CN112659176B - Non-offset cooperative robot integrated joint - Google Patents
Non-offset cooperative robot integrated joint Download PDFInfo
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- CN112659176B CN112659176B CN202011508371.2A CN202011508371A CN112659176B CN 112659176 B CN112659176 B CN 112659176B CN 202011508371 A CN202011508371 A CN 202011508371A CN 112659176 B CN112659176 B CN 112659176B
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Abstract
The invention provides an integrated joint of a non-biased cooperative robot, and relates to the technical field of cooperative robots. The non-offset cooperative robot integrated joint comprises a joint shell I, wherein a joint shell II and a joint shell III are respectively arranged on two sides of the joint shell I, a hollow joint shaft sequentially penetrates through the joint shell II, the joint shell I and the joint shell III, and the joint shell I and the joint shell II can synchronously move around the axis of the joint shaft. The invention improves the overall rigidity of the joint, reduces the shaking of the encoder assembly caused by overlong input shaft when the joint shaft rotates, ensures that the rotation is more stable by matching the harmonic reducer with the brushless motor, and improves the accuracy of the feedback position of the encoder assembly; the unbiased connection design evenly distributes load, improves the integral rigidity of the joint shafting, and ensures that high coaxiality is kept among all parts.
Description
Technical Field
The invention relates to the technical field of cooperative robots, in particular to an integrated joint of an unbiased cooperative robot.
Background
The existing man-machine isolation production mode is not suitable for the requirements of high definition and high flexibility of the emerging application markets such as 3C electronics, medical treatment and other industries, the man-machine cooperation characteristic of the cooperation robot becomes the optimal choice of enterprises in the industry, and meanwhile, the cooperation robot is adopted to meet the requirements of small and medium enterprises for realizing automatic transformation and upgrading at low cost.
The current mainstream modularization joint structure of the cooperative robot mainly adopts a structure that a harmonic reducer, a motor, a brake and a drive controller are sequentially connected in series, an output shaft of the harmonic reducer is biased, the joint connection rigidity of the cooperative robot is poor, the occupied space is large, friction loss with a rotating shaft exists in the internal wiring process of a hollow joint, and the service life is influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an integrated joint of a non-biased cooperative robot.
The invention solves the technical problems by the following technical means:
the joint comprises a first joint shell, wherein a second joint shell and a third joint shell are respectively arranged on two sides of the first joint shell, a hollow joint shaft sequentially penetrates through the second joint shell, the first joint shell and the axle center of the inner cavity of the third joint shell, a first connecting flange is arranged at the top of the first joint shell, a second connecting flange is arranged at the bottom of the second joint shell and the bottom of the third joint shell, the second joint shell and the third joint shell can synchronously move around the axis of the joint shaft, and the first connecting flange and the second connecting flange can be connected with other integrated joints;
the inner cavity of the first joint shell is provided with a harmonic reducer, the inner cavity of the second joint shell is provided with a magnetic encoder assembly, a grating encoder assembly and a driving controller, and the inner cavity of the third joint shell is provided with a brushless motor and a brake assembly.
Further, a first central line support is fixed on the inner wall of the second joint shell, a second central line support is fixed on the inner wall of the third joint shell, one end of the wiring isolation sleeve is fixed on the first central line support, and the other end of the wiring isolation sleeve is fixed on the second central line support after passing through the hollow joint shaft.
Further, the outer wall of the second joint shell is connected with a first joint cover, and the outer wall of the third joint shell is connected with a second joint cover.
Further, the harmonic reducer comprises a harmonic reducer flexible gear, a harmonic reducer rigid gear and a harmonic reducer wave generator, one side of the harmonic reducer flexible gear is connected with the first joint shell, the other side of the harmonic reducer flexible gear is connected with the flexible gear connecting flange, and the harmonic reducer rigid gear is connected with the rigid gear connecting flange.
Further, the harmonic reducer wave generator is connected with the middle part of the joint shaft, one side of the joint shaft is connected with the flexible wheel connecting flange in a matched mode through a first bearing, and the other side of the joint shaft is connected with the rigid wheel connecting flange in a matched mode through a third bearing.
Further, the magnetic encoder assembly comprises a magnetic encoder magnetic ring and a magnetic encoder reading head, the magnetic encoder magnetic ring is arranged on the flexible wheel connecting flange, the magnetic encoder reading head is arranged on a magnetic encoder reading head bracket, and the magnetic encoder reading head bracket is arranged on the joint shell II.
