930U CN212825484U CN 212825484 U CN212825484 U CN 212825484U CN 202020913930 U CN202020913930 U CN 202020913930U CN 212825484 U CN212825484 U CN 212825484U
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Abstract
The utility model belongs to the field of cooperative robots, and discloses a joint transmission structure of a cooperative robot, which comprises a motor unit, a brake unit, an encoder unit, a drive unit and a wire arranging unit, wherein the motor unit, the brake unit, the encoder unit and the drive unit are coaxially arranged in sequence, and the wire arranging unit is arranged in front of the motor unit and behind the drive unit; the motor unit is used for providing power, the brake unit is used for the joint braking band-type brake, the drive unit is used for controlling the speed and the angle of motor rotation, the encoder unit is used for recording motor angular displacement and feedback, the whole line unit is used for preventing the cable on the joint from colliding with the shafting. The utility model has the advantages of compact integral structure, adaptation different joints, convenient assembly and maintenance, simple operation, stability and reliability.
Description
Technical Field
The utility model belongs to the cooperation robot field, concretely relates to cooperation robot joint transmission structure.
Background
The cooperative robot has the characteristics of light weight, high load-weight ratio, flexibility, easiness in use, high safety, capability of cooperating with a human and the like, so that the cooperative robot is widely applied to the field of processing and manufacturing. The joint transmission structure of the cooperative robot on the current market generally has the following defects: 1. the volume is too large and the assembly is complex. 2. The braking back clearance is large, and the positioning precision is low. 3. The waterproof and dustproof effects are poor.
Disclosure of Invention
An object of the utility model is to provide a cooperation robot joint transmission structure for solve the defect that joint transmission structure exists among the prior art.
In order to realize the task, the utility model discloses a following technical scheme:
a joint transmission structure of a cooperative robot comprises a motor unit, a brake unit, an encoder unit, a drive unit and a wire arranging unit, wherein the motor unit, the brake unit, the encoder unit and the drive unit are sequentially and coaxially arranged, and the wire arranging unit is arranged in front of the motor unit and behind the drive unit;
the motor unit is used for providing power, the brake unit is used for the joint braking band-type brake, the drive unit is used for controlling the speed and the angle of motor rotation, the encoder unit is used for recording motor angular displacement and feedback, the whole line unit is used for preventing the cable on the joint from colliding with the shafting.
Further, the motor unit comprises a harmonic reducer, a motor and a motor frame, the harmonic reducer is coaxially connected with the motor frame, the motor is arranged in the motor frame, and the harmonic reducer comprises an output end cover, an input shaft and an output shaft which are sequentially connected;
the brake unit comprises an electromagnetic brake and a positioning frame, the electromagnetic brake is arranged on the positioning frame, and the positioning frame is fixed on the motor frame;
the encoder unit comprises an incremental encoder coded disc, an incremental encoder PCB, an absolute encoder coded disc, a coded disc support and an absolute encoder PCB; the coded disc of the incremental encoder is arranged on the input shaft, the PCB of the incremental encoder is arranged on the positioning frame, the coded disc of the absolute encoder is arranged on a coded disc support, and the coded disc support is arranged on the output shaft;
the driving unit comprises an upper driving plate and a lower driving plate rear housing, and the upper driving plate, the lower driving plate and the rear housing are sequentially fixed on the positioning frame.
The wire arrangement unit comprises a coil, a cable fixing seat, a ribbon, a cable, a protective coil and a wave spring, the cable fixing seat is installed on the upper driving plate, the wave spring is arranged in the cable fixing seat, the protective coil is arranged on the wave spring, the ribbon is arranged on the cable and clamped into the protective coil, and the cable sequentially penetrates through the protective coil, the wave spring, the cable fixing seat and the protective coil.
Further, the motor unit further comprises a release resistor, and the release resistor is mounted on the fixing seat.
Further, a sealing ring is arranged in front of the motor unit.
Further, the rotor of the motor is fixed in the input shaft of the harmonic reducer.
Further, the electromagnetic brake includes a hub mounted on the input shaft.
Compared with the prior art, the utility model has the following technical characteristics:
(1) the utility model has the advantages of compact integral structure, adaptation different joints, convenient assembly and maintenance, simple operation, stability and reliability.
(2) The utility model discloses a brake wheel hub fixes on the reduction gear input shaft with the jackscrew, aligns electromagnetic braking ware brake block's square hole and brake wheel hub, and electromagnetic braking ware's installation face and fixing base fitting surface location are locked electromagnetic braking ware with the screw. And the blind installation of the electromagnetic brake is avoided.
