CN110666830A - Robot joint module that integrates - Google Patents
Robot joint module that integrates Download PDFInfo
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- CN110666830A CN110666830A CN201910888142.9A CN201910888142A CN110666830A CN 110666830 A CN110666830 A CN 110666830A CN 201910888142 A CN201910888142 A CN 201910888142A CN 110666830 A CN110666830 A CN 110666830A
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- joint
- motor
- output
- micro
- harmonic reducer
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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
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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
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- 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
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- 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
- B25J19/0054—Cooling means
Abstract
The invention discloses an integrated robot joint module, which comprises a joint shell and an end cover, wherein a frameless motor is installed in the joint shell through an annular clamping groove, a rotor is arranged in the frameless motor, a low-voltage motor driver is installed on one side of the frameless motor through a fastening bolt, a bearing seat is installed on the other side of the frameless motor through the fastening bolt, a hollow input shaft is installed in the bearing seat through a first bearing, the hollow input shaft is sleeved in the rotor, one end of the hollow input shaft is fixedly connected with a harmonic reducer, the harmonic reducer is located at the end head of the joint shell, the output end of one side of the harmonic reducer is fixedly connected with a joint output disc, one end of the joint output disc is welded with a hollow output shaft, and a second bearing is installed on one side of the low-voltage motor driver through. The invention simplifies the transmission structure, has compact internal structure, more convenient installation and maintenance and good dustproof heat dispersion, effectively ensures the working stability of the robot joint module and prolongs the service life of the robot joint module.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to an integrated robot joint module.
Background
Although the traditional robot is still active in the fields of industrial manufacturing service and the like, the development of the times makes the requirements of people on production, life, entertainment, medical treatment, service and the like increasingly novel, the traditional robot cannot meet the requirements in the aspects of structure, control and intellectualization, the people need the robot which is lighter, more integrated and more intelligent, and the robot is required to be capable of safely cooperating with people. However, robots that have been widely used in various fields generally have the following problems: (1) the hardware structure is large and heavy, the mechanical arm is made of steel and the like with high rigidity, and even is provided with an arm lever balance mechanism to reduce nonlinear interference, and the load self-weight ratio is low; (2) the working environment is specific and single and is foreseen, the robot base can complete work tasks basically and fixedly, and the flexibility is lacked; (3) the integrated level is low, and the joint is sturdy, and performance such as antistatic, dustproof and heat dissipation is relatively poor, leads to the robot to take place to damage easily, causes the loss.
Disclosure of Invention
The present invention is directed to an integrated robot joint module to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme: an integrated robot joint module comprises a joint shell and an end cover, wherein a frameless motor is installed in the joint shell through an annular clamping groove, a rotor is arranged in the frameless motor, a low-voltage motor driver is installed on one side of the frameless motor through a fastening bolt, a bearing seat is installed on the other side of the frameless motor through the fastening bolt, a hollow input shaft is installed in the bearing seat through a first bearing, the hollow input shaft is sleeved in the rotor, one end of the hollow input shaft is fixedly connected with a harmonic reducer, the harmonic reducer is located at the end head of the joint shell, the output end of one side of the harmonic reducer is fixedly connected with a joint output disc, a hollow output shaft is welded at one end of the joint output disc, a second bearing is installed on one side of the low-voltage motor driver through a circular installation groove, one end of the hollow output shaft penetrates through the harmonic reducer and the, the dust filter is characterized in that a micro motor brake is installed between the frameless motor and the low-voltage motor driver through a fastening screw, the center rotating end of the micro motor brake is sleeved on the periphery of the tail end of the hollow input shaft, the input ends of the micro motor brake and the frameless motor are electrically connected with the output end of the low-voltage motor driver through a lead, the tail end of the joint shell is provided with an end cover through the fastening screw, a circular heat dissipation port is formed in the end cover, a dust filter screen is installed on one side in the circular heat dissipation port through the fastening screw, and a small-sized heat dissipation fan is installed on the other side in.
Furthermore, aluminum foil electrostatic shielding layers are arranged on the inner surfaces of the joint shell and the end cover, and Teflon non-stick layers are coated on the outer surfaces of the joint shell and the end cover.
