CN106826790B

CN106826790B - Robot double-freedom-degree driving module

Info

Publication number: CN106826790B
Application number: CN201710157491.4A
Authority: CN
Inventors: 李凯格; 周雪峰; 程韬波; 黄丹
Original assignee: Guangdong Institute of Intelligent Manufacturing
Current assignee: Guangdong Institute of Intelligent Manufacturing
Priority date: 2017-03-16
Filing date: 2017-03-16
Publication date: 2023-06-06
Anticipated expiration: 2037-03-16
Also published as: CN106826790A

Abstract

The invention discloses a robot double-degree-of-freedom driving module which comprises a first driving mechanism, a second driving mechanism, a triangular bracket, a first shell and a right-angle bracket, wherein the first driving mechanism is arranged on the first shell; the first driving mechanism comprises a first motor bracket, a first servo motor, a first motor controller, a first synchronous wheel and a second synchronous wheel which are linked through a first synchronous belt, a bevel gear supporting frame, a first bevel gear, a second bevel gear, a first harmonic reducer, a first limiting plate, a first positioning plate and a first conduit fixing frame; the second synchronous wheel is connected with the first bevel gear through a shaft to form a whole, the whole is connected with the bevel gear supporting frame through a bearing, and the first bevel gear and the second bevel gear are in right-angle meshed connection and distribution. The device is flexible and changeable, and is suitable for completing complex tasks such as assembly operation and the like; the device has low cost and compact structure, and the energy density of the self structure in unit volume is maximized; by adopting a modularized structure, better interchangeability can be ensured, and the maintenance cost is saved.

Description

Robot double-freedom-degree driving module

Technical Field

The invention relates to the technical field of industrial robots, in particular to a robot double-freedom-degree driving module.

Background

In recent years, with rapid development of social economy and continuous progress of robot technology research, factories gradually start to develop towards an automatic mode by means of workers for conveying materials, assembling operation and the like, and an intelligent mode is developed, so that the efficiency is high, and the danger of workers in operation is greatly reduced. However, the driving module in the current robot field has the defects of complex structure, high cost, narrow application range, poor positioning precision and the like.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a double-freedom-degree driving module of a robot.

The invention is realized by the following technical scheme: a robotic dual-degree-of-freedom drive module having two orthogonal rotational degrees of freedom, a first rotational degree of freedom and a second rotational degree of freedom, respectively, the first rotational degree of freedom comprising a first drive mechanism for driving the dual-degree-of-freedom drive module to rotate in the first rotational degree of freedom, the second rotational degree of freedom comprising a second drive mechanism for driving the dual-degree-of-freedom drive module to rotate in the second rotational degree of freedom; the double-freedom-degree driving module comprises an A-frame, a first shell and a right-angle bracket, wherein the A-frame is separated by a partition plate to form a first space and a second space, the first shell is arranged on the A-frame and is used for sealing the first space and the second space, and the right-angle bracket; the first driving mechanism comprises a first motor bracket fixed in a first space, a first servo motor fixed on the first motor bracket, a first motor controller used for driving the first servo motor, a first synchronous wheel connected with a driving shaft of the first servo motor and driven by the first servo motor, a bevel gear support frame fixed in the first space, a second synchronous wheel, a first bevel gear, a second bevel gear, a first harmonic reducer, a first limiting plate, a first positioning plate and a first conduit fixing frame for a conduit to pass through; the second synchronous wheel and the first bevel gear are connected through a shaft to form a whole, the whole is connected with the bevel gear support frame through a bearing, and the second synchronous wheel and the first bevel gear are respectively positioned at two sides of the bevel gear support frame; the first synchronous wheel is connected with the second synchronous wheel through a first synchronous belt; the second bevel gear is positioned in the first space, the first harmonic reducer and the first limiting plate are both positioned in the second space, and the first bevel gear and the second bevel gear are in right-angle meshed connection distribution; the second bevel gear is fixedly connected with the input end of the first harmonic reducer, the first conduit fixing frame is fixed at the center of the first positioning plate, the first limiting plate is fixed at the output end of the first harmonic reducer, and the first conduit fixing frame sequentially penetrates through the through holes in the centers of the first limiting plate, the first harmonic reducer and the second bevel gear; the triangular bracket is provided with a first mounting hole, and one end part of the input end of the first harmonic reducer is mounted and fixed on a baffle plate of the triangular bracket at the periphery of the first mounting hole; the horizontal plane of right angle support is opened there is the second mounting hole, the tip that first harmonic reduction gear output was located passes the second mounting hole to with the baffle centre gripping of right angle support is fixed between first harmonic reduction gear and first limiting plate. The first servo motor drives the first synchronous wheel and the second synchronous wheel to rotate under the drive of the first motor controller, so that the first bevel gear is driven to mesh with the second bevel gear to rotate, and the clamped right-angle bracket rotates around the axes of the second bevel gear and the first speed reducer as the center under the action of the first speed reducer and the first limiting plate, so that the rotation in one degree of freedom direction is realized.

