CN110815284B - Hollow modularized joint - Google Patents
Hollow modularized joint Download PDFInfo
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- CN110815284B CN110815284B CN201911216795.9A CN201911216795A CN110815284B CN 110815284 B CN110815284 B CN 110815284B CN 201911216795 A CN201911216795 A CN 201911216795A CN 110815284 B CN110815284 B CN 110815284B
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 39
- 230000009467 reduction Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000004804 winding Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910001008 7075 aluminium alloy Inorganic materials 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001960 triggered effect Effects 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
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a hollow modularized joint, which comprises a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device, wherein the hollow shaft is connected with the shell through a connecting rod; the harmonic speed reducer is fixedly connected with the shell, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end part of the hollow shaft is connected with the harmonic speed reducer, the hollow motor is arranged corresponding to the hollow shaft so as to drive the hollow shaft to rotate, the harmonic speed reducer realizes speed reduction output on the rotation of the hollow shaft, and the hollow wiring device realizes hollow wiring of a wire inside the hollow modularized joint; the hollow wiring device solves the problem of difficult winding and wiring of the hollow wiring.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hollow modularized joint.
Background
The modularization technology is widely applied to product research and design in the robot field. The core idea of the deformable and reconfigurable robot is modularization, and the whole robot is an effective combination of a plurality of modules. As a hot spot of current robot research, compared with the traditional robot, the reconfigurable modularized robot has stronger adaptability to tasks and environments, has higher flexibility, can simplify design, manufacture and maintenance, shorten the development period, reduce the development cost and greatly enhance the flexibility and the elasticity of the system in construction.
The modularized joints are core components of the reconfigurable modularized mechanical arm and can be mainly divided into two types according to a wiring mode: an outer wiring type and a hollow inner wiring type. The whole outer wiring type is not modularized, the number of wires is large, wires are easy to wind, and the appearance is not attractive, so that the modularized joints in recent years develop towards the direction of hollow inner wiring, but the common hollow modularized joints in the market at present all need customized hardware, and the cost is high; the rest adopts modular joints of standard hardware, and has complex structure, large volume, complicated loading and unloading and poor load capacity.
In view of the above drawbacks, the present inventors have finally achieved the present invention through long-time studies and practices.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that the hollow modularized joint comprises a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device; the harmonic reducer with shell fixed connection, the cavity axle the cavity motor with the cavity is walked the line device and is all set up in the shell, the tip of cavity axle with the harmonic reducer is connected, the cavity motor corresponds the cavity axle sets up, so as to drive the cavity axle rotates, the harmonic reducer is right the rotation of cavity axle realizes the speed reduction output, the cavity is walked the line device and is realized the wire and is walked the line in the inside cavity of cavity modularization joint.
Preferably, the casing includes along first step, second step, the third step that hollow shaft axis extending direction set gradually, first step fixed mounting harmonic reducer ware, the fixed motor flange that is provided with on the second step, the fixed input flange that is provided with on the third step.
Preferably, the hollow shaft comprises a second shaft shoulder, a fourth shaft shoulder and a clamp spring groove, a hollow shaft bearing is arranged on the motor flange, one end of the hollow shaft is fixed on the harmonic reducer and positioned through the second shaft shoulder, and the other end of the hollow shaft is fixed on the hollow shaft bearing through the fourth shaft shoulder; one side of the hollow shaft bearing is positioned through the step of the motor flange, and the other side of the hollow shaft bearing is positioned through the clamp spring arranged in the clamp spring groove.
Preferably, the hollow wiring device comprises a hollow wiring pipe, an upper end cover, a lower end cover, an output plug and an input plug, and the hollow shaft is sleeved on the hollow wiring pipe; the lower end cover and the upper end cover are respectively arranged at two ends of the hollow wiring pipe, the lower end cover is fixed on the input flange, the upper end cover is fixed on the hollow wiring pipe, the output plug is fixed on the upper end cover, and the input plug is fixed on the input flange.
