CN102307708B - Modular robot drive unit structure - Google Patents

Abstract

The present invention relates to a structure of a module of a robot having at least two degrees of freedom (2DOF). More particularly, the present invention relates to a structure of a modular robot actuation system, comprising: a fixed housing forming the outer appearance of the module; a rotatable housing connected to the fixed housing; and an input connector and an output connector with respective cables connected to the outside of the fixed housing and to the outside of the rotatable housing, respectively. The input connector and the output connector are interconnected through the inside of the fixed housing and the inside of the rotatable housing. The cable connected to the output connector of the rotatable housing is connected to the input connector of the fixed housing forming the outer appearance of another module, which is identical to the above-described module and also has a rotatable housing.

Description

Modular robot drive unit structure

technical field

The present invention relates to a modular structure possessed by a robot with at least two degrees of freedom (2DOF: 2 Degrees of Freedom), and more specifically relates to a modular robot drive unit structure. The outer side of the rotating housing connected to the fixed housing for rotation is respectively provided with an input connector and an output connector for connecting cables, and the input connector and the output connector are connected to the inside of the rotating housing through the fixed housing, and The cable connected to the output connector of the rotating housing is then connected to the input connector of the fixed housing and the rotating housing that constitute another module having the same appearance as the module.

Background technique

A general educational or research module structure with more than two degrees of freedom, as shown in Figure 1, is roughly divided into a fixed fixed part 3 and a rotating rotating part 4, and a plurality of such modules are prepared and combined with each other in the desired direction Modules, so as to constitute an educational or research robot with at least two degrees of freedom or more.

Next, the above configuration will be specifically described with reference to FIG. 1 . The module fixing part 3 has a motor and a reducer inside, and the outside of the fixing part 3 has a cable input connector 3a and an output connector 3b respectively. Moreover, the module rotating part 4 is combined with the fixed part 3, and is interlocked with the driving of the motor and the speed reducer of the fixed part 3.

Among them, the motor and the speed reducer are connected to the input connector 3a, and the input connector 3a is connected to a cable connected to the outside (controller and power supply unit) (not shown). Therefore, the motor and the speed reducer are operated by the control signal of the controller and the power supply of the power supply unit, and the rotating part 4 linked thereto is also affected by the power supply and the control signal.

On the other hand, in order to form a robot with more than two degrees of freedom, it is necessary to have one such module, and the connection structure between the modules is realized by the combination of the rotating part 4 of the first module and the fixed part 5 of the second module. Specifically, the input connector 3 a of the first module fixing part 3 is connected to an externally connected cable, and the output connector 3 b has an additional cable 9 connected to the input connector 5 a of the second module fixing part 5 . At this time, the extra cable 9 has sufficient length to prevent the output connector 3b of the first module fixing part 3 or the input connector 5a of the second module fixing part 5 from coming off due to the rotation of the first module rotating part 4 , so it is unsightly, and it becomes a factor that hinders the movement of the robot due to twisting of the cable and interference with other modules, and even causes mechanical loss.

Contents of the invention

Then, the present invention is made in order to solve the above-mentioned problems, and its purpose is to provide a robot module structure with more than two degrees of freedom. and electrical signal cables, the module structure is improved by adopting the method of the present invention to solve the problems caused by the cables.

The object of the present invention as mentioned above is achieved by the following modular robot drive unit structure. The structure of the modular robot drive unit is equipped with input connectors and output connectors for connecting cables on the outer sides of the fixed housing constituting the appearance of the module and the rotating housing connected to the fixed housing and rotating. The connector and the output connector are connected to the interior of the rotating case through the fixed case, and the cable connected to the output connector of the said rotating case is connected to the fixed case which constitutes another module with the same appearance as the said module and on the input connector of the stationary housing in the rotating housing.

Among them, the feature of the present invention is that the cable connected to the output connector of the rotating case is connected to the fixed case in the fixed case and the rotating case constituting the appearance of another module by repeating a predetermined number of times as needed. Enter the procedure on the connector.