The second driving mechanism comprises a second motor bracket fixed in the first space, a second servo motor fixed on the second motor bracket, a second motor controller for driving the second servo motor, a third synchronous wheel, a fourth synchronous wheel, a second harmonic reducer coaxially fixed with the fourth synchronous wheel, a second limiting plate, a second positioning plate and a second conduit fixing frame for a conduit to pass through, wherein the third synchronous wheel, the fourth synchronous wheel, the second harmonic reducer, the second limiting plate and the second conduit fixing frame are driven by a rotating shaft of the second servo motor; the third synchronous wheel is connected with the fourth synchronous wheel through a second synchronous belt; the side of the triangular bracket is provided with a third mounting hole for the rotating shaft of a fourth synchronous wheel to pass through, the rotating shaft of the fourth synchronous wheel is fixedly connected with the input end of the second harmonic reducer, one end part of the output end of the second harmonic reducer is fixedly arranged on the side of the right-angle bracket around the third mounting hole in one double-freedom-degree driving module adjacent to the second harmonic reducer, the second conduit fixing bracket is fixedly arranged in the center of the second positioning plate, the second limiting plate is fixedly arranged at the output end of the second harmonic reducer, the second conduit fixing bracket sequentially passes through the second limiting plate, the second harmonic reducer and the through hole in the center of the fourth synchronous wheel, and the side of the right-angle bracket in one double-freedom-degree driving module adjacent to the second conduit fixing bracket is clamped between the second harmonic reducer and the second positioning plate. The second servo motor drives the third synchronous wheel and the fourth synchronous wheel to rotate under the drive of the second motor controller, and the double-freedom-degree driving module rotates around the center of the axes of the fourth synchronous wheel and the second speed reducer under the action of the second speed reducer and the second limiting plate, so that the rotation of the other freedom degree direction is realized.

And a second shell for covering the second harmonic reducer is arranged on the side surface of the triangular bracket between the adjacent two-degree-of-freedom driving modules.

Compared with the prior art, the invention has the advantages that: the device is flexible and changeable, and is suitable for completing complex tasks such as assembly operation and the like; the device has low cost and compact structure, and the energy density of the self structure in unit volume is maximized; by adopting a modularized structure, better interchangeability can be ensured, and the maintenance cost is saved.

Drawings

FIG. 1 is a perspective view of a dual arm robot according to an embodiment of the present invention;

FIG. 2 is a front view of a dual arm robot according to an embodiment of the present invention;

FIG. 3 is a perspective view of an embodiment of the present invention with a single-sided arm having a first housing removed;

FIG. 4 is a front view of an embodiment of the present invention with a single-sided arm with a first housing removed;

FIG. 5 is a schematic view of a seven-degree-of-freedom single arm according to an embodiment of the present invention;

FIG. 6 is a schematic view of the structure of the interior of a single arm with seven degrees of freedom according to an embodiment of the present invention;

FIG. 7 is a top view of a seven degree of freedom single arm according to an embodiment of the invention;

FIG. 8 is a front view of a seven degree of freedom single arm according to an embodiment of the invention;

FIG. 9 is a graph of a seven-degree-of-freedom distribution model according to an embodiment of the present invention;

FIG. 10 is a front view of a dual degree of freedom drive module according to an embodiment of the present invention;

FIG. 11 is a top view of a dual degree of freedom drive module according to an embodiment of the present invention;

