CN109551510B - Driving and control integrated moment measurable and controllable robot rotary joint module - Google Patents
Driving and control integrated moment measurable and controllable robot rotary joint module Download PDFInfo
- Publication number
- CN109551510B CN109551510B CN201811563030.8A CN201811563030A CN109551510B CN 109551510 B CN109551510 B CN 109551510B CN 201811563030 A CN201811563030 A CN 201811563030A CN 109551510 B CN109551510 B CN 109551510B
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- encoder
- transmission shaft
- joint
- joint module
- moment
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
Abstract
The driving and controlling integrated moment measurable and controllable robot rotary joint module comprises a joint shell, a joint output turntable, a driving controller, a transmission mechanism, a moment sensor, a first encoder and a second encoder, wherein the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer; the first encoder is used for measuring angular displacement information of the joint output turntable, and the second encoder is used for measuring angular displacement information of the rotor; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller. The invention improves the joint transmission precision and the moment output precision.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a driving and controlling integrated moment measurable and controllable robot rotary joint module.
Background
With the rapid development of modern industrial technology, robots have been widely used in various industries. Such as welding, spraying, heat treatment, transportation, automatic assembly, loading and unloading, detection, etc., in the automotive field, and robots are gradually replacing the manual work to perform heavy and tedious repetitive operations such as packaging, transportation, carrying, etc. in the fields of transportation, wharf, food and medicine, electronic manufacturing, etc. But are rarely used in work tasks such as precision assembly, scraping or grinding of workpiece surfaces, polishing and scrubbing, because in similar tasks the robotic end effector is required to be in contact with the environment and to maintain a certain contact force, which requires the robot to have external force sensing and force control functions.
The existing mature robots with force control function have few products or high price, which is generally more than several times of that of common industrial robots. Meanwhile, as the application range of the robot is enlarged, some tasks are needed to be completed together by the cooperation of the robot and the human, and high requirements are put on the safety performance of the robot. At present, the safety performance of the robot is generally solved by adopting two schemes, one scheme is to ensure the safety when interacting with a person by changing the rigidity of the robot structure; the other is to realize the flexibility of the robot when contacting with objects in the environment through a control algorithm strategy of a software layer.
Therefore, the robot joint module capable of being controlled by the force with high integration level and high cost performance can be developed, and has great significance for expanding the application range of the robot, and meanwhile, the safety performance of the robot can be greatly improved.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a driving and controlling integrated moment-measurable robot rotary joint module which can realize moment detection and control of a robot joint so as to realize force control of the whole serial robot; the robot joint module is simple and compact in structure, high in joint transmission precision and torque output precision, and simple and attractive in appearance due to the adoption of an internal wiring mode, and the safety and reliability of the robot are improved essentially.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the driving and controlling integrated moment measurable and controllable robot rotary joint module comprises a joint shell, a joint output turntable, a driving controller, a transmission mechanism, a moment sensor, a first encoder and a second encoder, wherein the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer; the first encoder is used for measuring the angular displacement information of the joint output turntable or the moment sensor, and the second encoder is used for measuring the angular displacement information of the rotor or the transmission shaft; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller.
The invention can realize the rotation of the joint output turntable by using the frameless motor to drive the transmission shaft to rotate, reads the angular displacement information of the joint output turntable or the moment sensor through the first encoder, obtains the angular displacement information of the rotor through the second encoder, measures the external moment born by the joint output turntable through the moment sensor, and then controls the frameless motor to rotate by using a control algorithm preset by the drive controller according to the angular displacement information of the rotor, the angular displacement information of the joint output turntable and the external moment born by the joint output turntable. The driving controller obtains the deflection angle of the frameless motor rotor and the deflection angle of the joint output turntable by obtaining the angular displacement information of the frameless motor rotor and the angular displacement information of the joint output turntable, and obtains external torque applied to the joint module by the outside through the torque sensor, thereby providing necessary conditions for full-closed loop feedback of torque control, and therefore, the torque control of the joint module and the flexible control of the robot can be realized, and the joint transmission precision and the torque output precision are improved.
