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Parallel type all-in-one machine for robot joints

A robot joint and integrated machine technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that the axial length of the servo reducer integrated machine cannot be further reduced, and the overall axial length of the overall mechanism can be reduced, so as to achieve a flat structure. , Simple installation, reasonable design effect

Pending Publication Date: 2019-01-18
江苏开璇智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to provide an all-in-one machine for the joints of a parallel robot. The main shaft of the servo motor is arranged in parallel with the rotating main shaft of the harmonic reducer, which greatly reduces the overall axial length of the overall mechanism, and is especially suitable for joints of service robots. , the invention solves the technical problem that the axial length of the servo deceleration machine cannot be further reduced

Method used

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  • Parallel type all-in-one machine for robot joints
  • Parallel type all-in-one machine for robot joints
  • Parallel type all-in-one machine for robot joints

Examples

Experimental program
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Effect test

Embodiment 1

[0040] Such as Figure 1-3 As shown, the present invention provides an all-in-one machine for parallel robot joints, which consists of a servo motor 1, a connecting base 2, a synchronous pulley, a synchronous belt, a low-speed shaft encoder 5, a harmonic reducer 6, and a brake Mechanism 7, servo drive module 8, high-speed shaft encoder 9, tensioning mechanism 10 and so on.

[0041] The connection base 2 is a hollow structure; the servo motor 1 is fixed on the first end of the connection base 2, the motor shaft of the servo motor 1 extends into the connection base 2, and a The first synchronous pulley 31.

[0042] The reducer 6 is fixed on the second end of the connecting base 2, the high-speed shaft of the reducer 6 extends into the connecting base 2, and a second synchronous pulley 32 is arranged on the extending end of the high-speed shaft; The first synchronous pulley 31 and the second synchronous pulley 32 are linked through a first synchronous belt 41 , so that the serv...

Embodiment 2

[0052] Such as Figure 4-6 As shown, the servo motor 1 is connected to the bottom plate of the connection base 2 through screws, the first synchronous pulley 31 is connected to the motor shaft through a top screw or a key, the upper end of the motor shaft is fixed to the upper cover of the connection base 2 through a bearing, and the harmonic deceleration The device 6 is also connected to the bottom plate of the connection base 2 through screws, the high-speed hollow shaft of the harmonic reducer 6 is connected to the second synchronous pulley 32 through a top screw, and the first synchronous pulley 31 at the motor end is connected to the high-speed shaft of the harmonic reducer 6 The second synchronous pulley 32 is connected through the first synchronous belt 41, and the tensioning mechanism 10 on both sides can tension the first synchronous belt 41 in the middle, and the low-speed shaft encoder 5 and the reducer 6 low-speed shaft 61 pass the jackscrew or interference The low...

Embodiment 3

[0056] Such as Figure 7 As shown, the inner wall of the connection base 2 is rotatably installed with a second shaft body 21 parallel to and spaced from the motor shaft, and a second shaft body 21 is rotatably arranged on the second shaft body 21 and is distributed parallel to the first synchronous pulley 31. The seventh synchronous pulley 37, the seventh synchronous pulley 37 is arranged in parallel with the first synchronous belt 41 at intervals, and the first synchronous pulley 31 and the seventh synchronous pulley 37 are linked by a fourth synchronous belt 44 The second shaft body 21 protrudes outward from the connection base 2 for a certain distance, and the high-speed shaft encoder 9 is arranged on the connection base 2 on the outer periphery of the protruding end of the second shaft body 21 , so that the input shaft of the high-speed shaft encoder 9 rotates synchronously with the protruding end of the second shaft body 21 for collecting the rotational position of the m...

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Abstract

The invention discloses a parallel type all-in-line machine for robot joints. The machine comprises a connecting base which is of a hollow structure, a servo motor and a speed reducer; the servo motoris fixed to a first end of the connecting base, a motor shaft of the servo motor extends into the connecting base, and a first synchronous pulley is arranged at an extension end of the motor shaft; the speed reducer is fixed to a second end of the connecting base, a high speed shaft of the speed reducer extends into the connecting base, and a second synchronous pulley is arranged at an extensionend of the high speed shaft; the first synchronous pulley and the second synchronous pulley are linked through a first synchronous belt. A servo motor main shaft and a harmonic speed reducer rotatingmain shaft are arranged in parallel, the coverall length of the whole mechanism in the axial direction is greatly reduced, the machine is applicable to the joins of a service robot, and the technicalproblem that the length of the servo speed reduction all-in-one machine in the axial direction cannot be further reduced is solved.

Description

technical field [0001] The invention relates to the technical field of motor drive, in particular to the field of driving an integrated machine for joints of a robot, a reducer and a drive system, and in particular to an all-in-one machine for driving joints of service robots. Background technique [0002] The all-in-one machine is the driving actuator used to drive the movement of the connecting rod of the robot at the joint of the robot. It is a new robot-specific driving actuator that integrates the servo motor, harmonic reducer, driving system and braking system. At present, there are mainly two forms of the composition structure of the all-in-one machine, namely: standard servo motor and harmonic reducer and customized servo motor and customized harmonic reducer, among which the standard servo motor and harmonic reducer directly use the standard The servo motor is a robot joint drive device formed by combining the connecting flange and other connecting mechanisms with t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/10
CPCB25J9/104B25J17/00Y02P70/10
Inventor 鄢旋储建华李健李文昊杨丽君
Owner 江苏开璇智能科技有限公司
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