FIG. 12 is a bottom view of a dual degree of freedom drive module according to an embodiment of the present invention;

FIG. 13 is a right side view of a dual degree of freedom drive module according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 15 is a second schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 16 is a third schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 17 is a schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 19 is a schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 20 is a schematic diagram of a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 21 is a front view of a single degree of freedom drive module in combination with a dual degree of freedom drive module according to an embodiment of the present invention;

FIG. 22 is a schematic diagram of a single degree of freedom driving module and a dual degree of freedom driving module according to an embodiment of the present invention;

FIG. 23 is a second schematic diagram of a single-degree-of-freedom driving module and a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 24 is a third schematic diagram of a single-degree-of-freedom driving module and a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 25 is a schematic diagram showing a single-degree-of-freedom driving module and a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 26 is a reference diagram of the usage status of an embodiment of the present invention;

fig. 27 is a perspective view of a conduit mount and positioning plate installation in accordance with an embodiment of the present invention;

fig. 28 is a front view of a conduit mount and positioning plate installation in accordance with an embodiment of the present invention;

FIG. 29 is a schematic view of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 30 is a schematic diagram of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention in a state of 0-45 degrees below right;

FIG. 31 is a schematic view showing a structure of a motion mechanism in a 45 degree right lower state in a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 32 is a schematic diagram showing a structure of a motion mechanism in a 45-90 degree right lower state in a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 33 is a schematic diagram of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention in a state of 90 degrees right below;

FIG. 34 is a schematic view of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention in a 45-90 degree state at the lower left;

FIG. 35 is a schematic view of a motion mechanism in a 45 degree left lower state in a dual-degree-of-freedom driving module according to an embodiment of the present invention;

FIG. 36 is a schematic view of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention in a state of 0-45 degrees below left;

FIG. 37 is a schematic view of a motion mechanism in a dual-degree-of-freedom driving module according to an embodiment of the present invention in a left limit state;

FIG. 38 is a second view of a reference diagram of a usage status of an embodiment of the present invention;

FIG. 39 is a third view of a usage status reference diagram according to an embodiment of the present invention;

FIG. 40 is a fourth view of a usage status reference diagram of an embodiment of the present invention;

FIG. 41 is a fifth embodiment of the present invention.

The meaning of the reference numerals in the figures: 1. a single degree of freedom driving module; 2. a dual degree of freedom drive module; 3. a tripod; 4. a first space; 5. a second space; 6. a first housing; 7. a right angle bracket; 8. a first motor bracket; 9. a first servo motor; 10. a first motor controller; 11. a first synchronizing wheel; 12. bevel gear support frame; 13. a second synchronizing wheel; 14. a first bevel gear; 15. a second bevel gear; 16. a first harmonic reducer; 17. a first limiting plate; 18. a first conduit mount; 19. a first synchronization belt; 20. a second motor bracket; 21. a second servo motor; 22. a second motor controller; 23. a third synchronizing wheel; 24. a fourth synchronizing wheel; 25. a second harmonic reducer; 26. a second limiting plate; 27. a second positioning plate; 28. a second conduit mount; 29. a second timing belt; 30. a second housing; 31. a first mounting plate; 32. a second mounting plate; 33. a third motor bracket; 34. a third servo motor; 35. a fifth synchronizing wheel; 36. a sixth synchronizing wheel; 37. a third harmonic reducer; 38. a third limiting plate; 39. a third positioning plate; 40. a third conduit mount; 41. a third timing belt; 42. a base; 43. a clamp; 44. a wiring tube; 45. a conduit guide support; 46. a defect position; 47. a convex position; 48. a first sensor; 49. a second sensor; 50. a third sensor; 51. a first positioning plate; A. b, C, D, E, F, G each represent a degree of freedom.

Detailed Description

The present invention will be described in further detail with reference to the drawings and detailed description.

Examples

The design and development 14-degree-of-freedom double-arm robot (single-arm 7-degree-of-freedom) body adopts the existing high-power density servo motor and harmonic reducer on the market. The design of this case both arms robot adopts the design of module child structure to guarantee better interchangeability. The double-arm robot body comprises two arms as shown in the figure, and the two arms are consistent in structural form.

