CN208133004U - A kind of intelligent robot driving joint and robot - Google Patents
A kind of intelligent robot driving joint and robot Download PDFInfo
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- CN208133004U CN208133004U CN201820426243.5U CN201820426243U CN208133004U CN 208133004 U CN208133004 U CN 208133004U CN 201820426243 U CN201820426243 U CN 201820426243U CN 208133004 U CN208133004 U CN 208133004U
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- end connection
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Abstract
The utility model discloses a kind of intelligent robot driving joint and robots, including input end connection and output end connection, input end connection and the concentric arrangement of output end connection and energy movement for the relative rotation.The inside for inputting end connection is equipped with rimless torque motor, the rotor axis of electric of rimless torque motor driving has power output end in the inner end oral area of input end connection, and the power output end of rotor axis of electric does relative rotary motion by harmonic speed reducer drive output connector.The advantages that high-performance torque motor, multifunctional servo drive control device, retarder, brake, position and the components such as torque sensor and high speed real-time communication module are carried out integrated joint designs by the utility model, make it have light-weight, fast response time, Compliant Force Control, real-time bus communication.
Description
Technical field
The utility model relates to the joint drive control field of industrial robot, specifically a kind of intelligent robot is driven
Movable joint and robot.
Background technique
The joint drive control system of industrial robot generallys use central controller → single shaft driver → joint motor
Control program, driver and controller need to be placed on the realization of the control cabinet outside mechanical arm, cabling is more and complicated,
Difficult in maintenance, poor reliability, easily causes signal interference, influences the positioning and control precision of robot.Conventional industrial robot
Joint has only taken into account single motion control, does not have Compliant Force Control and impedance control function, therefore cannot fit well
In requisition for the occasion of Shared control, such as the human-computer interaction of contact operation task and essential safety.In addition, Low-torque-weight ratio
Servo motor be easy to cause driving joint excessively heavy and huge, reduce the drive efficiency and dynamic response speed of mechanical arm
Degree.
Utility model content
The utility model is directed to the deficiency of above-mentioned conventional industrial robot, and provide a kind of intelligent robot driving joint and
Robot, realizes the very high integrity Integrated design of joint of robot, and has the function of Compliant Force Control.
The utility model solves technical solution used by above-mentioned technical problem：A kind of intelligent robot driving joint,
Including input end connection and output end connection, inputs end connection and the concentric arrangement of output end connection and can make relatively
Rotary motion.The inside for inputting end connection is equipped with rimless torque motor, and the rotor axis of electric of rimless torque motor driving is defeated
The inner end oral area for entering end connection has power output end, and the power output end of rotor axis of electric is driven by harmonic speed reducer
Output end connection does relative rotary motion.
To optimize above-mentioned technical proposal, the utility model further includes following improved technical solution.
The inner cavity of above-mentioned input end connection is equipped with two groups of bearing blocks side by side, and rotor axis of electric passes through the on bearing block
One bearing is rotatably arranged on the center of input end connection.The motor stator of rimless torque motor be fixed on two groups of bearing blocks it
Between, the rotor of rimless torque motor is fixedly connected with the outer wall of rotor axis of electric.
The steel wheel of above-mentioned harmonic speed reducer be fixed on input end connection inner end oral area, the flexbile gear of harmonic speed reducer with
Flexbile gear connecting shaft inside output end connection is connected.The wave producer of harmonic speed reducer is mounted on the power of rotor axis of electric
Output end.
Above-mentioned rotor axis of electric have with first bearing mutually equipped two shoulders, rotor be mounted on two shoulders it
Between.The power output end of rotor axis of electric is fixedly connected by screw with wave producer, and the other end of rotor axis of electric, which is equipped with, to be increased
Amount formula encoder.
Above-mentioned bearing block side wall is equipped with the Hall sensor for detecting rimless torque motor.Hall sensor and increment type are compiled
Code device detects the position and speed signal of rotor axis of electric respectively.
There is above-mentioned output end connection the flanged joint portion being set in outside input end connection and diameter to reduce
And axially extending body part.The outer wall rotatable engagement that flanged joint portion passes through second bearing and input end connection.Flexbile gear connects
Spindle is located at the center of body part, and one end of flexbile gear connecting shaft is fixedly connected with the end face of flexbile gear, the other end of flexbile gear connecting shaft
It is connected with the torque sensor of detection external load.
Above-mentioned flexbile gear connecting shaft periphery is provided with encoder connector, and encoder connector is equipped with detection flexbile gear connecting shaft
Position and speed signal absolute type encoder.
The outer end of above-mentioned input end connection or the outer end for exporting end connection are respectively equipped with driver and motion controller.
Motion controller carries out corresponding compensation control according to the speed and position deviation of rotor axis of electric and flexbile gear connecting shaft.
