CN108247668A - A kind of integrated joint of robot module - Google Patents
A kind of integrated joint of robot module Download PDFInfo
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- CN108247668A CN108247668A CN201810117488.4A CN201810117488A CN108247668A CN 108247668 A CN108247668 A CN 108247668A CN 201810117488 A CN201810117488 A CN 201810117488A CN 108247668 A CN108247668 A CN 108247668A
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- joint
- driving motor
- main body
- speed reducer
- motor main
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000007704 transition Effects 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000004804 winding Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 239000000306 component Substances 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000000049 pigment Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
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- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of integrated joint of robot module, including joint output link, harmonic speed reducer, articular shell, driving motor main body, braking mechanism, integrated circuit modules；The joint output link is used to connect exterior operator or load；The harmonic speed reducer is used to adjust the rotating speed of joint output link；The articular shell is used to fix harmonic speed reducer, driving motor main body, braking mechanism and integrated circuit modules；The driving motor main body is used to drive harmonic speed reducer according to the instruction of integrated circuit modules；The braking mechanism is according to the instruction of integrated circuit modules for driving motor main body band-type brake；The integrated circuit modules drive driving motor main body according to the instruction of external host computer, the working condition of driving motor main body, the working condition of joint output link.
Description
Technical field
The present invention relates to a kind of module, more particularly to a kind of integrated joint of robot module belongs to robot field.
Background technology
Robot be born so far, be widely used in every field, as vehicle assembling, component of machine processing,
The industries such as Palletised carry, surface polishing, pigment spraying, plank welding, service medical treatment and war industry equipment are all robot hot spot rows
Industry.Although traditional robot is still active in the fields such as industrial manufacturing service, the development in epoch is so that people's produces, gives birth to
The demands such as living, amusement, medical treatment and service are increasingly novel, and traditional robot all can not in terms of structure, control and intelligence
Meet these requirements, people need more light, more integrated, more intelligent robot, and require robot safe
Cooperate with people.But the robot of every field is put into extensively, in the prevalence of problems with：(1) it is big on hardware configuration
And it is heavy, mechanical arm, to reduce Nonlinear perturbations, is born using materials such as the big steels of rigidity or even equipped with armed lever balance mechanism
It is downloaded from again than low；(2) working environment is specific single and is precognition, and robot base is substantially stationary motionless can to complete work post
Task lacks flexibility；(3) integrated level is low, and joint is sturdy, and generally using planetary reduction gear, motor is mounted on joint, controller
In switch board, control line is more and miscellaneous for external cabling, is commonly equipped with larger switch board, the power supply of joint of robot,
Motor drives and motion planning etc. is all realized by switch board, and this separate installment causes to repair cumbersome, and it is hidden to have many safety
Suffer from.
Invention content
The technical problem to be solved by the present invention is to：A kind of integrated robot is overcome the deficiencies of the prior art and provide
Joint module, using joint output link, harmonic speed reducer, articular shell, driving motor main body, braking mechanism, integrated circuit
Core component of the module as joint of robot module realizes mechanism, control, drives and is in communication in integrated integrated machine
Device person joint's module.
The object of the invention is achieved by the following technical programs：
A kind of integrated joint of robot module, including joint output link, harmonic speed reducer, articular shell, driving
Motor body, braking mechanism, integrated circuit modules；
The joint output link is used to connect exterior operator or load；The harmonic speed reducer is used to adjust joint
The rotating speed of output link；The articular shell is used to fix harmonic speed reducer, driving motor main body, braking mechanism and integrated circuit
Module；The driving motor main body is used to drive harmonic speed reducer according to the instruction of integrated circuit modules；The braking mechanism root
According to the instruction of integrated circuit modules for driving motor main body band-type brake；The integrated circuit modules are according to the finger of external host computer
It enables, the working condition of driving motor main body, the working condition of joint output link, drives driving motor main body；
The harmonic speed reducer includes steel wheel, flexbile gear；The steel wheel is fixedly connected with joint output link, and the fixation is humorous
Wave retarder is fixedly connected by flexbile gear with articular shell；The driving motor main body is rimless direct driving motor.