Referring to fig. 1 to 41, a driving arm with multiple degrees of freedom is provided, which includes a single-degree-of-freedom driving module 1 located at the inner side, and a plurality of double-degree-of-freedom driving modules 2 disposed at the outer side and sequentially connected from the inner side to the outer side, wherein the single-degree-of-freedom driving module 1 is connected with the innermost double-degree-of-freedom driving module 2; the two-degree-of-freedom driving module 2 has two orthogonal rotational degrees of freedom, namely a first rotational degree of freedom and a second rotational degree of freedom, the first rotational degree of freedom including a first driving mechanism for driving the two-degree-of-freedom driving module 2 to rotate in the first rotational degree of freedom, the second rotational degree of freedom including a second driving mechanism for driving the two-degree-of-freedom driving module 2 to rotate in the second rotational degree of freedom; the first drive mechanism of the outer two-degree-of-freedom drive module 2 is arranged on the second drive mechanism of the inner two-degree-of-freedom drive module 2 adjacent thereto.

The single-degree-of-freedom driving module 1 is combined with the plurality of double-degree-of-freedom driving modules 2, so that the robot arm becomes a multi-degree-of-freedom driving arm, the robot arm is more flexible, changeable and high in adaptability, dependence on the tool fixture 43 can be reduced, and the robot arm is suitable for completing complex tasks such as assembly operation and the like.

The two-degree-of-freedom driving module 2 includes a tripod 3 partitioned by a partition to form a first space 4 and a second space 5, a first housing 6 provided on the tripod 3 and sealing the first space 4 and the second space 5, and a right angle bracket 7; the first driving mechanism comprises a first motor bracket 8 fixed in the first space 4, a first servo motor 9 fixed on the first motor bracket 8, a first motor controller 10 for driving the first servo motor 9, a first synchronous wheel 11 connected with the driving shaft of the first servo motor 9 and driven by the first servo motor 9, a bevel gear support frame 12 fixed in the first space 4, a second synchronous wheel 13, a first bevel gear 14, a second bevel gear 15, a first harmonic reducer 16, a first limiting plate 17, a first positioning plate 51 and a first conduit fixing frame 18 for the conduit to pass through; after the second synchronizing wheel 13 and the first bevel gear 14 are connected through a shaft to form a whole, the whole is connected with the bevel gear support frame 12 through a bearing, and the second synchronizing wheel 13 and the first bevel gear 14 are respectively positioned at two sides of the bevel gear support frame 12; the first synchronous wheel 11 is connected with the second synchronous wheel 13 through a first synchronous belt 19; the second bevel gear 15 is positioned in the first space 4, the first harmonic reducer 16 and the first limiting plate 17 are positioned in the second space 5, and the first bevel gear 14 and the second bevel gear 15 are in right-angle meshed connection distribution; the second bevel gear 15 is fixedly connected with the input end of the first harmonic reducer 16, the first conduit fixing frame 18 is fixed at the center of the first positioning plate 51, the first limiting plate 17 is fixed at the output end of the first harmonic reducer 16, and the first conduit fixing frame 18 sequentially passes through the through holes in the centers of the first limiting plate 17, the first harmonic reducer 16 and the second bevel gear 15; the triangular bracket 3 is provided with a first mounting hole, and one end part where the input end of the first harmonic reducer 16 is positioned is mounted and fixed on a baffle plate of the triangular bracket 3 around the first mounting hole; the horizontal plane of the right-angle bracket 7 is provided with a second mounting hole, one end part where the output end of the first harmonic reducer 16 is positioned passes through the second mounting hole, and the partition plate of the right-angle bracket 7 is clamped and fixed between the first harmonic reducer 16 and the first limiting plate 17. The first servo motor 9 drives the first synchronous wheel 11 and the second synchronous wheel 13 to rotate under the drive of the first motor controller 10, so that the first bevel gear 14 is driven to mesh the second bevel gear 15 to rotate, and the clamped right-angle bracket 7 rotates around the axes of the second bevel gear 15 and the first speed reducer as the center under the action of the first speed reducer and the first limiting plate 17, so that the rotation in one degree of freedom direction is realized.