Further, the grating encoder assembly comprises a grating encoder reading head and a grating sheet, wherein two sides of the grating sheet are pressed by a first grating pressing sheet and a second grating pressing sheet and then are installed at one end of the joint shaft through a grating encoder flange, and the grating encoder reading head is installed on the driving controller.
Further, the brushless motor comprises a motor shaft sleeve, a brushless motor rotor and a brushless motor stator, wherein the motor shaft sleeve is arranged at one end of the joint shaft, and the brushless motor rotor is arranged on the motor shaft sleeve.
Further, the brake stopper includes brake braking subassembly, brake column cover, brake column, compression spring and relay, and brake braking subassembly installs on motor shaft sleeve, and brake column cover is fixed on joint casing three, and compression spring places in brake column cover, and brake column slides and sets up in brake column cover, and brake column top and relay bottom contact.
The invention has the beneficial effects that:
according to the non-offset cooperative robot integrated joint, the joint shaft sequentially penetrates through the joint shell II, the joint shell I and the joint shell three-cavity shaft center, so that the overall rigidity of the joint is improved, the shaking of an encoder assembly caused by overlong input ends when the joint shaft rotates is reduced, the harmonic reducer is matched with the brushless motor to enable the rotation to be more stable, and the accuracy of the feedback position of the encoder assembly is improved;
the first connecting flange and the second connecting flange can be connected with other integrated joints, and the unbiased connecting design uniformly distributes loads, so that the integral rigidity of the joint shafting is improved, and high coaxiality among all parts is ensured.
Drawings
FIG. 1 is a three-dimensional view of an integrated joint of a non-offset collaborative robot of the present invention;
FIG. 2 is a front view in axial cross section of an integrated joint of the non-offset cooperative robot of the present invention;
fig. 3 is a top axial cross-sectional view of an integrated joint of the non-offset cooperative robot of the present invention.
In the figure: 1. a first connecting flange; 2. a first joint shell; 3. a harmonic reducer; 3-1, a harmonic reducer flexspline; 3-2, a harmonic reducer rigid wheel; 3-3, a harmonic reducer wave generator; 4. a flexible wheel connecting flange; 5. a joint shell II; 6. a magnetically encoded reader head bracket; 7-1, a magnetic ring of a magnetic encoder; 7-2, a magnetic encoder reading head; 8-1, a grating encoder reading head; 8-2, grating sheets; 8-3, compacting the first grating sheet; 8-4, compacting the second grating sheet; 8-5, grating encoder flange; 9. a drive controller; 10. a center line bracket I; 11. a wiring isolation sleeve; 12. a joint cover I; 13. a second connecting flange; 14. a brake post sleeve; 15. a brake column; 16. a relay; 17. a second joint cover; 18. a center line bracket II; 19. a joint shaft; 20. a motor shaft sleeve; 21. a brake assembly; 22. a brushless motor rotor; 23. a brushless motor stator; 24. a joint housing III; 25. the rigid wheel is connected with the flange; 26. a first bearing; 27. a second bearing; 28. a third bearing; 29. compressing the spring.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Examples
As shown in fig. 1-3, an integrated joint of the non-offset cooperative robot of this embodiment includes a first joint housing 2, two sides of the first joint housing 2 are respectively provided with a second joint housing 5 and a third joint housing 24, a hollow joint shaft 19 sequentially penetrates through inner cavity axes of the second joint housing 5, the first joint housing 2 and the third joint housing 24, a first connecting flange 1 is assembled at the top of the first joint housing 2, a second connecting flange 13 is assembled at the bottom of the second joint housing 5 and the third joint housing 24, the second joint housing 5 and the third joint housing 24 can synchronously move around the axis of the joint shaft 19, and the first connecting flange 1 and the second connecting flange 13 can be connected with other integrated joints;
the inner cavity of the first joint shell 2 is provided with a harmonic reducer 3, the inner cavity of the second joint shell 5 is provided with a magnetic encoder assembly, a grating encoder assembly and a driving controller 9, and the inner cavity of the third joint shell 24 is provided with a brushless motor and a brake assembly 21.
