CN106426135A - Light modular robot driving joint - Google Patents
Light modular robot driving joint Download PDFInfo
- Publication number
- CN106426135A CN106426135A CN201611026638.8A CN201611026638A CN106426135A CN 106426135 A CN106426135 A CN 106426135A CN 201611026638 A CN201611026638 A CN 201611026638A CN 106426135 A CN106426135 A CN 106426135A
- Authority
- CN
- China
- Prior art keywords
- shell
- output shaft
- motor output
- driving joint
- robot driving
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a light modular robot driving joint. The light modular robot driving joint comprises a cylindrical shell, wherein a motor is arranged in the shell and comprises a stator and a rotor; the rotor and an output shaft of the motor are fixed through axial positioning; one end of the output shaft of the motor and a flexible gear of a harmonic reducer through an adapter flange; the other end of the output shaft of the motor is connected with a brake; a synchronous belt pulley I is further mounted at an end, which is connected with the brake, of the output shaft of the motor and is connected with a synchronous belt pulley II mounted in the shell through a synchronous belt; an absolute type encoder is arranged on the synchronous belt pulley II; a control system is mounted in the shell and comprises a driver; and the driver is fixedly mounted on a support in the shell, and is connected with various executive components in the shell through electrical circuits. The light modular robot driving joint is simple in structure and light in weight, and has large load or self-weight ratio; hollow routing can be implemented; positioning precision is high; an application environment of a light arm is improved greatly; and assembling and maintaining difficulty is simplified.
Description
Technical field
The present invention relates to robot, more particularly to a kind of lightweight modules robot driving joint.
Background technology
Since the sixties in last century, robot has obtained increasingly being widely applied in all trades and professions, especially machine
The fields such as tool, space flight.These traditional robots are fixed on ad-hoc location, artificially pre-designed they
Workflow.The carrying out that repeats specifically operates.And the continuous expansion with robot application field, traditional industrial machine
People can not be competent at their work under many circumstances completely, especially need to change operating position or environment is advance
Unknown, it is impossible to the occasion such as workflow of enough completely pre-designed robots.
Content of the invention
The technical problem to be solved is to provide a kind of lightweight modules robot driving joint, the driving joint
Simple structure, lightweight, with heavy load or from anharmonic ratio, and can hollow cabling, positioning precision height.
For achieving the above object, the present invention provides following technical scheme：A kind of lightweight modules robot driving joint,
Including cylindric shell, the inside the shell is provided with motor, and motor includes stator and rotor, and rotor is by axially position and electricity
Machine output shaft is fixed, and the stator is connected with a fixed mount interference fit, and is provided with axle between fixed mount and motor output shaft
I is held, the motor output shaft is coaxial with shell, one end of motor output shaft is solid with the flexbile gear of harmonic speed reducer by adapter flange
Fixed, the other end of motor output shaft is connected with a brake, and support inside the housing near bottom is installed in the brake
On plate, the end of motor output shaft connecting brake is also equipped with synchronous pulley I, and the synchronous pulley I is by Timing Belt and peace
Cased synchronous pulley II connects, and synchronous pulley II is provided with absolute type encoder, and the inside the shell is provided with
Control system, control system includes driver, and driver is fixedly mounted on the support of inside the shell, and the driver is by electrically
Circuit is connected with each executive component of inside the shell.
Preferably, brake includes gear I and the gear II of a pair of meshing, and the gear I is arranged on motor output shaft,
Gear II is installed on the supporting plate by rotary shaft, and the gripper shoe is provided with and is respectively used to install motor output shaft and braking
The installing hole of the rotary shaft of device, motor output shaft, rotary shaft are separately mounted to install in the hole accordingly.
Preferably, bushing I is cased with rotary shaft, and gear II is installed at the top of the rotary shaft, and the bottom of rotary shaft is installed
There is bearing II, bushing II is installed between rotary shaft and bearing II.