The second driving mechanism comprises a second motor bracket 20 fixed in the first space 4, a second servo motor 21 fixed on the second motor bracket 20, a second motor controller 22 for driving the second servo motor 21, a third synchronous wheel 23, a fourth synchronous wheel 24, a second harmonic reducer 25 coaxially fixed with the fourth synchronous wheel 24, a second limiting plate 26, a second positioning plate 27 and a second conduit fixing frame 28 for a conduit to pass through, wherein the third synchronous wheel 23, the fourth synchronous wheel 24 and the second harmonic reducer are driven by the rotating shaft of the second servo motor 21; the third synchronizing wheel 23 is coupled with the fourth synchronizing wheel 24 by a second synchronizing belt 29; the side of the tripod 3 is provided with a third mounting hole for the rotating shaft of the fourth synchronous wheel 24 to pass through, the rotating shaft of the fourth synchronous wheel 24 is fixedly connected with the input end of the second harmonic reducer 25, one end part where the output end of the second harmonic reducer 25 is positioned is mounted and fixed on the side of the right-angle bracket 7 around the third mounting hole in one adjacent two-degree-of-freedom driving module 2, a second conduit fixing frame 28 is fixed in the center of the second positioning plate 27, a second limiting plate 26 is fixed at the output end of the second harmonic reducer 25, and the second conduit fixing frame 28 sequentially passes through the second limiting plate 26, the second harmonic reducer 25 and the through hole in the center of the fourth synchronous wheel 24 and clamps the side of the right-angle bracket 7 in the adjacent two-degree-of-freedom driving module 2 between the second harmonic reducer 25 and the second positioning plate 27. The second servo motor 21 drives the third synchronizing wheel 23 and the fourth synchronizing wheel 24 to rotate under the drive of the second motor controller 22, and the double-freedom-degree driving module 2 rotates around the center of the axes of the fourth synchronizing wheel 24 and the second speed reducer under the action of the second speed reducer and the second limiting plate 26, so that the rotation of the other freedom degree direction is realized.

A second housing 30 for covering the second harmonic reducer 25 is provided on the side of the tripod 3 between adjacent two-degree-of-freedom drive modules 2.

The single degree of freedom driving module 1 includes a first mounting plate 31, a second mounting plate 32 mounted perpendicularly to the first mounting plate 31, a third motor bracket 33 provided on the first mounting plate 31, a third servo motor 34 fixed on the third motor bracket 33, a fifth synchronizing wheel 35 connected with a driving shaft of the third servo motor 34 and driven by the third servo motor 34, a sixth synchronizing wheel 36, a third harmonic reducer 37 coaxially fixed with the sixth synchronizing wheel 36, a third limiting plate 38, a third positioning plate 39, and a third conduit fixing frame 40 for a conduit to pass through; the fifth synchronizing wheel 35 is coupled with the sixth synchronizing wheel 36 through a third synchronizing belt 41; the rotating shaft of the sixth synchronizing wheel 36 is fixedly connected with the input end of the third harmonic reducer 37, the second mounting plate 32 is clamped between the sixth synchronizing wheel 36 and the third harmonic reducer 37, and one end part where the input end of the third harmonic reducer 37 is positioned is fixedly arranged on the second mounting plate 32; one end of the third harmonic reducer 37, where the input end is located, is mounted and fixed on the side surface of the tripod 3 around the third mounting hole in one of the two-degree-of-freedom driving modules 2 adjacent thereto; the third conduit fixing frame 40 is fixed at the center of the third positioning plate 39, the third limiting plate 38 is fixed at the output end of the third harmonic reducer 37, the third conduit fixing frame 40 sequentially passes through the side surface of the tripod 3, the third limiting plate 38, the third harmonic reducer 37 and the through hole at the center of the sixth synchronizing wheel 36 in the double-freedom-degree driving module 2 adjacent to the single-freedom-degree driving module 1, and clamps the side surface of the tripod 3 between the third harmonic reducer 37 and the third positioning plate 39. The third servo motor 34 drives the fifth synchronizing wheel 35 and the sixth synchronizing wheel 36, and the third harmonic reducer 37 and the third limiting plate 38 drive the two-degree-of-freedom driving module 2 adjacent to and connected with the single-degree-of-freedom driving module 1 to rotate around the axes of the sixth synchronizing wheel 36 and the third harmonic reducer 37 as the center, so that one-degree-of-freedom rotation of the two-degree-of-freedom driving module 2 is realized.