Furthermore, the periphery of the joint shell is connected with arc-shaped buffer rubber strips in a gluing mode, and the arc-shaped buffer rubber strips are specifically provided with two groups or more than two groups.
Further, joint output encoder and motor input encoder are installed through the mounting bracket to micro motor stopper one side, motor input encoder is located between joint output encoder and the micro motor stopper, the output of joint output encoder and motor input encoder constitutes the electricity with low-voltage motor driver's input and is connected.
Furthermore, a temperature control switch is installed on one side of the inner bottom of the joint shell through a fastening screw, and the output end of the temperature control switch is electrically connected with the input end of the small-sized radiating fan through a lead.
Furthermore, the joint of the harmonic reducer and the joint shell is connected with a dustproof sealing ring in a gluing mode.
Further, the bottom of the joint shell is provided with a connecting disc through a fastening bolt.
Further, the harmonic reducer surface machining method comprises the following steps:
the method comprises the following steps: technical personnel compile production and processing steps, grasp the attention matters of processing and preparation of processing materials and equipment;
step two: placing the flexible gear into an ultrasonic cleaning machine, adding clear water and a sodium hydroxide solution, and rapidly cleaning by using ultrasonic waves;
step three: quickly drying the cleaned flexible gear in warm air, removing oil stains and rust spots on the surface of the substrate, and performing sand blasting treatment;
step four: clamping the flexible gear matrix processed in the step three on an electrode, immersing the flexible gear matrix in a micro-arc oxidation electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a micro-arc oxidation ceramic layer on the surface of the flexible gear matrix;
step five: placing the flexible gear into a vacuum chamber of four-target micro-arc ion plating equipment; vacuumizing, introducing argon, and performing plating treatment;
step six: respectively carrying out ray scanning on the surfaces of the fifth flexible gear and the fourth flexible gear by using a scanning electron microscope;
step seven: clamping the flexspline substrate scanned by the six rays on an electrode, immersing the flexspline substrate in an electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a titanium metal coating on the surface of the flexspline substrate;
step eight: performing high-temperature electron beam treatment on the seven-flexible-gear matrix, and performing ultraviolet irradiation, drying and curing treatment after spraying;
step nine: and naturally cooling the flexible gear matrix obtained in the step eight.
Further, in the fifth step, the vacuum chamber of the four-target micro-arc ion plating equipment is vacuumized by a vacuum pump, and process detection is carried out by a vacuum degree detector, wherein the vacuum degree range is 1 x 10 < -1 > to 1 x 10 < -5 > Pa.
The concentration of sodium sulfate, potassium hydroxide and potassium fluoride in the micro-arc oxidation electrolyte solution in the fourth step is 500g/L, 6.5-12.5g/L and 10-12g/L in sequence. The temperature of hot air flow in the third step is 70-90 ℃, the negative bias voltage applied to the flexible gear in the fifth step is adjusted to 100-300V, the pulse width is set to be 1-6 mus, the pulse frequency is set to be 50-500 KHz, and the deposition time is controlled to be 20-60 min to deposit and form a coating. In the seventh step, the thickness of the titanium metal coating is 0.03-0.05mm, the electrolytic anode is a titanium coating electrode, the cathode is a titanium metal plate, the electrolyte components are 0.2mol/L sodium sulfate and 200mg/L phenol, the controlled voltage is 3.5V, and the current is 0.15A. The maximum voltage U in the fourth step and the seventh step is 200-350V.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the integrated robot joint module, the frameless motor, the harmonic reducer, the micro motor brake and the low-voltage motor driver are integrated in the joint shell, and the input shaft and the output shaft are in a hollow design, so that cables among all parts can be installed, the structural space is saved, and the transmission structure is simplified; the internal structure is compact, and the integrated solution of the robot joint module is realized.
2. According to the integrated robot joint module, the small-sized radiating fan is arranged in the circular radiating hole in the end cover, the temperature control switch is arranged in the joint shell, so that a worker can set a preset value by using the temperature control switch, and when the working heat of the components such as the frameless motor, the micro motor brake, the low-voltage motor driver and the like in the joint shell exceeds the preset value of the temperature control switch, the temperature control switch automatically controls the small-sized radiating fan to work, the radiating operation of the components such as the frameless motor, the micro motor brake, the low-voltage motor driver and the like in the joint shell is completed, and the components such as the frameless motor, the micro motor brake, the low-voltage motor driver and the like are prevented from being.
