CN209551778U - A kind of variation rigidity controls integrated robot rotating and swinging joint module - Google Patents
A kind of variation rigidity controls integrated robot rotating and swinging joint module Download PDFInfo
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- CN209551778U CN209551778U CN201822191562.5U CN201822191562U CN209551778U CN 209551778 U CN209551778 U CN 209551778U CN 201822191562 U CN201822191562 U CN 201822191562U CN 209551778 U CN209551778 U CN 209551778U
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Abstract
A kind of variation rigidity controls integrated robot rotating and swinging joint module, including pedestal, joint output, drive control device, transmission mechanism, torque sensor, variation rigidity module, first encoder and second encoder, pedestal includes mounting portion and driving section, driving section is equipped with drive cavity, transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, the stator of rimless motor is fixed in drive cavity, transmission shaft is connect with the rotor engagement of rimless motor, one end of transmission shaft is transmitted to variation rigidity module one end by harmonic speed reducer, the variation rigidity module other end is fixedly connected by torque sensor with joint output；First encoder is used to measure the angular displacement information of joint output, and second encoder is used to measure the angular displacement information of rotor；The control terminal of rimless motor is electrically connected with drive control device, and torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.The utility model realizes stiffness reliability and the torque output control of joint module.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of variation rigidity controls integrated robot rotation pass
Save module.
Background technique
With the high speed development of modern industrial technology, robot is had been widely used in all trades and professions.Such as automotive field
Welding, spraying, heat treatment, transport, automatic assembling, loading and unloading and detection etc., secondly transport, harbour, food and drug with
And the fields such as electronic manufacture robot is also gradually substituting and is manually being engaged in the repeatability such as heavy dull packaging, transport, carrying
Operation.But precision assembly, repair scrape or the tasks such as grinding workpiece surface, polishing and scouring in using seldom because
It needs end effector of robot to contact in similar task with environment and keeps certain contact force, this just needs robot to have
There are external force perception and power control function.
The mature robot product with power control function is few at present or its price is very high, usually general industry
Several times or more of robot.Simultaneously as the application range of robot expands, some tasks need machine person to person cooperation common
It completes, this just proposes very high requirement to the security performance of robot.The security performance of robot generally uses two kinds at present
Scheme solves, and guarantees safety when interacting with people one is the rigidity by changing robotic structure；Another kind is logical
The control algolithm strategy of software view is crossed to realize the flexibility when contact of the object in machine human and environment.
There are also solutions at present is proposed by everybody, such as a kind of rotary-type flexible joint (Shen of Hebei University of Technology
Please number: 201410653785.2), which includes motor, motor rack, mounting plate, the first connecting plate, the first synchronous belt
Wheel, the first synchronous pulley cover board, synchronous belt, retarder, retarder flange, spring mounting rack, spring output shelf, output panel,
It is two connecting plates, synchronous belt end cap, third connecting plate, crossed roller bearing, bearing outer ring cover board, bearing inner race cover board, first flat
Key, retarder flange end cap, spring, the second flat key, third flat key, the second synchronous pulley and the second synchronous pulley cover board.The reality
Although solve the problems, such as joint of robot flexibility with new patent, but the structure in entire joint it is not compact enough, be not very in appearance
It is beautiful and cannot really be applied in joint of robot, it not accomplish the closed-loop feedback of Torque Control yet.
Therefore can develop that integrated level is high, cost performance is high can force control robot joint module for expanding robot
Application range will generate huge meaning, while can also greatly improve the security performance of robot.
Utility model content
The utility model aim is the shortcomings that overcoming the prior art and insufficient, provides a kind of variation rigidity and controls integration
Rotating and swinging joint module of robot, the moment inspecting that joint of robot may be implemented and control are to realize entire serial manipulator
Power control；The rotating and swinging joint module of robot is simple and compact for structure, and joint transmission precision is high, and torque output accuracy is high, and adopts
With interior cabling mode, tailored appearance is beautiful, inherently improves the safety and reliability of robot.