The periphery of the first limiting plate 17 is partially hollowed inwards to form a gap 46 and a convex position 47 which are distributed at intervals, three first sensors 48 which are distributed at intervals of 45 degrees are arranged on a partition plate on the periphery of the first harmonic reducer 16, and when the first limiting plate 17 rotates along with the second bevel gear 15, the first sensors 48 are aligned with the gap 46 or the convex position 47 on the first limiting plate 17; the structures of the second limiting plate 26 and the third limiting plate 38 are identical to those of the first limiting plate 17; the side surface of the tripod 3 around the second harmonic reducer 25 is provided with three second sensors 49 distributed at 45 degrees intervals, and when the second limiting plate 26 rotates along with the fourth synchronous wheel 24, the first sensors 48 are aligned with the gaps 46 or the protruding positions 47 on the second limiting plate 26; the second mounting plate 32 around the third harmonic reducer 37 is provided with three third sensors 50 distributed at 45 degrees, and when the third limiting plate 38 rotates with the sixth synchronizing wheel 36, the third sensors 50 are aligned with the gaps 46 or the protruding positions 47 on the third limiting plate 38.

The two-degree-of-freedom drive module 2 is provided with three. The two-degree-of-freedom driving modules 2 are three, and are matched with the single-degree-of-freedom driving module 1 to form a single-arm seven-degree-of-freedom robot arm, so that the arm is more flexible and changeable.

The double-arm robot comprises a base 42, two groups of multi-degree-of-freedom driving arms arranged on the base 42, and a clamp 43 arranged at the outer end of the multi-degree-of-freedom driving arms; each group of multi-freedom-degree driving arms comprises three double-freedom-degree driving modules 2 which are sequentially connected from the inner side to the outer side, the double-freedom-degree driving module 2 positioned at the inner side is connected with a single-freedom-degree driving module 1 connected to the base 42, and the clamp 43 is connected to the double-freedom-degree driving module 2 positioned at the outer side; the tail end of the first servo motor 9 is provided with a relative encoder and a band-type brake for controlling limit information of the first sensor 48 and the first limit plate 17, and the double-arm robot is provided with a processing module for receiving and processing feedback information transmitted by the relative encoder; the ends of the second servo motor 21 and the third servo motor 34 are respectively provided with a relative encoder and a band-type brake which have the same structure as the first servo motor 9.

Referring to fig. 7 and 8, a top view and a front view of a seven-degree-of-freedom single arm structure are shown, wherein an arrow in the drawing indicates a rotation center of a mechanism joint; fig. 9 is a seven-degree-of-freedom distribution model, in which seven orthogonal axes of rotation are alternately connected, and refer to fig. 38 to 41 for a specific state of rotation about the center of rotation of the single arm structure.

Referring to fig. 16 and 17, the single dual-degree-of-freedom driving module 2 has two orthogonal rotational degrees of freedom, each degree of freedom being rotationally driven by a servo motor and a harmonic reducer; the robot supplies power to the arm and transmits the power to each driving mechanism through a wire, and the wire comprises a wire pipe 44 and a wire pipe guide support 45 coated on the periphery of the wire pipe 44, so that a wire pipe is formed; the conduit passes through the first conduit mount 18, the second conduit mount 28, and the third conduit mount 40, powering the three servo motors and motor controllers.

Referring to fig. 18, a single dual degree of freedom drive module 2 is shown as a B, D, F degree of freedom drive mechanism in fig. 9; referring to fig. 19, a single two-degree-of-freedom drive module 2 is shown as a C, E, G degree-of-freedom drive mechanism in fig. 9.

Referring to fig. 20, a mechanism limiting design is shown, in this embodiment, a first sensor 48, a second sensor 49 and a third sensor 50 are all reflective photoelectric sensors, and three similar sensors are arranged around the harmonic reducer of the mechanism at 45 degrees intervals with the center axis of the harmonic reducer as the center. The first sensor 48, the first conduit fixing frame 18 and the first limiting plate 17 form a limiting switch of the first harmonic reducer 16; the second sensor 49, the second conduit fixing frame 28 and the second limiting plate 26 form a limiting switch of the second harmonic reducer 25; the third sensor 50, the third conduit mount 40 and the third limiting plate 38 form a limiting switch of the third harmonic reducer 37.