3. According to the integrated robot joint module, the aluminum foil electrostatic shielding layers are arranged on the inner surfaces of the joint shell and the end cover, so that electrostatic protection effects can be achieved on components such as a frameless motor, a micro motor brake and a low-voltage motor driver in the joint shell, and the components such as the frameless motor, the micro motor brake and the low-voltage motor driver are prevented from being damaged due to electrostatic breakdown; the Teflon non-stick layers are coated on the outer surfaces of the joint shell and the end cover, so that dust is prevented from being attached to the outer surfaces of the joint shell and the end cover, and the heat conduction auxiliary heat dissipation performance of the joint shell and the end cover is influenced.
4. According to the integrated robot joint module, the arc-shaped buffer rubber strips are connected to the periphery of the joint shell in a gluing mode, so that the joint shell is endowed with certain buffer performance, and the possibility that components such as a frameless motor, a micro motor brake, a low-voltage motor driver and the like in the joint shell are damaged due to external force impact is reduced.
5. The surface of a general harmonic reducer treated is obvious in corrugation and is in a burr shape, the burr can cause the problems of scraping and the like, the surface shape after micro-arc ion treatment is very fine, the surface treated by micro-arc ion is almost free of burr, the surface shape is very smooth, and compared with treatment in other modes, the micro-arc ion treatment has the advantage that the phenomenon of warping of a processed object is very small, so that the processed object cannot float and peel off even if the surface coating is applied.
6. A titanium metal coating is sprayed on the surface of the micro-arc oxidation ceramic layer by using a spraying machine, and the titanium metal coating has good adhesion resistance, difficult oxidation, outdoor durability, cold resistance, heat resistance, stain resistance, scrub resistance, solvent resistance, high strength and good wear resistance.
7. The micro-arc oxidation ceramic layer after micro-arc ion treatment effectively plays a role in preventing cracks, improves the overall strength, has smoother and more flexible surface and outstanding corrosion resistance, and fundamentally overcomes the defects of aluminum, magnesium and titanium alloy materials in application, so the technology has wide application prospect.
8. The flexible gear matrix is subjected to high-temperature electron beam treatment, and is subjected to ultraviolet irradiation drying curing treatment after spraying is finished, so that the flexible gear matrix is dried quickly, and the coating is not easy to peel off and is durable in use.
9. The harmonic reducer surface processing method is stable and reliable, simple in equipment, convenient to operate, strong in practicability and suitable for wide popularization and use.
Drawings
Fig. 1 is a schematic view of an integrated robot joint module according to the present invention.
Fig. 2 is a schematic diagram of an internal structure of a joint housing of an integrated robot joint module according to the present invention.
Fig. 3 is a side view of an integrated robot joint module according to the present invention.
Fig. 4 is a schematic structural view of an inner circular heat sink of an end cover of an integrated robot joint module according to the present invention.
Fig. 5 is a schematic cross-sectional view illustrating the inner and outer surface material layers of the joint housing of the integrated robot joint module according to the present invention.
