CN110722595A - Robot integrated driving joint module - Google Patents
Robot integrated driving joint module Download PDFInfo
- Publication number
- CN110722595A CN110722595A CN201911048666.3A CN201911048666A CN110722595A CN 110722595 A CN110722595 A CN 110722595A CN 201911048666 A CN201911048666 A CN 201911048666A CN 110722595 A CN110722595 A CN 110722595A
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- motor
- robot
- joint module
- shell
- output shaft
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention provides a robot integrated driving joint module, which comprises: the motor comprises a shell (1), a motor stator (2), a motor rotor (3), a harmonic speed reducer (4), an encoder (7), a motor assembly output shaft (9) and a motor driver (11); the motor stator (2) and the motor rotor (3) are respectively connected with the shell (1); the harmonic speed reducer (4) is arranged inside the motor stator (2) and the motor rotor (3); the encoder (7) is arranged between the motor rotor (3) and the shell (1); the motor driver (11) is installed on the shell (1). The harmonic speed reducer adopted by the invention is completely arranged in the motor stator and the motor rotor, so that the length of the driving joint module in the axial direction is reduced to the greatest extent, the compactness of the assembly is improved, the connecting assembly is reduced, and the weight is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot integrated driving joint module.
Background
Along with the development of the robot technology, the human-computer interaction is more and more important, and new requirements are also put forward on the development and design of the robot. Modularization, light weight and soft force sense become common requirements of cooperative robots and other portable robots and mobile robot applications. A conventional robot joint module disclosed in patent document CN108724244A includes: the magnetic field generator comprises a front magnetic adjusting bracket, a rear magnetic adjusting bracket, a magnetic adjusting armature, a circuit board, a stator core and a current collecting ring; the front magnetic adjusting bracket is sleeved on the periphery of the front end of the straight shaft, and the rear magnetic adjusting bracket is sleeved on the periphery of the rear section of the straight shaft; the rear magnetic adjusting bracket extends forwards out of the first annular wrapping part, and the front magnetic adjusting bracket extends backwards out of the second annular wrapping part; two ends of the magnetic regulating armature are respectively inserted on the front end surface of the first annular wrapping part and the rear end surface of the second annular wrapping part; the outer sides of the straight shaft, the front magnetic adjusting bracket, the rear magnetic adjusting bracket and the magnetic adjusting armature form a semi-closed space; a straight shaft in the semi-closed space is sleeved with a circuit board and a stator core, and the stator core is wound with a stator coil; the straight shaft at the rear side of the rear magnetic regulation bracket is sleeved with the collecting ring; the straight shaft is arranged in a hollow mode, a plurality of wire passing holes are formed in the straight shaft, and a conducting wire of the circuit board penetrates through the wire passing holes and the hollow part of the straight shaft to be connected with the collecting ring and the stator coil respectively.
The traditional robot joint hardware has the following problems:
1. the structure is relatively heavy, the volume is also large, and the power self-weight ratio is low.
2. The non-modular design makes the robot more cumbersome in installation and maintenance.
3. The traditional robot joint lacks a force sense perception sensor; some methods for sensing force sense through motor current are simple, but have low resolution; the deformation of the harmonic speed reducer is sensed through the double encoders, and the external load is distinguished in a mode of calibrating the harmonic rotation rigidity, but the mode is not enough to enable the robot to have a sensitive sensing effect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot integrated driving joint module.
According to the invention, the robot integrated driving joint module comprises: the motor comprises a shell 1, a motor stator 2, a motor rotor 3, a harmonic speed reducer 4, an encoder 7, a motor assembly output shaft 9 and a motor driver 11;
the motor stator 2 and the motor rotor 3 are respectively connected with the shell 1;
the harmonic speed reducer 4 is arranged inside the motor stator 2 and the motor rotor 3;
the encoder 7 is arranged between the motor rotor 3 and the shell 1;
one end of the output shaft 9 of the motor component is arranged in the shell 1, and the other end of the output shaft is connected with an external actuating mechanism or load;
the motor driver 11 is mounted on the housing 1.
Preferably, the robot-integrated driving joint module further includes: a rotating shaft connecting piece 5 and an output torque sensor 6;
and the harmonic speed reducer 4 is connected with an output torque sensor 6 through a rotating shaft connecting piece 5.