Spacing principle: the reflective photoelectric sensor can realize shielding reflection or passing of the light signal through the shape of the edge of the limiting plate when the signal light irradiates the edge of the limiting plate, and if the light signal is reflected, the light signal of the sensor is shielded by the convex position 47 and reflected; if so, the optical signal that is the sensor passes through the defect 46. The detection of 8 different position states of the limiting plate can be realized by designing the shape of the edge of the limiting plate and matching the relative position of the reflective photoelectric sensor.

Analysis was performed using the limit design shown in fig. 20 as an example, and involves the components of the first drive mechanism. Setting the light signal to be 1 when it is blocked and reflected by the convex position 47, and the eight position state numbers when it is 0 when it passes through the notch 46 of the limiting plate are: 000. 001, 010 011, 100, 101, 110, 111. The numbering states are shown in fig. 29 to 37.

Fig. 29 shows a right limit state, where the photosensor signal is 100 (the leftmost sensor in the order starts). This position is the right turn limit position.

Fig. 30 shows the movement mechanism in the lower right (0-45 degrees) state, with the photosensor signal 011 (sequencing left-most sensor begins). This position is the right turn limit position.

Fig. 31 shows the motion mechanism in a lower right 45 degree state with a photosensor signal of 110 (the leftmost sensor in the sequence begins).

Fig. 32 shows the movement mechanism in the lower right (45-90 degrees) state with the photosensor signal 001 (sequencing left most sensor start).

Fig. 33 shows the motion mechanism in a state of 90 degrees right below, the photosensor signal is 000 (the leftmost sensor in the order starts). This position is the mid-stroke position.

Fig. 34 shows an indication that the movement mechanism is in the lower left (45-90 degrees) state, and the photosensor signal is 011 (the leftmost sensor of the sequence starts).

Fig. 35 shows an indication that the motion mechanism is in the lower left (45 degree) state, with the photosensor signal being 100 (sequencing left-most sensor starting).

Fig. 36 shows an indication that the motion mechanism is in the lower left (0-45 degrees) state, and the photosensor signal is 110 (the leftmost sensor in the sequence starts).

Fig. 37 shows an indication that the motion mechanism is in the left state, with the photosensor signal 001 (sequencing left-most sensor begins). This position is the left turn limit position.

The limit design shown in fig. 12-1 is consistent with the limit design principle shown in fig. 12-2. The servo motor is provided with a relative encoder and a band-type brake at the tail end, and accurate absolute position feedback can be realized through limit information and feedback information of the encoder.

The limit design of the second sensor 49 relates to the components of the second drive mechanism, such as the second sensor 49, the second harmonic reducer 25, the second limit plate 26, etc., which limit design is consistent with the principle of the limit design of the first drive mechanism. Regarding the limit design of the single degree of freedom driving module 1, the third sensor 50, the third harmonic reducer 37, the third limit plate 38, etc., are involved, and the limit design is consistent with the principle of the limit design of the first driving mechanism. In the limiting design in the embodiment, the end of the servo motor is provided with the relative encoder and the band-type brake, and accurate absolute position feedback can be realized through limiting information and feedback information of the encoder.

The foregoing detailed description is directed to embodiments of the invention which are not intended to limit the scope of the invention, but rather to cover all modifications and variations within the scope of the invention.