In the figure: 1. a joint housing; 2. an end cap; 3. an arc-shaped buffer rubber strip; 4. a dustproof sealing ring; 5. a connecting disc; 6. a harmonic reducer; 7. a joint output tray; 8. a hollow output shaft; 9. a hollow input shaft; 10. a rotor; 11. a micro-motor brake; 12. a temperature control switch; 13. a first bearing; 14. a bearing seat; 15. a frameless motor; 16. an encoder at the input end of the motor; 17. a joint output end encoder; 18. a low voltage motor driver; 19. a second bearing; 20. an aluminum foil electrostatic shielding layer; 21. a Teflon non-stick layer; 22. a circular heat dissipation port; 23. a small-sized heat radiation fan; 24. a dust filter screen.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-5, an integrated robot joint module includes a joint housing 1 and an end cover 2, a frameless motor 15 is installed in the joint housing 1 through an annular slot, a rotor 10 is provided in the frameless motor 15, a low-voltage motor driver 18 is installed on one side of the frameless motor 15 through a fastening bolt, a bearing seat 14 is installed on the other side of the frameless motor 15 through a fastening bolt, a hollow input shaft 9 is installed in the bearing seat 14 through a first bearing 13, the hollow input shaft 9 is sleeved in the rotor 10, one end of the hollow input shaft 9 is fixedly connected with a harmonic reducer 6, the harmonic reducer 6 is located at an end of the joint housing 1, an output end of one side of the harmonic reducer 6 is fixedly connected with a joint output disc 7, one end of the joint output disc 7 is welded with a hollow output shaft 8, a second bearing 19 is installed on one side of the low-voltage motor driver 18 through a circular installation groove, one end of a hollow output shaft 8 penetrates through the harmonic reducer 6 and the hollow input shaft 9 and is located in a second bearing 19, a micro motor brake 11 is installed between the frameless motor 15 and the low-voltage motor driver 18 through a fastening screw, the center rotating end of the micro motor brake 11 is sleeved on the periphery of the tail end of the hollow input shaft 9, the input ends of the micro motor brake 11 and the frameless motor 15 are electrically connected with the output end of the low-voltage motor driver 18 through a conducting wire, the tail end of the joint shell 1 is provided with the end cover 2 through the fastening screw, the end cover 2 is provided with a circular heat dissipation opening 22, one side of the circular heat dissipation opening 22 is provided with a dust filter screen 24 through the fastening screw, and the other side of the circular heat dissipation opening 22 is provided with a small heat dissipation.
The inner surfaces of the joint shell 1 and the end cover 2 are both provided with aluminum foil electrostatic shielding layers 20, and the outer surfaces of the joint shell 1 and the end cover 2 are both coated with Teflon non-stick layers 21.
In this embodiment, as shown in fig. 5, the aluminum foil electrostatic shielding layers 20 are disposed on the inner surfaces of the joint housing 1 and the end cover 2, so that electrostatic protection can be performed on the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1, and the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 are prevented from being damaged by electrostatic breakdown; the outer surfaces of the joint shell 1 and the end cover 2 are coated with Teflon non-stick layers 21, so that dust is prevented from attaching to the outer surfaces of the joint shell 1 and the end cover 2, and the heat conduction auxiliary heat dissipation performance of the joint shell 1 and the end cover 2 is prevented from being affected.
The periphery of the joint shell 1 is connected with arc-shaped buffer rubber strips 3 in a gluing mode, and the arc-shaped buffer rubber strips 3 are specifically provided with two groups or more than two groups.
In the embodiment, as shown in fig. 1, the arc-shaped buffer rubber strip 3 is bonded and connected to the periphery of the joint housing 1, so that a certain buffer performance is given to the joint housing 1, and the possibility that components such as the frameless motor 15, the miniature motor brake 11, the low-voltage motor driver 18 and the like in the joint housing 1 are damaged due to external impact is reduced
Wherein, joint output encoder 17 and motor input encoder 16 are installed through the mounting bracket to micro motor stopper 11 one side, motor input encoder 16 is located between joint output encoder 17 and micro motor stopper 11, joint output encoder 17 and motor input encoder 16's output constitutes the electricity with low-voltage motor driver 18's input and is connected.
In this embodiment, as shown in fig. 2, the motor input end encoder 16 measures the position of the rotor 10 of the frameless motor 15, the joint output end encoder 17 measures the position of the hollow output shaft 8 of the joint output disc 7, the motor input end encoder 1 and the joint output end encoder 17 output the measurement data to the low-voltage motor driver 18, the low-voltage motor driver 18 outputs the position data of the rotor 10 and the position data of the output shaft 12 to an external upper controller, and the external upper controller can obtain the final output rotational motion precision of the joint according to the data, so as to implement better precision control.
Wherein, a temperature control switch 12 is installed on one side of the bottom in the joint shell 1 through a fastening screw, and the output end of the temperature control switch 12 is electrically connected with the input end of the small-sized heat radiation fan 23 through a lead.
