CN213999484U - Rotary joint assembly - Google Patents
Rotary joint assembly Download PDFInfo
- Publication number
- CN213999484U CN213999484U CN201990000722.3U CN201990000722U CN213999484U CN 213999484 U CN213999484 U CN 213999484U CN 201990000722 U CN201990000722 U CN 201990000722U CN 213999484 U CN213999484 U CN 213999484U
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- CN
- China
- Prior art keywords
- marking
- joint assembly
- calibration
- sensor
- calibration sensor
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
According to the utility model discloses a revolute joint subassembly, especially a revolute joint subassembly for robot has: a first member; a second member rotatable relative to the first member about an axis of rotation; a transmission for transmitting torque about a rotational axis; a marking arranged on one of the first and second components in a rotationally fixed manner; and a calibration sensor for detecting a marking, which is arranged rotationally fixed on the other of the first and second components, wherein the marking and the calibration sensor are axially opposite in a calibration position of the rotary joint assembly, and/or the marking and/or the calibration sensor are arranged radially around the rotational axis within the torque sensor for detecting a torque.
Description
Technical Field
The utility model relates to a revolute joint subassembly, especially be used for the revolute joint subassembly of robot, a robot that has this revolute joint subassembly and a method for calibrating the turned angle sensor, this turned angle sensor is used for gathering the position of revolute joint subassembly.
Background
The robot has a plurality of revolute joint assemblies, wherein each two structural members are rotatably connected to each other. To determine the pose of the robot, a rotational angle sensor collects the position of the revolute joint assembly. In order to be able to determine the actual position of the robots or structural components relative to one another from the acquired rotational angles, the rotational angle sensors must be calibrated.
SUMMERY OF THE UTILITY MODEL
The object of the utility model is to improve the revolute joint subassembly and/or to the calibration of the turned angle sensor who is used for gathering the position of revolute joint subassembly, especially robot.
The purpose of the utility model is realized through a revolute joint subassembly. The present invention also relates to a robot having one or more revolute joint assemblies described herein.
According to an embodiment of the present invention, a rotary joint assembly, in particular a rotary joint assembly for a robot, has:
a transmission, in particular a single-stage or multi-stage transmission, through or via which a torque is transmitted about a rotary shaft, in particular with or without a step-up or step-down ratio, or which is provided for this purpose, in particular designed or used for this purpose,
a first component, in particular a first component, which is connected in a rotationally fixed manner to the input side or the drive side of the transmission ("transmission input side"),
a second part which is (rotatably) mounted relative to the first part about an axis of rotation and which, in one embodiment, is connected in a rotationally fixed manner to the output side of the gear mechanism ("gear mechanism output side"),
one-piece or multi-piece, in particular active or emissive or passive or non-emissive marking, in particular magnets, indentations, grooves or the like,
and a calibration sensor which detects a marking, in particular (only) in a calibration (angular or rotational) position of the revolute joint assembly, or whether a marking is present or not, or is provided for this purpose, in particular designed or used for this purpose,
herein, or
The marking is arranged on the first component in a rotationally fixed manner, in one embodiment fastened to the first component in a non-destructive manner, in particular in a friction-fit and/or form-fit manner, or in a non-destructive manner, in particular in a material-fit manner; and the calibration sensor is arranged on the second component in a rotationally fixed manner, in one embodiment in a manner that can be removed without damage, in particular by friction fit and/or form
Positively or non-positively releasable, in particular materially-locking, fastening on the second component, or vice versa
The marking is arranged on the second component in a rotationally fixed manner, in one embodiment fastened to the second component in a non-destructive manner, in particular in a friction-fit and/or form-fit manner, or in a non-destructive manner, in particular in a material-fit manner; the calibration sensor is arranged on the first component in a rotationally fixed manner, in one embodiment it is fastened to the first component in a non-destructive manner, in particular in a friction-fit and/or form-fit manner, or in a non-destructive manner, in particular in a material-fit manner.
