TWM595029U - Autonomous mobile industrial robot motor power module - Google Patents

Abstract

This creation provides an autonomous mobile industrial robot motor power module, which has a multi-purpose motor joint module, the motor joint module includes a housing, the housing is provided with two sets of independent power output structure, each of the power output The structure is provided with a driver, an encoder, a brake, a motor and a reducer in sequence, the drive is used to drive the motor to rotate, the brake is used to stop the motor from rotating, the encoder is used to determine the rotation amplitude of the motor, and the reducer is used to reduce The motor rotates and outputs power. With the above structure, multiple sets of the motor joint modules can be combined at the same time to become a dedicated robot arm or unmanned vehicle.

Description

Motor power module of autonomous mobile industrial robot

This creation belongs to the field of robots, especially a modularization of the power part of a robot arm or unmanned vehicle, with a suitable mechanical mechanism, which allows users to create autonomous mobile industrial robot motors suitable for automation equipment according to different usage needs. Power module.

At present, most of the robots in the industry refer to robotic arms. Robotic arms are automated control devices that imitate human arm activities to perform various operations. With the advancement of technology and demand, they are now widely used. In various industries.

Considering the use requirements of different industries, there are several classifications of robotic arms. For example, traditional industrial robotic arms are mainly used in the automotive industry to bear the long-term high-load use requirements; in recent years, the demand for 3C products has increased significantly In order to cope with the short periodicity of its products, a collaborative robot (collaborative robotic) with low load but relatively low deployment cost has appeared.

Compared with most of the robot manufacturers on the market, they mainly sell complete robot arms, AGV automated guided vehicles (Automated Guided Vehicle), and automatic production lines. Solutions, but sometimes the tasks that manufacturers need to perform with robot arms may be simpler and do not require all degrees of freedom of the robot arms; or, the existing unmanned trucks do not meet the requirements of some factories. Handling requirements; or, when the production line is redeployed, the original robot size does not meet the requirements of the new production line.

In terms of existing robot technology, the collaborative robots UR3, UR5, and UR10 launched by Universal Robot already have a modular appearance, but the last three axis rotation centers used by these robots to determine the arm posture have no intersections (cannot co-rotate Center), it is easy to increase the singularity of the robot arm (Singularity), affecting the work of the robot.

Or, the RGM joint module developed by Kollmorgen, one module is composed of a reducer, motor, rotating shaft, encoder, brake and drive components, and six modules can form a robot arm, but the same There will be the problem of no intersection of the last three axes, and it cannot be applied to unmanned vehicles.

In view of the aforementioned deficiencies, the creator set out to improve, and he considered developing a new robot manufacturing model, which only provides a modular motor joint module, which can be arbitrarily combined or matched with other customized Can be made into a robot arm or unmanned transport vehicle that can fully meet the needs of manufacturers.

The main purpose of this creation is to provide an autonomous mobile industrial robot motor power module that can be matched with each other or combined with other mechanical mechanisms. It can be assembled into various robot arms and unmanned vehicles according to different needs. It can be used in various In industries where robots are needed, production costs are reduced.

Another purpose of this creation is to provide an autonomous mobile industrial robot motor power module, which can be used with a suitable terminal to achieve various functions. The main application of the robot arm for this invention is that this configuration of the robot arm determines that the last three axes of the arm posture have a common intersection point, so the singularity of the arm during operation can be reduced.

A motor power module of an autonomous mobile industrial robot that can achieve the foregoing objectives is provided with a multi-purpose motor joint module. The motor joint module includes:

A housing, which is provided with two sets of independent power output structures, each of which is sequentially provided with a driver, an encoder, a brake, a motor, and a reducer. The driver is used to drive the motor to rotate, and the brake is used to stop The motor rotates, the encoder is used to determine the motor rotation amplitude, and the reducer is used to reduce the motor speed and output power.

The two sets of the power output structures are arranged perpendicular to each other, and the brake, encoder, motor and reducer in each of the power output structures are located on the same axis.

