CN208896129U - Intelligent robot drives joint - Google Patents
Intelligent robot drives joint Download PDFInfo
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- CN208896129U CN208896129U CN201821409894.XU CN201821409894U CN208896129U CN 208896129 U CN208896129 U CN 208896129U CN 201821409894 U CN201821409894 U CN 201821409894U CN 208896129 U CN208896129 U CN 208896129U
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- mounting plate
- driving motor
- sensor module
- joint
- intelligent robot
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Abstract
The utility model discloses intelligent robots to drive joint, including controller and shell, rear mounting plate, front mounting plate, encoder and sensor module are disposed in shell, mounting plate is located at the left side of front mounting plate afterwards, driver is installed on the left of mounting plate afterwards, driving motor and harmonic speed reducer are disposed on the right side of front mounting plate, the motor output shaft of driving motor and the input shaft of harmonic speed reducer are fixed.The utility model designs sensor module in the housing, occur when if driving joint operation abnormal, sensor module can produce signal and transmit signals to driver, controller is fed back to after drive processes again, controller adjusts the output of driving motor after analyzing by driver, to make to drive diarthrodial working condition recovery normally.The utility model can make that joint is driven to keep stable working condition, can extend and drive diarthrodial working life, can be widely applied to technical field of intelligent equipment.
Description
Technical field
The utility model relates to technical field of intelligent equipment, in particular to intelligent robot drives joint.
Background technique
It is used to solve the most basic positioning accuracy of machine man-hour currently, general joint of robot is integrated with encoder
Problem, but this is far from satisfying actual requirement.Itself primary disadvantage is that: (1) intelligence degree is inadequate.When operation work
Robot speed is unstable when condition changes is also easy to produce shake, and robot is unable to adjust automatically pid parameter and matching is suitable
Velocity and acceleration, to adapt to current working；(2) under certain operating conditions, robot body fever is serious when work；(3) electric current is used
It is laborious when dragging teaching to do torque-feedback；(4) flexibility degree is inadequate.Therefore this kind of joint of robot is only used for simply weight
The single occasion of renaturation is required to then answer in the high-end precision assembly of automatic regulating gap according to the actual situation certain
With.
Utility model content
The technical problem to be solved by the utility model is to provide intelligent robots to drive joint, can real-time monitoring driving
The working condition in joint, and adjusted in real time by closed-loop control system to diarthrodial output is driven.
Used technical solution to solve above-mentioned technical problem:
Intelligent robot drives joint, including controller and shell, be disposed in shell rear mounting plate, front mounting plate,
Encoder and sensor module, rear mounting plate are located at the left side of front mounting plate, driver, preceding peace are equipped on the left of rear mounting plate
Driving motor and harmonic speed reducer, the input of the motor output shaft driving harmonic speed reducer of driving motor are disposed on the right side of loading board
Axis.
Further, the sensor module includes the vibrating sensor being mounted on the right side of rear mounting plate.
Further, the sensor module includes the temperature sensor for being mounted on harmonic speed reducer shell.
Further, the sensor module includes torque sensor, and torque sensor is mounted on harmonic wave by output flange
The output end of retarder.
Further, the encoder includes the quiet disk being mounted on front mounting plate and is mounted on dynamic on motor output shaft
Disk.
Further, the stator of the driving motor is mounted on shell, the rotor driving motor output shaft of driving motor.
Further, braking vane is disposed on the motor output shaft.
The utility model has the advantages that the utility model designs sensor module in the housing, if occurring abnormal, biography when driving joint operation
Sensor component can produce signal and transmit signals to driver, feed back to controller after drive processes again, controller is through dividing
The output of driving motor is adjusted after analysis by driver, to make to drive diarthrodial working condition recovery normally.The utility model
It can make that joint is driven to keep stable working condition, can extend and drive diarthrodial working life, can be widely applied to smart machine
Technical field.
Detailed description of the invention
Fig. 1 is the main view of the utility model；
Fig. 2 is the cross-sectional view of view in Fig. 1；
Fig. 3 is that the structure chart after shell is removed in Fig. 1；
Fig. 4 is control flow chart.
Specific embodiment
The utility model is described further below with reference to Fig. 1 to Fig. 4.
Intelligent robot drives joint, including controller and shell 10, such as Fig. 2, is disposed with rear mounting plate in shell 10
2, front mounting plate 5, encoder and sensor module.Mounting plate 2 is located at the left side of front mounting plate 5, the left side peace of rear mounting plate 2 afterwards
Equipped with driver 1.The right side of front mounting plate 5 is disposed with driving motor 8 and harmonic speed reducer 9, and wherein the motor of driving motor 8 is defeated
Shaft 7 and the input shaft 13 of harmonic speed reducer 9 are connected fixation by screw, and motor output shaft 7 drives input shaft 13, thus drives
Motor 8 and the composition of harmonic speed reducer 9 drive diarthrodial driving mechanism.
Sensor module includes the vibrating sensor 3 for being mounted on 2 right side of rear mounting plate, for monitor entirely drive it is diarthrodial
Vibration, when robot operating condition changes, the weight and inertia of load be may also change accordingly, these variations may result in
Drive joint vibration.Therefore, by vibrating sensor 3 can monitoring driving joint structure everywhere Oscillation Amplitude.