As an improvement of the invention, the first encoder is an absolute encoder, the absolute encoder comprises a magnetic ring and a reading head, the transmission shaft is of a hollow structure, the harmonic reducer is provided with a hollow hole, a hollow measuring shaft is arranged in the hollow hole of the transmission shaft, one end of the measuring shaft penetrates through the hollow hole of the harmonic reducer and is fixedly connected with the torque sensor, the other end of the measuring shaft extends out of the hollow hole of the transmission shaft, the magnetic ring of the absolute encoder is fixed on the end face of the other end of the measuring shaft through a first mounting seat, and the reading head of the absolute encoder is fixed in the joint shell and corresponds to the position of the magnetic ring of the absolute encoder; the hollow hole of the measuring shaft forms an inner wire routing hole.
Further, a bearing is arranged between the transmission shaft and the measuring shaft.
As an improvement of the invention, the second encoder is an incremental encoder, the incremental encoder comprises a magnetic ring and a reading head, the incremental encoder magnetic ring is fixed on the end face of the other end of the transmission shaft through a second mounting seat, a second bracket is arranged in the joint shell, and the reading head of the incremental encoder is fixed on the second bracket and corresponds to the position of the incremental encoder magnetic ring.
As an improvement of the invention, the other end of the transmission shaft is provided with a stop mechanism for preventing the transmission shaft from rotating randomly, when the joint module is electrified, the transmission shaft can rotate freely, and when the joint module is in power failure, the transmission shaft is blocked by the stop mechanism and cannot rotate freely.
As an improvement of the invention, the stop mechanism comprises an electromagnet, a return spring, an armature and a stop snap ring, wherein the stop snap ring is fixedly sleeved on the other end of the transmission shaft, the electromagnet and the armature are arranged in the joint shell, when the joint module is electrified, the electromagnet and the armature are attracted, the armature is positioned at the attraction position, the transmission shaft can rotate freely, when the joint module is in power failure, the electromagnet is powered off, the armature returns to the stop position under the action of the return spring, the stop snap ring is blocked by the armature, and the transmission shaft cannot rotate freely.
As an improvement of the invention, the stop mechanism further comprises a first limit convex shoulder, a wave washer and a second limit convex shoulder, wherein the first limit convex shoulder and the second limit convex shoulder are respectively fixedly arranged at the other end of the transmission shaft, the wave washer and the stop snap ring are sleeved at the other end of the transmission shaft and are sequentially positioned between the first limit convex shoulder and the second limit convex shoulder, and the stop snap ring is pressed and clamped by the wave washer and the second limit convex shoulder to be sleeved at the other end of the transmission shaft.
As an improvement of the invention, the torque sensor is a spoke type sensor, the spoke type sensor comprises an inner ring, an outer ring and a strain beam, one end of the measuring shaft is provided with a mounting plate, a steel wheel of the harmonic speed reducer is fixedly connected with one side of the mounting plate through a bolt, the outer ring of the torque sensor is fixedly connected with the other side of the mounting plate through a bolt, and the inner ring of the torque sensor is fixedly connected with the joint output turntable through a bolt.
Further, a locating frame is arranged at the other end side of the transmission shaft in the joint shell, and the driving controller is fixed on the locating frame through a heat dissipation plate.
Further, the joint shell is provided with an end cover at one end of the driving controller, and the end cover is fixedly connected with the positioning frame through a copper threaded column.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the moment sensor is added in the joint module, so that the robot assembled by the module can sense force information in the environment to realize force control, thereby improving the safety and self-protection of the robot;
2. the driving controller obtains the deflection angle of the rotor of the frameless motor and the deflection angle of the joint output turntable through the encoder, and the deflection angle difference between the rotor and the joint output turntable, so as to provide necessary conditions for full-closed loop feedback of torque control, realize torque control of the joint module and flexible control of the robot, and further improve joint transmission precision and torque output precision;
3. the combination of the incremental double encoders and the absolute double encoder is adopted, and the absolute encoder is arranged at the joint output end, so that the joint high-precision position control can be realized;
4. the invention realizes the internal wiring of the joint module through reasonable internal structural design and selection, thereby ensuring the aesthetic property of the appearance of the robot joint.
Drawings
FIG. 1 is a schematic diagram of a drive-control integrated moment-measurable robot swing joint module of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a cross-sectional view of A-A plane of the drive-control integrated moment-measurable robot rotary joint module of the present invention;
fig. 4 is a schematic diagram of a driving and controlling integrated moment measurable and controllable robot rotary joint module stop mechanism.