Preferably, between synchronous pulley I and synchronous pulley II, place is provided with the resin shaft for adjusting Timing Belt tensioning degree
Hold.
Preferably, the clearance gauge of 0.2mm is provided between motor output shaft and gear I.
Preferably, shell is provided with end cap I in one end of installation of driver.
Preferably, shell is provided with step in the one end for installing harmonic speed reducer, and shell is provided with and step at the end
The end cap II of coupling, end cap II is provided with the installing hole for installing harmonic speed reducer.
Preferably, harmonic speed reducer is fixed by screw axial with end cap II.
Using technique scheme, strength of materials requirement of the present invention is low, lightweight.And stability and replaceability are all relatively
High.Its outfan adopts harmonic speed reducer, be easy to module integrated after do the dragging relevant control functions expanding such as teaching, and repeat
Positioning precision height.Overall mechanical joint adopts modularized design, and each executes components and parts, control components and parts and is all integrated in joint
Interior, and hollow threading is adopted, simple structure, safety coefficient is higher, greatly improves the applied environment of light-duty arm, and simplifies dress
Join the difficulty of maintenance.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the internal structure schematic diagram of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, by the description to embodiment, the present invention will be further described：
As shown in Figure 1, 2, a kind of lightweight modules robot driving joint of the present invention, including cylindric shell 1, shell
Motor is inside provided with, motor includes stator 2 and rotor, rotor is fixed with motor output shaft 3 by axially position, stator 2 and
10 interference fit of individual fixed mount connects, and is provided with bearing I between fixed mount 10 and motor output shaft 3.In order to ensure stator 2 and turn
The installation gap of son, 3 two ends of motor output shaft are fixed using bearing fixed form.
Motor output shaft 3 is coaxial with shell 1, and one end of motor output shaft 3 is by adapter flange 5 and harmonic speed reducer 4
Flexbile gear is fixed, and is connected motor output shaft 3 with harmonic speed reducer 4 using adapter flange 5, only primary speed-down, it is ensured that torque is straight
Connect output.The other end of motor output shaft 3 is connected with a brake, and brake is installed in internal the propping up near bottom of shell 1
On fagging 6.The end of 3 connecting brake of motor output shaft is also equipped with synchronous pulley I 7, synchronous pulley I 7 by Timing Belt with
Synchronous pulley II 8 in shell 1 connects, and synchronous pulley II 8 is provided with absolute type encoder 9, absolute encoding
Device 9 reads the rotating speed of motor and position by synchronous pulley I 7 and synchronous pulley II 8, and the control so as to meet motor is required.
Between synchronous pulley I 7 and synchronous pulley II 8, place is provided with the resin bearing 18 for adjusting Timing Belt tensioning degree.
In shell 1, control system is installed, control system includes driver 11, and driver 11 is fixedly mounted in shell 1
Support 12 on, driver 11 is connected with each executive component in shell 1 by electric wiring.
The brake of the present invention includes the gear I 13 of a pair of meshing and gear II 14, and gear I 13 is arranged on motor output shaft
On 3, the clearance gauge of 0.2mm between motor output shaft 3 and gear I 13, is provided with, gear II 14 is arranged on gripper shoe 6 by rotary shaft
On, gripper shoe 6 is provided with the installing hole for being respectively used to the rotary shaft for installing motor output shaft 3 and brake, motor output shaft
3rd, rotary shaft is separately mounted to install in the hole accordingly.Bushing I 15 is cased with rotary shaft, and gear II is installed at the top of rotary shaft
14, the bottom of rotary shaft is provided with bearing II 16, is provided with bushing II 17 between rotary shaft and bearing II 16.Brake guaranties break
Open, gear I 13 and gear II 14 can engage rotation；Brake power-off adhesive, frictional damping.Bushing I 15 and bushing II 17
Use, it is ensured that brake clearance.