To achieve the above object, the technical solution adopted in the utility model is as follows:
A kind of variation rigidity controls integrated robot rotating and swinging joint module, including pedestal, joint output, drive control
Device, transmission mechanism, torque sensor, variation rigidity module, the first encoder and second encoder, pedestal include mounting portion and transmission
Portion, driving section are equipped with drive cavity, and transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, and rimless motor includes stator
And rotor, the stator of rimless motor are fixed in drive cavity, transmission shaft is connect with the rotor engagement of rimless motor and transmission shaft two
End is through bearing support in drive cavity, and one end of transmission shaft and the wave producer of harmonic speed reducer connect, harmonic speed reducer
Steel wheel is fixedly connected with variation rigidity module one end, and the variation rigidity module other end connects by the way that torque sensor and joint output are fixed
It connects；Drive control device is located on mounting portion, and the first encoder is used to measure the angular displacement letter of joint output or torque sensor
Breath, second encoder are used to measure the angular displacement information of rotor or transmission shaft；Control terminal and the drive control device electricity of rimless motor
Connection, torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.
From the foregoing, it will be observed that the utility model reads joint output or power by the first encoder during joint motions
The angular displacement information of square sensor obtains the angular displacement information of rotor by second encoder, is measured and is closed by torque sensor
Moment of face suffered by output is saved, then drive control device is according to the angular displacement information of rotor, the angular displacement information of joint output
With suffered moment of face, rimless motor is controlled using the preset control algolithm of drive control device and is rotated.Drive control device passes through acquisition
The angular displacement information of rimless rotor and the angular displacement information of joint output, obtain the deflection angle of rimless rotor with
The deflection angle of joint output, and the moment of face that outer bound pair joint module applies is obtained by torque sensor, it is torque
The closed-loop feedback of control provides necessary condition, therefore can realize the Torque Control of joint module and the Shared control of robot,
To improve joint transmission precision and torque output accuracy.Variation rigidity module has been additionally incorporated, has been passed through so that robot overcomes
Algorithm realizes Shared control and the problems such as bandwidth is inadequate, control system is computationally intensive, response lag occurs, such as some man-machine friendships
It there is high-precision but has to can guarantee man-machine safety due to not needing robot in mutual task, and by joint mould
The rigidity that the rigidity value of block turns down i.e. robot entirety is turned down, then the safety of human-computer interaction can be improved.
As a kind of improvement of the utility model, the harmonic speed reducer and transmission shaft are equipped with hollow hole, described hollow
Hole is for taking the inner line.
As a kind of improvement of the utility model, first encoder is absolute type encoder, absolute type encoder packet
Magnet ring and reading head are included, the torque sensor is wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer ring and strain
Beam, absolute type encoder magnet ring are fixed on the outer ring of torque sensor, and first support, absolute type encoder are equipped in drive cavity
Reading head is fixed in first support and corresponding with the position of absolute type encoder magnet ring；The outer ring of torque sensor and joint
Output is fixedly connected by screw, and the inner ring of torque sensor is fixedly connected with the variation rigidity module other end by screw.
As a kind of improvement of the utility model, the second encoder is incremental encoder, incremental encoder packet
Magnet ring and reading head are included, incremental encoder magnet ring is fixed in transmission shaft the other end face by the first mounting base, drive cavity
Interior to be equipped with second support, incremental encoder reading head is fixed on the secondary support bracket and the position phase with incremental encoder magnet ring
It is corresponding.
As a kind of improvement of the utility model, the transmission shaft other end is equipped with the stop for preventing transmission shaft from arbitrarily rotating
Mechanism, when rotating and swinging joint module is powered, transmission shaft can be freely rotated, and when rotating and swinging joint module power loss, transmission shaft is stopped
Mechanism, which is blocked, to be freely rotated.
As a kind of improvement of the utility model, the stop mechanism includes electromagnet, reset spring, armature and stop
Ring, on the transmission shaft other end, electromagnet and armature are fixed in drive cavity stop snap ring fixing sleeve, when rotating and swinging joint module is logical
Electromagnet is powered when electric, and electromagnet and armature are attracted, and armature is in attracted position, and transmission shaft can be freely rotated, when rotation is closed
Electromagnet power loss when saving module power loss, armature is replied under action of reset spring moves position to end, and stop snap ring is blocked by armature,
Transmission shaft cannot be freely rotated.
As a kind of improvement of the utility model, the bearing in the both ends of the drive shaft is supported on drive cavity by bearing block
It is interior, axle sleeve is additionally provided on the transmission shaft other end, the stop mechanism further includes wave washer and limit convex shoulder, limits convex shoulder
Fixation is located on the transmission shaft other end, and wave washer and stop ring set on the transmission shaft other end and are sequentially located at axle sleeve and limit
Between the convex shoulder of position, stop snap ring is squeezed by wave washer and limit convex shoulder to be clamped and covers on the transmission shaft other end.
