CN105818160A - Universal robot joints and robot arm - Google Patents
Universal robot joints and robot arm Download PDFInfo
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- CN105818160A CN105818160A CN201510009201.2A CN201510009201A CN105818160A CN 105818160 A CN105818160 A CN 105818160A CN 201510009201 A CN201510009201 A CN 201510009201A CN 105818160 A CN105818160 A CN 105818160A
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Abstract
The invention provides universal robot joints and a robot arm. The universal robot joints can be connected in series and/or in parallel through a first interface terminal and a second interface terminal which are arranged on each joint in a unified carrying mode, and a multi-freedom-degree robot system is combined conveniently. Through the design of a force transmission shaft, the same rotating shaft of electrical signals and synchronous rotation, a user only needs to conduct inserting and connecting operation, then physical connection can be completed, and meanwhile, circuit connection is also completed; using is convenient, and meanwhile, the situation that a signal line and a power line are wound caused by rotating of the robot arm is also avoided; each universal joint has an independent bus address and an independent motor servo control system; compared with an external motor control system of a traditional controller, the number of external connection lines of the joints is reduced through the structure of buses, high-frequency noise outside the joints is lowered, problems of corresponding bus nodes are found conveniently and quickly, modularized replacement is conducted, and networked control and management are convenient.
Description
Technical field
The present invention relates to robot building field, particularly relate to a kind of robot universal joint and robot arm.
Background technology
Under normal circumstances, robot arm need to be made up of multiple joints, and physical connection and electrical connection between joint need complete independently, add workload；It addition, when moving in joint, it is easily caused cable and is wound around and even ties a knot, reduce the life-span and the equipment that adds is short-circuited and the danger of open circuit etc.；In addition, under normal conditions, the growth at double as well as the increase of amount of articulation of the quantity of holding wire and power line, causes articulated robot when motion, too much increase the extra duty of system because of wiring quantity, also can increase difficulty and the cost of production when producing；And, when system jam, complicated arm structure is unfavorable for R and M.
Summary of the invention
It is an object of the invention to provide a kind of modular robot universal joint and robot arm, synchronously completing of the physical connection between joint and electrical connection can be realized, and the management to the networking of all joints, solve robot arm in motor process, easily cause the problem that cable knotting is wound around.
To achieve these goals, the present invention proposes a kind of robot universal joint, including: housing (11), first interface terminal (13) that motor with control unit and is arranged on the different both sides of described hull outside and the second Interface Terminal (14), wherein, described first interface terminal includes power transmission axle and is fixed on first electric interfaces of described power transmission axle one end, described second Interface Terminal includes power transmission axle and the second electric interfaces, described second electric interfaces is fixed on the inside of the described power transmission axle other end, both have same rotary shaft or translation track, can synchronous rotary or translation；Described first interface terminal is this joint and the power in upper level joint and electric interfaces, and described second Interface Terminal is this joint and the power in next stage joint and electric interfaces；Described first interface terminal is connected at intra articular with the electric signal of described second Interface Terminal.
Further, in described robot universal joint, described motor and control unit also include being arranged on the motor (16) of described enclosure interior, motor Servo Control Board (12) and slip ring or sliding track mechanism (19), and described first interface terminal (13) and described motor Servo Control Board (12) and slip ring or sliding track mechanism (19) carry out signal connection by being connected cable respectively；Described motor Servo Control Board (12) is connected with power line with the holding wire of described slip ring or sliding track mechanism (19)；The holding wire of described slip ring or sliding track mechanism (19) is connected with power line with the holding wire of power line with secondary signal interface (14), and the power transmission axle (17) of the rotary shaft of described motor or translation track and the second Interface Terminal is connected.
Further, in described robot universal joint, described connection cable includes bus signals and power supply signal, and its bus signals is wired bus or wireless bus.
Further, in described robot universal joint, described motor Servo Control Board (12) includes microprocessor, motor driver and motor angle sensor；The control algolithm of described motor SERVO CONTROL driver is the feedforward, feedback control or a combination of both；Control object is position control, speed controlling, power control or is combinations of the above；The driven object of described motor SERVO CONTROL driver is direct-current brush motor, DC Brushless Motor, stepper motor, alternating current motor, ultrasonic motor or DD motor；Described motor angle sensor is incremental position encoder, absolute position coder, resistance-type rotary angle transmitter, speed probe, current sensor, Hall element, geomagnetic sensor, gyroscope, gravity sensor or a combination thereof.
Further, in described robot universal joint, the upper integrated multiple devices of described motor servo controller (12), interdict sensor including gyrosensor, acceleration transducer, displacement transducer, magnetic line of force sensor, wireless signal transmitter part and photoelectricity.