Preferably, a wiring tube bearing is arranged between the hollow wiring tube and the hollow shaft; one end face of the wiring pipe bearing is limited by a step through a fifth shaft shoulder in the hollow shaft, the other end face of the wiring pipe bearing is limited by a bearing end cover, and the bearing end cover is fixed on the end face of the hollow shaft.
Preferably, a notch is formed in the end portion of the hollow wiring tube fixed on the lower end cover, a wiring groove is formed in the input flange corresponding to the notch, and a wire penetrates through the notch through the wiring groove and enters the hollow wiring tube.
Preferably, an incremental encoder is arranged corresponding to the hollow shaft, and comprises a magnetic ring, a reading head and a reading head flange; the magnetic ring is fixed in a magnetic ring groove correspondingly arranged on the outer end face of the hollow shaft, the reading head is fixed on the reading head flange, and the reading head flange is fixed in a positioning manner through a reading head flange groove formed in the first step.
Preferably, the corresponding end surfaces of the reading head and the magnetic ring are parallel to the magnetic ring, and the corresponding end surfaces of the reading head and the magnetic ring are positioned at a position of 0.5mm right above the magnetic ring.
Preferably, the harmonic speed reducer is provided with a zeroing device, and the zeroing device comprises a magnet mounting device and a Hall mounting device; the magnet installation device comprises a first magnet, a limiting protrusion, a zero groove and a second magnet, wherein the zero groove is arranged on the limiting protrusion, the first magnet and the second magnet are symmetrically arranged on two sides of the limiting protrusion respectively, the magnet installation device is fixedly arranged on a flexible wheel of the harmonic speed reducer, the Hall installation device comprises a first limiting Hall, a second limiting Hall, a zeroing Hall and a zeroing protrusion, the first limiting Hall corresponds to positive electronic limiting, negative electronic limiting and zeroing operations of the zeroing device respectively, the first limiting Hall corresponds to the second limiting Hall, the zeroing Hall is fixedly arranged on a steel wheel of the harmonic speed reducer, and the first magnet and the second magnet are arranged on the same.
Preferably, a control device is further arranged in the shell, and the control device is connected with the hollow wiring device, the hollow motor, the braking device, the incremental encoder and the zero return device; the control device comprises a servo driver, a driver flange and a power supply conversion module; the servo driver is fixed on the driver flange, the driver flange is fixed on the input flange, the power conversion module is fixed on the input flange, the servo driver is arranged corresponding to the hollow motor, and the power conversion module is connected with the input plug, the servo driver and the brake.
Compared with the prior art, the invention has the beneficial effects that: the hollow wiring device solves the problem of difficult winding and wiring of the hollow wiring; the two ends of the joint are electrically connected through the input plug and the output plug, so that the joint electric device can be quickly and reliably connected with the next joint.
Drawings
FIG. 1 is an elevational cross-sectional view of the hollow modular joint;
FIG. 2 is a side cross-sectional view of the hollow modular joint;
FIG. 3 is a perspective view of the hollow modular joint;
FIG. 4 is a structural view of the housing;
FIG. 5 is a structural view of the harmonic reducer;
FIG. 6 is a structural view of the hollow shaft;
FIG. 7 is a cross-sectional view of the hollow shaft;
FIG. 8 is a structural view of the motor flange;
FIG. 9 is a structural view of the input flange;
FIG. 10 is a structural view of the brake device;
fig. 11 is a structural view of the magnet mounting device;
FIG. 12 is a structural view of the Hall mounting device;
Fig. 13 is a structural view of the hollow cabling pipe.