Above-mentioned integrated joint of robot module, the integrated circuit modules include band-type brake circuit, driving circuit, MCU,
Absolute encoder circuit；
The band-type brake circuit exports band-type brake signal to braking mechanism according to the instruction of the band-type brake of MCU；
The driving circuit is connect with driving motor main body, and driving motor main body is driven according to the driving instruction of MCU；
The MCU is according to the instruction of external host computer, the work of the working condition of driving motor main body, joint output link
State, output driving instruction triggers driving circuit, output band-type brake are instructed to band-type brake circuit；
The absolute encoder circuit is used to obtain the working condition of driving motor main body and the work of joint output link
State is then output to MCU.
Above-mentioned integrated joint of robot module, the joint output link include output flange and output shaft；It is described
Output flange connects exterior operator or load；The output shaft is hollow tubular；The harmonic speed reducer further includes hollow
Input shaft；The output shaft passes through hollow input shaft, and there are gaps between hollow input shaft and output shaft；The output flange with
Output shaft interference fit connection.
Above-mentioned integrated joint of robot module, the driving motor main body include driving motor stator, driving motor
Rotor；The motor stator includes stator winding, stator core；The stator core is fixedly connected with articular shell, stator around
Group is connected with stator core；The driving motor rotor includes rotor rim, rotor magnetic steel；The rotor magnetic steel is uniformly mounted on
On the circumference of rotor rim；The harmonic speed reducer further includes hollow input shaft, and the rotor rim is sleeved on harmonic speed reducer
Hollow input shaft cascaded surface on.
Above-mentioned integrated joint of robot module, the braking mechanism include brake and brake transition fixing piece；
The brake includes releasable armature plate and yoke fixing end；The yoke fixing end is fixedly connected with articular shell, described
Releasable armature plate is fixedly connected with brake transition fixing piece, the brake transition fixing piece and harmonic speed reducer it is hollow
Input shaft is fixedly connected.
Above-mentioned integrated joint of robot module, the articular shell further include T-shaped articular shell, ramp sleeve, end
Lid, transition piece；The joint of robot module further includes input end of motor encoder, joint output terminal encoder；Outside T-shaped joint
Shell；In the opposite both ends of T-shaped articular shell, wherein one end installation joint output link, the other end install successively ramp sleeve and
End cap；
Transition piece is fixed in T-shaped articular shell；Transition piece is used to fix braking mechanism, input end of motor encoder, close
Save output terminal encoder and integrated circuit modules.
Above-mentioned integrated joint of robot module, further includes input end of motor encoder and joint output terminal encoder；
The input end of motor encoder is used to measure the working condition of driving motor main body, is then output to integrated circuit modules；Institute
Joint output terminal encoder is stated for measuring the working condition of joint output link, is then output to integrated circuit modules.
Above-mentioned integrated joint of robot module, the harmonic speed reducer further include wave producer and hollow input shaft；
The joint of robot module further includes input end of motor encoder；Wave producer is connect with hollow input shaft；Hollow input shaft
It is fixedly connected with the rotor rim of the driving motor rotor of driving motor main body, while hollow input shaft is encoded with input end of motor
Device connects；The working condition that input end of motor encoder is used to measure driving motor main body is then output to integrated circuit modules.
Above-mentioned integrated joint of robot module, the integrated circuit modules further include Hall sensor circuit, Hall
Sensor circuit is used to measure the position of the rotor rim of the driving motor rotor of driving motor main body.
Above-mentioned integrated joint of robot module further includes input end of motor encoder, joint output terminal encoder；
The rotor of the driving motor main body is fixedly connected with the input terminal of harmonic speed reducer, while driving motor main body
Driving motor rotor is fixedly connected with the turning end of braking mechanism；The output terminal of the harmonic speed reducer is consolidated with joint output link
Fixed connection；The joint output link is connected with exterior operator or load；The turning end of the braking mechanism simultaneously with drive
The driving motor rotor of dynamic motor body and the hollow input shaft of harmonic speed reducer are fixedly connected with；The input end of motor coding
The turning end of device is fixedly connected with the input terminal of harmonic speed reducer；The turning end of the joint output terminal encoder is exported with joint
The output shaft of component is fixedly connected；The fixing end of the articular shell and harmonic speed reducer, the stator of driving motor main body, brake
The fixing end of mechanism, the fixing end of input end of motor encoder, the fixing end of joint output terminal encoder, integrated circuit modules are equal
It is fixedly connected.
The present invention has the advantages that compared with the prior art：
(1) a kind of integrated joint of robot module provided by the invention, entire intra articular are integrated with driving motor
Main body, harmonic speed reducer, braking mechanism, integrated circuit modules, center shaft axis use hollow design, can install each component
Between cable, save structure space, while simplify drive mechanism；Internal structure is compact, and it is one-stop to realize robot
Joint solution, optimization robot complete machine structure；Joint housing structure is consolidated using T-shaped articular shell, ramp sleeve and end cap
Fixed form optimizes installation and debugging method, is dismantled conducive to later maintenance；The printing of 3D hard can be used in ramp sleeve and end cap,
Conducive to internal heat dissipating, overall performance is improved；
(2) a kind of integrated joint of robot module provided by the invention, the driving motor main body include rimless drive
Dynamic motor stator and driving motor rotor, the two are directly installed in articular shell, driving motor stator and driving motor rotor
Between do not need to brush contact so that the internal structure of articular shell is more compact, and installation maintenance is more convenient；
(3) a kind of integrated joint of robot module provided by the invention, using input end of motor encoder and joint
Driving motor main body and the working condition of joint output link are fed back in monitoring to output terminal encoder in real time respectively, improve output terminal
The measurement accuracy of position；Integrated circuit modules control driving motor master by the electric current of real-time monitoring driving motor body simultaneously
The forms of motion of body reduces the impact of overload and extraneous collision, improves the safety of joint of robot module, and enhance
Robot it is intelligent, man-machine interaction effect is good；
(4) a kind of integrated joint of robot module provided by the invention, optimizes conventional machines person joint's module
Traditional drive control device function and driving mechanism are integrated in intra articular by structure and layout designs, and volume smaller, load is certainly
Again than improving；Greatly simplify the Integrated power of joint of robot module simultaneously, and reduce the development and application of industrial robot
Threshold allows robot building quotient to focus more on the exploitation of its robot application scene rather than be entangled in complicated engine
Tool component.
Description of the drawings
Fig. 1 is a kind of integrated joint of robot modular structure sectional view of the present invention；
Fig. 2 is a kind of integrated robot shutdown module harmonic speed reducer schematic diagram of the present invention；
Fig. 3 is a kind of integrated robot shutdown module articular shell schematic diagram of the present invention；
Fig. 4 is a kind of integrated robot shutdown module transition piece structure diagram of the present invention；
Fig. 5 is a kind of integrated robot shutdown module driving motor main body composition schematic diagram of the present invention；
Fig. 6 is a kind of integrated robot shutdown module braking mechanism composition schematic diagram of the present invention；
Fig. 7 is a kind of integrated robot shutdown module integrated circuit composition schematic diagram of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the attached drawing to the present invention
Mode is described in further detail.
A kind of integrated joint of robot module including joint output link 1, harmonic speed reducer 2, articular shell 3, drives
Dynamic motor body 4, braking mechanism 5, input end of motor encoder 6, joint output terminal encoder 7, integrated circuit modules 8, such as Fig. 1
It is shown.
Joint output link 1 is used to connect exterior operator or load；Harmonic speed reducer 2 exports structure for adjusting joint
The rotating speed of part 1；Articular shell 3 encodes for fixing harmonic speed reducer 2, driving motor main body 4, braking mechanism 5, input end of motor
Device 6, joint output terminal encoder 7 and integrated circuit modules 8；Driving motor main body 4 is used for according to the instruction of integrated circuit modules 8
Drive harmonic speed reducer 2；Braking mechanism 5 is according to the instruction of integrated circuit modules 8 for 4 band-type brake of driving motor main body；Motor
Input terminal encoder 6 is used to measure the working condition of the rotor rim 421 of the driving motor rotor 42 of driving motor main body 4, so
After export to integrated circuit modules 8；Joint output terminal encoder 7 is used to measure the work of the output shaft 12 of joint output link 1
State is then output to integrated circuit modules 8；Instruction of the integrated circuit modules 8 according to external host computer, driving motor main body 4
Working condition, the working condition of joint output link 1, driving driving motor main body 4.
The rotor of driving motor main body 4 is fixedly connected with the input terminal of harmonic speed reducer 2, while driving motor main body 4
Driving motor rotor 42 is fixedly connected with the turning end of braking mechanism 5；The output terminal of harmonic speed reducer 2 and joint output link 1
It is fixedly connected；Joint output link 1 is connected with exterior operator or load；The turning end of braking mechanism 5 is electric with driving simultaneously
The driving motor rotor 42 of owner's body 4 and the hollow input shaft 23 of harmonic speed reducer 2 are fixedly connected with；Input end of motor encoder
6 turning end is fixedly connected with the input terminal of harmonic speed reducer 2；The turning end of joint output terminal encoder 7 exports structure with joint
The output shaft 12 of part 1 is fixedly connected；Articular shell 3 and the fixing end of harmonic speed reducer 2, the driving motor of driving motor main body 4
Rotor 42, the fixing end of braking mechanism 5, the fixing end of input end of motor encoder 6, the fixing end of joint output terminal encoder 7,
Integrated circuit modules 8 are fixedly connected with.
Joint output link 1 and harmonic speed reducer 2 are located at the same side of driving motor main body 4, and braking mechanism 5, motor are defeated
Enter to hold encoder 6, joint output terminal encoder 7, integrated circuit modules 8 to be located at the opposite side of driving motor main body 4.
Joint output link 1 includes output flange 11 and output shaft 12；Output flange 11 connects exterior operator or negative
It carries, while output flange 11 is fixedly connected with the steel wheel 21 of harmonic speed reducer 2；Output shaft 12 is hollow tubular；Hollow input shaft
23 are sleeved on output shaft 12, and there are gaps for hollow input shaft 23 and output shaft 12；Output flange 11 is matched with 12 interference of output shaft
Close connection.The driving motor main body 4 of joint of robot module, braking mechanism 5, input end of motor encoder 6, joint output terminal are compiled
Code device 7, integrated circuit modules 8 are sleeved on output shaft 12 or hollow input shaft 23, and output shaft 12 and hollow input shaft 23 form
Hollow pipeline be used for the cabling of cable, space has been saved, convenient for the miniaturization of equipment and integrated.
Harmonic speed reducer 2 is as shown in Fig. 2, including steel wheel 21, flexbile gear 22, hollow input shaft 23 and wave producer 24；Steel wheel
21 are fixedly connected with joint output link 1, and fixed harmonic speed reducer 2 is fixedly connected by flexbile gear 22 with articular shell 3；Wave occurs
Device 24 is connect with hollow input shaft 23；Hollow input shaft 23 is connect with input end of motor encoder 6；Input end of motor encoder 6
Working condition for measuring driving motor main body 4 is then output to integrated circuit modules 8.Hollow input shaft 23 subtracts as harmonic wave
The input terminal of fast device 2, output terminal of the steel wheel 21 as harmonic speed reducer 2, fixing end of the flexbile gear 22 as harmonic speed reducer 2.In
Empty input shaft 23 is fixedly connected with the rotor rim 421 of the driving motor rotor 42 of driving motor main body 4.
Articular shell 3 includes T-shaped articular shell 31, ramp sleeve 32 and end cap 33, transition piece 34, as shown in Figure 3；It is T-shaped
Articular shell 31；In the opposite both ends of T-shaped articular shell 31, wherein joint output link 1 is installed in one end, and the other end is installed successively
Ramp sleeve 32 and end cap 33, ramp sleeve 32 and end cap 33 are connect with T-shaped 31 coaxial cooperation of articular shell.Transition piece 34 is with stopping
Mechanism of car 5, input end of motor encoder 6, joint output terminal encoder 7, integrated circuit modules 8 are fixedly connected with, such as Fig. 4 institutes
Show.The flexbile gear 22 of harmonic speed reducer 2, the stator core 411 of driving motor main body 4, transition piece 34 are solid with T-shaped articular shell 31
Fixed connection.End cap 33, which can be realized, to be gone to load and unload, and internal structure is facilitated to install and debug.
Specifically, be stepped inner cavity in T-shaped articular shell 31, the larger side installation harmonic speed reducer 2 of cavity radius,
The smaller side of cavity radius is designed with the stator core 412 of ladder location and installation driving motor stator 41；In T-shaped articular shell
31 inner cavities are equipped with symmetrical boss structure, and transition piece 34 is installed for connecting.Transition piece 34 is used to that integrated circuit modules to be fixedly mounted
8th, the yoke fixing end 512 of input coding device 6, output coder 7 and brake 51.All design screw thread in each end face in inner cavity
Hole, for connecting fixing joint device.
Driving motor main body 4 is rimless direct driving motor, as shown in figure 5, driving motor main body 4 includes driving motor stator
41st, driving motor rotor 42；Motor stator 41 includes stator winding 411, stator core 412；Stator core 411 and articular shell
3 are fixedly connected, and stator winding 411 and stator core 412 connect；Driving motor rotor 42 includes rotor rim 421, rotor magnetic steel
422；Rotor magnetic steel 422 is uniformly on the circumference of rotor rim 421；Rotor rim 421 is sleeved in harmonic speed reducer 2
On empty input shaft 23.Fixing end of the stator core 412 as driving motor main body 4.Stator core after stator winding 411 is powered
The rotary magnetic torque of interaction is generated between 412 and rotor rim 421, being using the advantages of rimless direct driving motor can be direct
It is compact-sized inside T-shaped articular shell 31, convenient for safeguarding.
Braking mechanism 5 includes brake 51 and brake transition fixing piece 52, as shown in Figure 6；Brake 51 includes to release
Electric discharge pin plate 511 and yoke fixing end 512；Yoke fixing end 512 is fixedly connected with articular shell 3, releasable armature plate 511 with
Brake transition fixing piece 52 is fixedly connected, and brake transition fixing piece 52 and the hollow input shaft 23 of harmonic speed reducer 2 are fixed
Connection；The rotor rim 421 of the driving motor rotor 42 of driving motor main body 4 and the hollow input shaft 23 of harmonic speed reducer 2 are solid
Fixed connection.When joint module powers off, the magnetic force of yoke fixing end 512 adsorbs releasable armature plate 511, generates specified torsion
Braking；Upon power-up, the permanent magnetic of yoke fixing end 512 and coil magnetic force are offset, and releasable armature plate 511 is released, and are braked
Device discharges shaft.
Integrated circuit modules 8 include band-type brake circuit 81, driving circuit 82, MCU, absolute encoder circuit 84, hall sensing
Device circuit 85, as shown in Figure 7.Band-type brake circuit 81 exports band-type brake signal to braking mechanism 5 according to the instruction of the band-type brake of MCU.Driving electricity
Road 82 is connect with driving motor main body 4, and driving motor main body 4 is driven according to the driving instruction of MCU.MCU is according to external host computer
Instruction, driving motor main body 4 working condition, the working condition of joint output link 1, output driving instruction triggers driving electricity
Road 82, output band-type brake are instructed to band-type brake circuit 81.MCU can be various well known control chips and control circuit, such as monolithic
Machine, digital signal processor, embedded controller etc. are used to implement the rotary motion of joint module, commutation control, precision controlling
And intelligent control function.Absolute encoder circuit 84 is used to obtain the working condition of driving motor main body 4 and joint output link 1
Working condition, be then output to MCU.Hall sensor circuit 85 is used to measure the working condition of driving motor main body 4, then
Send measured data to MCU.
