CN106182077A - Multi-functional high pulling torque integrated robot joint - Google Patents

Abstract

The invention provides a multi-functional high-torque integrated robot joint, including a DC servo motor, a pulley set, a gear set, a hollow harmonic reducer, a hollow output shaft, a hollow encoder, and a hollow output shaft end bearing; wherein, the The pulley set includes a large pulley and a small pulley; the gear set includes a small gear and a large gear; the DC servo motor drives the small pulley; the small pulley drives the large pulley; The large pulley is connected to the pinion through the pulley shaft, and the pinion meshes with the large gear; one end of the hollow output shaft is connected to the large gear and the hollow encoder, and the other end is connected to the hollow harmonic Reducer, the inner ring of the hollow output shaft end bearing. The optimization and combination of the three-stage deceleration and reduction ratios in the present invention can meet the application requirements in different places and fields.

Description

Multifunctional high torque integrated robot joint

technical field

The invention relates to a robot, in particular to a multi-functional high-torque integrated robot joint.

Background technique

As the use of robots is becoming more and more widespread, there are robots everywhere in industry, service and other industries, but factors such as after-sales and maintenance of robots are one of the obstacles that hinder the widespread application of robots, making them unable to be used on a large scale. The standardization and modularization of robots will greatly reduce the cost of robots, improve the precision of robots, and simplify the maintenance of robots, which is the trend of robot development and the focus of research. The research on modular joints makes the joints modular and standardized, which will improve the reconfigurability of the robot structure, facilitate the selection and replacement of mechanical arms, reduce costs, reduce weight, improve reliability, and shorten the development and manufacturing cycle. It is suitable for multi-field and multi-industry applications, and has high value and prospects.

There has been some research on modular joints, and the specific description is as follows:

The publication number is CN 105313134A, and the invention patent named as lightweight mechanical arm modular joint discloses a lightweight mechanical arm modular joint, including: a hollow motor, with: a hollow motor rotor, a hollow motor stator, and Hollow motor shaft; reducer; high-speed motor bearing; modular shutdown output shaft; first encoder and second encoder. The invention has simple structure and light weight. But the motor of this invention is a special hollow motor, and the difficulty and cost of manufacturing the motor are relatively high; there are two encoders, which occupy a large space; there is only one-order harmonic deceleration, and the transmission is relatively small.

The publication number is CN 103802125 A, and the invention patent titled a single degree of freedom rotary joint module discloses a rotary joint module, including a servo motor and encoder assembly, a planetary gear reducer, a joint base, a bearing, Bearing base, bearing end cover, upper rotating housing, lower rotating housing, controller circumferential mounting system, controller axial mounting system, etc. The invention has a simple and compact structure, and the upper and lower rotary joints are detachable, which is convenient for assembly and disassembly. Both the joint base and the upper rotating shell are provided with holes for connecting with other components, which is convenient for building different robot configurations or systems. However, this invention uses a planetary gear reducer, which is large in size and heavy in weight. The joint transportation and installation are cumbersome, it is not easy to achieve standardization, and the price will be relatively high; there is no description of the encoder, and there may be problems such as inability to set the zero position and accidents in the mechanical joints. The problem that the location cannot be judged after a power failure.

Publication No. CN 103273499 A, titled Invention Patent of Compact Robot Modular Joint and Robot, discloses a compact joint, which rotates the joint through an input shaft, and through the meshing The first and second conical gears drive the rotating part to rotate, and a T-shaped structure is formed between the bearing part and the rotating part. The invention has a compact structure and takes up little space, but its structure includes two motors, which increases the difficulty of control; and due to its structural characteristics, its reconfigurable diversity is limited.

Some other modular joints, such as "Space Manipulator Modular Joint" (CN 1807032 A), "Integrated Flexible Rotary Joint" (CN 203371554 U), etc., have the disadvantage that they are only suitable for specific occasions and cannot be used in many fields. Industry applications make it difficult to achieve cross-industry modular promotion.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide a multi-functional high-torque integrated robot joint.