The inner end portion of above-mentioned input end connection is connected with mounting seat of brake, be equipped with inside mounting seat of brake with
The brake that rotor axis of electric matches.
A kind of robot of the utility model drives joint including at least two above-mentioned intelligent robots.Adjacent two
Between a intelligent robot driving joint, a upper intelligent robot drives diarthrodial output end connection and passes through joint connector
Diarthrodial input end connection is driven with next intelligent robot to be connected.And two neighboring intelligent robot drives joint
Axis of rotation be not overlapped.
Compared with prior art, the intelligent robot driving joint of the utility model and robot, by high-performance torque electricity
Machine, multifunctional servo drive control device, retarder, brake, position and the portions such as torque sensor and high speed real-time communication module
Part carries out integrated joint designs, makes it have light-weight, fast response time, Compliant Force Control, real-time bus communication
The advantages that.Intelligent robot driving joint can be built into the robot of various forms and freedom degree, can be widely applied to
In manufacturing industry and service industry.
Detailed description of the invention
Fig. 1 is that the intelligent robot of the utility model drives diarthrodial the schematic diagram of the section structure.
Fig. 2 is that two intelligent robots drive diarthrodial combining structure schematic diagram.
Fig. 3 is robot architecture's schematic diagram of the utility model embodiment.
Specific embodiment
The utility model is described in further detail with reference to embodiments, it should be pointed out that implementation as described below
Example is intended to convenient for the understanding to the utility model, and does not play any restriction effect to it.
Fig. 1 to Fig. 3 show the structural schematic diagram of the utility model.
Appended drawing reference therein is：Input end connection 1, stator mounting portion 1a, bearing block 11, mounting seat of brake 12,
Brake 13, first bearing 14, limited block 15, output end connection 2, flanged joint portion 2a, body part 2b, flexbile gear connecting shaft
21, second bearing 22, torque sensor 23, walk spool 24, rotor axis of electric 3, shoulder 3a, motor stator 31, rotor
32, incremental encoder 33, Hall sensor 34, steel wheel 41, flexbile gear 42, wave producer 43, absolute type encoder 5, encoder
Connector 51, driver 61, motion controller 62, the first joint 71, second joint 72, third joint 73, the 4th joint 74,
Five joints 75, the 6th joint 76, the 7th joint 77.
A kind of intelligent robot of the utility model drives joint, including input end connection 1 and output end connection 2,
It inputs end connection 1 and the concentric arrangement of output end connection 2 simultaneously can movement for the relative rotation.
The inside for inputting end connection 1 is equipped with rimless torque motor, and the rotor axis of electric 3 of rimless torque motor driving is defeated
The inner end oral area for entering end connection 1 has power output end, and the power output end of rotor axis of electric 3 is driven by harmonic speed reducer
Dynamic output end connection 2 does relative rotary motion.
Input end connection 1 can input rod piece end face with robot and connect, and output end connection 2 can be with robot
The connection of output end face.The rotation of rimless torque motor passes to output end connection 2 by harmonic speed reducer and is driven,
Intelligent robot drives diarthrodial braking and holding is realized by being mounted on the brake 13 of 3 rear end of rotor axis of electric.
The inner end portion of input end connection 1 is connected with mounting seat of brake 12, be equipped with inside mounting seat of brake 12 with
The brake 13 that rotor axis of electric 3 matches.
To avoid robot from being possible to out of control in debugging process, so driving diarthrodial rotatably model to intelligent robot
Carry out mechanical restriction is enclosed, is provided with limited block 15 in the one side of input end connection 1.
The inner cavity for inputting end connection 1 is equipped with two groups of bearing blocks 11 side by side, and rotor axis of electric 3 passes through on bearing block 11
First bearing 14 is rotatably arranged on the center of input end connection 1.The motor stator 31 of rimless torque motor is fixed on two groups of axis
It holds between seat 11, the rotor 32 of rimless torque motor is fixedly connected with the outer wall of rotor axis of electric 3.
Inputting end connection 1 has stator mounting portion 1a, and motor stator 31 is packed into the hole of stator mounting portion 1a and passes through
The holding screw fastening of distribution circumferentially.Rotor 32 is connected on rotor axis of electric 3 by flat key.Bearing block 11 passes through
Screw is installed on stator mounting portion 1a.Because there are axial forces for harmonic speed reducer, so the first bearing 14 on bearing block 11 is excellent
Choosing uses a pair of of angular contact ball bearing to bear the axial force.
The steel wheel 41 of harmonic speed reducer is fixed on the inner end oral area of input end connection 1, the flexbile gear 42 of harmonic speed reducer
It is connected with the flexbile gear connecting shaft 21 inside output end connection 2.The wave producer 43 of harmonic speed reducer is mounted on rotor
The power output end of axis 3.
