CN111761607A - Dynamic and static seal combined modular joint of cooperative robot - Google Patents

Abstract

The invention relates to the technical field of robot joints, in particular to a dynamic and static seal combined modular joint of a cooperative robot, which comprises a mounting shell, a joint shell, a driving mechanism and a brake, wherein the joint shell is rotationally connected with the mounting shell; the driving mechanism comprises a transmission disc, a motor assembly and a harmonic reducer, the transmission disc is rotatably arranged in the mounting shell, and an inner ring edge is arranged on the inner side wall of the mounting shell; the brake comprises a brake body and a butting ring, and the butting ring is arranged on one side, close to the transmission disc, of the brake body; the abutting ring is relatively fixed with the mounting shell, and one side, close to the outer ring wall, of the surface of the abutting ring facing the transmission disc is abutted against the end face of the inner ring edge to form static seal; a transmission gap is arranged between the transmission disc and the abutting ring, and an annular groove is formed in the surface of the transmission disc; the annular groove is communicated with the transmission gap to form dynamic seal. The modularized joint of the cooperative robot has the characteristic of excellent activity efficiency, and the service life of the modularized joint component can be prolonged.

Description

Dynamic and static seal combined modular joint of cooperative robot

Technical Field

The invention relates to the technical field of robot joints, in particular to a dynamic and static seal combined modular joint of a cooperative robot.

Background

Under the background of German industry 4.0, the country has come out of the project of 'manufacturing 2025 in China', and the development requirement is put forward for high-end intelligent equipment, so that the intelligent robot industry is led to a new development opportunity. Currently, the production model of the world manufacturing industry is facing the transition from mass production to customization, and there is a strong demand for flexible, intelligent and personalized manufacturing. The collaborative robot is taken as an important branch of the robot, and since birth, the collaborative robot has high-speed development, the industrialization process is continuously accelerated, new promoting manufacturers are continuously increased, the application field is continuously expanded, and the business model is continuously innovated.

The cooperative robot has the outstanding advantages of complementary advantages of man-machine advantages, strong environment perception capability, large working range, flexible operation, high working efficiency and the like, and can become irreplaceable important equipment and automation means in flexible manufacturing in the future. Besides the manufacturing industry, the advanced cooperative robot technology can be widely applied to multiple industrial fields such as home service, 3C electronics, automobile parts and the like, and special fields such as nuclear energy, manned space flight, moon exploration and the like, and has wide development prospects.

The modular joint is one of core components of the cooperative robot and is used for enabling the cooperative robot to have quick and smart motion capability. Meanwhile, the modular joint has the characteristics of high integration level, light weight, high precision and easiness in assembly, so that the cooperative robot has the advantages of being reconfigurable, high in reliability and easy to maintain.

In the prior art, a modular joint mainly comprises a mounting shell, a joint shell, a driving mechanism and a brake; the joint shell is rotatably connected with the mounting shell, and the driving mechanism is arranged between the joint shell and the mounting shell and used for driving the joint shell to rotate relative to the mounting shell. The driving mechanism comprises a transmission disc, a motor assembly and a harmonic reducer, wherein the transmission disc is rotatably arranged in the mounting shell; the motor assembly is arranged in the mounting shell and used for driving the transmission disc to rotate. The harmonic reducer is arranged between the fixed shell and the joint shell and used for transmitting the torque of the transmission disc to the joint shell so as to enable the joint shell to rotate accurately. Furthermore, a brake is mounted between the transmission disc and the motor housing for braking the transmission disc.

In order to realize safety and stability in the braking process, the brake used in the modular joint is generally a friction brake; accordingly, a certain amount of fine powder particles are inevitably generated due to abrasion in the process of braking by using the friction brake. The transmission disc needs to rotate relative to the mounting shell, so that a rotating gap is inevitably formed between the transmission disc and the mounting shell; the micro powder particles can enter the harmonic reducer through the rotating clearance, so that the transmission efficiency of the harmonic reducer is influenced; in addition, the existence of the micro powder particles easily causes loss of the service life of the harmonic reducer.

Disclosure of Invention

One of the objects of the present invention is to provide a modular joint for a cooperative robot having a dynamic and static seal combination, which has a characteristic of excellent mobility efficiency and can extend the service life of the modular joint components.

The above object of the present invention is achieved by the following technical solutions: a dynamic and static seal combined modular joint of a cooperative robot comprises a mounting shell, a joint shell, a driving mechanism and a brake, wherein the joint shell is rotatably connected with the mounting shell; the driving mechanism comprises a driving disc, a motor assembly for driving the driving disc to rotate and a harmonic reducer for transmitting the power of the driving disc to the joint shell, the driving disc is rotatably arranged in the installation shell, and an inner ring edge matched with the side edge of the driving disc is arranged on the inner side wall of the installation shell; the brake is arranged in the mounting shell and is positioned on one side of the transmission disc, which is far away from the harmonic reducer; the brake comprises a brake body and a butting ring, and the butting ring is arranged on one side, close to the transmission disc, of the brake body; the abutting ring is relatively fixed with the mounting shell, and one side, close to the outer ring wall, of the surface of the abutting ring facing the transmission disc is abutted against the end face of the inner ring edge to form static seal; a transmission gap is formed between the transmission disc and the abutting ring, and an annular groove is formed in the surface, close to the abutting ring, of the transmission disc; the annular groove is communicated with the transmission gap to form dynamic seal.

By adopting the technical scheme, the transmission disc can rotate relative to the abutting ring, so that a transmission gap exists between the transmission disc and the abutting ring, and the surface of the transmission disc is provided with an annular groove communicated with the transmission gap; the micro powder particles are in a fluid state in the moving process, when the micro powder particles approach from the transmission gap to the rotating gap, the micro powder particles move to the position of the annular groove from the transmission gap, the flow velocity section is suddenly expanded, so that the micro powder particles can form a vortex in the annular groove, the moving speed of the micro powder particles is reduced, and part of the micro powder particles are contained in the annular groove, so that the flow blocking effect of the micro powder particles is realized, and the dynamic seal is formed; meanwhile, the inner ring edge matched with the side edge of the transmission disc can reduce the size of a rotating gap between the transmission disc and the mounting shell; the rotating gap and the transmission gap are communicated, and the abutting ring and the inner ring are abutted to form a static seal, so that the flow velocity of micro powder particles moving to the harmonic reducer along the transmission gap and the rotating gap can be reduced by reducing the size of the rotating gap, and the flow blocking effect of the dynamic seal is improved; on the other hand, the static seal formed by the abutting ring and the inner ring edge can also effectively reduce the condition that micro powder particles are close to a rotating gap from the joint of the brake and the mounting shell; and then can effectively reduce during the miropowder granule gets into the harmonic speed reducer ware, keep the good transmission efficiency of harmonic speed reducer ware, make the modular joint of cooperation robot have good activity efficiency, simultaneously, get into the reduction of miropowder granule in the harmonic speed reducer ware, can reduce the loss to harmonic speed reducer ware life.

Preferably, a sealing ring is arranged between the abutting ring and the inner ring edge, and the abutting ring forms static seal through abutting of the sealing ring and the inner ring edge.

By adopting the technical scheme, the sealing between the abutting ring and the inner ring edge is realized by using the sealing ring, so that the sealing effect of static sealing can be improved; meanwhile, the sealing ring also has certain elasticity, so that the size matching of the butting ring and the inner ring edge in the installation process is convenient to realize, the condition that the static sealing effect between the butting ring and the inner ring edge is influenced due to the occurrence of size errors is reduced, and the good sealing property between the installed butting ring and the inner ring edge is kept.

Preferably, an annular concave table is arranged on the surface of the inner ring edge close to the abutting plate, and the sealing ring is sleeved in the annular concave table; the depth of the annular concave table is smaller than the diameter of the sealing ring.