Further, in described robot universal joint, described motor and control unit also include train of reduction gears (20), and rotary shaft or the translation track of described motor are connected with described train of reduction gears and power transmission axle.
Further, in described robot universal joint, described universal joint also includes that power locks (18), and described power lock is used for locking described power transmission axle (17).
Further, in described robot universal joint, described second Interface Terminal (14) place is provided with plug, and described first interface terminal (13) place is provided with jack, and the size of described plug and jack matches.
Further, in described robot universal joint, described first interface terminal (13) and the second Interface Terminal (14) are USB interface.
Further, in described robot universal joint, described first interface terminal and the second Interface Terminal use NFC, WiFi, bluetooth or infrared technique to carry out data transmission.
The invention allows for a kind of robot arm, use multiple robot universal joint to be as described above connected to form.
Further, in described robot arm, also including expanding parts (21), described expansion parts are all connected by first interface terminal and the second Interface Terminal with described robot universal joint.
Further, in described robot arm, described expansion parts surface is provided with multiple expansion plug, inside it is provided with signal and power line and multiple Bifurcation Structure, described signal and power line are divided into multichannel by described Bifurcation Structure, and are simultaneously connected with multiple described robots universal joint by described expansion plug.
Compared with prior art, the beneficial effects are mainly as follows: by the first interface terminal carried unified on each joint and the second Interface Terminal, the serial between robot universal joint and/or parallel join can be realized, be combined into multivariant robot system easily；By power transmission axle and the same rotary shaft of electric signal and the design of synchronous rotary, user only needs grafting to operate, and i.e. while completing physical connection, can also complete the connection of circuit, convenient use, also avoids robot arm to cause the winding of signal and power line when rotating simultaneously；Each universal joint has independent bus address and independent motor servo-control system, compared with the motor control system that traditional controller is external, bus architecture decreases the quantity of joint aerial lug, reduce the high-frequency noise outside joint, it is easy to quickly find the problem of corresponding bus node and carry out modular replacing, facilitates control and the management of networking.
Accompanying drawing explanation
Fig. 1 is the fractionation structural representation of robot universal joint in first embodiment of the invention；
Fig. 2 is the top view of robot universal joint in first embodiment of the invention；
Fig. 3 is the broken isometric structural representation of robot universal joint in first embodiment of the invention；
Fig. 4 is the structural representation of robot arm in first embodiment of the invention；
Fig. 5 is the structural representation of robot arm in second embodiment of the invention.
Detailed description of the invention
Below in conjunction with schematic diagram, robot universal joint and the robot arm of the present invention are described in more detail, which show the preferred embodiments of the present invention, should be appreciated that those skilled in the art can revise invention described herein, and still realize the advantageous effects of the present invention.Therefore, it is widely known that description below is appreciated that for those skilled in the art, and is not intended as limitation of the present invention.
In order to clear, whole features of practical embodiments are not described.In the following description, it is not described in detail known function and structure, because they can make to due to the fact that unnecessary details and chaotic.Will be understood that in the exploitation of any practical embodiments, it is necessary to make a large amount of implementation detail to realize the specific objective of developer, such as according to about system or about the restriction of business, an embodiment change into another embodiment.Additionally, it should it is complicated and time-consuming to think that this development is probably, but it is only routine work to those skilled in the art.
Referring to the drawings the present invention the most more particularly described below in the following passage.According to following explanation and claims, advantages and features of the invention will be apparent from.It should be noted that, accompanying drawing all uses the form simplified very much and all uses non-ratio accurately, only in order to facilitate, to aid in illustrating lucidly the purpose of the embodiment of the present invention.
Embodiment one
Refer to Fig. 1 to Fig. 3, in the present embodiment, it is proposed that a kind of robot universal joint 10, including: first interface terminal 13 that housing 11, motor with control unit and are arranged on the outside different both sides of described housing 11 and the second Interface Terminal 14；
Wherein, described first interface terminal 13 includes power transmission axle 17 and is fixed on first electric interfaces of described power transmission axle 17 one end, described second Interface Terminal 14 includes power transmission axle 17 and the second electric interfaces, described second electric interfaces is fixed on the inside of described power transmission axle 17 other end, both have same rotary shaft or translation track, can synchronous rotary or translation；Described power transmission axle 17 is provided with two ends, connects and first interface terminal 13 and the second Interface Terminal 14 respectively, is used for transmitting power；
Described first interface terminal 13 is this joint 10 and the power in upper level joint 10 and electric interfaces, and described second Interface Terminal 14 is this joint 10 and the power in next stage joint 10 and electric interfaces；Described first interface terminal 13 is connected at intra articular with the electric signal of described second Interface Terminal 14.
