CN219485701U - Motor driving device for joint assembly and cooperative robot - Google Patents

Abstract

The utility model discloses a motor driving device for joint assembly and a cooperative robot, wherein the motor driving device for joint assembly comprises a box body, wherein a driving plate and a power module are arranged in the box body, and the driving plate is respectively connected with a first power module, a joint motor and a communication module; the driving plate is connected with a touch screen through a communication module; the first power module is connected with the power module and is used for connecting 220VAC direct-current voltage of the power module to output 48VDC direct-current voltage; the first power module is also connected with a second power module and is used for outputting the 48VDC direct voltage of the first power module to the 24VDC direct voltage; the second power supply module is connected with the touch screen; different rotation speeds and rotation directions of the joint motor drive can be adjusted, and debugging visualization is beneficial to improving joint assembly efficiency.

Description

Motor driving device for joint assembly and cooperative robot

Technical Field

The utility model relates to the technical field of robot driving, in particular to a motor driving device for joint assembly and a cooperative robot.

Background

With the development of technology, the cooperative robot plays an increasingly important role in the production and life of people, wherein the power of the cooperative robot is converted into mechanical energy through a driving circuit and a motor, and the movement of a robot joint is driven.

In the robot joint assembly process, a joint motor needs to be driven to rotate at a low speed and a screw is driven to fix a harmonic device, and meanwhile, whether noise is generated by high-speed operation of all parts of each joint after assembly and whether concentricity is in a qualified range or not is detected in a matched mode during medium-speed rotation are required to be tested. And aiming at the robot joints with different models, different requirements are met on driving parameters, and the existing robot joint driving circuit has the problems of complex assembly process, low integration degree, inconvenience in debugging and the like.

Therefore, how to provide a motor driving device with high integration degree, simple assembly and convenient debugging is a problem that needs to be solved by those skilled in the art at present.

Disclosure of Invention

In order to solve the problems, the utility model provides a motor driving device for joint assembly, which comprises a box body, wherein the box body comprises a driving plate and a power module, and the driving plate is respectively connected with a first power module, a joint motor and a communication module; the driving plate is connected with a touch screen through a communication module; the first power module is connected with the power module and is used for connecting 220VAC direct-current voltage of the power module to output 48VDC direct-current voltage; the first power module is also connected with a second power module and is used for outputting the 48VDC direct voltage of the first power module to the 24VDC direct voltage; the second power module is connected with the touch screen.

Further, a microcontroller and a driving circuit are arranged on the driving board, and the microcontroller drives the joint motor through the driving circuit.

Furthermore, the communication module is a 485 communication interface, so that communication connection between the driving plate and the touch screen is realized.

Furthermore, the number of the driving plates is more than or equal to 1, and the driving plates are used for realizing power driving of multiple joints of the robot.

Further, the power supply module is connected with a power switch.

Further, the power module is connected with a fan for heat dissipation.

Further, the first power supply module is a 220VAC to 48VDC switching power supply.

Further, the second power supply module is a 48VDC to 24VDC switching power supply.

The utility model also provides a cooperative robot, which comprises a joint motor, and the motor driving device for robot joint assembly, wherein the motor driving device is used for driving the joint motor to execute corresponding operation.

Further, the joint motor is a frameless torque motor.

Compared with the prior art, the utility model has the beneficial effects that:

the motor driving device for joint assembly is high in integration degree, is connected with a joint motor simply and quickly, can adjust different rotation speeds and rotation directions of the joint motor through the touch screen, enables debugging to be visual, and is beneficial to improving joint assembly efficiency; the number of the driving plates is more than or equal to 1, the power driving of the robot joints can be simultaneously realized, at the moment, the rotating speed and the current of the joint motors are uniformly displayed and set in the touch screen, different parameter settings of the corresponding joints can be selected in the touch screen, and the debugging efficiency of the robot joint assembly is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a housing structure of a motor drive for joint assembly of the present application;

FIG. 2 is a schematic view of a motor drive for joint assembly according to the present application;

fig. 3 is a schematic structural view of another embodiment of the present application with a motor drive for joint assembly.

Description of the embodiments

The contents of the present utility model can be more easily understood by referring to the following detailed description of preferred embodiments of the present utility model and examples included. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. In case of conflict, the present specification, definitions, will control.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

In the description of the present utility model, the meaning of "and/or" means that each exists alone or both exist at the same time.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The utility model protects a motor driving device for joint assembly, as shown in fig. 1 and 2, comprising a box body 1, wherein the box body 1 comprises a driving plate and a power module, and the driving plate is respectively connected with a first power module, a joint motor and a communication module; the driving plate is connected with a touch screen through a communication module; the first power module is connected with the power module and is used for connecting 220VAC direct-current voltage of the power module to output 48VDC direct-current voltage; the first power module is also connected with a second power module and is used for outputting the 48VDC direct voltage of the first power module to the 24VDC direct voltage; the second power module is connected with the touch screen.