The non-offset cooperative robot integrated joint of the embodiment has the advantages that the joint shaft 19 sequentially penetrates through the inner cavity axes of the joint shell II 5, the joint shell I2 and the joint shell III 24, the overall rigidity of the joint is improved, the shaking of the encoder assembly 7 caused by overlong input shafts when the joint shaft 19 rotates is reduced, the harmonic reducer 3 is matched with a brushless motor to enable the rotation to be stable, and the accuracy of the feedback position of the encoder assembly 7 is improved; when the non-offset cooperative robot integrated joint is connected with other joints, the non-offset connection design uniformly distributes load, so that the integral rigidity of a joint shafting is improved, and high coaxiality among all parts is ensured; the brushless motor is separated from other parts, so that the influence on the position accuracy and performance of other parts under the condition of heating after the rotation of the brushless motor is reduced.
The inner wall of the joint housing II 5 is fixed with a center line support I10, the inner wall of the joint housing III 24 is fixed with a center line support II 18, one end of the wiring isolation sleeve 11 is fixed on the center line support I10, and the other end of the wiring isolation sleeve passes through the hollow joint shaft 19 and is fixed on the center line support II 18.
The wiring isolation sleeve 11 ensures that the internal wiring of the joint cannot generate friction loss, and the hollow joint shaft 19 is convenient for wiring such as power lines, signal lines and the like of the cooperative robot.
The outer wall of the second joint shell 5 is connected with a first joint cover 12, and the outer wall of the third joint shell 24 is connected with a second joint cover 17.
The harmonic reducer 3 comprises a harmonic reducer flexible gear 3-1, a harmonic reducer rigid gear 3-2 and a harmonic reducer wave generator 3-3, one side of the harmonic reducer flexible gear 3-1 is connected with the first joint shell 2, the other side of the harmonic reducer flexible gear 3-1 is connected with the flexible gear connecting flange 4, and the harmonic reducer rigid gear 3-2 is connected with the rigid gear connecting flange 25.
The harmonic reducer wave generator 3-3 is connected with the middle part of the joint shaft 19, one side of the joint shaft 19 is connected with the flexible wheel connecting flange 4 in a matched manner through a first bearing 26, and the other side of the joint shaft is connected with the rigid wheel connecting flange 25 in a matched manner through a third bearing 28; the second joint shell 5 is connected with the flexible gear connecting flange 4 in a matched mode through a second bearing 27. The two sides of the joint shaft 19 are respectively matched and connected with the flexible connecting flange 4 and the rigid connecting flange 25 through the first bearing 26 and the third bearing 28, the joint shell II 5 is matched and connected with the flexible connecting flange 4 through the second bearing 27, and the coaxial matched and connected mode of the plurality of bearings improves the overall rigidity of the joint and avoids shaking when the harmonic reducer 3 works.
The magnetic encoder assembly comprises a magnetic encoder magnetic ring 7-1 and a magnetic encoder reading head 7-2, the magnetic encoder magnetic ring 7-1 is arranged on the flexible wheel connecting flange 4, the magnetic encoder reading head 7-2 is arranged on a magnetic encoder reading head bracket 6, and the magnetic encoder reading head bracket 6 is arranged on the joint shell II 5.
The grating encoder assembly comprises a grating encoder reading head 8-1 and a grating sheet 8-2, wherein two sides of the grating sheet 8-2 are compressed by a first grating compressing sheet 8-3 and a second grating compressing sheet 8-4 and then are arranged at one end of a joint shaft 19 through a grating encoder flange 8-5, and the grating encoder reading head 8-1 is arranged on a driving controller 9.
The brushless motor comprises a motor shaft sleeve 20, a brushless motor rotor 22 and a brushless motor stator 23, wherein the motor shaft sleeve 20 is arranged at one end of the joint shaft 19, and the brushless motor rotor 22 is arranged on the motor shaft sleeve 20.
The brake comprises a brake assembly 21, a brake column sleeve 14, a brake column 15, a compression spring 29 and a relay 16, wherein the brake assembly 21 is arranged on a motor shaft sleeve 20, the brake column sleeve 14 is fixed on a joint shell III 24, the compression spring 29 is placed in the brake column sleeve 14, the brake column 15 is arranged in the brake column sleeve 14 in a sliding manner, and the top of the brake column 15 is in contact with the bottom of the relay 16.