Shell 1 is provided with end cap I 19 in one end of installation of driver 11.Shell 1 is provided with the one end for installing harmonic speed reducer 4
Step, and shell 1 is provided with the end cap II 20 for mating with step at the end, and end cap II 20 is provided with for installing harmonic reduction
The installing hole of device 4, harmonic speed reducer 4 is fixed by screw axial with end cap II 20, it is to avoid the flexbile gear of harmonic speed reducer 4 is axially jumped
Dynamic.
Strength of materials requirement of the present invention is low, lightweight.And stability and replaceability are all higher.Its outfan is using humorous
Ripple decelerator, be easy to module integrated after do the dragging relevant control functions expanding such as teaching, and repetitive positioning accuracy height.Integrated machine
Tool joint adopts modularized design, and each is executed components and parts, control components and parts and is all integrated in intraarticular, and is worn using hollow
Line, simple structure, safety coefficient is higher, greatly improves the applied environment of light-duty arm, and simplifies the difficulty that assembling is safeguarded.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, some deformation can also be made and improved, these belong to the present invention
Protection domain.
Claims (8)
1. a kind of lightweight modules robot driving joint, including cylindric shell (1), the inside the shell is provided with motor, electricity
Machine includes stator (2) and rotor, and rotor is fixing with motor output shaft (3) by axially position, it is characterised in that：The stator
(2) being connected with fixed mount (10) interference fit, and bearing I is provided between fixed mount (10) and motor output shaft (3), described
Motor output shaft (3) is coaxial with shell (1), and one end of motor output shaft (3) is by adapter flange (5) and harmonic speed reducer (4)
Flexbile gear fix, the other end of motor output shaft (3) is connected with a brake, and the brake is internal installed in shell (1)
In the gripper shoe (6) of bottom, the end of motor output shaft (3) connecting brake is also equipped with synchronous pulley I (7), described
Synchronous pulley I (7) is connected with the synchronous pulley II (8) in shell (1) by Timing Belt, and synchronous pulley II (8)
Absolute type encoder (9) is provided with, in shell (1), control system is installed, control system includes driver (11), drive
Device (11) is fixedly mounted on the support (12) in shell (1), and described driver (11) are by electric wiring and shell (1)
Each executive component connection.
2. lightweight modules robot driving joint according to claim 1, it is characterised in that：The brake includes one
To meshed gears I (13) and gear II (14), the gear I (13) is on motor output shaft (3), and gear II (14) leads to
Rotary shaft is crossed in gripper shoe (6), gripper shoe (6) are provided with and are respectively used to install motor output shaft (3) and system
The installing hole of the rotary shaft of dynamic device, motor output shaft (3), rotary shaft are separately mounted to install in the hole accordingly.
3. lightweight modules robot driving joint according to claim 2, it is characterised in that：It is cased with the rotary shaft
Bushing I (15), gear II (14) is installed at the top of the rotary shaft, and the bottom of rotary shaft is provided with bearing II (16), rotary shaft
Bushing II (17) is installed between bearing II (16).
4. lightweight modules robot driving joint according to claim 3, it is characterised in that：The synchronous pulley I (7)
Place is provided with the resin bearing (18) for adjusting Timing Belt tensioning degree and synchronous pulley II (8) between.
5. lightweight modules robot driving joint according to claim 2, it is characterised in that：The motor output shaft
(3) clearance gauge of 0.2mm is provided with and gear I (13) between.
6. lightweight modules robot driving joint according to claim 1, it is characterised in that：Shell (1) is in peace
One end of dress driver (11) is provided with end cap I (19).
7. lightweight modules robot driving joint according to claim 6, it is characterised in that：Shell (1) is in peace
One end of dress harmonic speed reducer (4) is provided with step, and shell (1) is provided with the end cap II (20) for mating with step at the end,
End cap II (20) is provided with the installing hole for installing harmonic speed reducer (4).