Detailed Description
The invention is further described below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
Examples
Referring to fig. 1 to 4, a driving and controlling integrated moment-measurable robot rotary joint module includes a joint housing 100, a joint output turntable 200, a driving controller 300, a transmission mechanism, a moment sensor 400, a first encoder and a second encoder;
the transmission mechanism comprises a frameless motor, a transmission shaft 20 and a harmonic reducer 30, wherein the frameless motor comprises a stator 11 and a rotor 12, and the stator 11 of the frameless motor is fixed in the joint shell 100;
the transmission shaft 20 is matched and connected with the rotor 12 of the frameless motor, one end of the transmission shaft 20 is connected with a wave generator of the harmonic reducer 30, a steel wheel of the harmonic reducer 30 is fixedly connected with one end of the torque sensor 400, and the other end of the torque sensor 400 is fixedly connected with the joint output turntable 200; the first encoder is used for measuring angular displacement information of the joint output turntable 200 or the torque sensor 400, and the second encoder is used for measuring angular displacement information of the rotor 12 or the transmission shaft 20;
the control end of the frameless motor is electrically connected to the driving controller 300, and the torque sensor 400, the first encoder, and the second encoder are electrically connected to the driving controller 300, respectively.
The invention can realize the rotation of the joint output turntable by using the frameless motor to drive the transmission shaft to rotate, reads the angular displacement information of the joint output turntable or the moment sensor through the first encoder, obtains the angular displacement information of the rotor through the second encoder, measures the external moment born by the joint output turntable through the moment sensor, and then controls the frameless motor to rotate by using a control algorithm preset by the drive controller according to the angular displacement information of the rotor, the angular displacement information of the joint output turntable and the external moment born by the joint output turntable. The driving controller obtains the deflection angle of the frameless motor rotor and the deflection angle of the joint output turntable by obtaining the angular displacement information of the frameless motor rotor and the angular displacement information of the joint output turntable, and obtains external torque applied to the joint module by the outside through the torque sensor, thereby providing necessary conditions for full-closed loop feedback of torque control, realizing torque control of the joint module and flexible control of the robot, and further improving joint transmission precision and torque output precision.
In this embodiment, the first encoder is an absolute encoder, the absolute encoder includes a magnetic ring 41 and a reading head 42, the transmission shaft 20 is of a hollow structure, the harmonic reducer 30 is provided with a hollow hole, a hollow measurement shaft 50 is arranged in the hollow hole of the transmission shaft 20, one end of the measurement shaft 50 passes through the hollow hole of the harmonic reducer 30 and is fixedly connected with the torque sensor 400, the other end of the measurement shaft 50 extends out of the hollow hole of the transmission shaft 20, the absolute encoder magnetic ring 41 is fixed on the end surface of the other end of the measurement shaft 20 through a first mounting seat 43, and the absolute encoder reading head 42 is fixed in the joint housing 100 and corresponds to the position of the absolute encoder magnetic ring 41; the hollow bore of the measuring shaft 50 constitutes an inner wire routing bore. The absolute encoder can directly measure the deflection angle of the joint output turntable relative to the base around the harmonic speed reducer and the transmission shaft, overcomes the position error caused by certain flexibility of the harmonic speed reducer and the torque sensor, improves the position accuracy of the joint module, and provides necessary conditions for fully closed loop feedback of the joint position of the robot. In addition, one end of the measuring shaft is fixedly connected with the torque sensor in a mode of penetrating through the harmonic reducer, the structural size of the joint module is greatly reduced, meanwhile, the measuring result is not influenced, the hollow hole of the measuring shaft forms an inner wire routing hole, an inner wire routing mode is adopted, the appearance is concise and attractive, and the safety and the reliability of the robot are essentially improved. On the basis of the above, the bearing 21 is arranged between the transmission shaft 20 and the measuring shaft 50, so that the rotation precision of the measuring shaft can be improved.
In this embodiment, the second encoder is an incremental encoder, the incremental encoder includes a magnetic ring 61 and a reading head 62, the incremental encoder magnetic ring 61 is fixed on the end face of the other end of the transmission shaft 20 through a second mounting seat 63, a second bracket 64 is disposed in the joint housing, and the incremental encoder reading head 62 is fixed on the second bracket 64 and corresponds to the position of the incremental encoder magnetic ring 61. The incremental encoder is used for measuring the angular displacement information of the rotor or the transmission shaft, so that the rotation speed and the rotation direction of the joint module are controlled more accurately.
On the basis of the above, the invention is further improved, the other end of the transmission shaft 20 is provided with a stop mechanism for preventing the transmission shaft from rotating at will, when the joint module is electrified, the transmission shaft 20 can rotate freely, and when the joint module is in power failure, the transmission shaft 20 is blocked by the stop mechanism and cannot rotate freely.