Further, the limit convex shoulder is c-type positioning ring, and the transmission shaft other end is equipped with card slot, c-type positioning ring buckle
On card slot.
As a kind of improvement of the utility model, the driving section of the pedestal is equipped with base end in transmission shaft another side
Lid, the joint output are equipped with joint output end cap.
Further, demarcation plate is equipped between the mounting portion and driving section of the pedestal, the drive control device is by dissipating
Hot plate is fixed on demarcation plate.
Compared with prior art, the utility model has the advantage that
1, torque sensor is added in the utility model in joint module so that by the module assembled at robot can be with
The force information in environment is perceived, realizes power control, therefore improve the safety of robot, self-protection, this joint module
It can be applied to high-precision assembly, polishing, scouring etc. to need robot end to contact with environment and control the building ring of power output
In border；
2, the utility model joined variation rigidity module, so that robot, which overcomes, realizes that Shared control goes out by algorithm
Existing the problems such as bandwidth is inadequate, control system is computationally intensive, response lag, such as due to not in the task of some human-computer interactions
It needs robot that there is high-precision but has to can guarantee man-machine safety, and the rigidity value of joint module is turned down into i.e. machine
The rigidity of people's entirety is turned down, then the safety of human-computer interaction can be improved；
3, drive control device obtains the deflection angle of rimless rotor and the deflection angle of joint output by encoder
Degree, provides necessary condition for the closed-loop feedback of Torque Control, realizes the Torque Control of joint module and the submissive control of robot
System, to improve joint transmission precision and torque output accuracy；
4, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize the high-precision position control in joint；
5, the utility model realizes the inside cabling of joint module by reasonable internal structure design and type selecting, thus
It ensure that the simple and beautiful property of joint of robot appearance；
6, the pedestal of the utility model joint module and joint output on the same axis and are each perpendicular to rotation direction
Axis so that joint of robot module become a functional unit.
Detailed description of the invention
Fig. 1 is the schematic diagram that the utility model variation rigidity controls integrated robot rotating and swinging joint module；
Fig. 2 is the cross-sectional view of Fig. 1；
Fig. 3 is the partial enlarged view of Fig. 2；
Fig. 4 is that Fig. 1 removes the left view after pedestal end cap；
Fig. 5 is the principle signal that the utility model variation rigidity controls integrated robot rotating and swinging joint module stop mechanism
Figure.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment be used only for explaining the utility model, rather than the restriction to the utility model.It also should be noted that
For ease of description, part relevant to the utility model is illustrated only in attached drawing rather than full content.
Embodiment
Please refer to Fig. 1 to Fig. 5, a kind of variation rigidity controls integrated robot rotating and swinging joint module, including pedestal 100, closes
Save output 200, drive control device 300, transmission mechanism, torque sensor 400, variation rigidity module 500, the first encoder and the
Two encoders；
Pedestal 100 includes mounting portion 10 and driving section 20, and driving section 20 is equipped with drive cavity 21, and transmission mechanism includes rimless electricity
Machine, transmission shaft 30 and harmonic speed reducer 40, rimless motor include stator 51 and rotor 52, and the stator 51 of rimless motor is fixed on biography
In dynamic chamber 21, the rotor 52 of transmission shaft 30 and rimless motor is cooperatively connected and 30 both ends of transmission shaft pass through bearing 31 and are supported on transmission
In chamber 21, one end of transmission shaft 30 and the wave producer of harmonic speed reducer are connected, the steel wheel and variation rigidity mould of harmonic speed reducer 40
500 one end of block is fixedly connected, and 500 other end of variation rigidity module connects by the way that torque sensor 400 and joint output 200 are fixed
It connects；
Drive control device 300 is located on mounting portion 10, and the first encoder is for measuring joint output 200 or moment sensing
The angular displacement information of device 400, second encoder are used to measure the angular displacement information of rotor 52 or transmission shaft 30；The control of rimless motor
End processed is electrically connected with drive control device 300, torque sensor 400, the first encoder and second encoder respectively with drive control
Device 300 is electrically connected.