Preferably, the robot-integrated driving joint module further includes: a cross bearing 10;
the crossed bearing 10 and the harmonic reducer 4 are coaxial and are fixedly arranged on the shell 1.
Preferably, the harmonic reducer 4 includes: a steel wheel 41, a flexible wheel 42 and a wave generator 43;
the flexible gear 42 is connected with the rotating shaft connecting piece 5 and penetrates through the inner ring of the crossed bearing 10;
the steel wheel 41 is fixedly connected with the shell 1;
the wave generator 43 is fixedly connected with the motor rotor 3.
Preferably, the robot-integrated driving joint module further includes: an output shaft encoder 8;
the output shaft encoder 8 is of a hollow structure;
the motor assembly output shaft 9 passes through the output shaft encoder 8.
Preferably, the motor rotor 3 is connected to the housing 1 by means of bearings.
Preferably, the circumferential direction of the motor rotor 3 is fixedly provided with magnets.
Preferably, the output torque sensor 6 is a hollow structure.
Preferably, the motor driver 11 has a hollow structure.
Preferably, the centers of the motor stator 2, the motor rotor 3, the harmonic speed reducer 4, the encoder 7 and the motor assembly output shaft 9 are provided with circular hole structures.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the integrated robot joint module, the axis of the central shaft is 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, the one-stop joint solution of the robot is realized, and the whole structure of the robot is optimized.
2. The harmonic speed reducer adopted by the invention is completely arranged in the motor stator and the motor rotor, so that the length of the driving joint module in the axial direction is reduced to the greatest extent, the compactness of the assembly is improved, the connecting assembly is reduced, and the weight is reduced.
3. The three-component harmonic speed reducer is adopted, so that the number of structural components of the driving module is reduced to the maximum extent, and the weight of the module is reduced.
4. The invention adopts the hollow torque sensor, can realize real-time precise measurement of output torque, and further realizes the compliant force sense control of the driving module.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of an overall structure of the robot integrated driving joint module provided by the invention.
The following are shown:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides an integrated drive joint module for a robot, comprising: the motor comprises a shell 1, a motor stator 2, a motor rotor 3, a harmonic speed reducer 4, an encoder 7, a motor assembly output shaft 9 and a motor driver 11; the motor stator 2 and the motor rotor 3 are respectively connected with the shell 1; the harmonic speed reducer 4 is arranged inside the motor stator 2 and the motor rotor 3; the encoder 7 is arranged between the motor rotor 3 and the shell 1; one end of the output shaft 9 of the motor component is arranged in the shell 1, and the other end of the output shaft is connected with an external actuating mechanism or load; the motor driver 11 is mounted on the housing 1. Robot integration drive joint module still includes: a rotating shaft connecting piece 5 and an output torque sensor 6; and the harmonic speed reducer 4 is connected with an output torque sensor 6 through a rotating shaft connecting piece 5. In a preferred embodiment, the output shaft of the motor assembly is used for connecting an external actuator and a load; the output torque sensor is used for measuring the torque output by an external actuating mechanism of the output shaft of the motor assembly in real time and is used for controlling the compliance force sense of the driving module; the output shaft encoder is of a hollow structure, so that an output shaft of the motor assembly can penetrate through the output shaft and the rotating speed of the motor assembly can be measured in real time; and the low-speed rotating shaft connecting piece is used for connecting the harmonic speed reducer and the output torque sensor.