Sensor module includes the temperature sensor 14 for being mounted on 9 shell of harmonic speed reducer, when robot is in certain operating conditions
When lower long working, the phenomenon that may result in sharply temperature rise, and excessively high temperature will lead to the lubrication in harmonic speed reducer 9
Rouge accelerated deterioration, to greatly shorten the service life of harmonic speed reducer 9.Therefore, harmonic wave can be monitored by temperature sensor 14
Temperature change in retarder 9.
Sensor module includes torque sensor 12, and torque sensor 12 is mounted on harmonic speed reducer by output flange 11
9 output end is changed by the load in 12 monitoring driving joint of torque sensor.Such as it is flat in dragging teaching power to be achieved
Emergency stop state that weighing apparatus state, collision generate and the flexibility for capableing of the high-end precision assembly of automatic regulating gap according to the actual situation
Occasion can be used the detection of torque sensor 12 and drive diarthrodial load condition.
In the present embodiment, controller is external structure, and signal can be mutually transmitted between driver 1.Such as Fig. 4, driver 1
The work of the driving mechanisms such as driving motor 8, while 12 real-time monitoring of vibrating sensing 3, temperature sensor 14 and torque sensor are controlled,
If the case where wherein occurring more than setting value, corresponding sensor generates signal, and signal is fed back to driver 1, passes through
Controller is sent to after the processing of driver 1 again to adjust the output of driving motor 8 by driver 1 after controller analysis, make to drive
Movable joint restores normal operating conditions.By the signal transmission between controller, driver 1 and sensor module, closed loop is formed
Monitor control system, different duty requirements can be met, can be improved and drive diarthrodial intelligence degree.
Encoder includes the quiet disk 41 being mounted on front mounting plate 5 and the Moving plate 42 being mounted on motor output shaft 7.Driving
The stator of motor 8 is installed in the housing 10, the rotor driving motor output shaft 7 of driving motor 8.
In addition, being disposed with braking vane 6 on motor output shaft 7, braking vane 6 is mounted on motor output shaft 7.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to
State embodiment, within the scope of knowledge possessed by those of ordinary skill in the art, can also do not depart from it is practical
Various changes can be made under the premise of novel objective.
Claims (7)
1. intelligent robot drives joint, it is characterised in that: including controller and shell (10), after being disposed in shell (10)
Mounting plate (2), front mounting plate (5), encoder and sensor module, rear mounting plate (2) are located at the left side of front mounting plate (5), after
It is equipped on the left of mounting plate (2) driver (1), driving motor (8) and harmonic speed reducer is disposed on the right side of front mounting plate (5)
(9), the input shaft (13) of motor output shaft (7) driving harmonic speed reducer (9) of driving motor (8).
2. intelligent robot according to claim 1 drives joint, it is characterised in that: the sensor module includes peace
Vibrating sensor (3) on the right side of rear mounting plate (2).
3. intelligent robot according to claim 1 drives joint, it is characterised in that: the sensor module includes peace
Mounted in the temperature sensor (14) of harmonic speed reducer (9) shell.
4. intelligent robot according to claim 1 or 2 or 3 drives joint, it is characterised in that: the sensor module
Including torque sensor (12), torque sensor (12) is mounted on the output end of harmonic speed reducer (9) by output flange (11).
5. intelligent robot according to claim 1 drives joint, it is characterised in that: the encoder includes being mounted on
Quiet disk (41) on front mounting plate (5) and the Moving plate (42) being mounted on motor output shaft (7).
6. intelligent robot according to claim 1 drives joint, it is characterised in that: driving motor (8) determine
Son is mounted in shell (10), the rotor driving motor output shaft (7) of driving motor (8).
7. intelligent robot according to claim 1 drives joint, it is characterised in that: on the motor output shaft (7)
It is disposed with braking vane (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821409894.XU CN208896129U (en) | 2018-08-30 | 2018-08-30 | Intelligent robot drives joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821409894.XU CN208896129U (en) | 2018-08-30 | 2018-08-30 | Intelligent robot drives joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208896129U true CN208896129U (en) | 2019-05-24 |
Family
ID=66570713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821409894.XU Active CN208896129U (en) | 2018-08-30 | 2018-08-30 | Intelligent robot drives joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208896129U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919688A (en) * | 2019-11-30 | 2020-03-27 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN115284325A (en) * | 2022-10-08 | 2022-11-04 | 深圳市越疆科技有限公司 | Mechanical arm and joint module thereof |
| EP4194152A1 (en) * | 2021-12-10 | 2023-06-14 | Coretronic MEMS Corporation | Joint actuator of robot |
-
2018
- 2018-08-30 CN CN201821409894.XU patent/CN208896129U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919688A (en) * | 2019-11-30 | 2020-03-27 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| CN110919688B (en) * | 2019-11-30 | 2021-07-16 | 北京思灵机器人科技有限责任公司 | Mechanical arm joint |
| EP4194152A1 (en) * | 2021-12-10 | 2023-06-14 | Coretronic MEMS Corporation | Joint actuator of robot |
| CN115284325A (en) * | 2022-10-08 | 2022-11-04 | 深圳市越疆科技有限公司 | Mechanical arm and joint module thereof |
| US11820012B1 (en) | 2022-10-08 | 2023-11-21 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
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