Rotor axis of electric 3 has two shoulder 3a being equipped with 14 phase of first bearing, and rotor 32 is mounted on two shoulders
Between portion 3a.The power output end of rotor axis of electric 3 is fixedly connected by screw with wave producer 43, rotor axis of electric 3 it is another
One end is equipped with incremental encoder 33.33 sets of the incremental encoder rear ends in rotor axis of electric 3, while reading head is mounted on axis
It holds on seat 11.
11 side wall of bearing block is equipped with the Hall sensor 34 for detecting rimless torque motor.Hall sensor 34 and increment type are compiled
Code device 33 detects the position and speed signal of rotor axis of electric 3 respectively.
There is output end connection 2 the flanged joint portion 2a being set in outside input end connection 1 and diameter to reduce simultaneously
Axially extending body part 2b.The outer wall rotatable engagement that flanged joint portion 2a passes through second bearing 22 and input end connection 1.The
Two bearings 22 preferably use right-angled intersection roller bearing, can bear input end connection 1 simultaneously and export between end connection 2
Radial force and axial force.
Flexbile gear connecting shaft 21 is located at the center of body part 2b, the fixed company in one end of flexbile gear connecting shaft 21 and the end face of flexbile gear 42
It connects, the other end of flexbile gear connecting shaft 21 is connected with the torque sensor 23 of detection external load.
21 periphery of flexbile gear connecting shaft is provided with encoder connector 51, and encoder connector 51 is equipped with detection flexbile gear connecting shaft
The absolute type encoder 5 of 21 position and speed signal.
The outer end for inputting end connection 1 or the outer end for exporting end connection 2 are respectively equipped with driver 61 and motion controller
62.Motion controller 62 carries out corresponding compensation control according to the speed and position deviation of rotor axis of electric 3 and flexbile gear connecting shaft 21
System.
In the utility model, driver 61 and motion controller 62 be can be set in the outer end of input end connection 1 or defeated
The outer end of end connection 2 out.
When two neighboring intelligent robot drives joint, two intelligent robots drive respective 61 He of driver in joint
Motion controller 62 can be set on an intelligent robot driving joint wherein.Rotor axis of electric 3 has hollow cavity, in
Edge, which is axially arranged with, in cavity body walks spool 24, and the connecting line of driver 61 and motion controller 62 is set to away in spool 24.It will letter
Number line, control line and power line walking spool 24 and complete cabling by inner hollow, because without there is cable exposed
Outside, ensure that cable do not occur winding with it is overall beautiful, so that robot is run with security and stability.
As shown in Fig. 2, a kind of robot of the utility model, drives joint including two above-mentioned intelligent robots.?
Between two neighboring intelligent robot driving joint, a upper intelligent robot drives diarthrodial output end connection 2 and passes through pass
Section connector drives diarthrodial input end connection 1 with next intelligent robot and is connected.And two neighboring robot intelligence
Diarthrodial axis of rotation can be driven not to be overlapped, it is general using being arranged vertically, realize the combination of multiple freedom degrees.
As shown in figure 3, driving diarthrodial combination by seven intelligent robots may be implemented seven freedom articulated robot,
Each intelligent robot drive diarthrodial input end face and output end face respectively with the input end face and output end of robot rod piece
Face connection.The arrangement form in seven-degree of freedom robot joint is：First joint 71 is vertical axis, and second joint 72 is trunnion axis,
Third joint 73 is vertical axis, and the 4th joint 74 is trunnion axis, and the 5th joint 75 is vertical axis, and the 6th joint 76 is trunnion axis,
7th joint 77 is vertical axis, and a variety of different end effectors can be set in end, for completing various required work.
Wherein, joint is driven in horizontally disposed intelligent robot, left and right ends are provided with driver 61 and movement
Controller 62, the vertical axis lower end setting driver 61 and motion controller 62 in the first joint 71, remaining vertical axis joint both ends
Driver 61 and motion controller 62 setting of not installation of driver 61 and motion controller 62, vertical axis joint are closed in trunnion axis
At section.Signal wire, control line and power line walking spool 24 and complete cabling by inner hollow, because without there is cable
Line is exposed outside robot, ensure that cable do not occur winding with it is overall beautiful, so that robot is run with security and stability.
The most preferred embodiment of the utility model has illustrated, the various change or remodeling made by those of ordinary skill in the art
All without departing from the scope of the utility model.
Claims (10)
1. a kind of intelligent robot drives joint, including input end connection (1) and output end connection (2), it is characterized in that：Institute
The concentric arrangement of input end connection (1) and output end connection (2) stated and energy movement for the relative rotation；The input terminal connects
The inside of fitting (1) is equipped with rimless torque motor, and the rotor axis of electric (3) of the rimless torque motor driving is connected in input terminal
The inner end oral area of part (1) has power output end, and the power output end of the rotor axis of electric (3) is driven by harmonic speed reducer
It moves the output end connection (2) and does relative rotary motion.