Drawings
FIG. 1 is an overall exploded view of a joint transmission structure in an embodiment;
FIG. 2 is a schematic view showing the overall structure of the joint transmission structure in the embodiment;
FIG. 3 is a schematic sectional view showing an assembled relationship of a joint transmission mechanism and a joint;
FIG. 4 is a schematic view of the assembled relationship of the joint transmission mechanism and the joint;
FIG. 5 is a structural cross-sectional view of the electromagnetic brake;
FIG. 6 is a schematic structural view of an electromagnetic brake;
FIG. 7 is a schematic view of an assembly between two joint modules;
FIG. 8 is a schematic view of a seal between two joint modules;
FIG. 9 is a schematic view of a modular hollow cable threading fixture;
FIG. 10 is a schematic view of a modular hollow cable threading fixture;
FIG. 11 is a state view of the gasket in a position before installation;
fig. 12 is a state view of the position of the seal ring after mounting.
The reference numbers in the figures represent: 1-passing coil, 2-sealing ring, 3-harmonic reducer, 4-motor, 5-motor frame, 6-electromagnetic brake, 7-locating frame, 8-release resistor, 9-increment encoder code disc, 10-increment encoder PCB, 11-absolute encoder code disc, 12-code disc holder, 13-absolute encoder PCB, 14-upper driving plate, 15-lower driving plate, 16-rear cover shell, 20-output end cover, 21-input shaft, 22-output shaft, 23-hub, 24-static disc, 25-movable disc, 26-armature, 27-coil and 28-upright post; 31-joint tee joint, 32-joint shell, 33-fastening screw, 41-cable fixing seat, 42-cable tie, 43-cable, 44-protective coil and 45-wave spring.
Detailed Description
The following embodiments of the present invention are given, and it should be noted that the present invention is not limited to the following embodiments, and all the equivalent transformations made on the basis of the technical solution of the present application all fall into the protection scope of the present invention.
In the present invention, unless otherwise specified, the use of directional terms such as "upper" and "lower" generally means that the terms are defined with reference to the drawing plane of the corresponding drawing, and "inner" and "outer" mean that the terms are inner and outer relative to the outline of the corresponding part.
A joint transmission structure of a cooperative robot comprises a motor unit, a brake unit, an encoder unit, a drive unit and a wire arranging unit, wherein the motor unit, the brake unit, the encoder unit and the drive unit are sequentially and coaxially arranged, and the wire arranging unit is arranged in front of the motor unit and behind the drive unit;
the motor unit is used for providing power, the brake unit is used for the joint braking band-type brake, the drive unit is used for controlling the speed and the angle of motor rotation, the encoder unit is used for recording motor angular displacement and feedback, the whole line unit is used for preventing the cable on the joint from colliding with the shafting.
Specifically, the encoder unit comprises a dual encoder, so that when the joint is powered off, the original point data can be kept without battery recording.
Specifically, the motor unit comprises a harmonic reducer 3, a motor 4 and a motor frame 5, wherein the harmonic reducer 3 is coaxially connected with the motor frame 5, the motor 4 is arranged in the motor frame 5, and the harmonic reducer 3 comprises an output end cover 20, an input shaft 21 and an output shaft 22 which are sequentially connected;
the brake unit comprises an electromagnetic brake 6 and a positioning frame 7, the electromagnetic brake 6 is arranged on the positioning frame 7, and the positioning frame 7 is fixed on the motor frame 5;
the encoder unit comprises an incremental encoder coded disc 9, an incremental encoder PCB 10, an absolute encoder coded disc 11, a coded disc support 12 and an absolute encoder PCB 13; the incremental encoder coded disc 9 is installed on an input shaft 21, the incremental encoder PCB 10 is arranged on the positioning frame 7, the absolute encoder coded disc 11 is arranged on a coded disc support 12, and the coded disc support 12 is installed on an output shaft 22;
the driving unit comprises an upper driving plate 14 and a lower driving plate 15 rear housing 16, and the upper driving plate 14, the lower driving plate 15 and the rear housing 16 are sequentially fixed on the positioning frame 7.
The wire arranging unit comprises a coil 1, a cable fixing seat 41, a cable tie 42, a cable 43, a protective coil 44 and a wave spring 45, wherein the cable fixing seat 41 is installed on the upper driving plate 14, the wave spring 45 is arranged in the cable fixing seat 41, the protective coil 44 is arranged on the wave spring 45, the cable tie 42 is arranged on the cable 43 and clamped into the protective coil 44, and the cable 43 sequentially penetrates through the protective coil 44, the wave spring 45, the cable fixing seat 41 and the protective coil 44.
