CN217669476U

CN217669476U - Joint and manipulator

Info

Publication number: CN217669476U
Application number: CN202220863758.8U
Authority: CN
Inventors: 韩艺伟; 大森隼人; 卢卡斯·威尔士
Original assignee: Xiamen Youxin Testing Robot Research Institute Co ltd
Current assignee: Xiamen Youxin Testing Robot Research Institute Co ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-10-28
Anticipated expiration: 2032-04-14

Abstract

The utility model provides a joint, include: a hollow output shaft; the input shaft is sleeved on the outer side of the output shaft; a fixed seat; the motor is arranged on the outer sides of the fixed seat and the input shaft; the harmonic reducer is sleeved on the outer side of the input shaft; the control module is sleeved outside the output shaft; the first output fixing block is sleeved on the outer side of the output shaft and connected to the harmonic reducer; the motor drives the input shaft to rotate, the input shaft drives the harmonic reducer to rotate, and the harmonic reducer drives the first output fixing block to rotate. The utility model discloses a gas circuit and circuit have promoted the outside whole of manipulator pleasing to the eye in the mode of walking the line in inside, and through structural design, have avoided inside to produce the friction when walking the line, lifting means's stability.

Description

Joint and manipulator

Technical Field

The utility model relates to a mechanical equipment field, more specifically the says so, relates to a joint and manipulator.

Background

In recent years, with the development of robotics, requirements for robots in medical services, aerospace, industry, and the like have been increasing, and a core component determining the performance of a robot is a joint. At present, wiring between joints is very complicated, and the problem of winding is difficult to solve. The traditional hollow internal wiring mode of the industrial robot is that all power lines and signal lines penetrate through a center hole, and some sensor signal lines need to be wound and pulled back to the front end. When the robot runs fast, the internal wiring may generate extrusion friction and signal jitter, and the wiring manner is not smooth enough. If the external wiring mode is adopted, the overall attractiveness of the robot is affected, and the overall size of the robot is increased. How to design the joint structure of the mechanical arm has a very important influence on simplifying the overall design and improving the control performance.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a joint and manipulator.

The utility model discloses what solve is how to optimize articular volume and the mode that the line was walked to the manipulator.

Compared with the prior art, the utility model discloses technical scheme and beneficial effect as follows:

a joint, comprising: a hollow output shaft; the input shaft is sleeved on the outer side of the output shaft; a fixed seat; the motor is arranged on the outer sides of the fixed seat and the input shaft; the harmonic speed reducer is sleeved on the outer side of the input shaft; the control module is sleeved outside the output shaft; the first output fixing block is sleeved on the outer side of the output shaft and connected to the harmonic reducer; the motor drives the input shaft to rotate, the input shaft drives the harmonic reducer to rotate, and the harmonic reducer drives the first output fixing block to rotate.

As a further improvement, the device also comprises a second output fixing block which is respectively matched with the harmonic reducer and the first output fixing block.

As a further improvement, the device further comprises a first bearing arranged between the input shaft and the second output fixing block.

As a further improvement, the device further comprises a second bearing arranged between the fixed seat and the input shaft.

As a further improvement, a third bearing is provided between the harmonic reducer and the input shaft.

As a further improvement, the control module comprises: the brake pad is sleeved on the outer side of the output shaft; the encoder is sleeved outside the output shaft; the PCB is sleeved on the outer side of the output shaft and is electrically connected with the encoder.

As a further improvement, the fixing base further comprises a first support column connected between the fixing base and the PCB.

As a further improvement, the device also comprises a deviation rectifying block matched with the output shaft.

As a further improvement, the method further comprises the following steps: a third output fixing block matched with the deviation rectifying block; and a second support column connected between the PCB and the third output fixing block.

A manipulator comprising at least one joint as described.

The beneficial effects of the utility model are that: adopt the output shaft that cavity set up, and through setting up second bearing and third bearing in harmonic reducer's inside, greatly reduced articulated length and volume, realized that gas circuit and circuit walk the mode of line in inside, promoted the outside whole of manipulator pleasing to the eye, and through structural design, produced friction when having avoided inside to walk the line, lifting means's stability.

Drawings

Fig. 1 is an overall structure diagram of a manipulator provided by an embodiment of the present invention.

Fig. 2 is a first schematic view of a partial structure of a manipulator according to an embodiment of the present invention.