In one embodiment, the driving board is provided with a microcontroller and a driving circuit, and the microcontroller drives the joint motor through the driving circuit. Specifically, the microcontroller on the driving board is used for generating driving current according to the currently received control instruction, and the driving current is transmitted to the joint motor for driving through the driving circuit.

In one embodiment, the communication module is a 485 communication interface, so as to realize communication connection between the driving plate and the touch screen.

In a preferred embodiment, the number of the driving plates is equal to or greater than 1, and the driving plates are used for realizing power driving of multiple joints of the robot. At the moment, the rotating speed and the current of the joint motor are uniformly displayed and set in the touch screen, different parameter settings of the corresponding joint can be selected in the touch screen, and the debugging efficiency of the robot joint assembly is greatly improved. Specifically, as shown in fig. 3, the number of the driving boards is 2, that is, the driving boards include a first driving board and a second driving board which are electrically connected; the first driving plate is respectively connected with a first power supply module, a first joint motor and a communication module; the first driving plate is connected with a touch screen through a communication module; the second driving plate is respectively connected with a first power supply module, a second joint motor and a communication module; the second driving plate is connected with a touch screen through a communication module.

In one embodiment, the power module is a 220VAC power supply.

In one embodiment, the power supply module is connected with a power switch 3.

In one embodiment, the power module is connected with a fan 2 for heat dissipation.

In one embodiment, the first power module is a 220VAC to 48VDC switching power supply. Preferably, the model of the first power supply module is open weft RSP-1600-48.

In one embodiment, the second power module is a 48VDC to 24VDC switching power supply. Preferably, the model of the first power supply module is SD-100C-24.

In one embodiment, the drive plate is a three-phase motor wire connected to the articulation motor by a first plug. Preferably, the first plug is a waterproof plug, and the model is Weipu WP20 3 core (plug+socket).

In one embodiment, the second power module is connected to the touch screen through a second plug. Preferably, the second plug is a waterproof plug, and the model is a Weipu SP13 core (plug+socket). The waterproof plug is adopted, so that the safety in the use process can be greatly improved.

In one embodiment, the communication module employs a 9PIN headband.

The utility model also provides a cooperative robot, which comprises a joint motor, and the motor driving device for robot joint assembly is used for driving the joint motor to execute corresponding operation.

In one embodiment, the articulation motor is a frameless torque motor.

In the use process, the robot joint is fixed, a first plug is connected with a three-phase motor line of the joint, a switch of a power supply module is turned on, a joint model and a rotating speed are set in a touch screen, the motion of the joint motor is started to be driven, the rotating speed is regulated to be low, the joint motor is rotated, and a screw is screwed into a flange to fix a harmonic device while rotating; the rotating speed is regulated to be medium speed, and the runout of the dial indicator is combined to detect whether the concentricity of the runout of the harmonic motor shaft, the shaft end of the flange shaft and the disk end of the cooperative robot is in a qualified range; and (5) regulating the rotating speed to be high, and observing whether noise is generated in the high-speed running in the joint at the moment. According to the utility model, through the design of the motor driving device, the integration degree is high, the joint motor is simply and quickly connected, different rotating speeds and rotating directions can be regulated according to actual production conditions through the touch screen, so that debugging visualization is realized, and the joint assembly efficiency is improved.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims (10)

1. The motor driving device for joint assembly is characterized by comprising a box body, wherein the box body comprises a driving plate and a power module, and the driving plate is respectively connected with a first power module, a joint motor and a communication module; the driving plate is connected with a touch screen through a communication module; the first power module is connected with the power module and is used for connecting 220VAC direct-current voltage of the power module to output 48VDC direct-current voltage; the first power module is also connected with a second power module and is used for outputting the 48VDC direct voltage of the first power module to the 24VDC direct voltage; the second power module is connected with the touch screen.

2. The motor driving device for joint assembly according to claim 1, wherein the driving board is provided with a microcontroller and a driving circuit, and the microcontroller drives the joint motor through the driving circuit.

3. The motor driving device for joint assembly according to claim 1, wherein the communication module is a 485 communication interface, and the communication connection between the driving board and the touch screen is realized.

4. The motor driving device for joint assembly according to claim 1, wherein the number of the driving plates is not less than 1 for realizing power driving of the robot multi-joint.

5. The motor drive for joint assembly of claim 1, wherein the power module is connected to a power switch.

6. The motor driving device for joint assembly according to claim 5, wherein the power module is connected with a fan for heat dissipation.

7. The motor drive for joint assembly of claim 1, wherein the first power module is a 220VAC to 48VDC switching power supply.

8. The motor drive for joint assembly of claim 7, wherein the second power module is a 48VDC to 24VDC switching power supply.

9. A co-operating robot comprising joint motors, characterized in that the co-operating robot further comprises motor drive means for robot joint assembly according to any of claims 1-8 for driving the joint motors to perform corresponding operations.

10. The collaborative robot of claim 9, wherein the joint motor is a rimless torque motor.