The multifunctional high-torque integrated robot joint provided by the present invention includes a DC servo motor, a pulley set, a gear set, a hollow harmonic reducer, a hollow output shaft, a hollow encoder, and a hollow output shaft end bearing;

Wherein, the pulley set includes a large pulley and a small pulley; the gear set includes a small gear and a large gear;

The DC servo motor drives the small pulley; the small pulley drives the large pulley; the large pulley is connected to the small gear through a pulley shaft, and the small gear meshes with the large gear; One end of the hollow output shaft is connected to the bull gear and the hollow encoder, and the other end is connected to the hollow harmonic reducer and the inner ring of the hollow output shaft end bearing.

Preferably, it also includes motor shaft end bearings;

The shaft of the DC servo motor is connected to the inner ring of the shaft end bearing of the motor.

Preferably, it also includes a bearing adjusting washer and a circlip for the shaft;

The bearing adjusting gasket is used to adjust the axial play of the shaft end bearing of the motor, and the shaft circlip is used for axially fixing the shaft end bearing of the motor.

Preferably, the hollow harmonic reducer includes a wave generator, a steel wheel, a flexible wheel and a cross roller bearing;

The generator is connected with the bull gear through a hollow output shaft;

The flexible spline is connected with the outer ring and the input end of the cross roller bearing;

The steel wheel is connected with the inner ring and the output end of the cross roller bearing.

Preferably, a drive control board is also included; the drive control board is electrically connected to the DC servo motor, the hollow harmonic reducer, and the hollow encoder.

Preferably, the drive control board receives feedback from the hollow encoder to control the DC servo motor.

Compared with the prior art, the present invention has the following beneficial effects:

1. In the present invention, the output end of the DC servo motor is connected with a pulley set, a gear set, and a hollow harmonic reducer for three-stage deceleration, which increases the output torque of the integrated robot joint while increasing the reduction ratio. The hollow harmonic reducer is located in the third stage of deceleration. Based on the advantages of small hysteresis and high precision unique to harmonic deceleration, the output accuracy of the integrated robot joint is improved; at the same time, the optimization and combination of the three-stage deceleration reduction ratio can realize , Application requirements in different fields;

2. In the present invention, the hollow encoder is directly connected to the hollow output shaft, which ensures the recording of absolute position information in the case of unexpected power failure while realizing the feedback of the motion position, so that the system does not need to repeat the zero position after power on again;

3. The hollow encoder and hollow output shaft in the present invention ensure that the joint of the integrated robot has the function of hollow wiring, and its structure is simple and reliable, which avoids the complicated wiring problem caused by the joint assembly of the integrated robot; at the same time, the drive control board has the function of EtherCAT bus , Simple lines and hollow wiring ensure the 360-degree rotation between the joints of the integrated robot;

4. In the present invention, the input end and the output end have modular input and output interfaces, which can be easily connected with other joints or mechanical arms, have strong reconfigurability, and are convenient and quick to connect and disassemble; at the same time, they are also convenient to manufacture Processing, easy assembly and disassembly maintenance, etc.;

5. In the present invention, the driving control board can be arranged in the free space inside the joint of the integrated robot, and the internal free space is cleverly used, so that the whole joint structure is compact, easy to realize modular connection, and convenient to disassemble;

6. Since the three-stage reduction ratio of the present invention has multiple optimization possibilities, and the output end has good precision and high reliability, it can be used in the industrial field or service industry, and meets the modularization and standardization requirements of the integrated robot joint, which is conducive to large-scale production.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is the structural layout schematic diagram of the present invention;

In the figure: 101 is the output end; 102 is the input end; 2 is the DC servo motor; 3 is the shaft end bearing of the motor; 4 is the hollow encoder; 501 is the pinion gear; 502 is the large gear; 6 is the hollow harmonic reducer; 601 is a wave generator; 602 is a flexible wheel; 603 is a rigid wheel; 604 is a cross roller bearing; 7 is a hollow output shaft; 8 is a hollow output shaft end bearing; 9 is a pulley shaft bearing; 10 is a large pulley; 1101,1102 are axle sleeves.