Fig. 3 is a second schematic view of a partial structure of a manipulator according to an embodiment of the present invention.

Fig. 4 is a third schematic view of a partial structure of a manipulator according to an embodiment of the present invention.

Fig. 5 is a fourth schematic view of a partial structure of a manipulator according to an embodiment of the present invention.

Fig. 6 is a schematic view of a housing structure provided by the embodiment of the present invention.

Fig. 7 is a schematic view of the overall structure of the joint according to the embodiment of the present invention.

Fig. 8 is an exploded view of a joint structure provided by an embodiment of the present invention.

Fig. 9 is a cross-sectional view of a joint structure provided by an embodiment of the present invention.

In the figure: 1. base 11, gas circuit interface 12, circuit interface 2, shell 21 and containing cavity

3. Joint 301, output shaft 302, input shaft 303, fixing seat 304 and motor

305. Harmonic reducer 306, control module 3061, brake pad 3062, coder

3063 PCB 307, first output fixing block 308, first bearing

309. Second bearing 310, third bearing 311, second output fixing block

312. First support 313, deviation rectifying block 314, third output fixing block

315. Second support 4, gas joint 5, electric joint

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention will be combined to clearly and completely describe the technical solutions of the embodiments of the present invention.

Referring to fig. 1 to 9, a robot arm includes: the air circuit interface device comprises a base 1, an air circuit interface 11 and a circuit interface 12, wherein the air circuit interface 11 and the circuit interface 12 are arranged on the base; at least one shell 2, wherein the middle part of the shell is provided with a containing cavity 21; the joint 3 is connected between the base 1 and the shell 2 or between the adjacent shells 2 and comprises a hollow output shaft 301, and the output shaft 301 is communicated with the accommodating cavity 21; an air connector 4 and an electric connector 5 which are arranged on the joint 3; an air pipe passing through the accommodating cavity 21 and the output shaft 301, the air pipe being communicated with the air path interface 11 and the air connector 4; an electric wire passing through the housing cavity 21 and the output shaft 301, the electric circuit being in communication with the circuit interface 12 and the electric connector 5; and is electrically connected to the control box of the joint 3 through the electric wire. The hollow joint 3 is adopted, and the length of the joint 3 is shortened by optimizing the structural design of the joint 3; be provided with in shell 2 and hold chamber 21, and be provided with on base 1 and joint 3 and connect 5 and connect 4 for trachea/circuit passes hollow output shaft 301 and holds chamber 21, is connected to corresponding gas and connects 4/connect 5, has realized that gas circuit and circuit walk the mode of line in inside, has promoted the outside whole of manipulator pleasing to the eye, and through structural design, produces the friction when having avoided inside to walk the line, lifting means's stability.

As shown with reference to fig. 6 to 9, the joint 3 further includes: an input shaft 302 sleeved outside the output shaft 301; a fixed base 303; a motor 304 disposed outside the fixed base 303 and the input shaft 302; a harmonic reducer 305 sleeved outside the input shaft 302; a control module 306 sleeved outside the output shaft 301; a first output fixing block 307 sleeved outside the output shaft 301 and connected to the harmonic reducer 305; the motor 304 drives the input shaft 302 to rotate, the input shaft 302 drives the harmonic reducer 305 to rotate, and the harmonic reducer 305 drives the first output fixing block 307 to rotate.

Referring to fig. 9, the joint 3 further includes a second output fixing block 311 respectively engaged with the harmonic reducer 305 and the first output fixing block 307.

Referring to fig. 9, the joint 3 further includes a first bearing 308 disposed between the input shaft 302 and the second output fixing block 311. The joint 3 further comprises a second bearing 309 arranged between the fixed base 303 and the input shaft 302. The joint 3 further comprises a third bearing 310 arranged between the harmonic reducer 305 and the input shaft 302. The first bearing 308, the second bearing 309 and the third bearing 310 are all arranged to abut against the input shaft 302, so as to ensure that the input shaft 302 is not eccentric. Compared with the conventional bearing arranged outside the harmonic reducer 305, the joint 3 has the advantages that the second bearing 309 and the third bearing 310 are arranged inside the harmonic reducer 305, so that the length of the joint 3 is greatly shortened, and the volume of the joint 3 is reduced.