It is noted that relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a non-biased collaborative robot integration joint, including joint casing one (2), joint casing two (5) and joint casing three (24) are equipped with respectively to joint casing one's (2) both sides, characterized in that, hollow joint axle (19) runs through joint casing two (5), joint casing one (2) and joint casing three (24) inner chamber axle center setting in proper order, joint casing one's (2) top is equipped with flange one (1), joint casing two (5), joint casing three's (24) bottom is equipped with flange two (13), joint casing two (5) and joint casing three (24) can be around joint axle (19) axis synchronous motion, flange one (1), flange two (13) all can be connected with other integration joints;
a harmonic reducer (3) is arranged in the inner cavity of the first joint shell (2), a magnetic encoder assembly, a grating encoder assembly and a driving controller (9) are arranged in the inner cavity of the second joint shell (5), and a brushless motor and a brake assembly (21) are arranged in the inner cavity of the third joint shell (24);
the harmonic reducer (3) comprises a harmonic reducer flexible gear (3-1), a harmonic reducer rigid gear (3-2) and a harmonic reducer wave generator (3-3), one side of the harmonic reducer flexible gear (3-1) is connected with the first joint shell (2), the other side of the harmonic reducer flexible gear is connected with the flexible gear connecting flange (4), and the harmonic reducer rigid gear (3-2) is connected with the rigid gear connecting flange (25);
the harmonic reducer wave generator (3-3) is connected with the middle part of the joint shaft (19), one side of the joint shaft (19) is connected with the flexible wheel connecting flange (4) in a matching way through a first bearing (26), and the other side of the joint shaft is connected with the rigid wheel connecting flange (25) in a matching way through a third bearing (28);
the brushless motor comprises a motor shaft sleeve (20), a brushless motor rotor (22) and a brushless motor stator (23), wherein the motor shaft sleeve (20) is arranged at one end of the joint shaft (19), and the brushless motor rotor (22) is arranged on the motor shaft sleeve (20);
the brake comprises a brake assembly (21), a brake column sleeve (14), a brake column (15), a compression spring (29) and a relay (16), wherein the brake assembly (21) is arranged on a motor shaft sleeve (20), the brake column sleeve (14) is fixed on a joint shell III (24), the compression spring (29) is placed in the brake column sleeve (14), the brake column (15) is slidably arranged in the brake column sleeve (14), and the top of the brake column (15) is in contact with the bottom of the relay (16).
2. The integrated joint of the unbiased cooperative robot as claimed in claim 1, wherein a first center line bracket (10) is fixed on an inner wall of the second joint housing (5), a second center line bracket (18) is fixed on an inner wall of the third joint housing (24), one end of the wiring isolation sleeve (11) is fixed on the first center line bracket (10), and the other end of the wiring isolation sleeve, which passes through the hollow joint shaft (19), is fixed on the second center line bracket (18).
3. The non-biased cooperative robot integrated joint as claimed in claim 1, wherein the outer wall of the second joint housing (5) is connected with the first joint cover (12), and the outer wall of the third joint housing (24) is connected with the second joint cover (17).
4. The non-biased cooperative robot integrated joint as claimed in claim 1, wherein the magnetic encoder assembly comprises a magnetic encoder ring (7-1) and a magnetic encoder reading head (7-2), the magnetic encoder ring (7-1) is mounted on the flexible wheel connecting flange (4), the magnetic encoder reading head (7-2) is mounted on a magnetic encoder reading head bracket (6), and the magnetic encoder reading head bracket (6) is mounted on the joint housing two (5).
5. The non-offset cooperative robot integrated joint according to claim 1, wherein the grating encoder assembly comprises a grating encoder reading head (8-1) and a grating sheet (8-2), two sides of the grating sheet (8-2) are pressed by a grating pressing sheet one (8-3) and a grating pressing sheet two (8-4) and then are installed at one end of a joint shaft (19) through a grating encoder flange (8-5), and the grating encoder reading head (8-1) is installed on a driving controller (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011508371.2A CN112659176B (en) | 2020-12-18 | 2020-12-18 | Non-offset cooperative robot integrated joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011508371.2A CN112659176B (en) | 2020-12-18 | 2020-12-18 | Non-offset cooperative robot integrated joint |
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| CN112659176A CN112659176A (en) | 2021-04-16 |
| CN112659176B true CN112659176B (en) | 2023-09-22 |
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| CN202011508371.2A Active CN112659176B (en) | 2020-12-18 | 2020-12-18 | Non-offset cooperative robot integrated joint |
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