In one embodiment, the reliability and/or accuracy can be improved by means of non-destructively detachable, in particular material-fit fastening; the positioning can be improved by means of a non-destructively detachable, in particular friction-and/or form-fitting fastening.
According to one embodiment of the invention, the marking and calibration sensor, in one embodiment the axial end side or detection side of the marking and the axial end side or detection side of the calibration sensor, in particular the one facing the axial end side or detection side, are axially opposite each other, in particular only in the calibration (angle or rotation) position of the rotary joint component, or are designed, in particular arranged, accordingly, wherein the axial direction in this context means in particular a direction parallel to the axis of rotation, and in one embodiment the angular range of the calibration (angle or rotation) position is at most 30 °, in particular at most 15 °, in one embodiment at most 5 °.
Thus, in one embodiment, the diameter of the revolute joint assembly can be reduced or made more compact than an arrangement in which the markers and the sensor are rotated radially relative to each other for calibration.
In addition or alternatively to such an axial orientation of the marking and the sensor, according to one embodiment of the invention, the rotary joint assembly also has a torque sensor which either senses the torque transmitted, in particular via the transmission, around the axis of rotation by means of the torque sensor or which is provided for this purpose, in particular designed or used for this purpose, wherein the marking and/or calibration sensor is arranged radially within the torque sensor, wherein the radial direction in this case refers in particular to the direction perpendicular to the axis of rotation and the rotational or axial direction refers to the direction around the axis of rotation.
In one embodiment, the marking or calibration sensor can be arranged on the (radially) inner side of the torque sensor, in one embodiment being fastened thereto in a non-destructive manner, in particular in a friction-fit and/or form-fit manner, or in a non-destructive manner, in particular in a material-fit manner. Also, in an embodiment, the marking and/or calibration sensor may be arranged in a (radially inner) hollow space of the torque sensor and spaced apart from a surface thereof. In one embodiment, the marking and/or calibration sensor is also arranged axially inside the torque sensor, or the torque sensor radially outside and/or axially surrounds the marking and/or calibration sensor.
In one embodiment, the load of the rotary joint assembly can be detected by means of a torque sensor and the robot can thus be monitored and/or force-regulated in particular. In one embodiment, the diameter of the rotary joint assembly can be reduced or made more compact by integrating the marking or calibration sensor (radially) inside the torque sensor.
In one embodiment, the rotary joint arrangement has a one-part or multi-part electrical evaluation device, in particular a printed circuit board or a circuit board or circuit card, in particular a printed circuit board, on which the marking or calibration sensor is arranged, and in one embodiment the marking or calibration sensor is fastened to the evaluation device in a manner that can be removed without damage, in particular in a friction-fit and/or form-fit manner, or in a manner that can not be removed without damage, in particular in a material-fit manner. In other words, in one embodiment, the first component or the second component is an electrical analysis device.
In one embodiment, the electrical evaluation device which is provided anyway can thus advantageously be used additionally for marking or calibrating the arrangement of the sensor, and thus in one embodiment the rotary joint arrangement can be made more compact.
In one embodiment, the evaluation device processes the signals from the calibration sensor or is provided for this purpose, in particular designed or used for this purpose.
In one embodiment, the wiring effort for calibrating the sensor can thereby be reduced.
Additionally or alternatively, in one embodiment, the evaluation device processes the signal from the torque sensor or is provided for this purpose, in particular designed for or used for this purpose.
In one embodiment, in addition to the described arrangement of the marking or calibration sensor, an electrical evaluation device which is provided anyway for processing the signal from the torque sensor can thus advantageously be used in addition to the arrangement of the marking or calibration sensor, and thus in one embodiment the rotary joint assembly is made more compact.
In one embodiment, the rotary joint component has a one-part or multi-part seal, in particular a rotary seal, which is arranged on a one-part or multi-part seal carrier of the rotary joint component, wherein the marking or calibration sensor is arranged on the seal carrier, in particular fastened thereto in a non-destructive manner, in particular in a friction-fit and/or form-fit manner, or in a non-destructive manner, in particular in a material-fit manner, whereby the seal carrier can form or be a first or a second component.