Further, the speed reducer in one of the power output structures of the motor joint module is connected to the wheels to provide motion, and the speed reducer in the other power output structure provides the wheel steering to form a wheel unit;

If the multiple wheel units are simultaneously installed under a carrier, an unmanned vehicle can be constructed.

Furthermore, one of the power output structures of more than one group of the motor joint modules can be connected to each other by connecting one of the speed reducers in the individual power output structures directly or by a connecting rod. Multi-axis steering unit.

The multi-axis steering unit is further provided with three groups of the motor joint module, which are also connected by the connecting rod to form a six-axis robot arm.

100‧‧‧Motor joint module

110‧‧‧Housing

120‧‧‧Pipe fittings

200‧‧‧Power output structure

210‧‧‧Driver

220‧‧‧Brake

230‧‧‧Encoder

240‧‧‧Motor

250‧‧‧Reducer

300‧‧‧Unmanned van

310‧‧‧Wheel unit

311‧‧‧wheel

312‧‧‧spindle

320‧‧‧Carrier

400‧‧‧Robot arm

410‧‧‧Link

Figure 1 is a perspective view of the multi-purpose motor joint module provided by this creation;

Figure 2 is a perspective view of the motor joint module in a perspective view;

Figure 3 is a front view of the motor joint module;

4 is a block diagram of the structure of the motor joint module;

FIG. 5 is an application example diagram of the motor joint module as a wheel unit;

6 is a diagram illustrating an application example of combining a plurality of wheel units into an unmanned vehicle;

7 is a diagram of an application example in which the motor joint module is combined into a six-axis robot arm; and

FIG. 8 is a structural example of a robot arm unmanned vehicle completed by combining the motor joint modules.

In order to make the purpose, technical solutions and advantages of the creation more clear, the creation will be described in further detail below with reference to the drawings and embodiments. The specific embodiments described here are only used to explain this creation, and are not used to limit this creation.

In response to the demand for changing production lines in the modern consumer electronics manufacturing industry, this creation hopes that robot arms and unmanned vehicles can be more flexibly applied in the industry, and it is not limited by a single specification, so as to increase costs. At present, most of the collaborative robot manufacturers on the market still use a fixed number of arm sizes for the manufacture of robotic arms. Even the aforementioned modular motor joint module proposed by Kollmorgen can only be applied to the robotic arm. No other applications. Therefore, this creation proposes a new technology that can be customized according to the needs of manufacturers Robot arm or unmanned vehicle to maintain the market advantage.

Please refer to FIG. 1 to FIG. 4, which is an autonomous mobile industrial robot motor power module provided for this creation, which mainly has a multi-purpose motor joint module 100. The motor joint module 100 includes:

A housing 110 is provided with two sets of independent power output structures 200, and each of the power output structures 200 is sequentially provided with a driver 210, a brake 220, an encoder 230, a motor 240 and a speed reducer 250, so that the two groups The driver 210, encoder 230, brake 220, motor 240 and reducer 250 of the power output structure 200 are installed in the housing 110 at an angle to each other to provide two degrees of freedom of power output.

The driver 210 provides power and control to drive the motor 240 to rotate. The brake 220 is used to reduce the speed of the motor 240 or stop the motor 240 from rotating. The encoder 230 is used to sense and determine the rotation amplitude of the motor 240 to The feedback signal is for the driver 210 to adjust the rotation speed of the motor 240, and the reducer 250 is used to reduce the rotation speed of the motor 240 and output power.

In this way, the two sets of the power output structure 200 can separately output power to form the motor joint module 100 with two degrees of freedom power output. Based on the motor joint module 100, more power devices can be formed , The changes are quite flexible.

The two sets of the power output structure 200 are further vertically arranged, that is, the housing 110 is T-shaped, and the housing 110 can directly provide a space inside to accommodate the two sets of the power output structure 200, or, the T-shaped The casing 110 is composed of two pipes 120, the two sets of the power output structure 200 are respectively installed in the two pipes 120, and the two pipes 120 are combined into the T-shaped casing 110.