From the foregoing, it will be observed that the utility model reads joint output or power by the first encoder during joint motions
The angular displacement information of square sensor obtains the angular displacement information of rotor by second encoder, is measured and is closed by torque sensor
Moment of face suffered by output is saved, then drive control device is according to the angular displacement information of rotor, the angular displacement information of joint output
With suffered moment of face, rimless motor is controlled using the preset control algolithm of drive control device and is rotated.Drive control device passes through acquisition
The angular displacement information of rimless rotor and the angular displacement information of joint output, obtain the deflection angle of rimless rotor with
The deflection angle of joint output, and the moment of face that outer bound pair joint module applies is obtained by torque sensor, it is torque
The closed-loop feedback of control provides necessary condition, therefore can realize the Torque Control of joint module and the Shared control of robot,
To improve joint transmission precision and torque output accuracy.Variation rigidity module has been additionally incorporated, has been passed through so that robot overcomes
Algorithm realizes Shared control and the problems such as bandwidth is inadequate, control system is computationally intensive, response lag occurs, such as some man-machine friendships
It there is high-precision but has to can guarantee man-machine safety due to not needing robot in mutual task, and by joint mould
The rigidity that the rigidity value of block turns down i.e. robot entirety is turned down, then the safety of human-computer interaction can be improved.
In the present embodiment, the harmonic speed reducer 40 and transmission shaft 30 are equipped with hollow hole 90, and the hollow hole 90 is used
In taking the inner line.The inside cabling that joint module is realized by reasonable internal structure design and type selecting, to ensure that machine
The simple and beautiful property of person joint's appearance；Necessary cable hole is respectively equipped with to realize in pedestal 100 and joint output 200 simultaneously
The inside cabling in entire joint.
Wherein, the mounting portion 10 of pedestal 100 and transmission shaft 30 is axially vertical, then joint output 200 is around transmission shaft 30
Can also be vertical and parallel with mounting portion 10 with transmission shaft 30 after rotation, the base member mounting portion of the utility model joint module and pass
It saves output on the same axis and is each perpendicular to the axis in rotation direction, so that joint of robot module becomes a function list
Member.
In the present embodiment, as a kind of improvement of the utility model, first encoder is absolute type encoder, absolutely
It include magnet ring 62 and reading head 61 to formula encoder, the torque sensor 400 is wheel spoke type sensor, wheel spoke type sensor packet
Inner ring, outer ring and strain beam are included, absolute type encoder magnet ring 62 is fixed on the outer ring of torque sensor 400, in drive cavity 21
Equipped with first support 63, absolute type encoder reading head 61 be fixed in first support 63 and with absolute type encoder magnet ring 62
Position is corresponding；The outer ring of torque sensor 400 is fixedly connected with joint output 200 by screw, torque sensor 400
Inner ring is fixedly connected with 500 other end of variation rigidity module by screw.Absolute type encoder can directly measure joint output
Around harmonic speed reducer and the deflection angle of transmission shaft, overcome harmonic speed reducer and torque sensor has centainly part opposite base
Flexible bring location error improves the position precision of joint module, while mentioning for joint of robot position closed-loop feedback
For necessary condition.
In the present embodiment, the second encoder is incremental encoder, and incremental encoder includes magnet ring 73 and reads
Several 72, incremental encoder magnet ring 73 is fixed in 30 the other end face of transmission shaft by the first mounting base 71, drive cavity 21
It is interior be equipped with second support 74, incremental encoder reading head 72 be fixed in second support 74 and with incremental encoder magnet ring 73
Position it is corresponding.The incremental encoder is used to measure the angular displacement information of rotor or transmission shaft, to control more accurately
The velocity of rotation of joint module processed, direction, while necessary condition is provided for joint of robot position closed-loop feedback.
On above-mentioned basis, the utility model has also done further improvement, and 30 other end of transmission shaft is equipped with and prevents from passing
The stop mechanism that moving axis 30 arbitrarily rotates, when rotating and swinging joint module is powered, transmission shaft can be freely rotated, and work as rotating and swinging joint module
When power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.Specifically, the stop mechanism includes electromagnet 81, resets
Spring 86, armature 82 and stop snap ring 83,83 fixing sleeve of stop snap ring is on 30 other end of transmission shaft, electromagnet 81 and armature 82
It is fixed in drive cavity, when rotating and swinging joint module is powered, electromagnet 81 is powered, and electromagnet 81 and armature 82 are attracted, armature 82
In attracted position, transmission shaft 30 can be freely rotated, and when rotating and swinging joint module power loss, 81 power loss of electromagnet, armature 82 are resetting
Lower reply of the effect of spring 86 moves position to end, and stop snap ring 83 is blocked by armature 82, and transmission shaft 30 cannot be freely rotated.Utilize electricity
Magnet and armature match, and armature is set there are two operating position, and electromagnet is powered, and armature is in attracted position, electromagnet power loss,
Armature is in stop position, to reach when rotating and swinging joint module is not when working, prevents transmission shaft random using stop mechanism
Rotation.
