A servo slewing joint

Abstract

A servo slewing joint, which comprises a servo rotating assembly, an ultra-large torque clutch and a rotating angle measuring assembly. The servo slewing joint of the present invention enables each slewing joint of the manipulator to freely switch between automatic rotation and manual rotation; thereby upgrading the traditional assisted manipulator to a flexible robot, realizing the automatic completion of the workpiece grasping and handling links, and the manual assistance in the assembly link, so the workload of workers is reduced compared with the traditional assisted manipulator; and the contradiction of difficult full-automatic assembly of workpieces is solved compared with robots.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a servo rotary joint, which is mainly applied to the rotary joint of a flexible robotic arm. Background Art

[0002] A flexible robotic arm is not just a functional product but a semi-automatic workpiece handling platform. Its service scope can be extended by adding corresponding auxiliary equipment, such as a servo electric trolley similar to the 7th axis of the robotic arm. The usage function of the equipment can be extended by configuring different tools such as jigs.

[0003] All three rotary joints of traditional powered assist robotic arms have no power and need to be manually rotated by workers. General robots generally have 6 degrees of freedom, that is, 6 joints, but they can only rotate automatically, and it is very difficult for workers to participate during the production process. Summary of the Invention

[0004] The purpose of the present invention is to design a servo rotary joint applied to the rotary joint of a flexible robotic arm to achieve the free switching between automatic rotation and manual rotation of its arm rod.

[0005] To achieve the above purpose, the technical solution of the present invention is as follows:

[0006] A servo slewing joint, which comprises a servo rotating assembly, an ultra-large torque clutch and a rotation angle measuring assembly; wherein, the servo rotating component includes: a fixed mounting seat, which includes a fixed bottom plate and a housing thereon; a shaft hole is provided in the center of the fixed bottom plate; an external tooth type slewing bearing, which is arranged in the upper housing of the fixed mounting seat, and its inner ring is connected to the fixed bottom plate by bolts; a servo motor and a speed reducer, which are arranged on one side of the fixed bottom plate of the fixed mounting seat; a driving gear, which is arranged on one side in the upper housing of the fixed mounting seat, meshes with the outer ring of the external tooth type slewing bearing, and the driving gear is installed on the output shaft of the speed reducer; the ultra-large torque clutch includes: a slewing bearing seat, the bottom plate of which is connected to the inner ring of the external tooth type slewing bearing by bolts; bearings are respectively arranged at both ends in the shaft hole in the center of the slewing bearing seat; a toothed brake disc, a through hole is provided in the center thereof, and the toothed brake disc on the outer side of the through hole is connected to the front end face of the slewing bearing seat by bolts; a toothed structure is arranged along the circumferential direction on the outer side of the outer side face of the toothed brake disc; a connecting half shaft, which is composed of a connecting bottom plate and a shaft body thereon, the shaft body passes through the through hole inserted in the center of the toothed brake disc and is inserted into the bearings at both ends in the shaft hole in the center of the slewing bearing seat, and its end extends into the inner ring of the external tooth type slewing bearing; a braking device, which includes a braking cylinder, the cylinder body of which is connected to one side of the connecting bottom plate of the connecting half shaft by a fixed bracket; a braking pressing block is arranged at the end of the piston rod of the braking cylinder, and the outer side face of the braking pressing block is a tooth surface meshing with the toothed structure on the outer side face of the toothed brake disc; the rotation angle measuring assembly includes: an encoder driving shaft, one end of which passes through the shaft hole in the center of the fixed bottom plate of the fixed mounting seat and is connected to the end of the shaft body of the connecting half shaft extending into the inner ring of the external tooth type slewing bearing, and the other end extends out of the shaft hole in the center of the fixed bottom plate; an encoder, which is arranged at the upper end of the encoder driving shaft extending out of the fixed bottom plate, and the encoder housing is fixed on the fixed bottom plate.

[0007] Further, the braking device further includes: a connecting block, which is triangular, with a groove provided at the upper part for inserting the end of the output shaft of the braking cylinder, and pivotally connected to the end of the output shaft; first and second shaft holes are respectively provided on both sides of the lower part of the connecting block; the fixing bracket is a U-shaped body, and the connecting block is located inside it; a through hole for the output shaft of the braking cylinder to pass through is provided at the bottom of the fixing bracket, and the upper parts of both sides thereof are connected to one side of the connecting bottom plate; first and second connecting holes are respectively provided on both sides of the lower parts of both sides thereof, and the connecting block is connected to the fixing bracket through a connecting shaft from the first shaft hole of the connecting block and the first connecting hole of the fixing bracket; the braking pressing block is a U-shaped block, and the outer side of its bottom is a toothed surface; waist-shaped holes are provided on both side walls of the braking pressing block; the connecting block is inserted into the braking pressing block, a pin shaft is provided in the second shaft hole of the connecting block, and both ends of the pin shaft pass through the waist-shaped holes on both side walls of the braking pressing block; a clamping block, which is L-shaped, one side of which is connected to the second connecting holes at the lower parts of both sides of the fixing bracket through a connecting bolt, and the other side of the clamping block is buckled on the inner side surface of the toothed brake disc.

[0008] Preferably, the fixing bracket of the braking device is connected to one side of the connecting bottom plate of the connecting half shaft through a connecting plate.

[0009] The servo rotary joint of the present invention includes a servo rotary component, an ultra-large torque clutch and a rotary angle measurement component.

[0010] When the clutch is closed, the fixed bottom plate rotates around the external toothed slewing bearing according to the angle value given by the system.

[0011] The driving torque of the ultra-large torque clutch ranges from 100 Nm to 16,000 Nm.

[0012] When the clutch is disengaged, the servo motor does not rotate, and the servo rotary joint is manually rotated by hand; when the clutch is closed, the servo rotary joint can only be servo-rotated.

[0013] The rotary angle measurement component of the present invention enables the encoder to measure the rotary angle of the connecting bottom plate of the connecting half shaft, the fixed base and the fixed bottom plate in real time whether it is servo-rotated or manually rotated by hand.

[0014] The beneficial effects of the present invention:

[0015] The servo rotary joint of the present invention realizes that each rotary joint of the manipulator can be freely switched between automatic rotation and manual rotation through a servo rotary component, an ultra-large torque clutch and a rotary angle measurement component, etc., so as to upgrade the traditional assisted manipulator to a flexible robot hand, and realize the automatic completion of the workpiece grasping and handling links and the manual assistance in the assembly link; therefore, the workload of workers is reduced compared with the traditional assisted robotic arm, and the contradiction of difficult full-automatic assembly of workpieces is solved compared with robots. Brief Description of the Drawings

[0016] Figure 1 is a three-dimensional view of an embodiment of the present invention Figure 1 ;

[0017] Figure 2 is a three-dimensional view of an embodiment of the present invention Figure 2 ;

[0018] Figure 3 is a top view of an embodiment of the present invention;

[0019] Figure 4 is Figure 3 a sectional view taken along line A-A of

[0020] Figure 5 is a three-dimensional exploded view of an embodiment of the present invention Figure 1 ;

[0021] Figure 6 is a three-dimensional exploded view of an embodiment of the present invention Figure 2 ;

[0022] Figure 7 is a three-dimensional view of the braking device in an embodiment of the present invention Figure 1 ;

[0023] Figure 8 is a three-dimensional view of the braking device in an embodiment of the present invention Figure 2 ;

[0024] Figure 9 is a three-dimensional exploded view of the braking device in an embodiment of the present invention. Detailed Description of the Invention

[0025] Referring to Figures 1 to 9 , the servo rotary joint of the present invention includes a servo rotating assembly 1, an ultra-large torque clutch 2, and a rotation angle measuring assembly 3; wherein,

[0026] The servo rotating component 1 includes:

[0027] A fixed mounting seat 11, which includes a fixed bottom plate 111 and a housing 112 thereon; a shaft hole is provided at the center of the fixed bottom plate 111;

[0028] An external tooth type slewing bearing 12, which is arranged in the housing 112 of the fixed mounting seat 11, and its inner ring is connected to the fixed bottom plate 111 by bolts;

[0029] A servo motor and a speed reducer 13, which are arranged on one side of the fixed bottom plate 111 of the fixed mounting seat 11;

[0030] The driving gear 14 is arranged on one side inside the upper shell 112 of the fixed mounting seat 11, meshes with the outer ring of the external tooth type slewing bearing 12, and the driving gear 14 is installed on the output shaft of the speed reducer 13;

[0031] The super-large torque clutch 2 includes:

[0032] The slewing bearing seat 21, the bottom plate 211 of which is connected to the inner ring of the external tooth type slewing bearing 12 by bolts; bearings 22 are respectively arranged at both ends in the central shaft hole of the slewing bearing seat 21;

[0033] The toothed brake disc 23, a through hole is arranged in the center thereof, and the toothed brake disc 23 outside the through hole is connected to the front end face of the slewing bearing seat 21 by bolts; a toothed structure 231 is arranged along the circumferential direction on the outer side of the outer side face of the toothed brake disc 23;

[0034] The connecting half shaft 24 is composed of a connecting bottom plate 241 and a shaft body 242 thereon. The shaft body 242 passes through the through hole inserted in the center of the toothed brake disc 23 and is inserted into the bearings 22 at both ends in the central shaft hole of the slewing bearing seat 21, and its end extends into the inner ring of the external tooth type slewing bearing 12;

[0035] The braking device 25 includes a braking cylinder 251, the cylinder body of which is connected to one side of the connecting bottom plate 241 of the connecting half shaft 24 through a fixed bracket 252; a braking pressure block 253 is arranged at the end of the piston rod of the braking cylinder, and the outer side face of the braking pressure block 253 is a tooth surface meshing with the toothed structure on the outer side face of the toothed brake disc;

[0036] The rotation angle measuring assembly 3 includes:

[0037] The encoder drive shaft 31, one end of which passes through the central shaft hole of the fixed bottom plate 111 of the fixed mounting seat 11 and is connected to the end of the shaft body 242 of the connecting half shaft 24 extending into the inner ring of the external tooth type slewing bearing 12, and the other end extends out of the central shaft hole of the fixed bottom plate 111;

[0038] The encoder 32 is arranged at the upper end of the encoder drive shaft 31 extending out of the fixed bottom plate 111, and the housing of the encoder 32 is fixed on the fixed bottom plate 111.

[0039] See Figures 7 to 9 , the braking device 25 further includes:

[0040] The connecting block 254 is triangular, with a groove 2541 provided at the upper part for the end of the output shaft of the brake cylinder 251 to be inserted, and is pivotally connected to the end of the output shaft; on both sides of the lower part of the connecting block 254, a first shaft hole 2542 and a second shaft hole 2543 are respectively provided; the fixed bracket 252 is a U-shaped body, and the connecting block 254 is located inside it; a through hole 2521 for the output shaft of the brake cylinder 251 to pass through is provided at the bottom of the fixed bracket 252, and the upper parts of its two side edges are connected to one side of the connecting bottom plate 241; first connecting holes 2522 and second connecting holes 2523 are respectively provided on both sides of the lower parts of its two side edges, and the connecting block 254 is connected to the fixed bracket 252 through a connecting shaft 255 from the first shaft hole 2542 of the connecting block 254 and the first connecting hole 2522 of the fixed bracket 252;

[0041] The brake pressing block 253 is a U-shaped block, and the outer side surface of its bottom is a tooth surface 2531; waist-shaped holes 2532 are provided on both side walls of the brake pressing block 253; the connecting block 254 is inserted into the brake pressing block 253, and a pin shaft 256 is provided in the second shaft hole 2543 of the connecting block 254, and both ends of the pin shaft 256 are inserted into the waist-shaped holes 2532 on both side walls of the brake pressing block 253;

[0042] The clamping block 257 is L-shaped, and one of its side edges 2571 is connected to the second connecting hole 2523 at the lower parts of both side edges of the fixed bracket 252 through a connecting bolt 258, and the other side edge 2572 of the clamping block 257 is buckled on the inner side surface of the toothed brake disc 23.

[0043] Preferably, the fixed bracket 252 of the brake device 25 is connected to one side of the connecting bottom plate 241 of the connecting half shaft 24 through a connecting plate 259.

[0044] The working process of the servo slewing joint of the present invention is as follows:

[0045] In the servo slewing joint of the present invention:

[0046] The brake device 25 and the connecting half shaft 24 (connecting arm rod) are connected by bolts into a single entity - the arm rod connection assembly.

[0047] The slewing bearing seat 21, the toothed brake disc 23 and the outer ring of the external tooth type slewing bearing 12 are connected by bolts into a single entity - the brake disc assembly.

[0048] The servo motor reducer 13, the driving gear 14, the fixed mounting seat 11 and the inner ring of the external tooth type slewing bearing 12 are connected by bolts into a single entity - the rotating assembly.

[0049] When the super-large torque clutch is closed, the arm connecting component and the brake disc component are pressed tightly by the brake pressing block and the toothed brake disc to connect them into a single entity. At this time, the servo motor rotates, causing it to rotate around the inner ring of the external tooth type slewing bearing.

[0050] When the super-large torque clutch is disengaged, the arm connecting component and the brake disc component are in a separated state, and the arm connecting component can rotate freely around the brake disc component. At this time, the servo motor is in a stopped state, and it engages with the outer ring teeth of the external tooth type slewing bearing through the drive gear to form a temporary entity. In this way, when manually rotating the connecting half shaft (connecting the arm), the rotating component and the brake disc component rotate around the inner ring of the external tooth type slewing bearing.

[0051] The rotation angle measurement component can enable the encoder to measure the rotation angles of the connecting half shaft and the fixed mounting seat in real time whether it is servo rotation or manual rotation.

Claims

1. A servo slewing joint, characterized in that, it includes a servo rotating assembly, an ultra-large torque clutch and a rotation angle measurement assembly; wherein, the servo rotating assembly includes: a fixed mounting base, which includes a fixed bottom plate and a housing thereon; a shaft hole is provided in the center of the fixed bottom plate; an external tooth type slewing bearing, which is arranged in the upper housing of the fixed mounting base, and its inner ring is connected to the fixed bottom plate by bolts; a servo motor and a speed reducer, which are arranged on one side of the fixed bottom plate of the fixed mounting base; a driving gear, which is arranged on one side inside the upper housing of the fixed mounting base, meshes with the outer ring of the external tooth type slewing bearing, and the driving gear is installed on the output shaft of the speed reducer; the ultra-large torque clutch includes: a slewing bearing seat, the bottom plate of which is connected to the inner ring of the external tooth type slewing bearing by bolts; bearings are respectively arranged at both ends in the shaft hole in the center of the slewing bearing seat; a toothed brake disc, a through hole is provided in the center thereof, and the toothed brake disc outside the through hole is connected to the front end face of the slewing bearing seat by bolts; a toothed structure is arranged along the circumferential direction on the outer side of the outer side face of the toothed brake disc; a connecting half shaft, which is composed of a connecting bottom plate and a shaft body thereon, the shaft body passes through the through hole inserted in the center of the toothed brake disc and is inserted into the bearings at both ends in the shaft hole in the center of the slewing bearing seat, and its end extends into the inner ring of the external tooth type slewing bearing; a braking device, including: a braking cylinder, the cylinder body of which is connected to one side of the connecting bottom plate of the connecting half shaft through a fixed bracket; a braking pressure block is arranged at the end of the piston rod of the braking cylinder, and the outer side face of the braking pressure block is a tooth surface meshing with the toothed structure on the outer side face of the toothed brake disc; a connecting block, which is triangular, a groove for inserting the end of the output shaft of the braking cylinder is provided at the upper part, and it is pivotally connected to the end of the output shaft; first shaft holes and second shaft holes are respectively arranged on both sides of the lower part of the connecting block; the fixed bracket is a U-shaped body, and the connecting block is located inside it; a through hole for the output shaft of the braking cylinder to pass through is provided at the bottom of the fixed bracket, and the upper parts of both sides thereof are connected to one side of the connecting bottom plate; first connecting holes and second connecting holes are respectively arranged on both sides of the lower parts of both sides thereof, and the connecting block is connected to the fixed bracket through a connecting shaft from the first shaft hole of the connecting block and the first connecting hole of the fixed bracket; the braking pressure block is a U-shaped block, the outer side face of the bottom thereof is a tooth surface; waist-shaped holes are arranged on both side walls of the braking pressure block; the connecting block is inserted into the braking pressure block, a pin shaft is arranged in the second shaft hole of the connecting block, and both ends of the pin shaft pass through the waist-shaped holes on both side walls of the braking pressure block; a clamping block, which is L-shaped, one side thereof is connected to the second connecting holes on the lower parts of both sides of the fixed bracket through a connecting bolt, and the other side of the clamping block is buckled on the inner side face of the toothed brake disc; the rotation angle measurement assembly includes: an encoder drive shaft, one end of which passes through the shaft hole in the center of the fixed bottom plate of the fixed mounting base and is connected to the end of the shaft body of the connecting half shaft extending into the inner ring of the external tooth type slewing bearing, and the other end extends out of the shaft hole in the center of the fixed bottom plate; an encoder, which is arranged at the upper end of the encoder drive shaft extending out of the fixed bottom plate, and the encoder housing is fixed on the fixed bottom plate.

2. The servo slewing joint according to claim 1, characterized in that, The fixed bracket of the braking device is connected to one side of the connecting bottom plate of the connecting half shaft through a connecting plate.

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