And the brake in each power output structure 200 of the motor joint module 100 The vehicle 220, the encoder 230, the motor 240 and the speed reducer 250 are located on the same axis, so that the rotation of each motor 240 can be stably transmitted to each speed reducer 250 for output.

Please refer to FIG. 5. As mentioned above, the motor joint module 100 of the present invention has a powerful expansion function, which can connect the speed reducer 250 of one of the power output structure 200 to the wheels 311 to provide movement, and the other The reducer 250 of the power output structure 200 provides the steering of the wheels 311 and can be mounted on a rotating shaft 312 to form a wheel unit 310. Of course, each of the reducers 250 can be additionally connected with a gear box to vary the output. Changes are common knowledge and will not be repeated here.

With the completed wheel unit 310, as shown in FIG. 6, the multiple array device can be simultaneously arranged under a carrier 320, and the unmanned vehicle 300 can be flexibly constructed.

In addition, as shown in FIG. 7, another application of the motor joint module 100 of the present invention is to connect one of the power output structures 200 of more than one group of the motor joint module 100 to each other in a manner of Connect one of the speed reducers 250 in the individual power output structure 200 directly or with a connecting rod 410 to form a multi-axis steering unit;

In the most obvious application, the motor joint module 100 is provided with three groups, namely a six-axis robot arm 400. The robot arm 400 determines that the last three axes of the arm posture have a common intersection point, which can reduce the robot arm 400 during operation. The singular point makes it smooth.

Alternatively, as shown in FIG. 8, the robot arm 400 formed by the motor joint module 100 can be combined with the unmanned vehicle 300 to become a more effective power tool.

Of course, the motor joint module 100 can be provided with various specifications to provide different power outputs, so as to design an exclusive robot arm or unmanned transport vehicle according to needs. It allows manufacturers to design and manufacture connection mechanisms by themselves, and the production line will be changed in the future. When necessary, the original motor joint module 100 can be retained, and only a part of the connection mechanism needs to be redesigned. This can reduce the weight The cost of the newly deployed production line.

The above are only the preferred embodiments of this creation, and are not used to limit the scope of implementation of this creation; if the spirit and scope of this creation are not changed, modifications or equivalent replacements of this creation should be covered In the scope of protection.

100‧‧‧Motor joint module

110‧‧‧Housing

120‧‧‧Pipe fittings

200‧‧‧Power output structure

210‧‧‧Driver

220‧‧‧Brake

230‧‧‧Encoder

240‧‧‧Motor

250‧‧‧Reducer

Claims (7)

An autonomous mobile industrial robot motor power module has a motor joint module. The motor joint module includes: A housing, which is provided with two sets of independent power output structures, each of which is sequentially provided with a driver, an encoder, a brake, a motor, and a reducer. The driver is used to drive the motor to rotate, and the brake is used to stop The motor rotates, the encoder is used to determine the motor rotation amplitude, and the reducer is used to reduce the motor speed and output power. The autonomous mobile industrial robot motor power module according to claim 1, wherein the power output structures of the two groups are arranged vertically. The motor power module of the autonomous mobile industrial robot according to claim 1, wherein the brake, encoder, motor and reducer in each of the power output structures are located on the same axis. The power module of the autonomous mobile industrial robot motor according to claim 1, wherein one of the speed reducers of the power output structure is connected to wheels to provide motion, and the other speed reducer of the power output structure provides the wheel steering to form wheels unit. The motor power module of the autonomous mobile industrial robot according to claim 4, wherein the wheel unit and the complex array device simultaneously constitute an unmanned vehicle under a carrier. The motor power module of the autonomous mobile industrial robot according to claim 1, wherein one of the power output structures of a group of more than one group of the motor joint modules is connected to each other by a method of connecting the individual power output structures One of the speed reducers is connected directly or with a connecting rod to form a multi-axis steering unit. The motor power module of the autonomous mobile industrial robot according to claim 6, wherein the motor joint module is provided with three groups, constituting a six-axis robot arm.

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