CN108858276A - Modularized joint - Google Patents
Modularized joint Download PDFInfo
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- CN108858276A CN108858276A CN201810812460.2A CN201810812460A CN108858276A CN 108858276 A CN108858276 A CN 108858276A CN 201810812460 A CN201810812460 A CN 201810812460A CN 108858276 A CN108858276 A CN 108858276A
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- Prior art keywords
- gear
- joint
- output end
- elastic component
- modularized
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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
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a kind of modularized joints comprising sets reeded gear of output end, axial depression of the groove along gear of output end；Modularized joint further includes metal composite elastic component, and metal composite elastic component is embedded in groove, and the central axis of metal composite elastic component is overlapped with the central axis of gear of output end, and metal composite elastic component includes：One end of metal framework, metal framework is fixedly connected with hollow output shaft, the other end the extending radially outwardly along gear of output end of metal framework, and is resisted against the inner surface of groove；And Flexible element, Flexible element are filled in metal framework, and are fixedly connected with the inner surface of the groove of gear of output end.Modularized joint of the invention passes through setting metal composite elastic component; the rigidity of modularized joint is reduced, so that modularized joint has essential flexibility, increases the safety of modularized joint; it is capable of providing mechanical oscillation protection simultaneously, reduces the probability of abrasion and the failure of gear.
Description
Technical field
The present invention relates to a kind of modularized joints.
Background technique
With the explosive growth of intelligence manufacture and emerging service industrial application, safety just becomes robot and Department of Automation
The key Design requirement of system.Since the modularized joint of power Shared control has essential submissive and stress sense property, assembling and
At robot be believed to meet security requirement.For realize modularized joint power Shared control, usually in joint
Be added rubber spring or metal spring, but rubber spring there are hysteresis, it is non-linear and easy to aging the defects of, and metal spring
In the presence of the defects of structure is complicated and difficult processing.Also, there is also self weight height, volume are big, integrated for current existing modularized joint
The problems such as low, precision is low and replaceability is poor is spent, limits it in the application and popularization of robot market.
Summary of the invention
The technical problem to be solved by the present invention is to be to realize the power Shared control of modularized joint to overcome the prior art,
It is added rubber spring or metal spring usually in modularized joint, but there are hysteresis, non-linear and easily old for rubber spring
The defect of change, and metal spring provides a kind of modularized joint in the presence of structure is complicated and unmanageable defect.
The present invention is to solve above-mentioned technical problem by following technical proposals：
A kind of modularized joint, the modularized joint include gear of output end, it is characterized in that, the gear of output end
An end face be equipped with groove, axial depression of the groove along the gear of output end；The modularized joint further includes metal
Composite elastic part, the metal composite elastic component are embedded in the groove, and the central axis of the metal composite elastic component
It is overlapped with the central axis of the gear of output end, the metal composite elastic component includes：
One end of metal framework, the metal framework is fixedly connected with hollow output shaft, the other end of the metal framework
Along extending radially outwardly for the gear of output end, and it is resisted against the inner surface of the groove；And
Flexible element, the Flexible element are filled in the metal framework, and with the groove of the gear of output end
Inner surface is fixedly connected.
In the technical scheme, by the way that metal composite elastic component is arranged, the rigidity of modularized joint is reduced, so that module
Changing joint has essential flexibility, increases the safety of modularized joint, while being capable of providing mechanical oscillation protection, reduces
The probability of abrasion and the failure of gear；Compared with rubber spring in the prior art, metal composite elastic component quality is lighter；
Compared with rubber spring, metal composite elastic component has better mechanical property, can also overcome to a certain extent since rubber is old
Change the defect so that joint accuracy decline.Meanwhile by the way that metal composite elastic component to be set in the groove of gear of output end, make
It is more compact to obtain modularized joint structure.
Preferably, the metal framework successively includes pedestal and frame master along the radial direction of the metal framework from the inside to the outside
Body, the pedestal are fixedly connected with the chassis body, and the pedestal is fixedly connected by fixing piece with the hollow output shaft,
The Flexible element is filled in the chassis body.
Preferably, the chassis body is turbine-like structure, the chassis body includes multiple metal clips, multiple described
Metal clips being arranged radially along the pedestal, and be spaced apart along the circumferentially equidistant of the pedestal.
Preferably, the chassis body is hexagonal honeycomb shape structure.
Preferably, the inner surface of the groove is coated with adhesive coatings, the adhesive coatings are single for bonding the elasticity
The first and gear of output end.
In the technical scheme, by groove inner surface coat adhesive coatings, make the Flexible element with it is described defeated
Outlet gear is bonded together, fixedly more secured.
Preferably, the modularized joint further includes shell, the shell includes the joint output for being oppositely arranged and connecting
End housing and joint input end housing, and joint output end housing and joint input end housing are formed around with an appearance
Chamber is set, the joint output end housing is equipped with output end plate, and the output end plate is flexibly connected with joint output end housing,
The hollow output shaft is located in the accommodating cavity, and one end of the hollow output shaft is fixedly connected with the output end plate,
The other end of the hollow output shaft is arranged in the joint input end housing, offers input on the joint input end housing
Connecting hole is held, offers output end connecting hole on the output end plate.
In the technical scheme, it is fixedly connected by the way that one end of hollow output shaft is arranged with output end plate, hollow output shaft
The other end be arranged in joint input end housing, that is, realize hollow output shaft to wearing joint output end housing and joint input terminal
Shell, formed it is hollow walk spool mode, solve route winding and wear problem, increase the motion range of mechanical arm.
Preferably, the modularized joint further includes：
Flat motor, the flat motor are fixed on the inner surface of the joint output end housing；
Harmonic speed reducer, the harmonic speed reducer are connected on the output shaft of the flat motor；
Input end gear, the input end gear are fixed on the output shaft of the harmonic speed reducer, the input end tooth
Wheel is engaged with the gear of output end, and the centerline axis parallel of the input end gear is in the central axis of the gear of output end
Line；
Wherein, the flat motor, the harmonic speed reducer, the input end gear, the equal position of the gear of output end
In in the accommodating cavity.
In the technical scheme, the transmission for adding gear pair to realize big retarding ratio by the way that harmonic speed reducer is arranged, so that joint
It can be using the motor of small torque as driving；A series of harmonic speed reducer with different reduction ratio can be replaced mutually, therefore
The Seriation Design in joint may be implemented.Meanwhile the centerline axis parallel by the way that input end gear is arranged is in the output end tooth
The central axis of wheel, the i.e. mode of the driving of parallel axes realize the flattening design of joint structure.
Preferably, the modularized joint further includes：
Absolute angle coder, the absolute angle coder include absolute angle coder magnet ring and absolute type
Angular encoder readings head, the absolute angle coder reading head are fixed on the inner surface of the joint output end housing,
The absolute angle coder magnet ring is fixed in positioning shaft shoulder, the positioning shaft shoulder and the fixed company of the hollow output shaft
It connects；
Incremental angle encoder, the incremental angle encoder are set on the output shaft of the harmonic speed reducer；
Wherein, the absolute angle coder is connect with integrated circuit board with the incremental angle encoder, and
The absolute angle coder, the incremental angle encoder, the integrated circuit board are respectively positioned in the accommodating cavity.
In the technical scheme, by the way that absolute angle coder, incremental angle encoder and integrated circuit board is arranged,
It realizes double angular encoders and carries out closed loop feedback control, convert angle control problem for Torque Control problem, pass through detection
The deflection of metal composite elastic component realizes accurate Torque Control, while reducing torque sensor, reduces joint
Cost.
Preferably, the modularized joint further includes output bearing, the output bearing is located in the accommodating cavity, described
Hollow output shaft is installed on the inner ring of the output bearing, and the gear of output end is installed on the outer ring of the output bearing.
Preferably, the central axis of the hollow output shaft is overlapped with the central axis of the gear of output end, it is described in
Empty output shaft has connection bump along extending radially outwardly for the gear of output end, and the fixing piece is along the hollow output shaft
Axially be arranged in the metal framework of the connection bump Yu the metal composite elastic component, and the fixation connection bump with it is described
The metal framework of metal composite elastic component；
Baffle is additionally provided between the connection bump and the metal composite elastic component, the baffle is covered in the metal
The end face of composite elastic part.
The positive effect of the present invention is that：
Modularized joint of the invention reduces the rigidity of modularized joint by setting metal composite elastic component, so that
Modularized joint has essential flexibility, increases the safety of modularized joint, while being capable of providing mechanical oscillation protection, subtracts
The probability of abrasion and the failure of gear is lacked.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the modularized joint of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view in the direction A in Fig. 1.
Fig. 3 is the schematic diagram of the section structure in the direction B-B in Fig. 1.
Fig. 4 is metal composite elastic component, fixing piece, baffle and the output end of 1 modularized joint of the embodiment of the present invention
The schematic perspective view of gear.
Fig. 5 is the schematic diagram of the section structure of Fig. 4.
Fig. 6 is metal composite elastic component, fixing piece, baffle and the output end of 2 modularized joints of the embodiment of the present invention
The schematic perspective view of gear.
Fig. 7 is the schematic diagram of the section structure of Fig. 6.
Description of symbols
Shell 10
Joint exports end housing 11
Joint inputs end housing 12
Input terminal connecting hole 121
Accommodating cavity 13
Flat motor 21
The output shaft 211 of flat motor
Harmonic speed reducer 22
The output shaft 221 of harmonic speed reducer
Input end gear 23
Gear of output end 31
Groove 311
Metal composite elastic component 32
Metal framework 321
Flexible element 322
Pedestal 323
Chassis body 324
Metal clips 325
Hollow output shaft 33
Connection bump 331
Export bearing 34
Absolute angle coder 41
Absolute angle coder reading head 411
Absolute angle coder magnet ring 412
Incremental angle encoder 42
Integrated circuit board 43
Export end plate 51
Output end connecting hole 511
Baffle 52
Spring compression end cap 53
Positioning shaft shoulder 54
Fixing piece 61
Positioning bolt 62
Location nut 63
Shoulder positioning pin 64
The central axis L of gear of output end
Specific embodiment
The embodiment for further illustrating the present invention below by the mode of embodiment, but therefore not limiting the present invention to
Among range.
Embodiment 1
Understood incorporated by reference to Fig. 1-Fig. 5, the implementation case provides a kind of modularized joint, and modularized joint includes：Shell
Body 10, flat motor 21, harmonic speed reducer 22, input end gear 23, gear of output end 31, metal composite elastic component 32, in
Empty output shaft 33, output bearing 34, absolute angle coder 41, incremental angle encoder 42, integrated circuit board 43.
One end face of gear of output end 31 is equipped with groove 311, axial depression of the groove 311 along gear of output end 31；Metal
Composite elastic part 32 is embedded in groove 311, and the central axis of the central axis of metal composite elastic component 32 and gear of output end
Line L is overlapped.In this way, by metal composite elastic component 32 being set in the groove 311 of gear of output end 31, so that modularization is closed
Section structure is more compact.
Metal composite elastic component 32 includes：Metal framework 321 and Flexible element 322.One end of metal framework 321 with it is hollow
Output shaft 33 is fixedly connected, the other end the extending radially outwardly along gear of output end 31 of metal framework 321, and is resisted against groove
311 inner surface；Flexible element 322 is filled in metal framework 321, and the inner surface with the groove of gear of output end 31 311
It is fixedly connected.
In this way, the rigidity of modularized joint is reduced by setting metal composite elastic component 32, so that modularized joint has
There is essential flexibility, increase the safety of modularized joint, while being capable of providing mechanical oscillation protection, reduces the mill of gear
Damage and the probability to break down；Compared with rubber spring in the prior art, 32 mass of metal composite elastic component is lighter；With rubber
Spring is compared, and metal composite elastic component 32 has better mechanical property, can also be overcome to a certain extent since ageing of rubber makes
Obtain the defect of joint accuracy decline.
Specifically, as shown in Figure 5, metal framework 321 successively includes pedestal along the radial direction of metal framework 321 from the inside to the outside
323 and chassis body 324, pedestal 323 be fixedly connected with chassis body 324, pedestal 323 pass through fixing piece 61 and hollow output shaft
33 are fixedly connected, and Flexible element 322 is filled in chassis body 324.Chassis body 324 is hexagonal honeycomb shape structure.Six sides
The chassis body 324 of shape honeycomb structure is integrally formed using 3D printing, in the elasticity of hexagonal honeycomb shape inside configuration filling
The material of unit 322 is natural rubber or synthetic rubber.By being directly molded Flexible element in hexagonal honeycomb shape structure
322, so that Flexible element 322 is directly fixed on the inner surface of the groove 311 of gear of output end 31.Using hexagonal honeycomb shape
The metal composite elastic component 32 of structure has mechanical property more better than rubber spring, while can also overcome due to ageing of rubber
And make the defect of joint control accuracy decline.In the present embodiment, the shape of pedestal 323 is annulus shape.
In the present embodiment, the inner surface of groove 311 is coated with adhesive coatings (not indicating in figure), and adhesive coatings are for gluing
Close Flexible element 322 and gear of output end 31.In this way, coating adhesive coatings by the inner surface in groove 311, make Flexible element
322 are bonded together with gear of output end 31, fixedly more secured.Specifically, adhesive coatings are crystallite calcium modified coating, micro-
The material of brilliant calcium modified coating is crystallite calcium modified coating, is commercial product.
Shell 10 includes the joint output end housing 11 and joint input end housing 12 for being oppositely arranged and connecting, and joint is defeated
End housing 11 and joint input end housing 12 are formed around with an accommodating cavity 13 out, and joint exports end housing 11 and is equipped with output end plate
51, output end plate 51 is flexibly connected with joint output end housing 11, and hollow output shaft 33 is located in accommodating cavity 13, and hollow output
One end of axis 33 is fixedly connected with output end plate 51, and the other end of hollow output shaft 33 is arranged in joint input end housing 12, is closed
Input terminal connecting hole 121 is offered on section input end housing 12, exports and offers output end connecting hole 511 on end plate 51.Specifically
Ground, output end plate 51 are installed on one end of hollow output shaft 33 by circumferentially uniformly distributed screw, and output end connecting hole 511 is along output
The circumferential direction of end plate 51 is uniformly distributed.It is connect by output end connecting hole 511 with other joints or part, to realize output；It is logical
It crosses input terminal connecting hole 121 to connect with other joints or part, to realize input.
In this way, by setting hollow output shaft 33 one end with export end plate 51 be fixedly connected, hollow output shaft 33 it is another
One end is arranged in joint input end housing 12, that is, realizing hollow output shaft 33, joint exports end housing 11 and joint inputs to wearing
End housing 12, formed it is hollow walk spool mode, solve route winding and wear problem, increase the motion range of mechanical arm.
Flat motor 21 is fixed on the inner surface of joint output end housing 11.Harmonic speed reducer 22 is connected to flat electricity
On the output shaft 211 of machine.Input end gear 23 is fixed on the output shaft 221 of harmonic speed reducer, input end gear 23 and output
End tooth wheel 31 engages, and the centerline axis parallel of input end gear 23 is in the central axis L of gear of output end.In this way, by setting
It sets harmonic speed reducer 22 plus gear pair realizes the transmission of big retarding ratio, allow joint using the motor of small torque as drive
It is dynamic；A series of harmonic speed reducer 22 with different reduction ratio can be replaced mutually, therefore the Seriation Design in joint may be implemented.
Meanwhile the centerline axis parallel by the way that input end gear 23 is arranged is in the central axis L of gear of output end, i.e. the driving of parallel axes
Mode realizes the flattening design of joint structure.In the present embodiment, the diameter of gear of output end 31 is greater than input end gear
23 diameter.
Absolute angle coder 41 includes absolute angle coder magnet ring 412 and absolute angle coder reading head
411, absolute angle coder reading head 411 is fixed on the inner surface of joint output end housing 11, absolute angle coder
Magnet ring 412 is fixed in positioning shaft shoulder 54, and positioning shaft shoulder 54 is fixedly connected with hollow output shaft 33.Incremental angle encoder 42
On the output shaft 221 of harmonic speed reducer.Incremental angle encoder 42 is used to measure the angle position of the rotation of input end gear 23
Shifting amount.Integrated circuit board 43 is fixed on joint by screw and exports on end housing 11.Wherein, absolute angle coder 41 and increasing
Amount formula angular encoder 42 is connect with integrated circuit board 43.Flat motor 21 is also connect with integrated circuit board 43, i.e., flat
The lead of formula motor 21, incremental angle encoder 42 and absolute angle coder reading head 411 is both connected to integrated circuit
Plate 43, to realize the Integration Design of modularized joint.Flat motor 21, absolute angle coder 41 and increment type angle
Spending encoder 42 is commercial product.
In this way, being realized by setting absolute angle coder 41, incremental angle encoder 42 and integrated circuit board 43
Double angular encoders carry out closed loop feedback controls, by Torque Control problem convert angle control problem, pass through detection metal
The deflection of composite elastic part 32 realizes accurate Torque Control, while reducing torque sensor, reduce joint at
This.In the present embodiment, absolute angle coder reading head 411 is fixed on joint by positioning bolt 62 and location nut 63
Export the inner surface of end housing 11；Absolute angle coder magnet ring 412 is installed on positioning shaft shoulder by circumferentially uniformly distributed screw
On 54；Positioning shaft shoulder 54 is installed on hollow output shaft 33 by shaft shoulder positioning pin 64.
Gear of output end 31, metal composite elastic component 32, flat motor 21, harmonic speed reducer 22, input end gear 23,
Gear of output end 31 is respectively positioned in accommodating cavity 13.And absolute angle coder 41, incremental angle encoder 42, integrated circuit
Plate 43, output bearing 34 are respectively positioned in accommodating cavity 13.That is, each component is integrated in shell 10.
Hollow output shaft 33 is installed on the inner ring of output bearing 34, and gear of output end 31 is installed on the outer of output bearing 34
Circle.
In the present embodiment, the central axis of hollow output shaft 33 is overlapped with the central axis L of gear of output end, hollow defeated
Shaft 33 has connection bump 331 along extending radially outwardly for gear of output end 31, axial direction of the fixing piece 61 along hollow output shaft 33
It is arranged in the metal framework 321 of connection bump 331 Yu metal composite elastic component 32, and is fixedly connected with protrusion 331 and metal composite
The metal framework 321 of elastic component 32.Baffle 52 is additionally provided between connection bump 331 and metal composite elastic component 32, baffle 52 covers
It is placed on the end face of metal composite elastic component 32.In the present embodiment, fixing piece 61 is connecting pin.
In order to preferably limit to metal composite elastic component 32, spring compression end cap 53 is also set above baffle 52.
Meanwhile the lower end of harmonic speed reducer 22 is abutted against with spring compression end cap 53 and joint input end housing 12 respectively, to harmonic wave
Retarder 22 is fixed, to reduce the fixation member of harmonic speed reducer 22, keeps the overall structure of modularized joint more simple
It is clean.
The working principle of the present embodiment is：Input of the flat motor 21 as entire modularized joint, is subtracted by harmonic wave
Fast device 22, which is realized, slows down and amplifies torque.Input end gear 23 with gear of output end 31 by engaging, to drive series connection elasticity
Driving mechanism movement, series connection flexible drive mechanism include gear of output end 31, metal composite elastic component 32, baffle 52 and hollow defeated
Shaft 33.Gear of output end 31 and metal composite elastic component 32 rotate synchronously, and metal composite elastic component 32 can generate torsional deflection
And drive hollow output shaft 33 to rotate by connecting pin, to realize submissive output.By incremental angle encoder 42 and absolutely
The angle that metal composite elastic component 32 output and input is measured formula angular encoder 41 respectively, multiplied by metal composite elastic component
32 elasticity of torsion coefficient obtains output torque, provides feedback signal for the Torque Control of modularized joint, realizes that modularization is closed
Save accurate Torque Control.
That is, the present invention carries out closed loop feedback control using double angular encoders, convert Torque Control problem to
Angle control problem measures the differential seat angle at 32 both ends of metal composite elastic component by angular encoder, multiplied by metal composite elasticity
The elasticity of torsion coefficient of part 32, obtains the torque of modularized joint, realizes the Torque Control of modularized joint.Metal composite elasticity
The introducing of part 32 makes modularized joint have essential flexibility, the safety of robot is improved, so that modularized joint be made to have
Strong Shared control effect, the modularized joint solution volume of the power Shared control is big, integrated level is low, replaceability is poor and structure
The problems such as complicated.
In the prior art, there are six freedom degrees for usual mechanical arm, and to be installed according to different design requirements different
Joint, and the structure of modularized joint of the invention realizes the design requirement that six-freedom degree is able to satisfy with a kind of joint,
The parameter setting of section components in adjustment module joint is only needed, to realize modularized production, simplifies setting for robot
Meter process shortens the R&D cycle of robot, reduces research and development cost, convenient for developing new robot；Meanwhile with it is traditional
Monoblock type robot architecture compares, and modularized design improves the maintainability of robot.
Embodiment 2
As shown in Figure 6 and Figure 7, the overall structure of the modularized joint of the present embodiment is basic and embodiment 1 in structure phase
Together, different places is, the chassis body 324 in metal composite elastic component 32 is turbine-like structure, chassis body 324
Including multiple metal clips 325, multiple metal clips 325 being arranged radially along pedestal 323, and along the circumferential direction etc. of pedestal 323
Away from being spaced apart.That is metal clips 325 is uniformly distributed along the circumferencial direction of pedestal 323, using the method system of wire cutting
It makes.In the present embodiment, metal clips 325 with a thickness of 0.7mm~2mm, thus have preferable morphotropism.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of modularized joint, the modularized joint includes gear of output end, which is characterized in that the gear of output end
One end face is equipped with groove, axial depression of the groove along the gear of output end；The modularized joint further includes that metal is multiple
Close elastic component, the metal composite elastic component is embedded in the groove, and the central axis of the metal composite elastic component with
The central axis of the gear of output end is overlapped, and the metal composite elastic component includes：
One end of metal framework, the metal framework is fixedly connected with hollow output shaft, and the other end of the metal framework is along institute
Extending radially outwardly for gear of output end is stated, and is resisted against the inner surface of the groove；And
Flexible element, the Flexible element are filled in the metal framework, and the interior table with the groove of the gear of output end
Face is fixedly connected.
2. modularized joint as described in claim 1, which is characterized in that radial direction of the metal framework along the metal framework
It from the inside to the outside successively include pedestal and chassis body, the pedestal is fixedly connected with the chassis body, and the pedestal passes through solid
Determine part to be fixedly connected with the hollow output shaft, the Flexible element is filled in the chassis body.
3. modularized joint as claimed in claim 2, which is characterized in that the chassis body is turbine-like structure, the frame
Frame body includes multiple metal clips, multiple metal clips being arranged radially along the pedestal, and along the pedestal
It is circumferentially equidistant to be spaced apart.
4. modularized joint as claimed in claim 2, which is characterized in that the chassis body is hexagonal honeycomb shape structure.
5. modularized joint as described in claim 1, which is characterized in that the inner surface of the groove is coated with adhesive coatings,
The adhesive coatings are for bonding the Flexible element and the gear of output end.
6. modularized joint as described in claim 1, which is characterized in that the modularized joint further includes shell, the shell
Body includes the joint output end housing and joint input end housing for being oppositely arranged and connecting, and the joint exports end housing and institute
It states joint input end housing and is formed around with an accommodating cavity, the joint output end housing is equipped with output end plate, the output end
Disk is flexibly connected with joint output end housing, and the hollow output shaft is located in the accommodating cavity, and the hollow output
One end of axis is fixedly connected with the output end plate, and the other end of the hollow output shaft is arranged in outside the joint input terminal
Shell, the joint input on end housing and offer input terminal connecting hole, offer output end connecting hole on the output end plate.
7. modularized joint as claimed in claim 6, which is characterized in that the modularized joint further includes：
Flat motor, the flat motor are fixed on the inner surface of the joint output end housing；
Harmonic speed reducer, the harmonic speed reducer are connected on the output shaft of the flat motor；
Input end gear, the input end gear are fixed on the output shaft of the harmonic speed reducer, the input end gear with
The gear of output end engagement, and the centerline axis parallel of the input end gear is in the central axis of the gear of output end；
Wherein, the flat motor, the harmonic speed reducer, the input end gear, the gear of output end are respectively positioned on institute
It states in accommodating cavity.
8. modularized joint as claimed in claim 7, which is characterized in that the modularized joint further includes：
Absolute angle coder, the absolute angle coder include absolute angle coder magnet ring and absolute type angle
Encoder count head, the absolute angle coder reading head is fixed on the inner surface of the joint output end housing, described
Absolute angle coder magnet ring is fixed in positioning shaft shoulder, and the positioning shaft shoulder is fixedly connected with the hollow output shaft；
Incremental angle encoder, the incremental angle encoder are set on the output shaft of the harmonic speed reducer；
Wherein, the absolute angle coder is connect with integrated circuit board with the incremental angle encoder, and described
Absolute angle coder, the incremental angle encoder, the integrated circuit board are respectively positioned in the accommodating cavity.
9. modularized joint as described in claim 1, which is characterized in that the modularized joint further includes output bearing, institute
It states output bearing to be located in the accommodating cavity, the hollow output shaft is installed on the inner ring of the output bearing, the output end
Gear is installed on the outer ring of the output bearing.
10. the modularized joint as described in any one of claim 1-9, which is characterized in that in the hollow output shaft
Mandrel line is overlapped with the central axis of the gear of output end, the hollow output shaft along the gear of output end radially outward
It is extended with connection bump, the fixing piece is arranged in the connection bump along the axial direction of the hollow output shaft and the metal is multiple
Close the metal framework of elastic component, and the metal framework of the fixed connection bump and the metal composite elastic component；
Baffle is additionally provided between the connection bump and the metal composite elastic component, the baffle is covered in the metal composite
The end face of elastic component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812460.2A CN108858276B (en) | 2018-07-23 | 2018-07-23 | Modular joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812460.2A CN108858276B (en) | 2018-07-23 | 2018-07-23 | Modular joint |
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| Publication Number | Publication Date |
|---|---|
| CN108858276A true CN108858276A (en) | 2018-11-23 |
| CN108858276B CN108858276B (en) | 2020-06-16 |
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| CN201810812460.2A Active CN108858276B (en) | 2018-07-23 | 2018-07-23 | Modular joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109620652A (en) * | 2019-01-23 | 2019-04-16 | 上海理工大学 | A kind of elastic hip joint walk helper of series connection |
| CN110125976A (en) * | 2018-12-04 | 2019-08-16 | 杭州新剑机器人技术股份有限公司 | High flexibility modularized joint with the control of power position |
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| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
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| SU1368553A1 (en) * | 1986-08-20 | 1988-01-23 | О.С.Кочетов | Composite wheel |
| CN2040565U (en) * | 1988-12-05 | 1989-07-05 | 常勇 | Elestic gear |
| CN1651805A (en) * | 2004-01-19 | 2005-08-10 | Ims传动装置有限公司 | KFZ-gears and flange plate of KFZ-auxiliary transmission mechanism and method for mfg KFZ-gears |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN205371542U (en) * | 2016-01-22 | 2016-07-06 | 合肥九晟机械有限公司 | Damper gear |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125976A (en) * | 2018-12-04 | 2019-08-16 | 杭州新剑机器人技术股份有限公司 | High flexibility modularized joint with the control of power position |
| CN110125976B (en) * | 2018-12-04 | 2021-07-27 | 杭州新剑机器人技术股份有限公司 | High-flexibility modular joint with force position control |
| CN109620652A (en) * | 2019-01-23 | 2019-04-16 | 上海理工大学 | A kind of elastic hip joint walk helper of series connection |
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| CN108858276B (en) | 2020-06-16 |
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Address after: 310000 Changhua Industrial Park (Shuangta village, Changhua town), Lin'an District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Xinjian Electromechanical Transmission Co.,Ltd. Address before: 311321 Changhua Industrial Park, Lin'an City, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU SEENPIN ROBOT TECHNOLOGY CO.,LTD. |