CN111098296A - Transmission structure of robot - Google Patents
Transmission structure of robot Download PDFInfo
- Publication number
- CN111098296A CN111098296A CN202010023159.0A CN202010023159A CN111098296A CN 111098296 A CN111098296 A CN 111098296A CN 202010023159 A CN202010023159 A CN 202010023159A CN 111098296 A CN111098296 A CN 111098296A
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- China
- Prior art keywords
- robot
- motor
- housing
- shell
- output shaft
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- Pending
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 40
- 241000237983 Trochidae Species 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 241000282414 Homo sapiens Species 0.000 description 5
- 241000282412 Homo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005007 materials handling Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010399 physical interaction Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of cooperative robot transmission, in particular to a transmission structure of a robot, which comprises: the robot joint comprises a robot joint shell, and an output shaft, a speed reducing mechanism, a motor mechanism and a driving mechanism which are arranged in the robot joint shell, wherein the motor mechanism is fixedly connected with the robot joint shell, the output end of the motor mechanism is fixedly connected with the output shaft, the speed reducing mechanism is sleeved on the output shaft, and the driving mechanism is arranged at the bottom of the robot joint shell and is electrically connected with the motor mechanism. The speed reducer, the direct current motor, the driver and the brake of the robot are integrated together to form a modularized robot transmission structure, and the direct current motor top shell and the harmonic speed reducer are connected together, so that the number and the weight of parts are reduced to the maximum extent. The structure space is saved, and the transmission structure is simplified, so that the internal structure of the joint is compact, and the installation and maintenance are more convenient.
Description
Technical Field
The invention relates to the technical field of cooperative robot transmission, in particular to a transmission structure of a robot.
Background
A cooperative robot, called cobot or co-robot for short, is a robot designed to interact with human beings in a common working space at a short distance. By 2010, most industrial robots are designed to operate automatically or under limited guidance, so that close interaction with human beings and actions of the robots are not considered, and safety protection for surrounding human beings are not considered, and the robots are all the functions considered by the cooperative robots.
The collaborative robot was invented in 1996 by professor j.edwardcold and michael peshkin northwest university of illinois. A 1997 U.S. patent describes an apparatus and method in which a cooperative robot is a "direct physical interaction between human and computer controlled general purpose robot. "
The general automobile program of the general automobile robot center in 1994, and the research funded program through the automobile foundation in 1995, all aim to make robots (or similar devices) have enough safety to work in a way of cooperating with humans, and the result is cooperative robots. The first way that a cooperative robot ensures human safety is that it has no prime mover, which is provided by the staff. The first cooperative robot is a computer controlled robot that works in cooperation with the worker in a rotating payload manner. Later cooperative robots also provided only a small amount of motive force.
The term "intelligent assistance device" (IAD) for general-purpose vehicles is used to replace the cooperative robots, and is used particularly in materials handling and vehicle assembly operations. A draft of the intelligent assistance device security standard was proposed in 2002. A more release security standard was released in 2016.
In the prior art, the existing joint transmission structure of the cooperative robot adopts an independent harmonic speed reducer, a motor and a shell connecting structure, so that the size of the robot is large, the self-weight ratio is high, and the running speed and the precision of the robot are reduced.
In view of the above, a modular robot transmission structure integrating a robot speed reducer, a dc motor, a driver and a brake is needed.
Disclosure of Invention
In order to solve the above drawbacks of the prior art, an object of the present invention is to provide a robot transmission structure, which integrates a robot speed reducer, a dc motor, a driver and a brake into a modular robot transmission structure, and reduces the number and weight of components to the maximum.
In order to achieve the above object, the technical solution of the present invention is: a transmission structure of a robot, comprising: the robot joint comprises a robot joint shell, and an output shaft, a speed reducing mechanism, a motor mechanism and a driving mechanism which are arranged in the robot joint shell, wherein the motor mechanism is fixedly connected with the robot joint shell, the output end of the motor mechanism is fixedly connected with the output shaft, the speed reducing mechanism is sleeved on the output shaft, and the driving mechanism is arranged at the bottom of the robot joint shell and is electrically connected with the motor mechanism.
Further, the robot joint shell comprises a robot shell and a robot base, the robot shell is opposite to the robot shell, a speed reducer shell is fixedly arranged in the robot shell, the speed reducer shell is fixedly arranged in the speed reducer shell, a motor shell is fixedly arranged in the robot base, and the motor mechanism, the speed reducer shell and the motor shell rotate relatively.
Further, motor housing includes top shell and bottom shell, and top shell passes through bolted connection with the bottom shell, top shell with the robot base passes through bolted connection.
Further, the motor mechanism includes: the motor comprises a motor stator and a motor rotor, wherein the motor rotor is arranged inside the motor stator, the output end of the motor rotor is fixedly connected with the output shaft, a motor bottom shell is fixedly arranged outside the motor stator, and a motor top shell is fixedly arranged outside the motor rotor.
Furthermore, the speed reducing mechanism is a harmonic speed reducer, and the output end of the harmonic speed reducer is fixedly connected with the output shaft.
The invention has the beneficial effects that: the speed reducer, the direct current motor, the driver and the brake of the robot are integrated together to form a modularized robot transmission structure, and the direct current motor top shell and the harmonic speed reducer are connected together, so that the number and the weight of parts are reduced to the maximum extent. The structure space is saved, and the transmission structure is simplified, so that the internal structure of the joint is compact, and the installation and maintenance are more convenient.
Drawings
FIG. 1 is a schematic cross-sectional view of a transmission structure of a robot according to the present invention;
FIG. 2 is a schematic cross-sectional view of the inside of a transmission housing of a robot according to the present invention;
FIG. 3 is a side view of a robot transmission structure according to the present invention;
FIG. 4 is a schematic view of a robot in a three-dimensional state 1 in a transmission housing;
FIG. 5 is a schematic view of a robot in a three-dimensional state 2 inside a transmission housing;
the labels in the figure are: 1-output shaft, 2-speed reducing mechanism, 3-motor mechanism, 4-driving mechanism, 5-robot joint shell, 21-speed reducer, 22-speed reducer shell, 31-direct current motor, 32-bottom shell, 33-top shell, 41-driver, 42-brake, 51-robot shell, 52-robot base, 311-motor stator and 312-motor rotor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein are intended to be within the scope of the present invention.
A transmission structure of a robot, comprising: the robot joint comprises a robot joint shell 5, and an output shaft 1, a speed reducing mechanism 2, a motor mechanism 3 and a driving mechanism 4 which are arranged in the robot joint shell 5, wherein the motor mechanism 3 is fixedly connected with the robot joint shell 5, the output end of the motor mechanism 3 is fixedly connected with the output shaft 1, the speed reducing mechanism 2 is sleeved on the output shaft 1, and the driving mechanism 4 is arranged at the bottom of the robot joint shell 5 and is electrically connected with the motor mechanism 3.
In this embodiment, the robot joint housing 5 includes a robot housing 51 and a robot base 52 which are opposite to each other, a speed reducer housing 22 is fixedly disposed in the robot housing 51, the speed reducer mechanism 2 is fixedly disposed in the speed reducer housing 22, a motor housing is fixedly disposed in the robot base 52, the motor mechanism 3 is fixedly disposed in the motor housing, and the speed reducer housing 22 and the motor housing rotate relatively.
In this embodiment, the motor housing includes a top case 33 and a bottom case 32, the top case 33 is connected to the bottom case 32 by bolts, and the top case 33 is connected to the robot base 52 by bolts.
In this embodiment, the motor mechanism 3 includes: motor stator 311 and motor rotor 312, motor stator 311 internally mounted have motor rotor 312, motor rotor 312's output with output shaft 1 fixed connection, motor stator 311 outer fixed mounting has organic bottom shell 32, motor rotor 312 outer fixed mounting has organic top shell 33.
In this embodiment, the speed reducing mechanism 2 is a harmonic speed reducer, and an output end of the harmonic speed reducer is fixedly connected with the output shaft 1.
The working principle of the invention is as follows:
according to the invention, the driver 41, the brake 42, the machine bottom shell 32 and the direct current motor 31 are arranged on the harmonic speed reducer through the machine top shell 33 at one time to form a transmission structure module, then the speed reducer connecting plate 22 is arranged at the output end of the harmonic speed reducer and is connected with the robot shell 51, and finally the whole body formed by the driver 41, the brake 42, the machine bottom shell 32, the direct current motor 31 and the harmonic speed reducer is fixedly arranged on the robot base 52 to form a complete cooperative robot transmission structure.
According to the technical scheme, a motor stator 311 is externally sleeved with a bottom shell 32, a motor rotor 312 is externally sleeved with a top shell 33, the bottom shell 32 is fixedly connected with the top shell 33, and the bottoms of two wings of the top shell 33 are fixedly connected with a robot base 52 to form a whole; a reducer connecting plate 22 is sleeved outside the harmonic reducer, and the bottoms of the two wings of the reducer connecting plate 22 are fixedly installed with the tops of the two wings of the top shell 33. At this time, the driver 41, the brake 42, the dc motor 31 and the harmonic reducer are fixedly connected together to form a complete transmission structure module structure, and the reducer connecting plate 22, the top case 33 and the bottom case 32 are fixedly connected to clamp the whole transmission structure module structure. And the top of the speed reducer connecting plate 22 is fixedly connected with the bottom of the robot shell 51. Thus, the robot housing 51, the reducer connecting plate 22, the top case 33 and the robot base 52 are fixedly connected to form a complete cooperative robot transmission housing whole.
In the technical scheme, the driver 41 and the brake 42 act together, the operation of the direct current motor 31 is controlled to stop through the opening and closing signal, the output end of the direct current motor 31 is fixedly connected with the output shaft 1, and the output shaft 1 is fixedly connected with the input end of the harmonic speed reducer, so that the harmonic speed reducer is driven to operate.
The existing joint transmission structure of the cooperative robot adopts an independent harmonic speed reducer, a motor and a shell connecting structure, so that the size of the robot is large, the dead weight ratio is high, and the running speed and the precision of the robot are reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A transmission structure of a robot, comprising: the robot joint comprises a robot joint shell (5), an output shaft (1), a speed reducing mechanism (2), a motor mechanism (3) and a driving mechanism (4), wherein the output shaft (1), the speed reducing mechanism (2), the motor mechanism (3) and the robot joint shell (5) are arranged in the robot joint shell (5), the output end of the motor mechanism (3) is fixedly connected with the output shaft (1), the speed reducing mechanism (2) is sleeved on the output shaft (1), and the driving mechanism (4) is arranged at the bottom of the robot joint shell (5) and is electrically connected with the motor mechanism (3).
2. The robot transmission structure according to claim 1, wherein the robot joint housing (5) comprises a robot housing (51) and a robot base (52) which are oppositely arranged, a speed reducer housing (22) is fixedly arranged in the robot housing (51), the speed reducer housing (2) is fixedly arranged in the speed reducer housing (22), a motor housing is fixedly arranged in the robot base (52), the motor mechanism (3) is fixedly arranged in the motor housing, and the speed reducer housing (22) and the motor housing rotate relatively.
3. A robot transmission arrangement according to claim 1, characterised in that the motor housing comprises a top housing (33) and a bottom housing (32), the top housing (33) and the bottom housing (32) being bolted together, the top housing (33) and the robot base (52) being bolted together.
4. A robot transmission according to claim 1, characterized in that the motor mechanism (3) comprises: motor stator (311) and electric motor rotor (312), motor stator (311) internally mounted have electric motor rotor (312), the output of electric motor rotor (312) with output shaft (1) fixed connection, motor stator (311) outer fixed mounting has organic drain pan (32), electric motor rotor (312) outer fixed mounting has organic top shell (33).
5. A robot transmission according to claim 2 or 4, characterized in that the reduction mechanism (2) is a harmonic reducer, the output end of which is fixedly connected to the output shaft (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023159.0A CN111098296A (en) | 2020-01-09 | 2020-01-09 | Transmission structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023159.0A CN111098296A (en) | 2020-01-09 | 2020-01-09 | Transmission structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111098296A true CN111098296A (en) | 2020-05-05 |
Family
ID=70427258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010023159.0A Pending CN111098296A (en) | 2020-01-09 | 2020-01-09 | Transmission structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111098296A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017005224A1 (en) * | 2015-07-06 | 2017-01-12 | 周健华 | Joint transmission mechanism |
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
| CN109421078A (en) * | 2017-08-23 | 2019-03-05 | 上海航天有线电厂有限公司 | A kind of cooperation robot joint structure |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
-
2020
- 2020-01-09 CN CN202010023159.0A patent/CN111098296A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017005224A1 (en) * | 2015-07-06 | 2017-01-12 | 周健华 | Joint transmission mechanism |
| CN107020644A (en) * | 2017-05-15 | 2017-08-08 | 苏州大学 | Redundant degree of freedom mechanical arm modular joint |
| CN109421078A (en) * | 2017-08-23 | 2019-03-05 | 上海航天有线电厂有限公司 | A kind of cooperation robot joint structure |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200505 |