The figures represent the numbers:
1-harmonic reducer; 2-magnet mounting means; 3-Hall mounting means; 4-a housing; 5-a hollow shaft; 6-rotor; 7-a stator; 8-a servo driver; 9-a driver flange; 10-a hollow wiring tube; 11-a motor flange; 12-an input plug; 13-hollow shaft bearings; 14-an input flange; 15-a lower end cap; 16-brake; 17-rotor hub; an 18-power conversion module; 19-a magnetic ring; 20-reading head; 21-a reading head flange; 22-wiring tube bearings; 23-bearing end caps; 24-outputting plugs; 25-an upper end cap; 0101-wave generator; 0102-steel wheels; 0103-flexspline; 0104-magnet mounting means positioning slots; 0201-a first magnet; 0202-limit bump; 0203-zero grooves; 0204-a second magnet; 0301-a first limit hall; 0302-second limit Hall; 0303-return-to-zero Hall; 0304-zeroing protrusions; 0401-first step; 0402-second step; 0403-third step; 0501-a first shoulder; 0502-second shoulder; 0503-third shoulder; 0505-fourth shoulder; 0506-clip spring grooves; 0507-fifth shoulders; 1701-circular shoulders; 1702-rectangular shoulder.
Detailed Description
The above and further technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1,2 and 3, fig. 1 is a front cross-sectional view of the hollow modular joint; FIG. 2 is a side cross-sectional view of the hollow modular joint; FIG. 3 is a perspective view of the hollow modular joint; the hollow modularized joint comprises a harmonic reducer 1, a shell 4, a hollow shaft 5, a hollow motor and a hollow wiring device; the harmonic reducer 1 with shell 4 fixed connection, cavity axle 5 the cavity motor with the cavity is walked the line device and is all set up in the shell 4, the tip of cavity axle 5 with harmonic reducer 1 connects, the cavity motor corresponds cavity axle 5 sets up, so as to drive cavity axle 5 rotates, harmonic reducer 1 is right the rotation of cavity axle 5 realizes the speed reduction output, the cavity is walked the line device and is realized the wire and be in cavity inside the modularization joint walks the line.
Preferably, the harmonic reducer 1 is further provided with a zeroing device, and the zeroing device is used for realizing zeroing operation of the hollow modularized joint; an incremental encoder is also arranged corresponding to the hollow shaft 5, and is used for feeding back the speed and the position of the hollow motor; the end of the hollow shaft 5 is also provided with a braking device for forcedly decelerating and stopping the hollow shaft.
Generally, a control device is further disposed in the housing 4, and the control device is connected with the hollow wiring device, the hollow motor, the braking device, the incremental encoder, and the zeroing device, and is configured to convert a power provided by the hollow wiring device into power provided by the hollow motor, the braking device, the incremental encoder, and the zeroing device, and collect data information of the braking device, the incremental encoder, and the zeroing device, so as to implement overall control of the hollow modular joint.
Example two
As shown in fig. 4, fig. 4 is a structural view of the housing; the shell 4 comprises three-stage mounting surfaces, wherein the three-stage mounting surfaces are a first step 0401, a second step 0402 and a third step 0403 which are sequentially arranged along the extending direction of the axis of the hollow shaft, and each stage of step is provided with a positioning spigot to ensure the coaxiality of all mounting parts; specifically, the first step 0401 is used for fixedly mounting the harmonic reducer 1 and the incremental encoder, the second step 0402 is fixedly provided with a motor flange 11, and the third step 0403 is fixedly provided with an input flange 14.
The shell 4, the harmonic reducer 1, the hollow shaft 5, the hollow motor, the motor flange 11, the braking device, the input flange 14 and the hollow wiring device are sequentially installed on the same axis.
Preferably, the shell 4 is made of 7075 aluminum alloy, so that the shell is good in processability, light in weight and high in strength, and the coaxiality among all step spigots and the precision of all processing surfaces are well ensured by adopting an integrated processing mode.
As shown in fig. 5, fig. 5 is a structural view of the harmonic reducer; the harmonic reducer 1 includes wave generator 0101, steel wheel 0102, flexspline 0103, harmonic reducer 1 passes through the tang location of first step 0401 and fixed connection are in on the first step 0401, thereby guarantee harmonic reducer 1 with the axiality of shell 4, flexspline flange on flexspline 0103 is as output flange transmission, can make transmission clearance little, the transmission compactness. The flexible gear flange is provided with a magnet installation device positioning groove 0104, and the magnet installation device positioning groove 0104 is used for fixing the zeroing device.