2. intelligent robot according to claim 1 drives joint, it is characterized in that：It is described to input the interior of end connection (1)
Chamber is equipped with two groups of bearing blocks (11) side by side, and the rotor axis of electric (3) passes through the first bearing (14) on bearing block (11)
It is rotatably arranged on the center of input end connection (1)；The motor stator (31) of the rimless torque motor is fixed on two groups of bearings
Between seat (11), the rotor (32) of rimless torque motor is fixedly connected with the outer wall of rotor axis of electric (3).
3. intelligent robot according to claim 1 drives joint, it is characterized in that：The steel wheel (41) of the harmonic speed reducer
It is fixed on the inner end oral area of input end connection (1), the flexbile gear (42) of the harmonic speed reducer and output end connection (2) are interior
The flexbile gear connecting shaft (21) in portion is connected；The wave producer (43) of the harmonic speed reducer is mounted on the dynamic of rotor axis of electric (3)
Power output end.
4. intelligent robot according to claim 3 drives joint, it is characterized in that：The rotor axis of electric (3) have with
Two shoulders (3a) that first bearing (14) is mutually equipped with, the rotor (32) are mounted between two shoulders (3a)；Electricity
The power output end of machine rotor axis (3) is fixedly connected by screw with the wave producer (43), rotor axis of electric (3) it is another
One end is equipped with incremental encoder (33).
5. intelligent robot according to claim 2 drives joint, it is characterized in that：Described bearing block (11) side wall is equipped with
Detect the Hall sensor (34) of rimless torque motor；The Hall sensor (34) and incremental encoder (33) is examined respectively
The position and speed signal of measured motor armature spindle (3).
6. intelligent robot according to claim 3 drives joint, it is characterized in that：Output end connection (2) tool
Have and is set in the external flanged joint portion (2a) of input end connection (1) and diameter diminution and axially extending body part
(2b)；The outer wall rotatable engagement that the flanged joint portion (2a) passes through second bearing (22) and input end connection (1)；It is described
Flexbile gear connecting shaft (21) be located at the center of body part (2b), one end of flexbile gear connecting shaft (21) and the end face of flexbile gear (42) are fixed
Connection, the other end of flexbile gear connecting shaft (21) are connected with the torque sensor (23) of detection external load.
7. intelligent robot according to claim 6 drives joint, it is characterized in that：Described flexbile gear connecting shaft (21) periphery
It is provided with encoder connector (51), the encoder connector (51) is equipped with position and the speed of detection flexbile gear connecting shaft (21)
Spend the absolute type encoder (5) of signal.
8. intelligent robot according to claim 7 drives joint, it is characterized in that：Outside input end connection (1)
End or the outer end of output end connection (2) are respectively equipped with driver (61) and motion controller (62)；The motion controller
(62) corresponding compensation control is carried out according to the speed and position deviation of rotor axis of electric (3) and flexbile gear connecting shaft (21).
9. intelligent robot according to claim 1 drives joint, it is characterized in that：The input end connection (1)
Inner end portion is connected with mounting seat of brake (12), is equipped with inside mounting seat of brake (12) and is matched with rotor axis of electric (3)
Brake (13).
10. a kind of robot, it is characterized in that：Machine including at least two as described in any claim in claim 1 to 9
People's intelligent drives joint；Between two neighboring intelligent robot driving joint, a upper intelligent robot drives diarthrodial defeated
End connection (2) drives diarthrodial input end connection (1) with next intelligent robot by joint connector and is connected out；
And two neighboring intelligent robot drives diarthrodial axis of rotation and is not overlapped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820426243.5U CN208133004U (en) | 2018-03-28 | 2018-03-28 | A kind of intelligent robot driving joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820426243.5U CN208133004U (en) | 2018-03-28 | 2018-03-28 | A kind of intelligent robot driving joint and robot |
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| Publication Number | Publication Date |
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| CN208133004U true CN208133004U (en) | 2018-11-23 |
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| CN201820426243.5U Active CN208133004U (en) | 2018-03-28 | 2018-03-28 | A kind of intelligent robot driving joint and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381598A (en) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | A kind of intelligent robot driving joint and robot |
| CN110561493A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Anthropomorphic mechanical arm |
| CN110861120A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
-
2018
- 2018-03-28 CN CN201820426243.5U patent/CN208133004U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381598A (en) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | A kind of intelligent robot driving joint and robot |
| CN110561493A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Anthropomorphic mechanical arm |
| CN110861120A (en) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
| CN110861120B (en) * | 2019-12-24 | 2023-08-04 | 中国科学院宁波材料技术与工程研究所 | Driving joint based on double-stator frameless torque motor and application thereof |
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