Referring to fig. 9, the control module 306 includes: a brake pad 3061 sleeved on the outer side of the output shaft 301; an encoder 3062 sleeved on the outer side of the output shaft 301; the PCB 3063 is sleeved outside the output shaft 301 and electrically connected to the encoder 3062. The brake pad 3061 and the encoder 3062 are connected with the input shaft 302, and the angle of the joint 3, the position angle of the corresponding shell 2 and the motion parameters of the whole manipulator can be calculated through the PCB 3063.

Referring to fig. 9, the joint 3 further includes a first post 312 connected between the holder 303 and the PCB 3063. The joint 3 further comprises a deviation rectifying block 313 matched with the output shaft 301. The joint 3 further comprises: a third output fixing block 314 matched with the deviation rectifying block 313; a second post 315 connected between the PCB 3063 and the third output fixing block 314. The deviation rectifying block 313 is in interference fit with the third output fixing block 314, and the deviation rectifying block 313 is in interference fit with the output shaft 301.

Referring to fig. 1, in the present embodiment, the number of joints 3 of the robot arm is 6.

The utility model provides a pair of manipulator's theory of operation does:

the electric wire is connected with the circuit interface 12 on the base 1, passes through the output shaft 301 of the corresponding joint 3 and then enters the accommodating cavity 21 of the shell 2; the electric wire is then connected to the next electric terminal 5 and then passes through the output shaft 301 of the next joint 3 into the housing cavity 21 of the next housing 2; repeating the reciprocating operation until the electric wire is connected to the output end of the manipulator;

the air pipe is connected with the air channel interface 11 on the base 1, passes through the corresponding output shaft 301 of the joint 3 and then enters the containing cavity 21 of the shell 2; the air pipe is connected to the next air connector 4 and then passes through the output shaft 301 of the next joint 3 and enters the accommodating cavity 21 of the next shell 2; repeating the reciprocating operation until the air pipe is connected to the output end of the manipulator;

the rotor of the motor 304 rotates at a high speed, which drives the input shaft 302 to rotate, the input shaft 302 drives the wave generator of the harmonic reducer 305 to rotate, the steel wheel of the harmonic reducer 305 rotates, and the first output fixing block 307 and the second output fixing block 311 are fixed together, so that the first output fixing block 307 rotates.

The working principle, working process and the like of the present embodiment can refer to the corresponding contents of the foregoing embodiments.

The same or similar parts in the above embodiments in this specification may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments, but the differences are not limited to be replaced or superimposed with each other.

The above examples are only for illustrating the technical solutions of the present invention and not for limiting the same. It will be understood by those skilled in the art that any modification and equivalent arrangement that do not depart from the spirit and scope of the invention should fall within the scope of the claims of the invention.

Claims

1. A joint, comprising:

a hollow output shaft;

the input shaft is sleeved on the outer side of the output shaft;

a fixed seat;

the motor is arranged on the outer sides of the fixed seat and the input shaft;

the harmonic speed reducer is sleeved on the outer side of the input shaft;

the control module is sleeved outside the output shaft;

the first output fixing block is sleeved on the outer side of the output shaft and connected to the harmonic reducer;

the motor drives the input shaft to rotate, the input shaft drives the harmonic reducer to rotate, and the harmonic reducer drives the first output fixing block to rotate.

2. The joint of claim 1, further comprising a second output fixation block cooperating with the harmonic reducer and the first output fixation block, respectively.

3. A joint according to claim 2, further comprising a first bearing disposed between the input shaft and the second output fixing block.

4. A joint according to claim 1, further comprising a second bearing disposed between the fixed mount and the input shaft.

5. A joint according to claim 1, further comprising a third bearing disposed between the harmonic reducer and the input shaft.

6. A joint according to claim 1, wherein the control module comprises:

the brake pad is sleeved on the outer side of the output shaft;

the encoder is sleeved outside the output shaft;

the PCB is sleeved on the outer side of the output shaft and electrically connected with the encoder.

7. A joint according to claim 6, further comprising a first strut connected between the mount and the PCB.

8. A joint according to claim 6, further comprising a spur block cooperating with the output shaft.

9. A joint according to claim 8, further comprising:

a third output fixing block matched with the deviation rectifying block;

and the second strut is connected between the PCB and the third output fixing block.

10. A manipulator, characterized in that it comprises at least one joint according to any one of claims 1 to 9.