Specifically, the stopping mechanism comprises an electromagnet 71, a return spring 76, an armature 72 and a stopping snap ring 73, the stopping snap ring 73 is fixedly sleeved on the other end of the transmission shaft 20, the electromagnet 71 and the armature 72 are arranged in the joint shell, when the joint module is electrified, the electromagnet 71 and the armature 72 are attracted, the armature 72 is in an attracting position, the transmission shaft 20 can freely rotate, when the joint module is in a power failure, the electromagnet 71 is powered off, the armature 72 returns to a stopping position under the action of the return spring 76, the stopping snap ring is clamped by the armature, and the transmission shaft 20 cannot freely rotate. The electromagnet is matched with the armature, the armature is provided with two working positions, the electromagnet is electrified, the armature is in the attraction position, the electromagnet is powered off, and the armature is in the stop position, so that when the joint module is not working, the stop mechanism is used for preventing the transmission shaft from rotating randomly.
The invention further improves on the basis, the stop mechanism further comprises a first limit shoulder 74, a wave washer 77 and a second limit shoulder 75, wherein the first limit shoulder 74 and the second limit shoulder 75 are fixedly arranged on the other end of the transmission shaft 20 respectively, the wave washer 77 and the stop snap ring 73 are sleeved on the other end of the transmission shaft 20 and are sequentially positioned between the first limit shoulder 74 and the second limit shoulder 75, and the stop snap ring 73 is pressed and clamped by the wave washer 77 and the second limit shoulder 75 to be sleeved on the other end of the transmission shaft 20. The stop clamping ring is pressed and clamped on the other end of the transmission shaft by the wave washer and the limiting shoulder, so that the relative fixed connection between the stop clamping ring and the transmission shaft is maintained by friction force, and when the external torque of the joint output rotary table exceeds a certain value, the stop clamping ring slips on the other end of the transmission shaft, the joint output rotary table can rotate, and the stop clamping ring is prevented from being broken forcedly.
In this embodiment, the torque sensor 400 is a spoke-type sensor, the spoke-type sensor includes an inner ring, an outer ring and a strain beam, one end of the measuring shaft 50 is provided with a mounting plate 51, one side of a steel wheel of the harmonic reducer 30 is fixedly connected with the mounting plate 51 through bolts, the outer ring of the torque sensor 400 is fixedly connected with the other side of the mounting plate 51 through bolts, and the inner ring of the torque sensor 400 is fixedly connected with the joint output turntable 200 through bolts.
In the present embodiment, a positioning frame 80 is provided at the other end side of the transmission shaft 20 in the joint housing 100, and the driving controller 300 is fixed to the positioning frame 80 through a heat dissipation plate 81. In addition, the joint housing 100 is provided with an end cover 90 at one end of the driving controller 300, the end cover 90 is fixedly connected with the positioning frame 80 through a copper threaded column 91, the whole joint module is formed into a closed functional unit, dust and the like can be prevented from entering the joint housing by the end cover, the safety of the interior of the robot joint housing is ensured, and meanwhile, the maintenance of the joint module is facilitated.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the moment sensor is added in the joint module, so that the robot assembled by the module can sense force information in the environment to realize force control, thereby improving the safety and self-protection of the robot;
2. the driving controller obtains the deflection angle of the rotor of the frameless motor and the deflection angle of the joint output turntable through the encoder, and the deflection angle difference between the rotor and the joint output turntable, so as to provide necessary conditions for full-closed loop feedback of torque control, realize torque control of the joint module and flexible control of the robot, and further improve joint transmission precision and torque output precision;
3. the combination of the incremental double encoders and the absolute double encoder is adopted, and the absolute encoder is arranged at the joint output end, so that the joint high-precision position control can be realized;
4. the invention realizes the internal wiring of the joint module through reasonable internal structural design and selection, thereby ensuring the conciseness and the beautiful appearance of the robot joint.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a drive and control integration moment can measure and control robot gyration joint module which characterized in that: the device comprises a joint shell, a joint output rotary table, a driving controller, a transmission mechanism, a torque sensor, a first encoder and a second encoder, wherein the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer; the first encoder is used for measuring the angular displacement information of the joint output turntable or the moment sensor, and the second encoder is used for measuring the angular displacement information of the rotor or the transmission shaft; the control end of the frameless motor is electrically connected with the driving controller, and the torque sensor, the first encoder and the second encoder are respectively electrically connected with the driving controller;