Concrete, described motor and control unit also include being arranged on the motor 16 within described housing 11, motor Servo Control Board 12, slip ring or sliding track mechanism 19 and train of reduction gears 20, described first interface terminal 13 and described motor Servo Control Board 12 and slip ring or sliding track mechanism 19 carry out signal connection by being connected cable respectively, the holding wire of described slip ring or sliding track mechanism 19 is connected with power line with the holding wire of power line with secondary signal interface 14, it is achieved in first interface terminal 13 and the signal of the second Interface Terminal 14 and the connection of power supply, and can be cascaded by the second Interface Terminal 14 and next stage joint；Described motor Servo Control Board 12 is connected with power line with the holding wire of described slip ring or sliding track mechanism 19；Rotary shaft or the translation track of described motor 16 are connected with described train of reduction gears 20 and power transmission axle 17；Described connection cable includes bus signals and power supply signal, and its bus signals can be any wired bus or wireless bus.
Described signal and power line (not shown in Fig. 3) are positioned at the center of the power transmission axle 17 in joint 10, and it is connected with described motor servo controller 12 and the second Interface Terminal 13 respectively by slip ring or sliding track mechanism 19, the output signal of described motor servo controller 12 and the input signal of the second Interface Terminal 13 are derived to described first interface terminal 14 by described signal and power line by described slip ring or sliding track mechanism 19 and signal and power line, thus realize described first interface terminal 14 and be connected with described second Interface Terminal 13 signal.
Slip ring or sliding track mechanism 19 can transmit the output signal in joint 10 to next stage.Described second Interface Terminal 14 is fixed on the line between the inside of described power transmission axle 17, and synchronous axial system, described slip ring or sliding track mechanism 19 and motor Servo Control Board 12 not with power transmission axle 17 synchronous axial system.Joint 10 output signal can be exported together with the power of joint by described power transmission axle 17；Described first interface terminal 13 and the second Interface Terminal 14 accept torque forces or translation power not only by power transmission axle 17, are also equipped with carrying out inputting or the transfer function of output signal.
It is provided with plug at described second Interface Terminal 14, its size matches with the jack of described first interface terminal 13, the plug of described second Interface Terminal 14 can be inserted in the slot of first interface terminal 13 by this joint 10 i.e., described first interface terminal 13 and the second Interface Terminal 14 are equipped with the signal and power interface matched, thus realize the transmission of signal and power supply.In the present embodiment, described first interface terminal 13 and the second Interface Terminal 14 are USB interface, or, described first interface terminal 13 and the second Interface Terminal 14 use NFC, WiFi, bluetooth or infrared technique to carry out data transmission.
In the present embodiment, described motor Servo Control Board 12 includes microprocessor, motor driver and motor angle and speed probe；Comprising motor servo control algorithm in described microprocessor, this algorithm can be the feedforward, feedback control or a combination of both；Control object is position control, speed controlling, power control or is combinations of the above；The driven object of described motor SERVO CONTROL driver can be direct-current brush motor, DC Brushless Motor, stepper motor, alternating current motor, ultrasonic motor or DD motor.Accordingly, motor driver type can also be any one or a combination thereof for different motors.
Described motor angle and speed probe can be incremental position encoder, absolute position coder, resistance-type rotary angle transmitter, speed probe, current sensor, Hall element, geomagnetic sensor, gyroscope, gravity sensor or a combination thereof, it is used for detecting joint rotation angle or rotating speed.
On described motor servo controller 12 can with integrated multiple devices, including the 1-3 degree of freedom attitude that can measure this joint 10 gyrosensor, the acceleration transducer of the acceleration of the translational acceleration of this joint 1-3 degree of freedom, speed, displacement can be measured, measure the displacement transducer of displacement, the photoelectricity blocking sensor that the magnetic line of force sensor of magnetic direction, wireless signal transmitter part and the primary position for motor set can be measured.
Described motor Servo Control Board 12 possesses and accepts joint rotation angle or rotating speed command signal and this signal is transformed into the round and smooth track signal of high frequency and by feedback control or feedback and the combination of the feedforward, controls joint 10 and completes command action.
In the present embodiment, refer to Fig. 1 to Fig. 3, described universal joint 10 also includes that power lock 18, described power lock 10 are used for locking described power transmission axle 17.