As shown in fig. 6 and 7, fig. 6 is a structural view of the hollow shaft; FIG. 7 is a cross-sectional view of the hollow shaft; the hollow shaft 5 comprises a fourth-stage outer shaft shoulder and a first-stage inner shaft shoulder, the fourth-stage outer shaft shoulder is a first shaft shoulder 0501, a second shaft shoulder 0502, a third shaft shoulder 0503 and a fourth shaft shoulder 0505 in sequence, and the first-stage inner shaft shoulder is a fifth shaft shoulder 0507. One end of the hollow shaft 5 is fixed on the wave generator 0101 through a jackscrew, the first shaft shoulder 0501 is used as a positioning surface of the hollow shaft 5 and the wave generator 0101, the second shaft shoulder 0502 is used for fixing the position relationship between the hollow shaft 5 and the harmonic reducer 1, and the other end of the hollow shaft is fixed on the hollow shaft bearing 13 through the fourth shaft shoulder 0505.
As shown in fig. 8 and 9, fig. 8 is a structural view of the motor flange; FIG. 9 is a structural view of the input flange; the hollow shaft bearing 13 is fixed through the motor flange 11, the motor flange 11 is a D-shaped part, and is positioned and fixedly connected to the second step 0402 through a spigot on the second step 0402, so that coaxiality of the motor flange 11 and the shell 4 is ensured; one side of the hollow shaft bearing 13 is positioned through a step of the motor flange 11, and the other side is positioned through a clamp spring; specifically, the snap spring is installed in a snap spring groove 0506 on the hollow shaft 5, so that the relative positions of the hollow shaft bearing 13, the motor flange 11 and the hollow shaft 5 are stable.
The hollow motor comprises a stator 7 and a rotor 6, the rotor 6 is positioned and fixed on the hollow shaft 5 through a third shaft shoulder 0503, the stator 7 is positioned through a spigot on a motor flange 11 and fixed on the motor flange 11 through a screw, so that coaxiality between the rotor 6 and the stator 7 in the hollow motor is ensured.
The hollow wiring device comprises a hollow wiring pipe 10, a wiring pipe bearing 22, a bearing end cover 23, an upper end cover 25, a lower end cover 15, an output plug 24 and an input plug 12. The hollow wiring pipe 10 is arranged in the hollow shaft 5, namely the hollow shaft 5 is sleeved on the hollow wiring pipe 10; the lower end cover 15 and the upper end cover 25 are respectively arranged at two ends of the hollow wiring pipe 10, the lower end cover 15 is fixed on the input flange 14 through screws, and the upper end cover 25 is fixed on the hollow wiring pipe 10 through screws.
The wire pipe bearing 22 is arranged between the hollow wire pipe 10 and the hollow shaft 5; one end face of the wiring pipe bearing 22 is limited by a step through the fifth shaft shoulder 0507 in the hollow shaft 5, the other end face is limited by the bearing end cover 23, and the bearing end cover 23 is fixed on the end face of the hollow shaft 5 through a screw. The output plug 24 is fixed on the upper end cover 25 through the nut, the input plug 12 is fixed on the input flange 14 through the nut, the input plug 12 and the output plug 24 are gold-plated aviation plugs, and the service life of the plug is longer than ten thousand times.
The end part of the hollow wiring tube 10 fixed on the lower end cover 15 is provided with a notch, and the input flange 14 corresponding to the notch is provided with a wiring groove, and a wire can pass through the notch through the wiring groove to enter the hollow wiring tube 10, so that the wire enters the hollow wiring tube 10 from the inside of a joint, namely, the hollow wiring is realized.
The hollow wiring pipe in the hollow wiring device adopts a thin-wall pipe fitting, one end of the thin-wall pipe fitting is positioned by a shaft shoulder of the hollow wiring pipe, the other end of the thin-wall pipe fitting is fixed by the expansion of a conical surface of the lower end cover, the lower end cover is fixed on the input flange through a screw, a 90-degree opening is formed in the hollow wiring pipe, and a wiring groove is formed in the input flange corresponding to the opening, so that the problem of difficult winding and wiring of the hollow wiring is solved; the two ends of the joint are electrically connected through the input plug and the output plug, so that the joint electric device can be quickly and reliably connected with the next joint.
As shown in fig. 10, fig. 10 is a structural view of the brake device; the braking device comprises a rotor hub 17 and a brake 16. The two ends of the rotor hub 17 are respectively provided with a round shaft shoulder 1701 and a rectangular shaft shoulder 1702, the round shaft shoulder 1701 is matched with the hollow shaft 5 and is fixed on the hollow shaft 5 through a jackscrew, the rectangular shaft shoulder 1702 is matched with the brake 16, and the brake 16 is fixed on the input flange 14 through a screw; the input flange 14 is positioned by the third step 0403 and is fastened to the housing 4 by screws. Specifically, the friction plate of the brake 16 is disposed in engagement with the rectangular shoulder 1702.
The harmonic reducer 1, the hollow motor, the brake 16, the hollow shaft 5 and the rotor hub 17 selected by the invention are all large-aperture hollow devices.
As shown in fig. 11, 12 and 13, fig. 11 is a structural view of the magnet mounting device; FIG. 12 is a structural view of the Hall mounting device; FIG. 13 is a structural view of the hollow cabling pipe; the incremental encoder comprises a magnetic ring 19, a reading head 20 and a reading head flange 21. The magnetic ring 19 is glued in a corresponding magnetic ring groove on the hollow shaft 5 through a self-carrying back adhesive, the reading head 20 is fixed on the reading head flange 21 through a screw, the reading head flange 21 is positioned through a reading head flange groove formed in the first step 0401 and is fixed on the first step 0401 through a screw, so that the lower end face of the reading head 20 is ensured to be parallel to the magnetic ring 19, and the lower end face of the reading head 20 is positioned at a position of 0.5mm right above the magnetic ring 19, and stable reading of the reading head 20 is realized.
The zeroing device comprises a magnet mounting device 2 and a Hall mounting device 3; as shown in fig. 10 and 11, fig. 10 is a structural view of the magnet mounting unit; FIG. 11 is a structural view of the Hall mounting device; the magnet installation device 2 comprises a first magnet 0201, a limiting protrusion 0202, a zero-position groove 0203 and a second magnet 0204, wherein the zero-position groove 0203 is arranged on the limiting protrusion 0202, the first magnet 0201 and the second magnet 0204 are symmetrically arranged on two sides of the limiting protrusion 0202 respectively, and the magnet installation device 2 is installed in the magnet installation device locating groove 0104 through screws, namely, the first magnet 0201 and the second magnet 0204 rotate along with the flexible wheel 0103.
The Hall installation device 3 comprises a first limiting Hall 0301, a second limiting Hall 0302, a zero return Hall 0303 and a zero return protrusion 0304, wherein the first limiting Hall 0301, the second limiting Hall 0302 and the zero return Hall 0303 respectively correspond to positive electronic limiting, negative electronic limiting and zero return operations of the zero return device, the first limiting Hall 0301, the second limiting Hall 0302 and the zero return Hall 0303 correspond to the first magnet 0201 and the second magnet 0204, and the Hall installation device 3 is fixed on the steel wheel 0102 through screws.
The magnet mounting device 2 is provided with a limiting bulge 0202 which forms a mechanical limiting device together with a screw for mounting the Hall mounting device 3; the magnet mounting device 2 is provided with a zero groove 0203, the Hall mounting device 3 is provided with a zero-return protrusion 0304, and the zero-return protrusion 0304 and the zero-return protrusion are matched to achieve the mechanical zero-return function of the joint.