Further, the robot integration drive joint module still includes: a cross bearing 10; the crossed bearing 10 and the harmonic reducer 4 are coaxial and are fixedly arranged on the shell 1. The harmonic speed reducer 4 includes: a steel wheel 41, a flexible wheel 42 and a wave generator 43; the flexible gear 42 is connected with the rotating shaft connecting piece 5 and penetrates through the inner ring of the crossed bearing 10; the steel wheel 41 is fixedly connected with the shell 1; the wave generator 43 is fixedly connected with the motor rotor 3. Robot integration drive joint module still includes: an output shaft encoder 8; the output shaft encoder 8 is of a hollow structure; the motor assembly output shaft 9 passes through the output shaft encoder 8. In a preferred embodiment, the low-speed rotating shaft connecting piece is connected with a flexible gear of the harmonic reducer, penetrates through the inner ring of the crossed bearing, and is fixedly connected with the outer ring of the crossed bearing and the motor assembly shell; the steel wheel of the harmonic speed reducer is fixedly connected with the shell of the motor assembly; the wave generator of the harmonic speed reducer is fixedly connected with the motor rotor; the motor stator is fixedly connected with the motor component shell; a motor high-speed end encoder is arranged on the outer side of the motor rotor and used for measuring the rotating speed of the motor rotor in real time; the motor rotor is connected with the frame by the same pair of bearings and is coaxially arranged and installed with the motor stator and the harmonic reducer. The harmonic speed reducer machine is installed completely in motor stator and electric motor rotor's inside to furthest's reduction drives the length of joint module axis direction, improves the compactness of subassembly, also can reduce coupling assembling, reduction in mass.
Furthermore, the motor rotor 3 is connected with the shell 1 through a bearing; the circumferential direction of the motor rotor 3 is fixedly provided with magnets; the output torque sensor 6 is of a hollow structure; the motor driver 11 is of a hollow structure; and circular hole structures are arranged at the centers of the motor stator 2, the motor rotor 3, the harmonic speed reducer 4, the encoder 7 and the motor assembly output shaft 9. In a preferred embodiment, the motor component shell, the motor stator, the motor rotor, the harmonic speed reducer, the low-speed rotating shaft connecting piece, the output torque sensor, the motor high-speed end encoder, the output shaft encoder and the motor component output shaft are all coaxially arranged, the centers of all the components are provided with hollow round hole structures, and cables, data lines and the like can penetrate through the whole driving joint module from the middle; the motor stator comprises a silicon steel sheet and a coil winding, and an inner ring of the motor stator is fixedly connected with the rack; the circumference of the motor rotor is fixedly provided with magnets and is connected with the rack through a bearing, so that only the rotating central shaft and the motor stator rotate coaxially; the other end of the motor rotor and a wave generator of the harmonic speed reducer are coaxially and fixedly arranged; the motor rotor is of a hollow structure, and is provided with a motor high-speed end encoder for measuring the rotating speed of the motor rotor; the harmonic speed reducer adopts a three-component mode speed reducer structure, namely the speed reducer only comprises a steel wheel, a flexible wheel and a wave generator and does not comprise any other component, so that the quality of the driving module can be reduced to the maximum extent; the crossed bearing and the harmonic reducer are coaxial and fixedly arranged on the rack; the low-speed rotating shaft connecting piece is fixedly arranged on an inner ring of the crossed bearing, the flexible gear of the harmonic speed reducer is used as an output end of the motor after high-speed motion is reduced and is arranged along a rotating axis with the low-speed rotating shaft connecting piece, and the flexible gear can only rotate by the constraint of the crossed bearing; the robot output torque sensor and the low-speed rotating shaft connecting piece are mounted on the same rotating axis, and only can rotate under the constraint of the crossed bearing; the robot output torque sensor is of a hollow structure, and a cable can pass through the middle of the robot output torque sensor; however, the output torque sensor may not be installed during application if it is not required to measure the output torque. The motor driver is installed at the end of the driving module and adopts a hollow structure, on one hand, the motor driver is directly connected with the motor and the encoder to control the motor motion of the bottom layer, and on the other hand, the motor driver is responsible for the signal connection of the whole driving module and the outside. In particular, the driver can be selectively installed or uninstalled according to the requirements of an external control system
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a robot integration drive joint module which characterized in that includes: the motor comprises a shell (1), a motor stator (2), a motor rotor (3), a harmonic speed reducer (4), an encoder (7), a motor assembly output shaft (9) and a motor driver (11);
the motor stator (2) and the motor rotor (3) are respectively connected with the shell (1);
the harmonic speed reducer (4) is arranged inside the motor stator (2) and the motor rotor (3);
the encoder (7) is arranged between the motor rotor (3) and the shell (1);
one end of the output shaft (9) of the motor component is arranged in the shell (1), and the other end of the output shaft is connected with an external actuating mechanism or load;
the motor driver (11) is installed on the shell (1).