the other end of the transmission shaft is provided with a stop mechanism for preventing the transmission shaft from rotating at will, when the joint module is electrified, the transmission shaft can rotate freely, and when the joint module is deenergized, the transmission shaft is blocked by the stop mechanism and cannot rotate freely;
the stop mechanism comprises an electromagnet, a reset spring, an armature and a stop snap ring, wherein the stop snap ring is fixedly sleeved at the other end of the transmission shaft, the electromagnet and the armature are arranged in the joint shell, when the joint module is electrified, the electromagnet and the armature are attracted, the armature is positioned at the attraction position, the transmission shaft can rotate freely, when the joint module is deenergized, the electromagnet is deenergized, the armature returns to the stop position under the action of the reset spring, the stop snap ring is clamped by the armature, and the transmission shaft cannot rotate freely;
the stop mechanism further comprises a first limit convex shoulder, a wave washer and a second limit convex shoulder, wherein the first limit convex shoulder and the second limit convex shoulder are respectively fixedly arranged at the other end of the transmission shaft, the wave washer and the stop snap ring are sleeved at the other end of the transmission shaft and are sequentially positioned between the first limit convex shoulder and the second limit convex shoulder, and the stop snap ring is pressed and clamped by the wave washer and the second limit convex shoulder to be sleeved at the other end of the transmission shaft;
the joint shell is internally provided with a locating frame at the other end side of the transmission shaft, and the driving controller is fixed on the locating frame through a heat dissipation plate.
2. The drive and control integrated moment-measurable robot rotary joint module of claim 1, wherein: the first encoder is an absolute encoder, the absolute encoder comprises a magnetic ring and a reading head, the transmission shaft is of a hollow structure, the harmonic reducer is provided with a hollow hole, a hollow measuring shaft is arranged in the hollow hole of the transmission shaft, one end of the measuring shaft penetrates through the hollow hole of the harmonic reducer and then is fixedly connected with the torque sensor, the other end of the measuring shaft extends out of the hollow hole of the transmission shaft, the magnetic ring of the absolute encoder is fixed on the end face of the other end of the measuring shaft through a first mounting seat, and the reading head of the absolute encoder is fixed in the joint shell and corresponds to the position of the magnetic ring of the absolute encoder; the hollow hole of the measuring shaft forms an inner wire routing hole.
3. The drive and control integrated moment-measurable robot rotary joint module of claim 2, wherein: and a bearing is arranged between the transmission shaft and the measuring shaft.
4. The drive and control integrated moment-measurable robot rotary joint module of claim 1, wherein: the second encoder is an incremental encoder, the incremental encoder comprises a magnetic ring and a reading head, the magnetic ring of the incremental encoder is fixed on the end face of the other end of the transmission shaft through a second mounting seat, a second support is arranged in the joint shell, and the reading head of the incremental encoder is fixed on the second support and corresponds to the position of the magnetic ring of the incremental encoder.
5. The drive and control integrated moment-measurable robot rotary joint module of claim 2, wherein: the torque sensor is a spoke type sensor, the spoke type sensor comprises an inner ring, an outer ring and a strain beam, one end of a measuring shaft is provided with a mounting disc, a steel wheel of the harmonic speed reducer is fixedly connected with one side of the mounting disc through bolts, the outer ring of the torque sensor is fixedly connected with the other side of the mounting disc through bolts, and the inner ring of the torque sensor is fixedly connected with a joint output rotary disc through bolts.
6. The drive and control integrated moment-measurable robot rotary joint module of claim 1, wherein: the joint shell is provided with an end cover at one end of the drive controller, and the end cover is fixedly connected with the positioning frame through a copper threaded column.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811563030.8A CN109551510B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment measurable and controllable robot rotary joint module |
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| CN201811563030.8A CN109551510B (en) | 2018-12-20 | 2018-12-20 | Driving and control integrated moment measurable and controllable robot rotary joint module |
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| CN109551510B true CN109551510B (en) | 2023-10-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109955237A (en) * | 2019-04-30 | 2019-07-02 | 深圳市爱因派科技有限公司 | Two degrees of freedom supersonic motor steering engine and robot |
| CN115674254A (en) * | 2021-07-21 | 2023-02-03 | 中强光电股份有限公司 | Joint actuator of robot |
| CN116252326A (en) * | 2021-12-10 | 2023-06-13 | 中光电智能感测股份有限公司 | Joint actuator of robot |
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