In one embodiment, the seal carrier which is provided anyway is thus advantageously used additionally for marking or calibrating the arrangement of the sensor. In one embodiment, the rotary joint arrangement can thereby be made more compact.
In one embodiment, the calibration sensor at least partially covers the marker in the calibration position. In one embodiment, the calibration sensor completely covers the marking and/or the marking completely covers the calibration sensor in the calibration position.
Additionally or alternatively, in one embodiment the calibration sensor is a contactless, in particular magnetically and/or optically detectable marker, or the calibration sensor and/or the marker is provided for this purpose, in particular designed or used for this purpose.
Additionally or alternatively, in one embodiment, the calibration sensor and the marker are arranged on the same diameter (around the rotational axis). In this context it means in particular: the point of the calibration sensor closest to the axis of rotation, in particular the axial end side or acquisition side thereof facing the marker, is located radially between the point of the marker closest to the axis of rotation and the point furthest from the axis of rotation, in particular the axial end side or acquisition side thereof facing the calibration sensor; and/or the point of the marking closest to the axis of rotation, in particular the axial end side or acquisition side thereof facing the calibration sensor, is located radially between the point of the calibration sensor closest to the axis of rotation and the point of the calibration sensor furthest away from the axis of rotation, in particular the axial end side or acquisition side thereof facing the marking.
Thereby, the acquisition of the markers can be improved individually, in particular in combination.
In one embodiment, the gear mechanism can have, in particular can be, a (stress) wave gear mechanism ((spans) well (en) getriebe), in particular a harmonic drive gear mechanism. In one embodiment, the rotary joint arrangement can thus be designed more compactly, wherein such a transmission is particularly suitable for integrating a marking or calibration sensor according to the invention.
The revolute joint assembly according to the invention is very advantageous and is therefore used as a robot joint in an embodiment according to the invention, but is not limited thereto. Accordingly, according to one embodiment of the invention, a robot, in particular a curved-arm robot, has two or more structural components which are connected to one another (respectively) in the rotary joint assembly described here.
According to an embodiment of the present invention, for calibrating the rotation angle sensor for detecting the position of the rotary joint component, the rotation angle sensor is calibrated based on detecting the marking with the calibration sensor, in particular based on detecting the marking or the calibration position with the calibration sensor, in one embodiment during detecting the marking with the calibration sensor or in the calibration position, in one embodiment a zero position or a reference (rotational or angular) position or an offset of the rotation angle sensor is determined. Accordingly, the calibration in the sense of the present invention may in particular comprise an alignment, in particular an alignment.
The utility model relates to a revolute joint subassembly, this revolute joint subassembly has: a first member; a second member rotatable relative to the first member about an axis of rotation; a transmission for transmitting torque about a rotational axis; a marking, which is arranged on one of the first component and the second component in a rotationally fixed manner; and a calibration sensor for detecting the marking, which is arranged rotationally fixed on the other of the first part and the second part, wherein the marking and the calibration sensor are axially opposite one another in a calibration position of the rotary joint assembly, and/or the marking and/or the calibration sensor are arranged radially around the axis of rotation within a torque sensor for detecting a torque, wherein the angular range of the calibration position is at most 30 °.
Preferably, the rotary joint assembly has an electrical evaluation device on which the marking or the calibration sensor is arranged.
Preferably, the electrical evaluation device is designed to process signals from the calibration sensor and/or from the torque sensor.
Preferably, the rotary joint assembly has a seal which is arranged on a seal carrier, wherein the marking or the calibration sensor is arranged on the seal carrier.
Preferably, the calibration sensor at least partially covers the marking in the calibration position and/or is designed for contactless detection of the marking and/or is arranged on the same diameter as the marking.
Preferably, the calibration sensor is designed for magnetically and/or optically acquiring the markers.
Preferably, the transmission has a stress wave transmission.
Preferably, the revolute joint assembly is a revolute joint assembly for a robot.
Preferably, the electrical analysis device is a printed circuit board.
Preferably, the angular range of the calibration position is at most 15 °.