In addition, the fixed case in the present invention preferably includes: an input connector, which is arranged on the appearance side of the fixed case, for connecting cables; a hollow amplifier (AMP), which is arranged on the fixed case Inside, connected to the input connector; connecting cable, connected to one side of the amplifier; hollow type motor, arranged on one side of the amplifier, receiving power and electrical signals from the amplifier; hollow type reducer , which is arranged on one side of the motor and receives power and electrical signals from the amplifier. And preferably, the rotating housing is connected with the fixed housing, rotated by the motor and the reducer of the fixed housing, and an output connector is provided on one side of the rotating housing to transmit externally the data generated by the connecting cable. Incoming power and electrical signals.

Moreover, other features and benefits of the present invention will be more clearly described through the detailed description of the specific embodiments of the present invention according to the accompanying drawings.

As mentioned above, utilize according to the modularized robot drive unit structure of the present invention, when making the educational use of more than two degrees of freedom or research robot, can simplify the cable that is used for supplying power supply and electric signal to each module, thus between the module The movement will become flexible, and the appearance is simple to prevent mechanical loss.

Description of drawings

Fig. 1 is a schematic diagram of a robot with more than two degrees of freedom composed of an existing robot module structure.

Fig. 2 is a schematic diagram of a robot with more than two degrees of freedom composed of a modular robot drive unit structure according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of an example of the operation of the robot shown in Fig. 2 .

Fig. 4 is a schematic diagram of another example of the operation of the robot shown in Fig. 2 .

5 is a cross-sectional view showing the structure of a modular robot drive unit according to an embodiment of the present invention.

Fig. 6 is a sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.

Fig. 7 is a cross-sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.

Fig. 8 is a cross-sectional view showing the structure of a modular robot drive unit according to still another embodiment of the present invention.

Fig. 9 is a cross-sectional view showing the structure of a modular robot driving unit according to another embodiment of the present invention.

Explanation of reference signs

Detailed ways

Hereinafter, preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings. When labeling the components in the drawings, the same reference signs are used as much as possible for the same components in different drawings. When describing the present invention, the detailed descriptions of related known functions or structures that may cause unnecessary confusion to the gist of the present invention are omitted. In addition, based on the principle that the inventor can properly define the terms and concepts in order to best describe his invention, the terms or words used in this specification and claims can only be used in accordance with the meaning and meaning of the technical idea of the present invention. concept explained.

The invention relates to a module structure of a robot with more than two degrees of freedom. An input connector 11 and an output connector 21 to which cables 1 and 2 are connected are respectively provided on the outside of the fixed housing 10 constituting the appearance of the module 100 and the rotating housing 20 connected to the fixed housing 10 for rotation. The connector 11 and the output connector 21 are connected to the inside of the rotating housing 20 through the fixed housing 10, and the cable 2 connected to the output connector 21 of the rotating housing 20 is connected to the same structure as the module 100. On the input connector 31 of the fixed housing 30 and the rotating housing 40 of another module 200 appearance of the fixed housing 30 .

Among them, the so-called connection between the input connector 11 and the output connector 21 through the inside of the fixed housing 10 and the rotating housing 20 means that the connection between the input connector 11 and the output connector 21 is achieved through a hollow amplifier 12, an electric motor 14, and a speed reducer 15 as shown in FIG. 5 . 1. The structure of the connection cable 13, the connection cable 13 is connected on the hollow amplifier 12 connected with the input connector 11, the connection cable 13 can pass through the hollow amplifier 12, the motor 14 and the speed reducer 15, and is connected in the rotating on the output connector 21 of the housing 20.

The input connector 11 is disposed on the exterior side of the fixed housing 10 for receiving external power and electrical signals.

The amplifier 12 is arranged inside the fixed housing 10 , it is connected with the input connector 11 and is hollow, and is used to amplify the external power supply to the motor 14 and the speed reducer 15 .

The connecting cable 13 is connected to the amplifier 12 and the output connector 21, and is composed of a line for transmitting power and a line for transmitting electrical signals (motor speed, torque command signal).

The motor 14 is connected to one side of the amplifier 12 and receives power and electrical signals from the amplifier 12 . In addition, the speed reducer 15 also receives power and electric signals from the amplifier 12 and is connected to the motor 14 . Wherein, the hollow center points of the amplifier 12, the motor 14 and the reducer 15 are located on the same horizontal plane.

The rotating housing 20 is connected to the inner sleeve 18b of the bearing 18 which is arranged on the fixed housing 10 and is connected to the reducer 15, and is rotated by the motor 14 and the reducer 15, and an output connector 21 is provided on one side to The power supply and electric signal introduced by the connection cable 13 are transmitted to the outside.

Wherein, the bearing 18 is a bearing for supporting the load and moment of the rotating housing 20, and may be a cross roller bearing or a radial bearing.

On the other hand, the present invention can be further equipped with a guide shaft 16 that guides the connecting cable 13 on one side of the fixed housing 10 and one side of the rotating housing 20. This is for winding the cable 13 on the guide shaft 16 so that the connecting cable The length of 13 is long enough to increase the number of rotations of the rotating housing 20 .

In addition, as shown in FIG. 8 , a spiral can be formed on the outer peripheral surface of the guide shaft 16 , and a cylinder can be further provided between the outer peripheral surface of the guide shaft 16 and the motor 14 and the reducer 15 . Shaped sheath 17, this is in order to guide connecting cable 13, it does not produce interference with motor 14 and speed reducer 15.

On the other hand, it can be repeated for a predetermined number of times as needed. The cable 2 connected to the output connector 21 of the rotating housing 20 of the module 100 is connected to the fixed housing 30 and the rotating housing that constitute the appearance of another module 200. The process on the input connector 31 of the fixed housing 30 in the body 40 is to constitute a robot with more than two degrees of freedom. Two modules can be used to form a two-degree-of-freedom robot, and three modules can be used to form a three-degree-of-freedom robot.

Meanwhile, the present invention can be constituted in the following manner. That is, on the second bearing inner sleeve 22b on the side of the rotating housing 20 on the same horizontal plane as the center point of the rotation direction of the motor 14 of the fixed housing 10, an output connector 21 is provided to prevent the connecting cable 13 from rotating. The rotation of the housing 20 turns and connects two slip rings 19 on the hollow side of the amplifier 12, so that the power received from the input connector 11 is directly connected to the output connector 21 through the power cable 13b through said slip rings 19 For electrical signals, it is connected to the output connector 21 through the signal cable 13a as previously described. This approach has the effect of reducing the thickness of the signal cable 13a.

Preferred embodiments of the present invention have been described above, but various changes and improvements can be easily made by those skilled in the art to which the present invention pertains without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments are only used to illustrate the present invention and not to limit the present invention. The real scope of the present invention appears in the claims rather than the above description, so all differences within the equivalent scope should be understood as belonging to the protection scope of the present invention.

Claims (11)

1. a structure of modular robot actuation system, for being provided to the modular structure in robot more than two degrees of freedom at least, is characterized in that, comprising:

Rotary shell (20), it is forming outside the first stationary housing (10) of described module (100) and is being connected and rotates with described the first stationary housing (10);

Input connector (11), one end of its current supply cable (1,2) is connected in outside one side of described stationary housing;

And out connector (21), its other end for described cable is connected in the outside of described rotary shell;

Amplifier (12), it is arranged at the inside of described the first stationary housing (10), is connected with described input connector (11);

Stube cable (13), it is connected to a side of described amplifier (12);

Hollow type motor (14), it is arranged at a side of described amplifier (12) in the inside of the first stationary housing (10), receives power supply and the signal of telecommunication from amplifier (12);

Hollow type decelerator (15), it is arranged at a side of described motor (14) in the inside of the first stationary housing (10), receives power supply and the signal of telecommunication from amplifier (12),

Wherein, the input connector (11) of described module is connected with the inside of rotary shell (20) by the first stationary housing (10) with out connector (21), and the described cable (2) connecting with the out connector (21) of described rotary shell (20) is connected on the input connector (31) of the second stationary housing (30) of another module by the outside that forms outside the second stationary housing (30) of another module (200) identical with described module (100)

Described rotary shell (20) is connected with described the first stationary housing (10), and motor (14) and decelerator (15) by described the first stationary housing (10) are rotated, described out connector (21) is arranged on a side of described rotary shell (20), for transmit the power supply and the signal of telecommunication that are flowed into by stube cable (13) to outside.

2. structure of modular robot actuation system according to claim 1, is characterized in that:

Repeatedly carry out repeatedly, the cable (2) being connected on the out connector (21) of rotary shell (20) of described module (100) is connected to the process on the input connector (31) that forms outside the second stationary housing (30) of another module (200).

3. structure of modular robot actuation system according to claim 1, is characterized in that:

The modular structure of robot more than described two degrees of freedom, further possesses the guide shaft (16) of guiding stube cable (13) in a side of the first stationary housing (10) and a side of rotary shell (20).

4. structure of modular robot actuation system according to claim 3, is characterized in that:

On the outer peripheral face of described guide shaft (16), be formed with screw thread.

5. structure of modular robot actuation system according to claim 4, is characterized in that:

Between the outer peripheral face and motor (14) and decelerator (15) of described guide shaft (16), be further provided with the cylindrical shape sheath (17) of hollow.

6. structure of modular robot actuation system according to claim 1, is characterized in that:

Realize being connected of described rotary shell (20) and described the first stationary housing (10) by the inner sleeve (18b) of the clutch shaft bearing (18) that is connected with motor (14) or decelerator (15).

7. structure of modular robot actuation system according to claim 1, is characterized in that, described the first stationary housing (10) comprising:

Input connector (11), it is arranged at outside one side of described the first stationary housing (10), for stube cable;

Amplifier (12), it is arranged at the inside of described the first stationary housing (10), is connected with described input connector (11);

Signal stube cable (13a), it is connected to a side of described amplifier (12);

Hollow type motor (14), it is connected to a side of described amplifier (12), receives power supply and the signal of telecommunication from amplifier (12);

Hollow type decelerator (15), it is arranged at a side of described motor (14), receives power supply and the signal of telecommunication from amplifier (12),

Described rotary shell (20) is connected with the first stationary housing (10), and be rotated by motor (14) and decelerator (15), described out connector (21) is connected to a side of described rotary shell (20), for transmit the power supply and the signal of telecommunication that are flowed into by signal stube cable (13a) to outside

Wherein, described out connector (21) is arranged on the second bearing inner sleeve (22b) that is installed on rotary shell (20) one sides on same horizontal plane with the direction of rotation central spot of the motor (14) of the first stationary housing (10), and be connected with two slip rings (19) at the hollow lateral of amplifier (12), receive the power supply that flow into amplifier (12) by described slip ring (19), and the upper feed cable (13b) that is directly connected of out connector (21) in described slip ring (19) and rotary shell (20), directly power supply is connected to out connector (21) from described amplifier (12).

8. structure of modular robot actuation system according to claim 7, is characterized in that:

The modular structure of robot more than described two degrees of freedom, further possesses the guide shaft (16) of pilot signal stube cable (13b) in a side of the first stationary housing (10) and a side of rotary shell (20).

9. structure of modular robot actuation system according to claim 8, is characterized in that:

On the outer peripheral face of described guide shaft (16), be formed with screw thread.

10. structure of modular robot actuation system according to claim 9, is characterized in that:

Between the outer peripheral face and described motor (14) and described decelerator (15) of described guide shaft (16), be further provided with the cylindrical shape sheath (17) of hollow.

11. structure of modular robot actuation systems according to claim 7, is characterized in that:

Realize being connected of described rotary shell (20) and the first stationary housing (10) by the inner sleeve (18b) of the clutch shaft bearing (18) that is connected with motor (14) or decelerator (15).