Fig. 2 is a schematic diagram of the connection between the DC servo motor and the shaft end bearing of the motor in the present invention;

In the picture: 2 DC servo motors; 3 motor shaft end bearings.

Fig. 3 is a schematic diagram of the connection between the harmonic reducer and the hollow output end in the present invention;

In the figure: 601 is a wave generator; 602 is a flexible wheel; 603 is a rigid wheel; 604 is a cross roller bearing; 8 is a hollow output shaft end bearing.

detailed description

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

In this embodiment, the multifunctional high-torque integrated robot joint provided by the present invention includes a DC servo motor 2, a pulley set, a gear set, a hollow harmonic reducer 6, a hollow output shaft 7, a hollow encoder 4, a hollow Output shaft end bearing 8, and drive control board;

Wherein, the pulley set includes a large pulley 10 and a small pulley; the gear set includes a small gear 501 and a large gear 502;

The DC servo motor 2 drives the small pulley; the small pulley drives the large pulley 10; the large pulley 10 is connected to the pinion 501 through a pulley shaft, and the pinion 501 is connected to the pinion 501. The large gear 502 meshes; one end of the hollow output shaft 7 is connected to the large gear 502 and the hollow encoder 4, and the other end is connected to the hollow harmonic reducer 6 and the inner ring of the hollow output shaft end bearing 8 ;

The drive control board is electrically connected to the DC servo motor 2 , the hollow harmonic reducer 6 , and the hollow encoder 4 .

The multi-functional high-torque integrated robot joint provided by the present invention also includes a motor shaft end bearing 3;

The shaft of the DC servo motor 2 is connected to the inner ring of the shaft end bearing 3 of the motor.

The multi-functional high-torque integrated robot joint provided by the present invention also includes a bearing adjusting gasket and a circlip for the shaft;

The bearing adjusting gasket is used to adjust the axial play of the shaft end bearing of the motor, and the shaft circlip is used for axially fixing the shaft end bearing of the motor.

The hollow harmonic reducer includes a wave generator 601, a steel wheel, a flexible wheel and a cross roller bearing;

The generator 601 is connected with the bull gear 501 through the hollow output shaft 7;

The flexspline 602 is connected to the outer ring of the cross roller bearing 604 and the input end 102;

The steel wheel 603 is connected with the inner ring of the cross roller bearing 604 and the output end 101 .

In this embodiment, the shape and size of the input end 101 and the output end 102 are determined according to its internal structure design, which reduces the overall volume of the joint; the input end 101, the output end 102, the hollow harmonic reducer 6 and the hollow encoder 4. All adopt a hollow structure to facilitate the wiring of the center hole; the output direction of the motor shaft is changed through the pulley, the pulley is connected to the pinion through the shaft and bearing, and the large gear is connected to the harmonic reducer; the encoder is installed at the lower end of the hollow output shaft. Detect the position of the output shaft. It is an absolute encoder, which can set the zero position and ensure the position record in case of accidental power failure.

The DC servo motor 2 is connected to the shaft end bearing 3 of the motor, which reduces the influence of the pulley drive on the bending moment of the shaft end of the DC servo motor 2, and can ensure that the DC servo motor can output rotational torque smoothly .

The large gear 502 is fixedly connected with the hollow output shaft 7, and the hollow output shaft is connected with the hollow encoder 4 at the same time, so as to ensure that the rotation angle measured by the hollow encoder can be fed back to the drive control board Used for motor rotation control and zero positioning requirements.

In the hollow harmonic reducer 6, the wave generator 601 transmits torque through the hollow high output shaft 7, the flexible spline 602 and the outer ring of the cross roller bearing 604 and The fixed connection of the input end 102 ensures that the joints of the integrated robot can withstand large output bending moments. The steel wheel 603 is fixedly connected with the inner ring of the cross roller bearing 604 and the output end 101 to ensure smooth transmission and stable operation of the output end.

The hollow output shaft 7 is convenient for wiring in the central hole, avoids special requirements for cables during the joint movement of the integrated robot, and realizes the 360-degree rotation function. The hollow encoder 4 is connected to the hollow output shaft 7, which can not only feed back the rotational position of the output shaft, but also record the position in the event of an accidental power failure, and make the joints of the integrated robot recover when the power is turned on. There is no need to reset the zero position again.

The drive control board receives feedback from the hollow encoder 4 so as to control the DC servo motor 2 to achieve stable and reliable torsion requirements. The drive control board includes a power transfer module, an EtherCAT bus interface, etc., which effectively improves the speed and stability of real-time control while simplifying the complexity of wiring between the joints of the integrated robot.

The above-mentioned embodiment can adjust the reduction ratio of the three-stage reduction composed of the pulley set, the gear set and the hollow harmonic reducer according to the specific requirements of the place of use, so as to ensure that it is suitable for a wide range of applications in various fields and occasions. At the same time, the hollow harmonic reducer is a third-stage deceleration, which ensures that the output end has the advantages of small hysteresis and high transmission precision. The three-stage deceleration can also be combined in different orders of selection stages, and it can be applied flexibly to meet the needs of specific places.

A multi-functional high-torque integrated robot joint provided by the present invention performs real-time feedback control on the modularized integrated robot joint through the EtherCAT (open real-time Ethernet communication protocol) bus, which improves the stability of the load-bearing operation in the operation of the mechanical arm and real-time operability. The invention not only provides a suitable integrated robot joint for the selection of modular joints in the industrial field, but also provides a selection scheme with multiple functions and multiple torques for the needs of non-industrial industries.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (6)

1. a multi-functional high pulling torque integrated robot joint, it is characterised in that include DC servo motor (2), band wheels, Gear train, hollow harmonic speed reducer (6), hollow output shaft (7), hollow encoder (4) and hollow output shaft end bearing (8)；

Wherein, described band wheels include big belt wheel (10) and small pulley；Described gear train includes little gear (501) and gear wheel (502)；

Described DC servo motor (2) drives described small pulley；Described small pulley drives described big belt wheel (10)；Described big belt wheel (10) connecting described little gear (501) by belt shaft, described little gear (501) is engaged with described gear wheel (502)；In described One end of empty output shaft (7) connects described gear wheel (502) and described hollow encoder (4), and it is humorous that the other end connects described hollow Ripple decelerator (6), the inner ring of described hollow output shaft end bearing (8).

Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include motor shaft End bearing (3)；

The axle of described DC servo motor (2) connects the inner ring of motor shaft end bearing (3).

Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include that bearing is adjusted Whole pad and axle jump ring；

Bearing adjusts pad and is used for adjusting the end-play of motor shaft end bearing, and described axle jump ring is used for carrying out motor shaft end axle The axial restraint held.

Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that described hollow is humorous Ripple decelerator includes wave producer (601), steel wheel, flexbile gear and cross roller bearing；

Described generator (601) is connected with gear wheel (501) by hollow output shaft (7)；

Described flexbile gear (602) is connected with outer ring, the input (102) of described cross roller bearing (604)；

Described steel wheel (603) is connected with the described inner ring of cross roller bearing (604), outfan (101).

Multi-functional high pulling torque integrated robot joint the most according to claim 1, it is characterised in that also include driving control Making sheet；Described driving panel electrically connects described DC servo motor (2), described hollow harmonic speed reducer (6), described hollow volume Code device (4).

Multi-functional high pulling torque integrated robot joint the most according to claim 5, it is characterised in that described driving control The DC servo motor (2) described in feedback control of the hollow encoder (4) described in making sheet acceptance.