In this embodiment, as shown in fig. 2, a worker may use the temperature control switch 12 to set a pre-control value, and then when the heat generated by the operation of the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1 exceeds the pre-control value set by the temperature control switch 12, the temperature control switch 12 automatically controls the small-sized heat dissipation fan 23 to operate, so as to complete the heat dissipation operation of the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1, and prevent the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1 from being.
And the joint of the harmonic reducer 6 and the joint shell 1 is connected with a dustproof sealing ring 4 in a gluing mode.
In this embodiment, as shown in fig. 2, the dust-proof sealing ring 4 can prevent dust from entering the joint housing 1 from the connection between the harmonic reducer 6 and the joint housing 1
Wherein, the bottom of the joint shell 1 is provided with a connecting disc 5 through a fastening bolt.
In this embodiment, as shown in fig. 1 to 3, the connecting disc 5 at the bottom of the joint housing 1 can facilitate the connection between the robot joint module and the lower support rotating rod.
The surface processing method of the harmonic reducer comprises the following steps:
the method comprises the following steps: technical personnel compile production and processing steps, grasp the attention matters of processing and preparation of processing materials and equipment;
step two: placing the flexible gear into an ultrasonic cleaning machine, adding clear water and a sodium hydroxide solution, and rapidly cleaning by using ultrasonic waves;
step three: quickly drying the cleaned flexible gear in warm air, removing oil stains and rust spots on the surface of the substrate, and performing sand blasting treatment;
step four: clamping the flexible gear matrix processed in the step three on an electrode, immersing the flexible gear matrix in a micro-arc oxidation electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a micro-arc oxidation ceramic layer on the surface of the flexible gear matrix;
step five: placing the flexible gear into a vacuum chamber of four-target micro-arc ion plating equipment; vacuumizing, introducing argon, and performing plating treatment;
step six: respectively carrying out ray scanning on the surfaces of the fifth flexible gear and the fourth flexible gear by using a scanning electron microscope;
step seven: clamping the flexspline substrate scanned by the six rays on an electrode, immersing the flexspline substrate in an electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a titanium metal coating on the surface of the flexspline substrate;
step eight: performing high-temperature electron beam treatment on the seven-flexible-gear matrix, and performing ultraviolet irradiation, drying and curing treatment after spraying;
step nine: and naturally cooling the flexible gear matrix obtained in the step eight.
And in the fifth step, the vacuum chamber of the four-target micro-arc ion plating equipment is vacuumized by a vacuum pump, and process detection is carried out by a vacuum degree detector, wherein the vacuum degree range is 1 x 10 < -1 > to 1 x 10 < -5 > Pa.
Example 2
As shown in fig. 1-5, an integrated robot joint module includes a joint housing 1 and an end cover 2, a frameless motor 15 is installed in the joint housing 1 through an annular slot, a rotor 10 is provided in the frameless motor 15, a low-voltage motor driver 18 is installed on one side of the frameless motor 15 through a fastening bolt, a bearing seat 14 is installed on the other side of the frameless motor 15 through a fastening bolt, a hollow input shaft 9 is installed in the bearing seat 14 through a first bearing 13, the hollow input shaft 9 is sleeved in the rotor 10, one end of the hollow input shaft 9 is fixedly connected with a harmonic reducer 6, the harmonic reducer 6 is located at an end of the joint housing 1, an output end of one side of the harmonic reducer 6 is fixedly connected with a joint output disc 7, one end of the joint output disc 7 is welded with a hollow output shaft 8, a second bearing 19 is installed on one side of the low-voltage motor driver 18 through a circular installation groove, one end of a hollow output shaft 8 penetrates through the harmonic reducer 6 and the hollow input shaft 9 and is located in a second bearing 19, a micro motor brake 11 is installed between the frameless motor 15 and the low-voltage motor driver 18 through a fastening screw, the center rotating end of the micro motor brake 11 is sleeved on the periphery of the tail end of the hollow input shaft 9, the input ends of the micro motor brake 11 and the frameless motor 15 are electrically connected with the output end of the low-voltage motor driver 18 through a conducting wire, the tail end of the joint shell 1 is provided with the end cover 2 through the fastening screw, the end cover 2 is provided with a circular heat dissipation opening 22, one side of the circular heat dissipation opening 22 is provided with a dust filter screen 24 through the fastening screw, and the other side of the circular heat dissipation opening 22 is provided with a small heat dissipation.