8. lightweight modules robot driving joint according to claim 7, it is characterised in that：The harmonic speed reducer
(4) fixed by screw axial with end cap II (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026638.8A CN106426135A (en) | 2016-11-22 | 2016-11-22 | Light modular robot driving joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026638.8A CN106426135A (en) | 2016-11-22 | 2016-11-22 | Light modular robot driving joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426135A true CN106426135A (en) | 2017-02-22 |
Family
ID=58221691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611026638.8A Pending CN106426135A (en) | 2016-11-22 | 2016-11-22 | Light modular robot driving joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426135A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107116575A (en) * | 2017-06-06 | 2017-09-01 | 银弗（北京）科技有限公司 | A kind of integrated rotation driving actuator |
| CN107186695A (en) * | 2017-05-25 | 2017-09-22 | 广州瑞松智能科技股份有限公司 | The attachment structure and its installation method of a kind of mechanical joint |
| CN108500952A (en) * | 2017-02-24 | 2018-09-07 | 北京大艾机器人科技有限公司 | Drive dynamic control device and exoskeleton robot with it |
| CN110434894A (en) * | 2019-06-27 | 2019-11-12 | 北京康力优蓝机器人科技有限公司 | A kind of robot integral type joint rotary actuator |
| CN110605736A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Compact modular joint and light arm for endowment service robot |
| CN112247973A (en) * | 2020-10-26 | 2021-01-22 | 朱幕松 | Built-in robot integrated joint module |
Citations (7)
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| JP2008157338A (en) * | 2006-12-22 | 2008-07-10 | Sony Corp | Driving module and robot |
| CN101913151A (en) * | 2010-08-26 | 2010-12-15 | 哈尔滨工业大学 | Ontract replaceable joint of large space service robot |
| CN203471790U (en) * | 2013-09-03 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Hollow intelligent modularization joint |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN105313134A (en) * | 2015-07-20 | 2016-02-10 | 中科新松有限公司 | Lightweight mechanical arm modular joint |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
-
2016
- 2016-11-22 CN CN201611026638.8A patent/CN106426135A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008157338A (en) * | 2006-12-22 | 2008-07-10 | Sony Corp | Driving module and robot |
| CN101913151A (en) * | 2010-08-26 | 2010-12-15 | 哈尔滨工业大学 | Ontract replaceable joint of large space service robot |
| CN203471790U (en) * | 2013-09-03 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Hollow intelligent modularization joint |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN105313134A (en) * | 2015-07-20 | 2016-02-10 | 中科新松有限公司 | Lightweight mechanical arm modular joint |
| CN105459149A (en) * | 2016-01-25 | 2016-04-06 | 珠海格力电器股份有限公司 | Robot and robot joint thereof |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500952A (en) * | 2017-02-24 | 2018-09-07 | 北京大艾机器人科技有限公司 | Drive dynamic control device and exoskeleton robot with it |
| CN107186695A (en) * | 2017-05-25 | 2017-09-22 | 广州瑞松智能科技股份有限公司 | The attachment structure and its installation method of a kind of mechanical joint |
| CN107116575A (en) * | 2017-06-06 | 2017-09-01 | 银弗（北京）科技有限公司 | A kind of integrated rotation driving actuator |
| CN107116575B (en) * | 2017-06-06 | 2023-07-21 | 达闼机器人股份有限公司 | Integrated rotary driving actuator |
| CN110605736A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Compact modular joint and light arm for endowment service robot |
| CN110434894A (en) * | 2019-06-27 | 2019-11-12 | 北京康力优蓝机器人科技有限公司 | A kind of robot integral type joint rotary actuator |
| CN112247973A (en) * | 2020-10-26 | 2021-01-22 | 朱幕松 | Built-in robot integrated joint module |
| CN112247973B (en) * | 2020-10-26 | 2021-08-03 | 朱幕松 | Built-in robot integrated joint module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |
|
| RJ01 | Rejection of invention patent application after publication |