Preferably, the angular range of the calibration position is at most 5 °
Drawings
Other advantages and features are given by the examples and other sections. To this end, part of the schematic illustration shows:
fig. 1 is a robot having a plurality of revolute joint assemblies according to an embodiment of the present invention; and
figure 2 is a section through one of these revolute joint assemblies.
Detailed Description
Fig. 1 shows a robot 100 with a plurality of structural members 101 and 108, which are each connected in pairs in a revolute joint assembly according to an embodiment of the invention, the axes of rotation of which are denoted in fig. 1 by q 1-q 7.
Figure 2 shows a section of one of these revolute joint assemblies along its (horizontal in figure 2) axis of rotation.
The revolute joint assembly has a harmonic drive transmission for transmitting torque through a rigid wheel (Circular Spline)30, a wave generator 31 and a flexible wheel 32 which is fastened to a pot-shaped torque sensor 20. The torque sensor itself is fastened to one of two structural members 101 and 108 interconnected in the rotary joint assembly and which are respectively generally indicated as 10i in fig. 2 and are mounted rotatably about a rotational axis qi-1 in a schematically indicated main (rotary) bearing 4 relative to the other structural member (hidden for a more compact representation in fig. 2).
The rotary joint assembly includes: a marking 1 in the form of a magnet, a recess, a groove or the like, which is fastened in a rotationally fixed manner on a first component in the form of a seal carrier 6 on the drive side of the transmission; and a calibration sensor 2 for contactless, in particular magnetic or optical, detection of the marking 1, which is fastened in a rotationally fixed manner to a second component in the form of a printed circuit board 8 on the output side of the gear mechanism, which has electronic components (not shown) for processing the signals from the calibration sensor 2 and the torque sensor 20.
In the calibration position shown in fig. 2, the marking 1 and the calibration sensor 2 are axially opposite one another.
The marker 1 and the calibration sensor 2 are arranged radially and axially inside the torque sensor 20.
A rotary seal 7 for sealing the gear mechanism is arranged on the seal carrier 6.
In the calibration position, the marker covers the calibration sensor (and thus, the calibration sensor partially covers the marker).
The marking 1 and the calibration sensor 2 are arranged on the same diameter around the axis of rotation in the inner space 5 of the torque sensor 20.
In order to calibrate the rotational angle sensor 40, which is only schematically illustrated, for detecting the position of the rotary joint component, a zero crossing (Nulldurchgang) of the rotational angle sensor is triggered or calibrated when the calibration sensor detects a marking opposite the rotational angle sensor or a calibration position defined thereby.
Although exemplary embodiments have been illustrated in the foregoing description, it should be noted that many variations are possible. It should also be noted that the exemplary embodiments are only examples, and should not be construed as limiting the scope, applicability, or configuration in any way. On the contrary, a person skilled in the art can derive from the preceding description the teaching of converting at least one exemplary embodiment, in which various modifications can be made, particularly as regards the function and arrangement of the parts, without departing from the scope of protection of the invention, as can be obtained from the claims and equivalent combinations of features.
List of reference numerals
1 marking
2 calibrating/adjusting sensor
4 main bearing
5 inner space
6 sealing element carrier (first component)
7 sealing element
8 printed circuit board (second component)
20 torque sensor
30 rigid wheel
31 wave generator
32 flexible wheel
40 rotation angle sensor
100 robot
101-108, 10i structural member
q 1-q 7, qi-1.
Claims (12)
1. A revolute joint assembly, characterized in that it has: a first member (6); around an axis of rotation (q) relative to the first parti-1) A rotatable second part (8); -a transmission (30-32) for transmitting torque around the rotary shaft; a marking (1) arranged on one of the first and second components in a rotationally fixed manner; and a calibration sensor (2) for detecting the marking, which is arranged rotationally fixed on the other of the first and second component, wherein the marking and the calibration sensor are axially opposite one another in a calibration position of the rotary joint assembly, and/or the marking and/or the calibration sensor are arranged radially around the axis of rotation in the interior of a torque sensor (20) for detecting torque, wherein the angular range of the calibration position is at most 30 °.