Wherein, the inner surfaces of the joint shell 1 and the end cover 2 are both provided with antistatic plastic films, and the outer surfaces of the joint shell 1 and the end cover 2 are both coated with Teflon non-stick layers 21.
In this embodiment, as shown in fig. 5, the aluminum foil electrostatic shielding layers 20 are disposed on the inner surfaces of the joint housing 1 and the end cover 2, so that electrostatic protection can be performed on the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1, and the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 are prevented from being damaged by electrostatic breakdown; the outer surfaces of the joint shell 1 and the end cover 2 are coated with Teflon non-stick layers 21, so that dust is prevented from attaching to the outer surfaces of the joint shell 1 and the end cover 2, and the heat conduction auxiliary heat dissipation performance of the joint shell 1 and the end cover 2 is prevented from being affected.
The periphery of the joint shell 1 is connected with arc-shaped buffer rubber strips 3 in a gluing mode, and the arc-shaped buffer rubber strips 3 are specifically provided with two groups or more than two groups.
In the embodiment, as shown in fig. 1, the arc-shaped buffer rubber strip 3 is bonded and connected to the periphery of the joint housing 1, so that a certain buffer performance is given to the joint housing 1, and the possibility that components such as the frameless motor 15, the miniature motor brake 11, the low-voltage motor driver 18 and the like in the joint housing 1 are damaged due to external impact is reduced
Wherein, joint output encoder 17 and motor input encoder 16 are installed through the mounting bracket to micro motor stopper 11 one side, motor input encoder 16 is located between joint output encoder 17 and micro motor stopper 11, joint output encoder 17 and motor input encoder 16's output constitutes the electricity with low-voltage motor driver 18's input and is connected.
In this embodiment, as shown in fig. 2, the motor input end encoder 16 measures the position of the rotor 10 of the frameless motor 15, the joint output end encoder 17 measures the position of the hollow output shaft 8 of the joint output disc 7, the motor input end encoder 1 and the joint output end encoder 17 output the measurement data to the low-voltage motor driver 18, the low-voltage motor driver 18 outputs the position data of the rotor 10 and the position data of the output shaft 12 to an external upper controller, and the external upper controller can obtain the final output rotational motion precision of the joint according to the data, so as to implement better precision control.
Wherein, a temperature control switch 12 is installed on one side of the bottom in the joint shell 1 through a fastening screw, and the output end of the temperature control switch 12 is electrically connected with the input end of the small-sized heat radiation fan 23 through a lead.
In this embodiment, as shown in fig. 2, a worker may use the temperature control switch 12 to set a pre-control value, and then when the heat generated by the operation of the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1 exceeds the pre-control value set by the temperature control switch 12, the temperature control switch 12 automatically controls the small-sized heat dissipation fan 23 to operate, so as to complete the heat dissipation operation of the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1, and prevent the components such as the frameless motor 15, the micro motor brake 11, and the low-voltage motor driver 18 in the joint housing 1 from being.
And the joint of the harmonic reducer 6 and the joint shell 1 is connected with a dustproof sealing ring 4 in a gluing mode.
In this embodiment, as shown in fig. 2, the dust-proof sealing ring 4 can prevent dust from entering the joint housing 1 from the connection between the harmonic reducer 6 and the joint housing 1
Wherein, the bottom of the joint shell 1 is provided with a connecting disc 5 through a fastening bolt.
In this embodiment, as shown in fig. 1 to 3, the connecting disc 5 at the bottom of the joint housing 1 can facilitate the connection between the robot joint module and the lower support rotating rod.