The zero resetting device consists of a magnet mounting device, a round magnet, three Hall elements and a Hall mounting device. The magnet mounting device is provided with two circular magnets, three Hall elements are arranged in the Hall mounting device, the magnets rotate on the flexible wheel along with the Hall mounting device, and the Hall elements are triggered to realize positive electronic limit, negative electronic limit and zero return functions; the magnet mounting device is provided with a bulge, and the bulge and a screw for mounting the Hall mounting device form a mechanical limiting device; the magnet installation device is provided with a groove, the Hall installation device is provided with a bulge, and the two are matched to achieve the mechanical zeroing function of the joint.
The control device comprises a servo driver 8, a driver flange 9 and a power supply conversion module 18. The servo driver 8 is fixed on the driver flange 9 through screws, the driver flange 9 is fixed on the motor flange 10 through screws, the power conversion module 18 is fixed on the motor flange 10 through screws, the servo driver 8 is arranged corresponding to the hollow motor, and the power conversion module 18 is connected with the input plug 12, the servo driver 8 and the brake 16 so as to convert a power supply provided by the input plug 12 and provide corresponding currents for the servo driver 8 and the brake 16.
The working principle of the invention is as follows: the external PC sends an instruction to the servo driver 8, the servo driver 8 controls the hollow motor to work, the rotor 6 of the hollow motor rotates to drive the hollow shaft 5 to rotate, torque is transmitted to the harmonic reducer 1, the steel wheel 0102 of the harmonic reducer 1 is fixed and the flexible wheel 0103 is output, the flexible wheel flange is directly used as an output flange to be output, and the flexible wheel flange is connected with the connecting rod. The incremental encoder is used for feeding back the speed and position of the hollow motor, and feeds back the speed and position parameters of the hollow motor to the servo driver 8, so that the speed and position parameters are displayed and fed back at an external PC end.
The specific working process of the invention is as follows: an external 48V direct current power supply supplies power to the hollow modularized joint, the direct current power supply supplies power to the power conversion module 18 through the input plug 12, and the power conversion module 18 divides the 48V power supply into 2 paths: one path of 48V supplies power to the servo driver 8, the other path of 24V supplies power to the brake 16, the servo driver 8 supplies power to the hollow motor through three U/V/W lines, and the Hall installation device 3 and the incremental encoder are supplied with power through a self-contained I0; an external PC sends an instruction to the servo driver 8, the hollow motor enters a servo state, and simultaneously the brake 16, the Hall sensor and the encoder are electrified; before each joint normally works, carrying out zero-returning work, wherein the hollow motor is operated to the position of the zero-returning Hall 0303 outside detection to stop movement, slowly moves to the mechanical zero point, defines the zero point as a joint origin, and the encoder indication is 0; the joint can then function normally.
The foregoing description of the preferred embodiment of the invention is merely illustrative of the invention and is not intended to be limiting. It will be appreciated by persons skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. The hollow modularized joint is characterized by comprising a harmonic reducer, a shell, a hollow shaft, a hollow motor and a hollow wiring device; the harmonic speed reducer is fixedly connected with the shell, the hollow shaft, the hollow motor and the hollow wiring device are all arranged in the shell, the end part of the hollow shaft is connected with the harmonic speed reducer, the hollow motor is arranged corresponding to the hollow shaft so as to drive the hollow shaft to rotate, the harmonic speed reducer realizes speed reduction output on the rotation of the hollow shaft, and the hollow wiring device realizes hollow wiring of a wire inside the hollow modularized joint;
The housing comprises a first step, a second step and a third step which are sequentially arranged along the extending direction of the axis of the hollow shaft, the first step is fixedly provided with the harmonic reducer, the second step is fixedly provided with a motor flange, and the third step is fixedly provided with an input flange;
The harmonic speed reducer is provided with a zero resetting device, and the zero resetting device comprises a magnet mounting device and a Hall mounting device; magnet installation device with hall installation device corresponds the setting, magnet installation device includes first magnet, spacing arch, zero groove, second magnet, the zero groove sets up spacing arch is last, first magnet the second magnet symmetry respectively sets up spacing bellied both sides, magnet installation device is fixed to be set up on harmonic reducer's the flexbile gear, hall installation device includes first spacing hall, second spacing hall, zero return arch, first spacing hall the second spacing hall the zero return hall corresponds respectively zero return device's positive electron is spacing, negative electron is spacing and zero return operation, just first spacing hall the second spacing hall the zero return hall corresponds first magnet with the second magnet sets up, hall installation device is fixed to be set up on harmonic reducer's the steel wheel.
2. The hollow modular joint according to claim 1, wherein the hollow shaft comprises a second shoulder, a fourth shoulder and a snap spring groove, a hollow shaft bearing is arranged on the motor flange, one end of the hollow shaft is fixed on the harmonic reducer and positioned through the second shoulder, and the other end of the hollow shaft is fixed on the hollow shaft bearing through the fourth shoulder; one side of the hollow shaft bearing is positioned through the step of the motor flange, and the other side of the hollow shaft bearing is positioned through the clamp spring arranged in the clamp spring groove.
3. The hollow modular joint of claim 2, wherein the hollow cabling device comprises a hollow cabling tube, an upper end cover, a lower end cover, an output plug, an input plug, the hollow shaft being sleeved on the hollow cabling tube; the lower end cover and the upper end cover are respectively arranged at two ends of the hollow wiring pipe, the lower end cover is fixed on the input flange, the upper end cover is fixed on the hollow wiring pipe, the output plug is fixed on the upper end cover, and the input plug is fixed on the input flange.
4. A hollow modular joint according to claim 3, wherein a wire tube bearing is provided between the hollow wire tube and the hollow shaft; one end face of the wiring pipe bearing is limited by a step through a fifth shaft shoulder in the hollow shaft, the other end face of the wiring pipe bearing is limited by a bearing end cover, and the bearing end cover is fixed on the end face of the hollow shaft.
5. The hollow modular joint of claim 4, wherein a notch is provided at an end of the hollow wire conduit secured to the lower end cap, and a wire slot is provided at the input flange corresponding to the notch, the wire passing through the notch via the wire slot into the hollow wire conduit.
6. A hollow modular joint according to claim 3, wherein an incremental encoder is provided in correspondence of the hollow shaft, the incremental encoder comprising a magnetic ring, a reading head flange; the magnetic ring is fixed in a magnetic ring groove correspondingly arranged on the outer end face of the hollow shaft, the reading head is fixed on the reading head flange, and the reading head flange is fixed in a positioning manner through a reading head flange groove formed in the first step.
7. The hollow modular joint of claim 6 wherein the corresponding end surfaces of the reading head and the magnetic ring are parallel to the magnetic ring and the corresponding end surfaces of the reading head and the magnetic ring are located 0.5mm directly above the magnetic ring.
8. The hollow modular joint according to claim 6, wherein a control device is further provided in the housing, and wherein a braking device is further provided at the end of the hollow shaft for forcibly decelerating and stopping the hollow shaft; the control device is connected with the hollow wiring device, the hollow motor, the braking device, the incremental encoder and the zeroing device; the control device comprises a servo driver, a driver flange and a power supply conversion module; the servo driver is fixed on the driver flange, the driver flange is fixed on the input flange, the power conversion module is fixed on the input flange, the servo driver is arranged corresponding to the hollow motor, and the power conversion module is connected with the input plug, the servo driver and the braking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911216795.9A CN110815284B (en) | 2019-11-29 | 2019-11-29 | Hollow modularized joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911216795.9A CN110815284B (en) | 2019-11-29 | 2019-11-29 | Hollow modularized joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110815284A CN110815284A (en) | 2020-02-21 |
| CN110815284B true CN110815284B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911216795.9A Active CN110815284B (en) | 2019-11-29 | 2019-11-29 | Hollow modularized joint |
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| CN (1) | CN110815284B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022041005A1 (en) * | 2020-08-26 | 2022-03-03 | Rethink Robotics Gmbh | Transmission device, robotic joint, and robot |
| CN113843774A (en) * | 2021-09-30 | 2021-12-28 | 达闼机器人有限公司 | Hollow wiring actuator, mechanical arm and robot |
Citations (8)
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