2. The revolute joint assembly according to claim 1, characterized in that it has an electrical analysis device on which the marking or the calibration sensor is arranged.
3. The rotary joint assembly according to claim 2, characterized in that the electrical evaluation device is designed to process signals from the calibration sensor and/or from the torque sensor.
4. The rotary joint assembly according to any one of claims 1 to 3, characterized in that it has a seal (7) which is arranged on a seal carrier (6), wherein the marking or the calibration sensor is arranged on the seal carrier.
5. Rotational joint assembly according to any one of claims 1-3, characterized in that the calibration sensor at least partially covers the marking in the calibration position and/or is designed for contactless acquisition of the marking and/or is arranged on the same diameter as the marking.
6. The revolute joint assembly according to claim 5, characterized in that the calibration sensor is designed for magnetically and/or optically acquiring the markings.
7. Rotational joint assembly according to any one of claims 1-3, characterised in that the transmission mechanism has a stress wave transmission mechanism.
8. The revolute joint assembly according to claim 1, characterized in that it is a revolute joint assembly for a robot (100).
9. Revolute joint assembly according to claim 2, characterized in that said electrical analysis means are a printed circuit board (8).
10. The revolute joint assembly of claim 1 wherein the angular range of the alignment position is a maximum of 15 °.
11. The revolute joint assembly of claim 1 wherein the angular range of the alignment position is a maximum of 5 °.
12. Robot with at least two structural members (101-108), characterized in that the structural members are interconnected in a revolute joint assembly according to any one of claims 1-11.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018204338.8 | 2018-03-21 | ||
| DE102018204338.8A DE102018204338A1 (en) | 2018-03-21 | 2018-03-21 | Hinge assembly |
| PCT/EP2019/055963 WO2019179802A1 (en) | 2018-03-21 | 2019-03-11 | Rotary joint assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213999484U true CN213999484U (en) | 2021-08-20 |
Family
ID=65812281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201990000722.3U Active CN213999484U (en) | 2018-03-21 | 2019-03-11 | Rotary joint assembly |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN213999484U (en) |
| DE (1) | DE102018204338A1 (en) |
| WO (1) | WO2019179802A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919688B (en) * | 2019-11-30 | 2021-07-16 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| DE102021100276A1 (en) | 2021-01-11 | 2022-07-14 | Schaeffler Technologies AG & Co. KG | Robot, drive unit for a robot and positioning method |
| DE102022205077A1 (en) | 2022-05-20 | 2023-11-23 | Kuka Deutschland Gmbh | Sealing a radial gap between two links of a robot arm |
| DE102022119649B3 (en) | 2022-08-04 | 2023-09-07 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | rotary drive |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4819957B1 (en) * | 2010-06-01 | 2011-11-24 | ファナック株式会社 | Robot position information restoration apparatus and position information restoration method |
| US9475199B2 (en) * | 2012-06-05 | 2016-10-25 | TRACLabs, Inc. | Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling |
| WO2016074708A1 (en) * | 2014-11-12 | 2016-05-19 | Abb Technology Ltd | Determining a calibration position of a robot joint |
| PL3325225T3 (en) * | 2015-07-21 | 2022-05-23 | Kassow Robots Aps | Joint assembly |
| EP3275602A1 (en) * | 2016-07-26 | 2018-01-31 | ETH Zurich | Joint unit, joint system, robot for manipulation and/or transportation, robotic exoskeleton system and method for manipulation and/or transportation |
| CN206899266U (en) * | 2017-07-12 | 2018-01-19 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
-
2018
- 2018-03-21 DE DE102018204338.8A patent/DE102018204338A1/en not_active Ceased
-
2019
- 2019-03-11 CN CN201990000722.3U patent/CN213999484U/en active Active
- 2019-03-11 WO PCT/EP2019/055963 patent/WO2019179802A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019179802A1 (en) | 2019-09-26 |
| DE102018204338A1 (en) | 2019-09-26 |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |