CN206011092U - An axle direct driving device for articulated robot - Google Patents
An axle direct driving device for articulated robot Download PDFInfo
- Publication number
- CN206011092U CN206011092U CN201620979630.2U CN201620979630U CN206011092U CN 206011092 U CN206011092 U CN 206011092U CN 201620979630 U CN201620979630 U CN 201620979630U CN 206011092 U CN206011092 U CN 206011092U
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- driving device
- direct driving
- axle direct
- articulated robot
- torque motor
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Abstract
The utility model belongs to articulated robot field, specifically provides an a kind of axle direct driving device for articulated robot.The utility model aims to solve the problem that existing articulated robot, and as an axle direct driving device has gear reduction, so as to cause, whole machine precision is low, error is big.The utility model includes torque motor, crossed roller bearing and high-precision encoder, the inner ring of crossed roller bearing is fixedly connected with the rotor of torque motor, the outer ring of crossed roller bearing is fixedly connected with the casing of torque motor, high-precision encoder is arranged on torque motor, for monitoring the rotating speed and corner of rotor, and the rotor of torque motor is directly connected with the robotic arm of robot.Axle direct driving device of the present utility model is eliminated reducing gear and rotor is diametrically supported by crossed roller bearing with the connection of robotic arm, simultaneously by high-precision encoder to rotor monitor in real time, therefore, axle direct driving device of the present utility model can make the action precision of whole machine very high.
Description
Technical field
The utility model belongs to articulated robot field, specifically provides an a kind of axle for articulated robot and directly drives dress
Put.
Background technology
Articulated robot, also referred to as joint arm robot or joint Manipulator arm, are modal in current industrial circle
One of form of industrial robot.Articulated robot is widely used in loading, unloading, spray painting, surface treatment, test, survey
The fields such as amount, arc-welding, spot welding, packaging, assembling, chip lathe, fixation, extraordinary assembly manipulation, forging, casting.Articulated robot
Have five or six rotary shafts, similar to the arm of the mankind.Can replace much being not suitable for manpower complete, negative unhealthy
Complex work.
But, need to do substantial amounts of preparation before articulated robot production, and existing articulated robot be all by
Servomotor acceleration and deceleration structure is constituted.For example, an axle drive be by servomotor by output shaft gear after primary speed-down
Reconnect RV decelerators and form double reduction.Due to gear itself machining accuracy and assembly technology be extremely difficult to very high accuracy,
So as to result in the amplification of whole machine trueness error.
Correspondingly, this area needs an a kind of new axle driving structure to solve the above problems.
Utility model content
In order to solve the problems referred to above of the prior art, the existing articulated robot of solution has been due to an axle direct driving device
Whole machine precision is low, error is big so as to cause to there is gear reduction, and the utility model is provided and a kind of is used for joint
One axle direct driving device of robot, the axle direct driving device include torque motor and bearing, the torque motor include casing and
The stator and rotor of casing internal is arranged on, the rotor is directly connected with the robotic arm of robot, and the bearing includes inner ring
And outer ring, the outer ring is fixedly connected with the casing, and the inner ring is fixedly connected with the rotor.
Rotor is directly connected to robotic arm, is improve with robotic arm relative to rotor by way of reducing gear is connected
Control accuracy of the motor to robotic arm.
In the optimal technical scheme of above-mentioned axle direct driving device, the bearing is crossed roller bearing so that motor
No matter rotor can axially or diametrically bear larger power.
In the optimal technical scheme of above-mentioned axle direct driving device, the axle direct driving device also includes hold-down support, institute
State hold-down support to be fixedly connected with the casing.
In the optimal technical scheme of above-mentioned axle direct driving device, the hold-down support is provided with installing hole, an axle
Direct driving device is fixed by the installing hole.
In the optimal technical scheme of above-mentioned axle direct driving device, on the hold-down support, terminal box is provided with, in order to
The power line of torque motor and control line are accessed electric power system and control system.
In the optimal technical scheme of above-mentioned axle direct driving device, the hold-down support is bolted with the casing
Connection.
In the optimal technical scheme of above-mentioned axle direct driving device, the axle direct driving device also includes encoder, described
Encoder is fixedly connected with the casing, and what the encoder was used for monitoring the torque motor at least includes that rotating speed and corner exist
Interior operational factor.
In the optimal technical scheme of above-mentioned axle direct driving device, the hold-down support is bolted with the casing
Connection.
In the optimal technical scheme of above-mentioned axle direct driving device, on the torque motor, dirt-proof boot is provided with, described anti-
Dirt is covered for preventing dust from entering inside the torque motor.
It will be appreciated to those of skill in the art that in optimal technical scheme of the present utility model, by torque is electric
The rotor of machine is directly connected to robotic arm so that torque motor can directly drive robotic arm；By between rotor and stator
Crossed roller bearing is set, improves the ability that rotor bears torque on axially and radially；Compiled by arranging to torque motor
Code device so that torque motor can control control system by enclosed and be controlled.Therefore axle direct driving device of the present utility model
When being assemblied on articulated robot, ensure that the control accuracy of the whole machine of articulated robot in a high level.
Description of the drawings
Fig. 1 is the effect diagram of axle direct driving device of the present utility model；
Fig. 2 is the front view of axle direct driving device of the present utility model；
Fig. 3 is the sectional view that axle direct driving device of the present utility model is intercepted at A-A in Fig. 2.
Specific embodiment
With reference to the accompanying drawings describing preferred embodiment of the present utility model.Skilled artisan would appreciate that
It is that these embodiments are used only for explaining know-why of the present utility model, it is not intended that limit protection of the present utility model
Scope.For example, although drawn with certain proportion between each part of an axle direct driving device in accompanying drawing, but this ratio
Example relation is non-unalterable, and those skilled in the art can make adjustment to which as needed, to adapt to specific applied field
Close.
It should be noted that in description of the present utility model, term " " center ", " on ", D score, "left", "right", " perpendicular
Directly ", the direction of instruction such as " level ", " interior ", " outward " or the term of position relationship are closed based on direction shown in the drawings or position
System, this are intended merely to facilitate description, rather than indicate or imply that described device or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or hint relative importance.
In addition it is also necessary to illustrate, in description of the present utility model, unless otherwise clearly defined and limited, art
Language " installation ", " being connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or
It is integrally connected；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to by between intermediary
Connect connected, can be the connection of two element internals.To those skilled in the art, can understand as the case may be above-mentioned
Concrete meaning of the term in the utility model.
As shown in Figure 1 to Figure 3, axle direct driving device of the present utility model includes：Torque motor 1, bearing 2, hold-down support
3rd, terminal box 4, dirt-proof boot 5 and encoder 6.Torque motor 1 includes：Casing 11, stator 12 and rotor 13.Bearing 2 has inner ring
21 and outer ring 22.Preferably, torque motor 1 is the larger torque motor of torque, or skilled person is according to concrete operating mode
Choose the torque motor 1 of form-fit torque.
As shown in figure 3, the inner ring 21 of bearing 2 is fixedly connected with rotor 13, it is preferable that the side being fixedly connected using bolt
Formula；The outer ring 22 of bearing 2 is fixedly connected with casing 11, it is preferable that by the way of bolt is fixedly connected.It is further preferred that
Bearing 2 is crossed roller bearing so that rotor 13 no matter can bear diametrically or in the axial direction very big pressure and
Moment of torsion, or those skilled in the art are on the premise of 13 radial and axial stress of rotor is met, it is also possible to select other forms
Bearing.
As shown in figures 1 and 3, dirt-proof boot 5 is arranged on the upper end of torque motor 1 (torque motor 1 is upper in Fig. 1 and Fig. 3
End), for the part for preventing extraneous dust from entering inside the internal damage torque motor 1 of torque motor 1.Preferably, dirt-proof boot 5
Made using elastomeric material, or those skilled in the art can be according to specific needs with specifically used environment from other materials
Material makes, and on the premise of ensureing that torque motor 1 is sealed, dirt-proof boot 5 can also be arbitrary shape and structure.
As shown in figure 3, encoder 6 is arranged on the bottom (bottom of casing 11 in Fig. 3) of casing 11, one end of encoder 6
It is fixedly connected with casing 11, the other end of encoder 6 is fixedly connected with rotor 13.Encoder 6 is mainly used in monitoring rotor 13
Rotating speed and corner, and encoder 6 can constitute closed-loop control together with the control system of torque motor 1 as information collector
System so that the control accuracy of torque motor 1 is improved.Preferably, encoder 6 adopts high-precision encoder, this area skill
Art personnel can be considered according to combined factors such as the required precision of an axle direct driving device and prices, and then determine high-precision encoder
Species and model.It will be appreciated to those of skill in the art that encoder 6 is except being arranged on the above-mentioned position of torque motor 1
Outward, the other positions of torque motor 1 can also be arranged on, if ensure encoder 6 normally can detect rotor 13 rotating speed and
Corner.
As shown in Figures 1 to 3, hold-down support 3 is fixedly mounted on the lower end of torque motor 1, it is preferable that with bolts,
Replace in order to the installation of torque motor 1, dismounting and maintenance.Preferably, hold-down support 3 is the housing of a hollow-core construction,
In order to reduce the gross weight of an axle direct driving device.Installing hole 31 is respectively arranged with four corners of hold-down support 3 in Fig. 1,
One axle direct driving device is fixedly installed on articulated robot by installing hole 31.Skilled artisans will appreciate that
It is that the quantity of installing hole 31, size and position are before ensureing that an axle direct driving device can be securely installed to articulated robot
Put, arbitrarily can arrange as needed.Those skilled in the art it is also understood that, the size of hold-down support 3, shape and
Wall thickness arbitrarily can be arranged as the case may be.
As depicted in figs. 1 and 2, terminal box 4 is fixedly installed to the side (right-hand member of hold-down support in Fig. 2 of hold-down support 3
Face), it is preferable that terminal box 4 is welded into an entirety with hold-down support 3, it will be appreciated to those of skill in the art that terminal box
4 with hold-down support 3 in addition to by way of welding, it is evident that also other connected modes, for example, by bolt by wiring
Box 4 and hold-down support 3 are fixedly attached together.In preferred embodiment of the present utility model, terminal box 4 is used for torque electricity
The power line and control line of machine 1 are attached with power supply unit and control system.Those skilled in the art is appreciated that, connects
Line box 4 may be coupled to the optional position of hold-down support 3 on the premise of line needs are met.Those skilled in the art can also
It is understood by, terminal box 4 can be arbitrary size and arbitrary shape on the premise of meeting line needs and installing needs.
It should be noted that in the assembling process of articulated robot, rotor 13 is directly attached with robotic arm,
Any reducing gear is not provided between the two.Skilled addressee readily understands that, the setting of bearing 2 and encoder 6 makes
Obtain rotor 13 and can not only bear the various stress axially and radially applied by articulated robot, additionally it is possible to ensure joint machine
The precision of the robotic arm spinning movement of people is in a higher level.
So far, the technical solution of the utility model is described already in connection with preferred embodiment shown in the drawings, but, this
Art personnel are it is easily understood that protection domain of the present utility model is expressly not limited to these specific embodiments.?
On the premise of without departing from principle of the present utility model, those skilled in the art can make the change of equivalent to correlation technique feature
Or replace, the technical scheme after these are changed or replace it is fallen within protection domain of the present utility model.
Claims (8)
1. an a kind of axle direct driving device for articulated robot, it is characterised in that the axle direct driving device includes torque electricity
Machine and bearing；
Wherein, the torque motor includes casing and is successively set on the stator and rotor of casing internal from outside to inside, and described
Rotor is connected directly to the robotic arm of robot；
Wherein, there is the bearing inner ring and outer ring, the outer ring to be fixed on the casing, and the inner ring is fixed with the rotor
It is connected.
2. the axle direct driving device for articulated robot according to claim 1, it is characterised in that the bearing is to hand over
Fork roller bearing.
3. the axle direct driving device for articulated robot according to claim 1 a, it is characterised in that axle directly drives
Device also includes that hold-down support, the bottom of the casing are fixed on the hold-down support.
4. the axle direct driving device for articulated robot according to claim 3, it is characterised in that the hold-down support
Installing hole is provided with, the axle direct driving device is fixed on the robot by the installing hole.
5. the axle direct driving device for articulated robot according to claim 3, it is characterised in that the hold-down support
On be provided with terminal box.
6. the axle direct driving device for articulated robot according to claim 3, it is characterised in that the hold-down support
It is bolted to connection with the casing.
7. the axle direct driving device for articulated robot according to any one of claim 1～6, it is characterised in that
The one axle direct driving device also includes encoder, and the encoder is fixedly connected with the casing, and the encoder is used for monitoring
The torque motor at least including the operational factor including rotating speed and corner.
8. the axle direct driving device for articulated robot according to any one of claim 1～6, it is characterised in that
Dirt-proof boot is provided with the torque motor, the dirt-proof boot is used for preventing dust from entering inside the torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620979630.2U CN206011092U (en) | 2016-08-29 | 2016-08-29 | An axle direct driving device for articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620979630.2U CN206011092U (en) | 2016-08-29 | 2016-08-29 | An axle direct driving device for articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011092U true CN206011092U (en) | 2017-03-15 |
Family
ID=58253226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620979630.2U Active CN206011092U (en) | 2016-08-29 | 2016-08-29 | An axle direct driving device for articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206011092U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113732943A (en) * | 2021-07-26 | 2021-12-03 | 深圳市智融自动化科技有限公司 | High-precision and high-reliability grinding and polishing seat |
-
2016
- 2016-08-29 CN CN201620979630.2U patent/CN206011092U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113732943A (en) * | 2021-07-26 | 2021-12-03 | 深圳市智融自动化科技有限公司 | High-precision and high-reliability grinding and polishing seat |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |