CN201380493Y

CN201380493Y - Robot joint module

Info

Publication number: CN201380493Y
Application number: CN200920067856U
Authority: CN
Inventors: 郑宇�
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-02-19
Filing date: 2009-02-19
Publication date: 2010-01-13
Anticipated expiration: 2019-02-19

Abstract

The utility model provides a robot joint module, which comprises a rotating arm and is characterized in that a power cavity is arranged at the end part of the rotating arm, an electric circuit cavity is arranged on the power cavity; wherein the power cavity comprises a substrate, one end of which is provided with a rear cover; the electric circuit cavity is arranged on the internal side surface of the rear cover near the substrate, a stepping motor is arranged inside the substrate near the lower end, the output end of an electrical motor is provided with an electrical motor gear, a gear connected with the rotating arm and a first combination gear are arranged at the top inside the substrate, a second combination gear and a third combination gear are arranged below a connecting arm gear and the first combination gear by a first shaft, and a fourth combination gear is arranged below the third combination gear by a second shaft. The robot joint module has the advantages of fine closed-loop control function, high reliability, compact structure, small volume, low cost and low power consumption, and can be popularized to the household and entertainment fields on a large scale.

Description

The joint of robot module

Technical field

The utility model relates to a kind of joint of robot module, belongs to the joint of robot technical field.

Background technology

The dynamical system of traditional robot cradle head is to be made of servomotor, shaft coupling and gear train, because the joint dynamical system of robot is mounted in the mechanical arm, the direction of rotation of servomotor is vertical with the direction of motion in joint, need to use bevel gear in the gear train and mate rotation direction, servomotor adopts the rotation that rotation photoelectric encoder formation position ring or speed ring come the closed-loop control joint in addition, makes it the velocity accuracy or the positional precision that reach certain.There is following shortcoming in the joint of this robot: the first, owing to adopt servomotor to drive and manage the motion in joint, the cost costliness is especially in the application of articulated robot; The second, the servomotor volume is bigger, generally is installed in the mechanical arm, needs bevel gear to mate rotation direction, reduces the torque of gear, increases manufacture difficulty; Three, adopt servomotor higher, be not suitable for battery powered mini-system consuming energy.Because the conventional machines person joint has above shortcoming, be unfavorable for popularizing of family expenses and personal entertainment robot.

The utility model content

The purpose of this utility model provides and a kind ofly reduces cost and reduce whole power consumption, makes the high joint of robot module of the degree of modularity of robot simultaneously.

In order to achieve the above object, the technical solution of the utility model has provided a kind of joint of robot module, comprises cursor, it is characterized in that, the power cavity places the end of cursor, is provided with the circuit cavity on the power cavity.

Described power cavity comprises pedestal, side at pedestal is provided with bonnet, in bonnet, be provided with described circuit cavity, stepper motor places in the pedestal by the lower end, motor output end is provided with motor gear, the gear that links to each other with cursor (following work " link arm gear ") is located at the interior top of pedestal with first built-up gear, second built-up gear and the 3rd built-up gear are by first below that is located in the link arm gear and first built-up gear, the 4th built-up gear is by second below that is located in the 3rd built-up gear, the 4th built-up gear is meshed with the 3rd built-up gear and motor gear, the 3rd built-up gear is meshed with first built-up gear, and second built-up gear is meshed with first built-up gear and link arm gear.

Described circuit cavity comprises controller, and controller connects joint angle position detecting circuit, step switch drive circuit and joint EBI respectively, and the step switch drive circuit connects the motor signaling interface.

The utility model adopts the two-phase micro-step motor as power source.Transmission is made of gear train, and whole gear train is made of 6 gears, and wherein 4 is built-up gear, adopts two groups of coaxial bidentate wheel constructions to save the space.Though small-sized stepper motor output torque is less, but owing to adopt the gear train of multi-gear, torque has obtained tens times lifting, though speed is also with the reduction of multiple, but because the pulse frequency of micro-step motor is higher, can be when actual design so that speed meets the demands; Gear train adopts coaxial distribution, further reduces the space.So not only satisfied the demand of robot movement velocity and torque but also the transmission system that can accomplish very little volume, and made that joint module volume was little, in light weight, the joint can modularization production.

The utility model has the advantages that:

1) compact conformation, volume is little, the robot appearance looks elegant that combines thus, bionical degree height;

2) because stepper motor has replaced traditional servomotor, make with low costly, can spread to family expenses and entertainment field on a large scale;

3) joint can make modularization, is convenient to improve entire machine people's production efficiency, and reduces production costs;

4), make the number of electric line of the contact between joint and the main body reduce, thereby make control system possess very high reliability at the volley because interface can adopt universal serial bus;

5) energy consumption is low, and controller can adopt 8 single-chip microcomputers of low-power consumption, possesses sleep pattern, and what make is all to possess very low power consumption in work or when having a rest.

Description of drawings

The Organization Chart of a kind of joint of robot module that Fig. 1 provides for the utility model;

The front view of a kind of joint of robot module that Fig. 2 provides for the utility model;

The side view of a kind of joint of robot module that Fig. 3 provides for the utility model;

Fig. 4 is the circuit diagram of circuit cavity;

Fig. 5 A is the installation front view of first cylindrical permanent magnet, second cylindrical permanent magnet and linear Hall chip;

Fig. 5 B is the installation side view of first cylindrical permanent magnet, second cylindrical permanent magnet and linear Hall chip.

The specific embodiment

Specify the utility model below in conjunction with embodiment.

Embodiment

As shown in Figure 1, the Organization Chart of a kind of joint of robot module that provides for the utility model is made up of power cavity I, circuit cavity II and cursor III, and power cavity I places the end of cursor III, is provided with circuit cavity II on power cavity I.

As shown in Figures 2 and 3, the structural representation of a kind of joint of robot module that provides for the utility model is made up of stepper motor 1, first spool 2, link arm gear 3, second built-up gear 4, first built-up gear 5, the 3rd built-up gear 6, second the 7, the 4th built-up gear 8, protecgulum 9, first cursor 10, second cursor 11, bonnet 12, pedestal 13 and motor gear 14.Side at pedestal 13 is provided with bonnet 12, circuit cavity II is fixed on bonnet 12 by on the medial surface of pedestal 13, stepper motor 1 places in the pedestal 13 by the lower end, motor output end is provided with motor gear 14, the link arm gear 3 and first built-up gear 5 are located at the top in the pedestal 13, second built-up gear 4 and the 3rd built-up gear 6 are by first 2 below of being located at the gear 3 and first built-up gear 5, the 4th built-up gear 8 is by second 7 below of being located at the 3rd built-up gear 6, the 4th built-up gear 8 is meshed with motor gear and the 3rd built-up gear 6, the 3rd built-up gear 6 is meshed with first built-up gear 5, and second built-up gear 4 is meshed with first built-up gear 5 and link arm gear 3.First cursor 10 places between bonnet 12 and the pedestal 13, and first cursor 10 is coaxial with the link arm gear 3 and first built-up gear 5, and second cursor 11 is located at the opposite side of described pedestal 13, and second cursor 11 is coaxial with the link arm gear 3 and first built-up gear 5.

As shown in Figure 4, circuit diagram for the circuit cavity, comprise controller 5-1, controller 5-1 connects joint angle position detecting circuit 5-5, step switch drive circuit 5-2 and joint EBI 5-7 respectively, and step switch drive circuit 5-2 connects motor signaling interface 5-6.

Joint angle position detecting circuit 5-5 is made up of first cylindrical permanent magnet 15, second cylindrical permanent magnet 17 and linear Hall chip 16, and emphasis of the present utility model is the installation site of linear Hall chip 16 and first cylindrical permanent magnet 15 and second cylindrical permanent magnet 17.Shown in Fig. 5 A and Fig. 5 B, it is first cylindrical permanent magnet 15, the scheme of installation of second cylindrical permanent magnet 17 and linear Hall chip, in order to set forth the part of joint angle position probing, display base not among Fig. 5 B, because circuit cavity II is fixed on bonnet 12 by on the medial surface of pedestal 13, therefore the position of the sensitive surface of linear Hall chip 16 is fixed, the rotational axis line of the central point of linear Hall chip 16 and first cursor 10 overlaps, two the N utmost point first cylindrical permanent magnet 15 and second cylindrical permanent magnet 17 posts extremely relative with S are embedded on the distolateral arm of first cursor 10, be positioned at first cursor 10 center of rotation equidistant place, both sides and and axle center formation straight line, first cylindrical permanent magnet 15 and second cylindrical permanent magnet, 17 positions are rotated with first cursor 10 and are moved around the axle center, that is to say, when first cursor 10 rotates, the central point of first cylindrical permanent magnet 15 and second cylindrical permanent magnet, 17 meeting coiling property Hall chips 16 rotates, the angle that is positioned at the sensitive surface of first cylindrical permanent magnet 15 above the cursor and second cylindrical permanent magnet 17 and linear Hall chip 16 is changing, because angle changes the magnetic flux that decomposes vertical linearity Hall chip 16 sensitive surface directions that causes and is changing, principle according to linear Hall chip 16, the level signal Vp of a variation of linear Hall chip 16 outputs will be made, if chip power voltage is Vcc, when pivoted arm center line and sensitive surface angle β when between 180 °, changing for 0 °, Vp changes between less than the minimum of a value Vpmin of 0.5*Vcc and the maximum Vpmax greater than 0.5*Vcc, wherein absolute value | and the size of Vp-0.5*Vcc| and vertical magnetic flux is directly proportional.This signal is delivered to the A/D end of convert of single-chip microcomputer, and controller just can be read this signal amplitude value Vp, thereby calculates the position, angle of cursor.

Controller 5-1 selects monolithic 8bit microcontroller for use; Step switch drive circuit 5-2 can adopt 4 groups of PMOS and NMOS to pipe, these 4 metal-oxide-semiconductors are used to control the Power height of every phase both sides of two phase coils,

The circuit cavity links to each other to the master control system of extrinsic articulation EBI 5-7 and robot, connect the joint transfer wire of bus for constituting by 6 lines, comprise: 2 (MVDD of power line, DVDD), 1 of ground wire (GND), 3 (SCL of control line, SDA, INT). SCL wherein, SDA is the I2C bus, INT is auxiliary interrupt line;

Each joint module receives the instruction that the I2C bus enters, and comprises the numbering in object joint, the velocity of rotation pattern in this joint, and where turn to.From instruction, extract the numbering in joint, judge whether it is the operation in this joint.If, and then extract other rotation information, GPIO mouth by single-chip microcomputer, follow the algorithm of position closed loop control software, produce the required step-by-step impulse sequence of driving of stepper motor, discrete power switch metal-oxide-semiconductor in the step-by-step impulse sequence signal control step switch driving circuit, the drive current of metal-oxide-semiconductor output alternation switch flows through two phase coils of stepper motor, produces the running of satisfying the main control processor requirement.

Claims

1. a joint of robot module comprises cursor (III), it is characterized in that, power cavity (I) places the end of cursor (III), is provided with circuit cavity (II) on power cavity (I).

2. a kind of joint of robot module as claimed in claim 1, it is characterized in that, described power cavity (I) comprises pedestal (13), side at pedestal (13) is provided with bonnet (12), described circuit cavity (II) places bonnet (12) by on the medial surface of pedestal (13), stepper motor (1) places in the pedestal (13) by the lower end, motor output end is provided with motor gear (14), the gear (3) that links to each other with cursor (III) is located at the interior top of pedestal (13) with first built-up gear (5), second built-up gear (4) and the 3rd built-up gear (6) are located at the below of gear (3) and first built-up gear (5) by first (2), the 4th built-up gear (8) is located at the below of the 3rd built-up gear (6) by second (7), the 4th built-up gear (8) is meshed with motor gear (14) and the 3rd built-up gear (6), the 3rd built-up gear (6) is meshed with first built-up gear (5), and second built-up gear (4) is meshed with first built-up gear (5) and gear (3).

3. a kind of joint of robot module as claimed in claim 2, it is characterized in that, described cursor (III) comprises first cursor (10) and second cursor (11), first cursor (10) places between described bonnet (12) and the described pedestal (13), first cursor (10) is coaxial with described gear (3) and described first built-up gear (5), second cursor (11) is located at the opposite side of described pedestal (13), and second cursor (11) is coaxial with described gear (3) and described first built-up gear (5).

4. as each described a kind of joint of robot module in the claim 1 to 3, it is characterized in that, described circuit cavity (II) comprises controller (5-1), controller (5-1) connects joint angle position detecting circuit (5-5), step switch drive circuit (5-2) and joint EBI (5-7) respectively, and step switch drive circuit (5-2) connects motor signaling interface (5-6).

5. a kind of joint of robot module as claimed in claim 4, it is characterized in that, described joint angle position detecting circuit (5-5) comprises at least one first magnet (15) and linear Hall chip (16), move with the rotation of cursor (III) position of first magnet (15) post, on the fixing point of the fixed-site of linear Hall chip (16) in the magnet movement influence area, produce relative motion between the central point of first magnet (15) position and linear Hall chip (16), the output signal of linear Hall chip (16) is used for the detection of angular position of rotation.