In addition, in described robot universal joint 10, because there is no exposed line outside it, being prone to shell 11 and first interface terminal 13 and the second Interface Terminal 14 uses Sealing Technology to seal by corresponding encapsulant, protection against the tide, waterproof and dustproof, the design such as against pressure can be carried out, thus expand the application scenarios of this universal joint 10.
Another aspect at the present embodiment also proposed a kind of robot arm, as shown in Figure 4, uses multiple robots as described above universal joint 10 to be connected to form.
Each robot universal joint 10 is all to be connected with the second Interface Terminal 14 by first interface terminal 13, will insert at described first interface terminal 13 by described secondary signal terminal 14, to realize the connected mode of plug-in, can also realize the transmission of signal simultaneously.
Embodiment two
In the present embodiment, described robot universal joint 10 is identical with embodiment one, except for the difference that can be applied on different robot arms, refer to Fig. 5, robot arm also includes expanding parts 21 in addition to including robot universal joint 10, and described expansion parts 21 are all connected by first interface terminal 13 and the second Interface Terminal 14 with described robot universal joint 10.Described expansion parts 21 surface is provided with multiple expansion plug (not shown), inside it is provided with signal and power line and multiple Bifurcation Structure (not shown), described signal and power line are divided into multichannel by described Bifurcation Structure, and be simultaneously connected with multiple described robots universal joint 10 by described expansion plug, thus reach the requirement needed for robot arm control.Concrete, a robot arm needs to use how many robot universal joint 10 can to install according to different needs, expands the size of parts 21, size, shape etc. and also determines all in accordance with actual requirement, in this no limit.
To sum up, in the robot universal joint and robot arm of embodiment of the present invention offer, by the first interface terminal carried unified on each joint and the second Interface Terminal, the serial between robot universal joint and/or parallel join can be realized, be combined into multivariant robot system easily；By power transmission axle and the same rotary shaft of electric signal and the design of synchronous rotary, user only needs grafting to operate, and i.e. while completing physical connection, can also complete the connection of circuit, convenient use, also avoids robot arm to cause the winding of signal and power line when rotating simultaneously；Each universal joint has independent bus address and independent motor servo-control system, compared with the motor control system that traditional controller is external, bus architecture decreases the quantity of joint aerial lug, reduce the high-frequency noise outside joint, it is easy to quickly find the problem of corresponding bus node and carry out modular replacing, facilitate control and the management of networking, only need to plug when installing in addition, reduce the cost installed and manufacture.
Above are only the preferred embodiments of the present invention, the present invention is not played any restriction effect.Any person of ordinary skill in the field; in the range of without departing from technical scheme; the technical scheme that the invention discloses and technology contents are made the variations such as any type of equivalent or amendment; all belong to the content without departing from technical scheme, within still falling within protection scope of the present invention.
Claims (13)
1. a robot universal joint, it is characterized in that, described universal joint includes housing (11), first interface terminal (13) that motor with control unit and is arranged on the different both sides of described hull outside and the second Interface Terminal (14), wherein, described first interface terminal includes power transmission axle and is fixed on first electric interfaces of described power transmission axle one end, described second Interface Terminal includes power transmission axle and the second electric interfaces, described second electric interfaces is fixed on the inside of the described power transmission axle other end, both have same rotary shaft or translation track, can synchronous rotary or translation；Described first interface terminal is this joint and the power in upper level joint and electric interfaces, and described second Interface Terminal is this joint and the power in next stage joint and electric interfaces；Described first interface terminal is connected at intra articular with the electric signal of described second Interface Terminal.
2. robot as claimed in claim 1 universal joint, it is characterized in that, described motor and control unit also include being arranged on the motor (16) of described enclosure interior, motor Servo Control Board (12) and slip ring or sliding track mechanism (19), and described first interface terminal (13) and described motor Servo Control Board (12) and slip ring or sliding track mechanism (19) carry out signal connection by being connected cable respectively；Described motor Servo Control Board (12) is connected with power line with the holding wire of described slip ring or sliding track mechanism (19)；The holding wire of described slip ring or sliding track mechanism (19) is connected with power line with the holding wire of power line with secondary signal interface (14), and the power transmission axle (17) of the rotary shaft of described motor or translation track and the second Interface Terminal is connected.
3. robot as claimed in claim 2 universal joint, it is characterised in that described connection cable includes bus signals and power supply signal, and its bus signals is wired bus or wireless bus.
4. robot as claimed in claim 2 universal joint, it is characterised in that described motor Servo Control Board (12) includes microprocessor, motor driver and motor angle sensor or displacement transducer；The control algolithm of described motor SERVO CONTROL driver is the feedforward, feedback control or a combination of both；Control object is position control, speed controlling, power control or is combinations of the above；The driven object of described motor SERVO CONTROL driver is direct-current brush motor, DC Brushless Motor, stepper motor, alternating current motor, ultrasonic motor or DD motor；Described motor angle sensor is incremental position encoder, absolute position coder, resistance-type rotary angle transmitter, speed probe, current sensor, Hall element, geomagnetic sensor, gyroscope, gravity sensor or a combination thereof.
5. robot as claimed in claim 2 universal joint, it is characterized in that, the upper integrated multiple devices of described motor servo controller (12), interdict sensor including gyrosensor, acceleration transducer, displacement transducer, magnetic line of force sensor, wireless signal transmitter part and photoelectricity.
6. robot as claimed in claim 2 universal joint, it is characterised in that described motor and control unit also include train of reduction gears (20), and rotary shaft or the translation track of described motor are connected with described train of reduction gears and power transmission axle.
7. robot as claimed in claim 1 universal joint, it is characterised in that described universal joint also includes that power locks (18), described power lock is used for locking described power transmission axle (17).
8. robot as claimed in claim 1 universal joint, it is characterised in that described second Interface Terminal (14) place is provided with plug, and described first interface terminal (13) place is provided with jack, and the size of described plug and jack matches.
9. robot as claimed in claim 1 universal joint, it is characterised in that described first interface terminal (13) and the second Interface Terminal (14) are USB interface.
10. robot as claimed in claim 1 universal joint, it is characterised in that described first interface terminal and the second Interface Terminal use NFC, WiFi, bluetooth or infrared technique to carry out data transmission.
11. 1 kinds of robot arms, it is characterised in that use multiple as in claim 1 to 10 any one robot universal joint be connected to form.
12. robot arms as claimed in claim 11, it is characterised in that also include expanding parts (21), described expansion parts are all connected by first interface terminal and the second Interface Terminal with described robot universal joint.
13. robot arms as claimed in claim 12, it is characterized in that, described expansion parts surface is provided with multiple expansion plug, inside it is provided with signal and power line and multiple Bifurcation Structure, described signal and power line are divided into multichannel by described Bifurcation Structure, and are simultaneously connected with multiple described robots universal joint by described expansion plug.
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| CN201510009201.2A CN105818160A (en) | 2015-01-08 | 2015-01-08 | Universal robot joints and robot arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510009201.2A CN105818160A (en) | 2015-01-08 | 2015-01-08 | Universal robot joints and robot arm |
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Cited By (10)
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| CN106737584A (en) * | 2016-12-29 | 2017-05-31 | 东莞市锝铼金机器人自动化有限公司 | A kind of anthropomorphic robot based on hollow driver, mini drive |
| CN106788037A (en) * | 2017-01-10 | 2017-05-31 | 四川埃姆克伺服科技有限公司 | A kind of servo-drive power input interface structure and servo-driver |
| CN106901835A (en) * | 2017-03-15 | 2017-06-30 | 哈尔滨工业大学 | A kind of main hand of five degree of freedom with position retaining function |
| CN107378938A (en) * | 2017-08-18 | 2017-11-24 | 王磊 | A kind of mini drive and its mechanical arm and running-in machine |
| CN107870577A (en) * | 2016-09-26 | 2018-04-03 | 上海直树科技有限公司 | A kind of low noise electromechanical integration servo power head |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| CN111730590A (en) * | 2019-03-25 | 2020-10-02 | 精工爱普生株式会社 | Robot system and robot |
| CN111819041A (en) * | 2018-03-19 | 2020-10-23 | 川崎重工业株式会社 | Short-circuiting device and robot system provided with same |
| CN111890408A (en) * | 2020-08-07 | 2020-11-06 | 国网江苏省电力有限公司常州供电分公司 | Universal power interface convenient to replace |
| CN112405593A (en) * | 2020-11-06 | 2021-02-26 | 杭州萤石软件有限公司 | Modular joint for a robot |
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| CN111730590B (en) * | 2019-03-25 | 2023-06-27 | 精工爱普生株式会社 | Robot system and robot |
| CN111890408A (en) * | 2020-08-07 | 2020-11-06 | 国网江苏省电力有限公司常州供电分公司 | Universal power interface convenient to replace |
| CN112405593A (en) * | 2020-11-06 | 2021-02-26 | 杭州萤石软件有限公司 | Modular joint for a robot |
| CN112405593B (en) * | 2020-11-06 | 2022-07-22 | 杭州萤石软件有限公司 | Modular joint for a robot |
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