Unlock instant, AI-driven research and patent intelligence for your innovation.

A modular robot joint, an encoder read head position adjustment mechanism and a read head position adjustment method

A technology of robot joints and adjustment mechanisms, applied in the field of robots, can solve problems such as inconvenient adjustment and control, complex size chains, and increased manufacturing costs

Active Publication Date: 2021-07-06
北京思灵机器人科技有限责任公司
View PDF11 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are many components in the modular joint, and the dimensional chain is relatively complicated. To ensure the distance between the sensor device and the sensor ring by controlling the tolerance of all corresponding parts will increase the manufacturing cost, and it is not easy to adjust the control during assembly and debugging.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A modular robot joint, an encoder read head position adjustment mechanism and a read head position adjustment method
  • A modular robot joint, an encoder read head position adjustment mechanism and a read head position adjustment method
  • A modular robot joint, an encoder read head position adjustment mechanism and a read head position adjustment method

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0044] Refer to the attached figure 1 -5. This embodiment discloses a modular robot joint, which includes a motor, a reducer, a hollow shaft 18, an output flange 1, a brake 14 and other components. Wherein the motor comprises a motor casing 8 , a motor stator 9 , a motor rotor 10 and a motor shaft 11 . The reducer is a harmonic reducer composed of flexible spline 21, rigid spline 23 and wave generator 22. The hollow shaft 18 is fixedly connected to the output flange 1, and the motor outputs power to the output flange 1 through a reducer. The encoder includes a high-speed side encoder and a low-speed side encoder. The side encoder is used to detect the rotation speed of the input end of the motor, and the low-speed side encoder is used to detect the output end, that is, the rotation speed of the hollow shaft 18 and feed the information back to the control system.

[0045] The encoder includes a magnetic ring and a read head, the magnetic ring is fixed to the motor shaft 10 o...

no. 2 example

[0057] combine image 3 -5. This embodiment discloses a modular robot joint encoder read head position adjustment mechanism, the read head position adjustment mechanism is arranged on one side of the encoder read head bracket 11, including the read head position adjustment mechanism lower bracket 301 and the read head position adjustment mechanism. The upper bracket 302 of the head position adjustment mechanism, the lower bracket 301 of the read head position adjustment mechanism and the upper bracket 302 of the read head position adjustment mechanism are connected to each other and limited by the limit connector, and the upper bracket 302 of the read head position adjustment mechanism Tighten the lower bracket 301 of the reading head position adjustment mechanism through the tightening connecting piece, and the encoder reading head is fixed on the upper surface of the upper bracket 302 of the reading head position adjustment mechanism, and is opposite to the magnetic ring of ...

no. 3 example

[0059] This embodiment discloses a method for adjusting the position of the encoder read head of a modular robot joint, including the following steps:

[0060] (1) A read head position adjustment mechanism is provided, the read head position adjustment mechanism is arranged on the read head bracket, the read head position adjustment mechanism includes an upper bracket and a lower bracket, and the upper bracket and the lower bracket pass through a limit The connectors are connected to each other and limited; the upper bracket is tightened to the lower bracket through the tightening connector;

[0061] (2) The read head is arranged on one side surface of the upper bracket, and is opposite to the magnetic ring;

[0062] (3) Adjusting the limiting connecting piece and the tightening connecting piece and adjusting the axial distance between the reading head and the magnetic ring to a predetermined value.

[0063] Further, the following steps are also included:

[0064] When the a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a modular robot joint, an encoder reading head position adjustment mechanism and an adjustment method thereof. The encoder read head position adjustment mechanism is arranged on one side of the encoder read head support, including the lower support of the read head position adjustment mechanism and the upper support of the read head position adjustment mechanism, and the lower support and the upper support are connected to each other through a limit connector And limit the position, the upper bracket is tightened to the lower bracket through the tightening connector, the encoder read head is fixed on the upper surface of the upper bracket of the read head position adjustment mechanism, and is opposite to the encoder magnetic ring, and the encoder magnetic ring is fixed on the motor shaft or hollow shaft. The distance between the lower bracket and the upper bracket can be adjusted by adjusting the limit connecting piece and the tightening connecting piece, so that the axial distance between the read head and the magnetic ring can be adjusted to a predetermined value. This technical solution can reasonably reduce the processing accuracy of the relevant parts on the dimension chain, reduce the processing cost, and facilitate the adjustment and control during the assembly and debugging of the robot joints, thus achieving good technical results.

Description

technical field [0001] The invention relates to the field of robots, in particular to a modular robot joint and its internal specific structure. Background technique [0002] The compactness and miniaturization of robot modular joints is an important development direction of collaborative robots, and is directly related to the parameters of the whole machine. The operational stability and accuracy of the modular joints are critical to the performance of the robotic arm. Most of the modular joints in the prior art use frameless hollow motors in a compact structure space, and are designed with high-speed shaft and low-speed shaft encoders to read the rotation speed of the motor and the output shaft of the joint, so as to use this information to control the joint. Usually, there is a precise installation distance requirement between the detection surface of the encoder read head and the surface of the encoder magnetic ring. In some encoder manuals, the error between the actual...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J19/00
CPCB25J17/00B25J19/00H02K11/215H02K7/116H02K2213/09B25J9/126B25J9/102B25J13/088B25J17/0241H02K7/102H02K2213/12
Inventor 陈兆芃高志民苏学彬赵越超王倩
Owner 北京思灵机器人科技有限责任公司