The surface processing method of the harmonic reducer comprises the following steps:
the method comprises the following steps: technical personnel compile production and processing steps, grasp the attention matters of processing and preparation of processing materials and equipment;
step two: placing the flexible gear into an ultrasonic cleaning machine, adding clear water and a sodium hydroxide solution, and rapidly cleaning by using ultrasonic waves;
step three: quickly drying the cleaned flexible gear in warm air, removing oil stains and rust spots on the surface of the substrate, and performing sand blasting treatment;
step four: clamping the flexible gear matrix processed in the step three on an electrode, immersing the flexible gear matrix in a micro-arc oxidation electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a micro-arc oxidation ceramic layer on the surface of the flexible gear matrix;
step five: placing the flexible gear into a vacuum chamber of four-target micro-arc ion plating equipment; vacuumizing, introducing argon, and performing plating treatment;
step six: respectively carrying out ray scanning on the surfaces of the fifth flexible gear and the fourth flexible gear by using a scanning electron microscope;
step seven: clamping the flexspline substrate scanned by the six rays on an electrode, immersing the flexspline substrate in an electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a titanium metal coating on the surface of the flexspline substrate;
step eight: performing high-temperature electron beam treatment on the seven-flexible-gear matrix, and performing ultraviolet irradiation, drying and curing treatment after spraying;
step nine: and naturally cooling the flexible gear matrix obtained in the step eight.
And in the fifth step, the vacuum chamber of the four-target micro-arc ion plating equipment is vacuumized by a vacuum pump, and process detection is carried out by a vacuum degree detector, wherein the vacuum degree range is 1 x 10 < -1 > to 1 x 10 < -5 > Pa.
The working principle and the using process of the invention are as follows: a person connects a power supply line of the robot joint module with an external controller, so that electric power and data transmission of the frameless motor 15, the miniature motor brake 11, the low-voltage motor driver 18 and other components is guaranteed; after the driving motor body 4 realizes rotary motion, the motor input end encoder 16 measures the position of the rotor 10 of the frameless motor 15, the joint output end encoder 17 measures the position of the hollow output shaft 8 of the joint output disc 7, the motor input end encoder 1 and the joint output end encoder 17 output the measured data to the low-voltage motor driver 18, the low-voltage motor driver 18 outputs the position data of the rotor 10 and the position data of the output shaft 12 to an external upper controller, and the external upper controller can obtain the rotary motion precision finally output by the joint according to the data so as to realize better precision control; when braking is needed, the external upper controller cuts off the power supply of the micro motor brake 11, so that the brake pad at the central rotating end of the micro motor brake 11 presses the hollow input shaft 9, braking torque force is generated by the friction force, braking action is carried out, and the hollow input shaft 23 stops outputting.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a robot joint module that integrates, includes joint shell (1) and end cover (2), its characterized in that: a frameless motor (15) is installed in the joint shell (1) through an annular clamping groove, a rotor (10) is arranged in the frameless motor (15), a low-voltage motor driver (18) is installed on one side of the frameless motor (15) through a fastening bolt, a bearing seat (14) is installed on the other side of the frameless motor (15) through a fastening bolt, a hollow input shaft (9) is installed in the bearing seat (14) through a first bearing (13), the hollow input shaft (9) is sleeved in the rotor (10), one end of the hollow input shaft (9) is fixedly connected with a harmonic reducer (6), the harmonic reducer (6) is located at the end of the joint shell (1), an output end on one side of the harmonic reducer (6) is fixedly connected with a joint output disc (7), a hollow output shaft (8) is welded on one end of the joint output disc (7), a second bearing (19) is installed on one side of the low-voltage motor driver (18) through a circular, one end of the hollow output shaft (8) penetrates through the harmonic reducer (6) and the hollow input shaft (9) and is positioned in a second bearing (19), a micro motor brake (11) is arranged between the frameless motor (15) and the low-voltage motor driver (18) through a fastening screw, and the central rotating end of the micro motor brake (11) is sleeved on the periphery of the tail end of the hollow input shaft (9), the input ends of the micro motor brake (11) and the frameless motor (15) are electrically connected with the output end of the low-voltage motor driver (18) through a lead, the tail end of the joint shell (1) is provided with an end cover (2) through a fastening screw, a circular heat dissipation opening (22) is arranged on the end cover (2), a dust filter screen (24) is arranged on one inner side of the circular heat dissipation opening (22) through a fastening screw, and a small-sized radiating fan (23) is arranged on the other side in the circular radiating port (22) through a mounting frame.