On above-mentioned basis, the utility model has also done further improvement, and the bearing 31 on 30 both ends of transmission shaft is logical
It crosses bearing block 32 to be supported in drive cavity 21, is additionally provided with axle sleeve 33 on 30 other end of transmission shaft, the stop mechanism also wraps
Wave washer 84 and limit convex shoulder 85 are included, the limit fixation of convex shoulder 85 is located on 30 other end of transmission shaft, wave washer 84 and stop
83 sets of snap ring on 30 other end of transmission shaft and be sequentially located at axle sleeve 33 and limit convex shoulder 85 between, stop snap ring 83 is by Corrugation pad
Circle 84 and limit convex shoulder 85 squeeze and clamp and cover on 30 other end of transmission shaft.Using wave washer and convex shoulder is limited by stop
Ring extruding is clamped on the transmission shaft other end, realizes that remaining relatively fixed between stop snap ring and transmission shaft using frictional force connects
It connects, and when joint output is more than a certain size by moment of face, stop snap ring then skids on the transmission shaft other end,
Joint output can rotate, and guarantee that stop snap ring is not destroyed by force.
On above-mentioned basis, the limit convex shoulder 85 is c-type positioning ring, and 30 other end of transmission shaft is equipped with card slot, c-type positioning
Ring is buckled on card slot.
In the present embodiment, the driving section 20 of the pedestal 100 is equipped with pedestal end cap 700 in 30 another side of transmission shaft,
The joint output 200 is equipped with joint output end cap 600.Facilitate the later period to zero of intra articular by the design of end cap
Part is checked, is safeguarded without dismantling entire joint.
In the present embodiment, demarcation plate 12, the driving are equipped between the mounting portion 10 and driving section 20 of the pedestal 100
Controller 300 is fixed on demarcation plate 12 by heat sink 11.Drive control device is connected by heat sink with the demarcation plate of pedestal,
So that heat is passed to increase heat dissipation area on pedestal, accelerated heat is distributed, and guarantees drive control device in the case where working long hours
It is able to maintain in a relatively low temperature levels.
Compared with prior art, the utility model has the advantage that
1, torque sensor is added in the utility model in joint module so that by the module assembled at robot can be with
The force information in environment is perceived, realizes power control, therefore improve the safety of robot, self-protection, this joint module
It can be applied to high-precision assembly, polishing, scouring etc. to need robot end to contact with environment and control the building ring of power output
In border；
2, the utility model joined variation rigidity module, so that robot, which overcomes, realizes that Shared control goes out by algorithm
Existing the problems such as bandwidth is inadequate, control system is computationally intensive, response lag, such as due to not in the task of some human-computer interactions
It needs robot that there is high-precision but has to can guarantee man-machine safety, and the rigidity value of joint module is turned down into i.e. machine
The rigidity of people's entirety is turned down, then the safety of human-computer interaction can be improved；
3, drive control device obtains the deflection angle of rimless rotor and the deflection angle of joint output by encoder
Degree, provides necessary condition for the closed-loop feedback of Torque Control, realizes the Torque Control of joint module and the submissive control of robot
System, to improve joint transmission precision and torque output accuracy；
4, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize the high-precision position control in joint；
5, the utility model realizes the inside cabling of joint module by reasonable internal structure design and type selecting, thus
It ensure that the simple and beautiful property of joint of robot appearance；
6, the pedestal of the utility model joint module and joint output on the same axis and are each perpendicular to rotation direction
Axis so that joint of robot module become a functional unit.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (10)
1. a kind of variation rigidity controls integrated robot rotating and swinging joint module, it is characterised in that: including pedestal, joint output,
Drive control device, transmission mechanism, torque sensor, variation rigidity module, the first encoder and second encoder, pedestal include installation
Portion and driving section, driving section are equipped with drive cavity, and transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, rimless motor
Including stator and rotor, the stator of rimless motor is fixed in drive cavity, transmission shaft connect with the rotor engagement of rimless motor and
Both ends of the drive shaft is through bearing support in drive cavity, and one end of transmission shaft and the wave producer of harmonic speed reducer connect, harmonic wave
The steel wheel of retarder is fixedly connected with variation rigidity module one end, and the variation rigidity module other end is exported by torque sensor and joint
Part is fixedly connected；Drive control device is located on mounting portion, and the first encoder is used to measure joint output or torque sensor
Angular displacement information, second encoder are used to measure the angular displacement information of rotor or transmission shaft；The control terminal and driving of rimless motor
Controller electrical connection, torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.
2. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: described humorous
Wave retarder and transmission shaft are equipped with hollow hole, and the hollow hole is for taking the inner line.
3. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: described
One encoder is absolute type encoder, and absolute type encoder includes magnet ring and reading head, and the torque sensor is spoke type biography
Sensor, wheel spoke type sensor include inner ring, outer ring and strain beam, and absolute type encoder magnet ring is fixed on the outer ring of torque sensor
On, be equipped with first support in drive cavity, absolute type encoder reading head be fixed in first support and with absolute type encoder magnetic
The position of ring is corresponding；The outer ring of torque sensor is fixedly connected with joint output by screw, the inner ring of torque sensor
It is fixedly connected with the variation rigidity module other end by screw.
4. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: described
Two encoders are incremental encoder, and incremental encoder includes magnet ring and reading head, and incremental encoder magnet ring passes through first
Mounting base is fixed in transmission shaft the other end face, and second support is equipped in drive cavity, and incremental encoder reading head is fixed on
It is in second support and corresponding with the position of incremental encoder magnet ring.
5. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: the biography
The moving axis other end is equipped with the stop mechanism for preventing transmission shaft from arbitrarily rotating, and when rotating and swinging joint module is powered, transmission shaft can be freely
Rotation, when rotating and swinging joint module power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.
6. variation rigidity according to claim 5 controls integrated robot rotating and swinging joint module, it is characterised in that: described to stop
Motivation structure includes electromagnet, reset spring, armature and stop snap ring, and stop snap ring fixing sleeve is on the transmission shaft other end, electromagnetism
Iron and armature are fixed in drive cavity, and when rotating and swinging joint module is powered, electromagnet is powered, and electromagnet and armature are attracted, armature
In attracted position, transmission shaft can be freely rotated, the electromagnet power loss when rotating and swinging joint module power loss, and armature is made in reset spring
Position is moved to end with lower reply, and stop snap ring is blocked by armature, and transmission shaft cannot be freely rotated.
7. variation rigidity according to claim 6 controls integrated robot rotating and swinging joint module, it is characterised in that: the biography
Bearing in end shaft is supported in drive cavity by bearing block, and axle sleeve is additionally provided on the transmission shaft other end, described to stop
Motivation structure further includes wave washer and limit convex shoulder, and limit convex shoulder fixation is located on the transmission shaft other end, wave washer and stop
Snap ring is covered on the transmission shaft other end and is sequentially located between axle sleeve and limit convex shoulder, and stop snap ring is by wave washer and limit convex
Shoulder, which squeezes, to be clamped and covers on the transmission shaft other end.
8. variation rigidity according to claim 7 controls integrated robot rotating and swinging joint module, it is characterised in that: the limit
Position convex shoulder is c-type positioning ring, and the transmission shaft other end is equipped with card slot, and c-type positioning ring is buckled on card slot.
9. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: the base
The driving section of seat is equipped with pedestal end cap in transmission shaft another side, and the joint output is equipped with joint output end cap.
10. variation rigidity according to claim 1 controls integrated robot rotating and swinging joint module, it is characterised in that: described
Demarcation plate is equipped between the mounting portion and driving section of pedestal, the drive control device is fixed on demarcation plate by heat sink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822191562.5U CN209551778U (en) | 2018-12-20 | 2018-12-20 | A kind of variation rigidity controls integrated robot rotating and swinging joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822191562.5U CN209551778U (en) | 2018-12-20 | 2018-12-20 | A kind of variation rigidity controls integrated robot rotating and swinging joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209551778U true CN209551778U (en) | 2019-10-29 |
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ID=68303689
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822191562.5U Expired - Fee Related CN209551778U (en) | 2018-12-20 | 2018-12-20 | A kind of variation rigidity controls integrated robot rotating and swinging joint module |
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| Country | Link |
|---|---|
| CN (1) | CN209551778U (en) |
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2018
- 2018-12-20 CN CN201822191562.5U patent/CN209551778U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
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