The working principle of the utility model is as follows: the rotor of the motor is fixed on the input shaft of the reducer, and the stator is fixed in the motor frame. After the motor is electrified, the motor rotor rotates, a coil of the electromagnetic brake generates a magnetic field to suck the armature, the brake pad is separated from the armature, the brake wheel hub rotates along with the input shaft of the speed reducer, the speed reducer wave generator and the flexible gear are meshed and extruded with each other to drive the output shaft of the speed reducer to decelerate and move reversely, and the angular displacement and the angular speed of the input shaft of the motor are collected and fed back by the incremental encoder. The absolute encoder collects and feeds back the angular displacement and the angular speed of the output shaft. And sending the collected and fed back angular displacement and angular speed analog signals to a driver.
Specifically, the motor unit further comprises a release resistor 8, wherein the release resistor 8 is installed on the fixing seat 7 and used for protecting a circuit and preventing the motor from being reversely charged when the electromagnetic brake brakes.
Specifically, be provided with sealing washer 2 before the electrical unit, a little lubricating grease is paintd on sealing washer 2 surface, and in putting into the seal groove of end cover after expanding the sealing washer, can prevent that steam fog from getting into inside the joint module. The sealing ring of the output flange end face of the joint transmission structure is in contact with the end face of the other joint module, and when the joint transmission structure is pressed forcibly, the sealing ring is extruded under the action of external force and is attached to the end face of the joint module, so that a sealing effect is formed.
Specifically, the output shaft 22 and the output end cover 20 are integrated, so that the coaxiality of the output shaft is ensured.
In particular, the rotor of the electric machine 4 is fixed in the input shaft 21 of the harmonic reducer 3.
Specifically, electromagnetic brake 6 includes wheel hub 23, wheel hub 23 installs on input shaft 21, and this scheme electromagnetic brake installs for current electromagnetic brake, and its simple to operate is swift. The brake hub is fixed on the input shaft of the speed reducer by jackscrews, the square hole of the brake pad of the electromagnetic brake is aligned with the brake hub, the mounting surface of the electromagnetic brake is positioned with the matching surface of the fixed seat, and the electromagnetic brake is locked by screws. And the blind installation of the electromagnetic brake is avoided. The existing electromagnetic brake is installed by locking the electromagnetic brake on a fixed seat by using a screw and then matching with a brake hub, and the square edge of the brake hub is not easy to align with the square hole of a brake pad.
The braking principle of the electromagnetic brake 6 in the scheme is as follows: the hub 23 and the input shaft 21 of the harmonic reducer 3 are locked into a whole through a jackscrew, the static disc 24 and the coil 27 are connected together through the upright post 28, the spring is arranged at the bottom of the armature 26, the square edge of the hub 23 is clamped into the square groove of the movable disc 25, when the electromagnetic brake is powered off, the spring at the bottom of the armature presses the armature against the movable disc, and the armature and the movable disc generate friction force to brake the band-type brake. When the electromagnet is electrified, the coil 27 generates magnetic field force to suck the armature, the movable disc is separated from the armature, and the hub and the movable disc rotate along with the motor shaft.
Fig. 3 shows that the joint transmission mechanism is fixed in the joint tee 31 by a fastening screw 33, and the joint transmission mechanism is externally provided with a joint shell 32.
Claims (6)
1. A joint transmission structure of a cooperative robot is characterized by comprising a motor unit, a brake unit, an encoder unit, a driving unit and a wire arranging unit, wherein the motor unit, the brake unit, the encoder unit and the driving unit are sequentially and coaxially arranged, and the wire arranging unit is arranged in front of the motor unit and behind the driving unit;
the motor unit is used for providing power, the brake unit is used for the joint braking band-type brake, the drive unit is used for controlling the speed and the angle of motor rotation, the encoder unit is used for recording motor angular displacement and feedback, the whole line unit is used for preventing the cable on the joint from colliding with the shafting.
2. The joint transmission structure of a cooperative robot according to claim 1, wherein the motor unit includes a harmonic reducer (3), a motor (4), and a motor frame (5), the harmonic reducer (3) and the motor frame (5) are coaxially connected, the motor (4) is disposed in the motor frame (5), and the harmonic reducer (3) includes an output end cover (20), an input shaft (21), and an output shaft (22) which are connected in sequence;
the brake unit comprises an electromagnetic brake (6) and a positioning frame (7), the electromagnetic brake (6) is arranged on the positioning frame (7), and the positioning frame (7) is fixed on the motor frame (5);
the encoder unit comprises an incremental encoder coded disc (9), an incremental encoder PCB (10), an absolute encoder coded disc (11), a coded disc support (12) and an absolute encoder PCB (13); the incremental encoder coded disc (9) is installed on an input shaft (21), the incremental encoder PCB (10) is arranged on a positioning frame (7), the absolute encoder coded disc (11) is arranged on a coded disc tray (12), and the coded disc tray (12) is installed on an output shaft (22);
the driving unit comprises an upper driving plate (14) and a lower driving plate (15) and a rear housing (16), and the upper driving plate (14), the lower driving plate (15) and the rear housing (16) are sequentially fixed on the positioning frame (7);
the wire arranging unit comprises a wire coil (1), a cable fixing seat (41), a cable tie (42), a cable (43), a coil protection ring (44) and a wave spring (45), the cable fixing seat (41) is installed on an upper driving plate (14), the wave spring (45) is arranged in the cable fixing seat (41), the coil protection ring (44) is arranged on the wave spring (45), the cable tie (42) is arranged on the cable (43) and is clamped into the coil protection ring (44), and the cable (43) sequentially penetrates through the coil protection ring (44), the wave spring (45), the cable fixing seat (41) and the coil protection ring (44).
3. The joint transmission structure of a cooperative robot according to claim 2, characterized in that the motor unit further comprises a release resistor (8), the release resistor (8) being mounted on the positioning frame (7).
4. The joint transmission structure of a cooperative robot according to claim 2, characterized in that a seal ring (2) is provided in front of the motor unit.
5. The cooperative robot joint transmission structure according to claim 2, wherein a rotor of the motor (4) is fixed in an input shaft (21) of a harmonic reducer (3).
6. The cooperative robot joint transmission structure according to claim 2, characterized in that the electromagnetic brake (6) includes a hub (23), the hub (23) being mounted on the input shaft (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020913930.7U CN212825484U (en) | 2020-05-26 | 2020-05-26 | Joint transmission structure of cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020913930.7U CN212825484U (en) | 2020-05-26 | 2020-05-26 | Joint transmission structure of cooperative robot |
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| Publication Number | Publication Date |
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| CN212825484U true CN212825484U (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020913930.7U Active CN212825484U (en) | 2020-05-26 | 2020-05-26 | Joint transmission structure of cooperative robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113364218A (en) * | 2021-04-22 | 2021-09-07 | 中科新松有限公司 | Joint torque motor module and self-detection method |
| CN114800607A (en) * | 2022-04-07 | 2022-07-29 | 广东天机智能系统有限公司 | Robot joint cable protection architecture |
| CN115135468A (en) * | 2021-12-30 | 2022-09-30 | 深圳市越疆科技有限公司 | Braking device for mechanical arm joint, mechanical arm joint and mechanical arm |
| CN116006606A (en) * | 2023-03-28 | 2023-04-25 | 苏州艾利特机器人有限公司 | Joint band-type brake mechanism and robot joint |
| CN116038753A (en) * | 2022-07-26 | 2023-05-02 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
-
2020
- 2020-05-26 CN CN202020913930.7U patent/CN212825484U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113364218A (en) * | 2021-04-22 | 2021-09-07 | 中科新松有限公司 | Joint torque motor module and self-detection method |
| CN115135468A (en) * | 2021-12-30 | 2022-09-30 | 深圳市越疆科技有限公司 | Braking device for mechanical arm joint, mechanical arm joint and mechanical arm |
| CN115135468B (en) * | 2021-12-30 | 2024-03-19 | 深圳市越疆科技股份有限公司 | Braking device for mechanical arm joint, mechanical arm joint and mechanical arm |
| CN114800607A (en) * | 2022-04-07 | 2022-07-29 | 广东天机智能系统有限公司 | Robot joint cable protection architecture |
| CN114800607B (en) * | 2022-04-07 | 2024-08-16 | 广东天机智能系统有限公司 | Robot joint cable protection structure |
| CN116038753A (en) * | 2022-07-26 | 2023-05-02 | 深圳市大族机器人有限公司 | Hollow shaft assembly, joint module and robot |
| CN116006606A (en) * | 2023-03-28 | 2023-04-25 | 苏州艾利特机器人有限公司 | Joint band-type brake mechanism and robot joint |
| CN116006606B (en) * | 2023-03-28 | 2023-06-27 | 苏州艾利特机器人有限公司 | Joint band-type brake mechanism and robot joint |
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