2. An integrated robot joint module according to claim 1, wherein: the joint comprises a joint shell (1) and an end cover (2), wherein the inner surfaces of the joint shell (1) and the end cover (2) are respectively provided with an aluminum foil electrostatic shielding layer (20), and the outer surfaces of the joint shell (1) and the end cover (2) are respectively coated with a Teflon non-stick layer (21).
3. An integrated robot joint module according to claim 1, wherein: the joint shell (1) is connected with arc buffer rubber strips (3) in a gluing mode on the periphery, and the arc buffer rubber strips (3) are specifically provided with two groups or more than two groups.
4. An integrated robot joint module according to claim 1, wherein: micro motor stopper (11) one side is through mounting bracket installation joint output encoder (17) and motor input encoder (16), motor input encoder (16) are located between joint output encoder (17) and micro motor stopper (11), the output of joint output encoder (17) and motor input encoder (16) constitutes the electricity with the input of low-voltage motor driver (18) and is connected.
5. An integrated robot joint module according to claim 1, wherein: a temperature control switch (12) is installed on one side of the inner bottom of the joint shell (1) through a fastening screw, and the output end of the temperature control switch (12) is electrically connected with the input end of the small-sized radiating fan (23) through a lead.
6. An integrated robot joint module according to claim 1, wherein: and the joint of the harmonic reducer (6) and the joint shell (1) is connected with a dustproof sealing ring (4) in a gluing mode.
7. An integrated robot joint module according to claim 1, wherein: the bottom of the joint shell (1) is provided with a connecting disc (5) through a fastening bolt.
8. An integrated robot joint module according to claim 1, wherein: the harmonic reducer surface processing method comprises the following steps:
the method comprises the following steps: technical personnel compile production and processing steps, grasp the attention matters of processing and preparation of processing materials and equipment;
step two: placing the flexible gear into an ultrasonic cleaning machine, adding clear water and a sodium hydroxide solution, and rapidly cleaning by using ultrasonic waves;
step three: quickly drying the cleaned flexible gear in warm air, removing oil stains and rust spots on the surface of the substrate, and performing sand blasting treatment;
step four: clamping the flexible gear matrix processed in the step three on an electrode, immersing the flexible gear matrix in a micro-arc oxidation electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a micro-arc oxidation ceramic layer on the surface of the flexible gear matrix;
step five: placing the flexible gear into a vacuum chamber of four-target micro-arc ion plating equipment; vacuumizing, introducing argon, and performing plating treatment;
step six: respectively carrying out ray scanning on the surfaces of the fifth flexible gear and the fourth flexible gear by using a scanning electron microscope;
step seven: clamping the flexspline substrate scanned by the six rays on an electrode, immersing the flexspline substrate in an electrolyte solution, slowly increasing the voltage under the condition of constant current, and growing a titanium metal coating on the surface of the flexspline substrate;
step eight: performing high-temperature electron beam treatment on the seven-flexible-gear matrix, and performing ultraviolet irradiation, drying and curing treatment after spraying;
step nine: and naturally cooling the flexible gear matrix obtained in the step eight.
9. The harmonic reducer surface processing method according to claim 8, characterized in that: and in the fifth step, the vacuum chamber of the four-target micro-arc ion plating equipment is vacuumized by a vacuum pump, and process detection is carried out by a vacuum degree detector, wherein the vacuum degree range is 1 x 10 < -1 > to 1 x 10 < -5 > Pa.
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| CN201910888142.9A CN110666830A (en) | 2019-09-19 | 2019-09-19 | Robot joint module that integrates |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910888142.9A CN110666830A (en) | 2019-09-19 | 2019-09-19 | Robot joint module that integrates |
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| CN110666830A true CN110666830A (en) | 2020-01-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115741774A (en) * | 2023-01-10 | 2023-03-07 | 广东隆崎机器人有限公司 | Joint structure of robot |
| CN116021547A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and cooperative robot |
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| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN109208054A (en) * | 2018-11-13 | 2019-01-15 | 西安庄信新材料科技有限公司 | A kind of compound coating of resistance to trowel used for plastering of differential arc oxidation and its production method |
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| US5155423A (en) * | 1986-02-18 | 1992-10-13 | Robotics Research Corporation | Industrial robot with servo |
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Application publication date: 20200110 |