2. The robot-integrated drive joint module of claim 1, further comprising: a rotating shaft connecting piece (5) and an output torque sensor (6);
and the harmonic speed reducer (4) is connected with the output torque sensor (6) through a rotating shaft connecting piece (5).
3. The robot-integrated drive joint module of claim 2, further comprising: a crossed bearing (10);
the crossed bearing (10) and the harmonic speed reducer (4) are coaxial and fixedly arranged on the shell (1).
4. The robot-integrated drive joint module according to claim 3, wherein the harmonic reducer (4) comprises: a steel wheel (41), a flexible wheel (42) and a wave generator (43);
the flexible gear (42) is connected with the rotating shaft connecting piece (5) and penetrates through the inner ring of the crossed bearing (10);
the steel wheel (41) is fixedly connected with the shell (1);
the wave generator (43) is fixedly connected with the motor rotor (3).
5. The robot-integrated drive joint module of claim 1, further comprising: an output shaft encoder (8);
the output shaft encoder (8) is of a hollow structure;
and the output shaft (9) of the motor component penetrates through the output shaft encoder (8).
6. The robot-integrated drive joint module according to claim 1, wherein the motor rotor (3) is connected with the housing (1) through a bearing.
7. The robot-integrated driving joint module according to claim 6, wherein magnets are fixedly arranged on the periphery of the motor rotor (3).
8. The robot-integrated drive joint module according to claim 2, wherein the output torque sensor (6) is a hollow structure.
9. The robot-integrated driving joint module according to claim 1, wherein the motor driver (11) is a hollow structure.
10. The robot-integrated driving joint module according to claim 1, wherein the centers of the motor stator (2), the motor rotor (3), the harmonic reducer (4), the encoder (7) and the motor assembly output shaft (9) are provided with circular hole structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911048666.3A CN110722595B (en) | 2019-10-29 | 2019-10-29 | Robot integrated driving joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911048666.3A CN110722595B (en) | 2019-10-29 | 2019-10-29 | Robot integrated driving joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110722595A true CN110722595A (en) | 2020-01-24 |
| CN110722595B CN110722595B (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911048666.3A Active CN110722595B (en) | 2019-10-29 | 2019-10-29 | Robot integrated driving joint module |
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| Country | Link |
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| CN (1) | CN110722595B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114552809A (en) * | 2022-01-20 | 2022-05-27 | 张建恒 | Miniature high accuracy direct current gear motor of two encoders |
| CN114932575A (en) * | 2022-04-28 | 2022-08-23 | 北京交通大学 | Compact type large-torque joint module for driving exoskeleton joint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784014A (en) * | 1985-06-22 | 1988-11-15 | Robert Bosch Gmbh | Robot joint with an electric drive motor |
| CN101045301A (en) * | 2006-03-31 | 2007-10-03 | 中国科学院沈阳自动化研究所 | Rotary joint structure of underwater electric manipulator |
| CN102632509A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Elastically-driven modular joint with force feedback control |
| 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 |
| CN109366480A (en) * | 2018-12-19 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of dynamoelectric controlled integrated joint of robot mould group of high integration |
-
2019
- 2019-10-29 CN CN201911048666.3A patent/CN110722595B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784014A (en) * | 1985-06-22 | 1988-11-15 | Robert Bosch Gmbh | Robot joint with an electric drive motor |
| CN101045301A (en) * | 2006-03-31 | 2007-10-03 | 中国科学院沈阳自动化研究所 | Rotary joint structure of underwater electric manipulator |
| CN102632509A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Elastically-driven modular joint with force feedback control |
| 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 |
| CN109366480A (en) * | 2018-12-19 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of dynamoelectric controlled integrated joint of robot mould group of high integration |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114552809A (en) * | 2022-01-20 | 2022-05-27 | 张建恒 | Miniature high accuracy direct current gear motor of two encoders |
| CN114932575A (en) * | 2022-04-28 | 2022-08-23 | 北京交通大学 | Compact type large-torque joint module for driving exoskeleton joint |
| CN114932575B (en) * | 2022-04-28 | 2024-03-12 | 北京交通大学 | Compact high-torque joint module for exoskeleton joint driving |
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| CN110722595B (en) | 2023-03-21 |
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