Claims

1. The utility model provides a two degree of freedom drive module of robot which characterized in that: the two-degree-of-freedom driving module (2) has two orthogonal rotational degrees of freedom, namely a first rotational degree of freedom and a second rotational degree of freedom, wherein the first rotational degree of freedom comprises a first driving mechanism for driving the two-degree-of-freedom driving module (2) to rotate in the first rotational degree of freedom, and the second rotational degree of freedom comprises a second driving mechanism for driving the two-degree-of-freedom driving module (2) to rotate in the second rotational degree of freedom; the double-degree-of-freedom driving module (2) comprises an A-frame (3) which is separated by a partition plate to form a first space (4) and a second space (5), a first shell (6) which is arranged on the A-frame (3) and is used for sealing the first space (4) and the second space (5), and a right-angle bracket (7); the first driving mechanism comprises a first motor bracket (8) fixed in a first space (4), a first servo motor (9) fixed on the first motor bracket (8), a first motor controller (10) used for driving the first servo motor (9), a first synchronous wheel (11) connected with a driving shaft of the first servo motor (9) and driven by the first servo motor (9), a bevel gear support frame (12) fixed in the first space (4), a second synchronous wheel (13), a first bevel gear (14), a second bevel gear (15), a first harmonic reducer (16), a first limiting plate (17), a first positioning plate (51) and a first conduit fixing frame (18) for a conduit to pass through; the second synchronous wheel (13) and the first bevel gear (14) are connected through a shaft to form a whole, the whole is connected with the bevel gear support frame (12) through a bearing, and the second synchronous wheel (13) and the first bevel gear (14) are respectively positioned at two sides of the bevel gear support frame (12); the first synchronous wheel (11) is connected with the second synchronous wheel (13) through a first synchronous belt (19); the second bevel gear (15) is positioned in the first space (4), the first harmonic reducer (16) and the first limiting plate (17) are both positioned in the second space (5), and the first bevel gear (14) and the second bevel gear (15) are in right-angle meshed connection and distribution; the second bevel gear (15) is fixedly connected with the input end of the first harmonic reducer (16), the first conduit fixing frame (18) is fixed at the center of the first positioning plate (51), the first limiting plate (17) is fixed at the output end of the first harmonic reducer (16), and the first conduit fixing frame (18) sequentially penetrates through the through holes in the centers of the first limiting plate (17), the first harmonic reducer (16) and the second bevel gear (15); the triangular bracket (3) is provided with a first mounting hole, and one end part where the input end of the first harmonic reducer (16) is positioned is mounted and fixed on a partition plate of the triangular bracket (3) around the first mounting hole; the horizontal plane of the right-angle bracket (7) is provided with a second mounting hole, one end part of the output end of the first harmonic reducer (16) penetrates through the second mounting hole, and the partition plate of the right-angle bracket (7) is clamped and fixed between the first harmonic reducer (16) and the first limiting plate (17).

2. The robotic dual degree of freedom drive module of claim 1 wherein: the second driving mechanism comprises a second motor bracket (20) fixed in the first space (4), a second servo motor (21) fixed on the second motor bracket (20), a second motor controller (22) for driving the second servo motor (21), a third synchronous wheel (23) driven by a rotating shaft of the second servo motor (21), a fourth synchronous wheel (24), a second harmonic reducer (25) coaxially fixed with the fourth synchronous wheel (24), a second limiting plate (26), a second positioning plate (27) and a second conduit fixing frame (28) for a conduit to pass through; the third synchronizing wheel (23) is connected with the fourth synchronizing wheel (24) through a second synchronizing belt (29); the side of the triangular bracket (3) is provided with a third mounting hole for a rotating shaft of a fourth synchronous wheel (24) to pass through, the rotating shaft of the fourth synchronous wheel (24) is fixedly connected with the input end of a second harmonic speed reducer (25), one end part where the output end of the second harmonic speed reducer (25) is arranged and fixed on the side of a right-angle bracket (7) around the third mounting hole in one double-freedom-degree driving module (2) adjacent to the second harmonic speed reducer, a second conduit fixing frame (28) is fixed in the center of a second positioning plate (27), a second limiting plate (26) is fixed at the output end of the second harmonic speed reducer (25), and the second conduit fixing frame (28) sequentially passes through the through holes in the center of the second limiting plate (26) and the second harmonic speed reducer (25) and clamps the side of the right-angle bracket (7) in one double-freedom-degree driving module (2) adjacent to the second conduit fixing frame between the second harmonic speed reducer (25) and the second positioning plate (27).

3. The robot dual degree of freedom drive module of claim 2 wherein: a second housing (30) for covering the second harmonic reducer (25) is arranged on the side face of the tripod (3) between the adjacent two-degree-of-freedom driving modules (2).