Driving circuit 82 commutates to the busbar voltage of driving motor main body 4 using its internal inverter circuit, then
The busbar output three-phase alternating current of driving motor main body 4 is electrically connected to the three-phase input side of the motor stator 41 of motor；Each stator
Winding 411 forms the fixed magnetic field in direction, and then under the action of phase commutation, motor stator 41 forms the magnetic of Periodic Rotating
, rotary speed is directly proportional to the full-bridge inverting frequency on integrated circuit modules 8；Turned by motor stator 41 and driving motor
42 effect of son generates corresponding magnetic field square, passes through 23 output torque of hollow input shaft.
After driving motor main body 4 realizes rotary motion, input end of motor encoder 6 measures the drive of driving motor main body 4
The position of dynamic rotor 42, the position of the output shaft 12 for the joint output link 1 that joint output terminal encoder 7 measures, motor
Input terminal encoder 6 and joint output terminal encoder 7 export measurement data to absolute value encoder circuit 84, absolute encoder
Device circuit 84 exports the position data of the position data of driving motor rotor 42 and output shaft 12 to MCU, and MCU is according to above-mentioned number
According to the rotary motion precision that can obtain joint final output, to realize more preferably precision controlling.In addition MCU is according to hall sensing
The working condition for the driving motor main body 4 that device circuit 85 measures determines the direction of rotation of driving motor main body 4.
Band-type brake control principle be：Skidding is being needed, external smart controller cuts off the confession of brake 51
Power supply makes the releasable armature plate 511 of magnetic-adsorption of yoke fixing end 512, carries out band-type brake action, and hollow input shaft 23 stops
Output.
The present invention joint module using mechanism, control, driving, communicating integral modularized joint mentality of designing.
Its main feature is that its reconstitution, redundancy and flexibility are good, the design cycle is short, design cost is low and are convenient for safeguarding.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of integrated joint of robot module, it is characterised in that：Including joint output link (1), harmonic speed reducer
(2), articular shell (3), driving motor main body (4), braking mechanism (5), integrated circuit modules (8)；
The joint output link (1) is for connecting exterior operator or load；The harmonic speed reducer (2) is closed for adjusting
Save the rotating speed of output link (1)；The articular shell (3) for fix harmonic speed reducer (2), driving motor main body (4), brake
Mechanism (5) and integrated circuit modules (8)；The driving motor main body (4) is used to drive according to the instruction of integrated circuit modules (8)
Harmonic speed reducer (2)；The braking mechanism (5) is according to the instruction of integrated circuit modules (8) for driving motor main body (4) armful
Lock；The integrated circuit modules (8) export according to the instruction of external host computer, the working condition of driving motor main body (4), joint
The working condition of component (1), driving driving motor main body (4)；
The harmonic speed reducer (2) includes steel wheel (21), flexbile gear (22)；The steel wheel (21) is fixed with joint output link (1)
Connection, the fixed harmonic speed reducer (2) are fixedly connected by flexbile gear (22) with articular shell (3)；The driving motor main body
(4) it is rimless direct driving motor.
2. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The integrated circuit die
Block (8) includes band-type brake circuit (81), driving circuit (82), MCU, absolute encoder circuit (84)；
The band-type brake circuit (81) exports band-type brake signal according to the instruction of the band-type brake of MCU and gives braking mechanism (5)；
The driving circuit (82) connect with driving motor main body (4), and driving motor main body is driven according to the driving instruction of MCU
(4)；
The MCU is according to the instruction of external host computer, the working condition of driving motor main body (4), the work of joint output link (1)
Make state, output driving instruction triggers driving circuit (82), output band-type brake, which instructs, gives band-type brake circuit (81)；
The absolute encoder circuit (84) is for obtaining the working condition of driving motor main body (4) and joint output link (1)
Working condition, be then output to MCU.
3. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The joint exports structure
Part (1) includes output flange (11) and output shaft (12)；Output flange (11) the connection exterior operator or load；It is described
Output shaft (12) is hollow tubular；The harmonic speed reducer (2) further includes hollow input shaft (23)；The output shaft (12) passes through
Hollow input shaft (23), there are gaps between hollow input shaft (23) and output shaft (12)；The output flange (11) and output
Axis (12) interference fit connection.
4. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The driving motor master
Body (4) includes driving motor stator (41), driving motor rotor (42)；The motor stator (41) including stator winding (411),
Stator core (412)；The stator core (411) is fixedly connected with articular shell (3), stator winding (411) and stator core
(412) it connects；The driving motor rotor (42) includes rotor rim (421), rotor magnetic steel (422)；The rotor magnetic steel
(422) uniformly on the circumference of rotor rim (421)；The harmonic speed reducer (2) further includes hollow input shaft (23), institute
Rotor rim (421) is stated to be sleeved on hollow input shaft (23) cascaded surface of harmonic speed reducer (2).
5. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The braking mechanism
(5) including brake (51) and brake transition fixing piece (52)；The brake (51) including releasable armature plate (511) and
Yoke fixing end (512)；The yoke fixing end (512) is fixedly connected with articular shell (3), the releasable armature plate
(511) it is fixedly connected with brake transition fixing piece (52), the brake transition fixing piece (52) and harmonic speed reducer (2)
Hollow input shaft (23) is fixedly connected.
6. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The articular shell
(3) T-shaped articular shell (31), ramp sleeve (32), end cap (33), transition piece (34) are further included；The joint of robot module
Further include input end of motor encoder (6), joint output terminal encoder (7)；T-shaped articular shell (31)；T-shaped articular shell (31)
In opposite both ends, wherein one end installation joint output link (1), the other end install ramp sleeve (32) and end cap successively
(33)；Transition piece (34) is fixed in T-shaped articular shell (31)；Transition piece (34) is for fixing braking mechanism (5), motor inputs
Hold encoder (6), joint output terminal encoder (7) and integrated circuit modules (8).
7. a kind of integrated joint of robot module according to one of claim 1~6, it is characterised in that：It further includes
Input end of motor encoder (6) and joint output terminal encoder (7)；The input end of motor encoder (6) drives for measuring
The working condition of motor body (4) is then output to integrated circuit modules (8)；The joint output terminal encoder (7) is for surveying
The working condition of joint output link (1) is measured, is then output to integrated circuit modules (8).
8. a kind of integrated joint of robot module according to claim 1, it is characterised in that：The harmonic speed reducer
(2) wave producer (24) and hollow input shaft (23) are further included；The joint of robot module further includes input end of motor coding
Device (6)；Wave producer (24) is connect with hollow input shaft (23)；Hollow input shaft (23) and the driving of driving motor main body (4)
The rotor rim (421) of rotor (42) is fixedly connected, while hollow input shaft (23) connects with input end of motor encoder (6)
It connects；Input end of motor encoder (6) is then output to integrated circuit modules for measuring the working condition of driving motor main body (4)
(8)。
9. a kind of integrated joint of robot module according to claim 2, it is characterised in that：The integrated circuit die
Block (8) further includes Hall sensor circuit (85), and Hall sensor circuit (85) is for measuring the driving of driving motor main body (4)
The position of the rotor rim (421) of rotor (42).
10. a kind of integrated joint of robot module according to claim 1, it is characterised in that：It is defeated to further include motor
Enter to hold encoder (6), joint output terminal encoder (7)；
The rotor of the driving motor main body (4) is fixedly connected, while driving motor main body with the input terminal of harmonic speed reducer (2)
(4) driving motor rotor (42) is fixedly connected with the turning end of braking mechanism (5)；The output terminal of the harmonic speed reducer (2)
It is fixedly connected with joint output link (1)；The joint output link (1) connects with exterior operator or load；The brake
The turning end of mechanism of car (5) is hollow with the driving motor rotor (42) of driving motor main body (4) and harmonic speed reducer (2) simultaneously
Input shaft (23) is fixedly connected with；The turning end and the input terminal of harmonic speed reducer (2) of the input end of motor encoder (6) are consolidated
Fixed connection；The turning end of the joint output terminal encoder (7) is fixedly connected with the output shaft (12) of joint output link (1)；
The articular shell (3) and the fixing end of harmonic speed reducer (2), the stator of driving motor main body (4), braking mechanism (5) are consolidated
Fixed end, the fixing end of input end of motor encoder (6), the fixing end of joint output terminal encoder (7), integrated circuit modules (8)
It is fixedly connected with.
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| CN201810117488.4A CN108247668A (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810117488.4A CN108247668A (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
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| CN108247668A true CN108247668A (en) | 2018-07-06 |
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| CN201810117488.4A Pending CN108247668A (en) | 2018-02-06 | 2018-02-06 | A kind of integrated joint of robot module |
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| CN108705328A (en) * | 2018-07-25 | 2018-10-26 | 深圳市科益展自动化有限公司 | Hollow harmonic wave platform |
| CN109262614A (en) * | 2018-10-12 | 2019-01-25 | 清华大学深圳研究生院 | A kind of joint of robot mould group kinetic control system and its method |
| CN110666830A (en) * | 2019-09-19 | 2020-01-10 | 东莞市本润机器人科技股份有限公司 | Robot joint module that integrates |
| CN110666831A (en) * | 2019-09-19 | 2020-01-10 | 东莞市本润机器人科技股份有限公司 | Lightweight multi-joint module of robot |
| CN110722595A (en) * | 2019-10-29 | 2020-01-24 | 上海交通大学 | Robot integrated driving joint module |
| CN110919688A (en) * | 2019-11-30 | 2020-03-27 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN111761608A (en) * | 2020-07-09 | 2020-10-13 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| CN112476475A (en) * | 2020-11-18 | 2021-03-12 | 北京镁伽机器人科技有限公司 | Robot joint and robot |
| CN112706156A (en) * | 2020-12-23 | 2021-04-27 | 德鲁动力科技(成都)有限公司 | Robot joint motor and joint |
| CN114932581A (en) * | 2022-06-10 | 2022-08-23 | 浙江环动机器人关节科技有限公司 | Joint module and heat abstractor of cooperation robot |
| CN115102310A (en) * | 2022-08-24 | 2022-09-23 | 中智电气南京有限公司 | Robot joint arm magnetic field modulation direct-drive motor |
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| CN111761608A (en) * | 2020-07-09 | 2020-10-13 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| CN111761608B (en) * | 2020-07-09 | 2021-11-16 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| CN112476475A (en) * | 2020-11-18 | 2021-03-12 | 北京镁伽机器人科技有限公司 | Robot joint and robot |
| CN112706156A (en) * | 2020-12-23 | 2021-04-27 | 德鲁动力科技(成都)有限公司 | Robot joint motor and joint |
| CN114932581A (en) * | 2022-06-10 | 2022-08-23 | 浙江环动机器人关节科技有限公司 | Joint module and heat abstractor of cooperation robot |
| CN114932581B (en) * | 2022-06-10 | 2024-07-09 | 浙江环动机器人关节科技股份有限公司 | Joint module and heat abstractor of cooperation robot |
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| CN115102310A (en) * | 2022-08-24 | 2022-09-23 | 中智电气南京有限公司 | Robot joint arm magnetic field modulation direct-drive motor |
| EP4349546A1 (en) * | 2022-10-08 | 2024-04-10 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
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