Through adopting above-mentioned technical scheme, in the annular concave station was located to the sealing washer cover, can realize spacing between sealing washer and the inner ring edge for sealing washer and inner ring edge keep relatively fixed, are convenient for assemble.

Preferably, the annular groove is provided with a plurality of annular grooves which are arranged at intervals along the diameter direction of the transmission disc.

Through adopting above-mentioned technical scheme, when the miropowder granule is close to the clearance of rotating through the transmission clearance, a plurality of ring channels can form choked flow effect many times to the miropowder granule in the motion process, constantly reduces the speed of miropowder granule and progressively holds the miropowder granule in the ring channel to it is better to make the dynamic seal effect that forms between driving disc and the butt ring.

Preferably, an adhesive is provided in the annular groove.

By adopting the technical scheme, when part of micro powder particles are accommodated in the annular groove due to the fact that the vortex is formed at the annular groove, the adhesive can adhere and fix the micro powder particles accommodated in the annular groove, and the condition that the micro powder particles are separated from the annular groove is reduced.

Preferably, the mounting shell comprises a motor shell and an inner ring shell, the motor shell is connected with the inner ring shell through screws, and the motor shell is positioned on one side of the inner ring shell, which is far away from the joint shell; the motor assembly comprises a motor shaft, a motor rotor and a motor stator, the motor shaft is rotatably arranged in the motor shell, and one end of the motor shaft is connected with the transmission disc; the motor rotor is fixedly sleeved on the motor shaft, the motor stator is arranged on the inner side wall of the motor shell, and the motor stator is matched with the motor rotor; the inner ring edge is arranged on the inner side wall of the inner ring shell.

By adopting the technical scheme, the motor shell and the inner ring shell are relatively fixed through the screws, and the motor assembly is arranged on the motor shell, so that the motor assembly and the motor shell form a module, and the motor assembly in the modular joint can be conveniently disassembled and assembled; meanwhile, the motor module can be flexibly adjusted according to the requirements of the design scheme, the design flexibility and diversity are increased, and the condition that design iteration is influenced due to long shelf life of other basic components can be avoided.

Preferably, an inner ring shaft is arranged on one side, close to the joint shell, of the inner ring shell, the joint shell is sleeved on the inner ring shaft, and the joint shell is rotatably connected with the inner ring shaft through a bearing.

Through adopting above-mentioned technical scheme, the joint casing passes through the bearing with interior ring axle and realizes rotating the connection, has realized the rotation between joint casing and the inner ring shell promptly and has been connected simple structure is practical.

Preferably, the device also comprises a data monitoring device and a servo driver, wherein the data monitoring device comprises a joint end encoder, a motor end encoder and a torque sensor, and the joint end encoder is arranged on one side of the joint shell, which is far away from the mounting shell; the motor end encoder is arranged on one side of the mounting shell, which is far away from the joint shell; the torque sensor is connected to the end face, far away from the mounting shell, of the joint shell and is connected with the output end of the harmonic reducer; the servo driver is arranged on one side, far away from the joint shell, of the torque sensor, and the joint end encoder, the motor end encoder and the torque sensor are electrically connected to the servo driver.

Through adopting above-mentioned technical scheme, joint end encoder is used for reading joint housing's turned angle and rotational speed, and motor end encoder is used for reading motor shaft's turned angle and rotational speed, has still used torque sensor to monitor joint housing's moment of torsion in addition to realize the good monitoring of modularization joint motion data, and drive the motor shaft through servo driver, make the accurate nature of whole modularization joint higher, and be convenient for carry out real-time data analysis and monitoring.

Preferably, the motor shaft also comprises a wire protecting sleeve, and a through hole for the wire protecting sleeve to pass through is formed in the circumferential direction of the motor shaft; one end of the wire protecting sleeve is exposed out of the through hole and is provided with a connecting end plate, and the connecting end plate is connected with the motor shell.

By adopting the technical scheme, the middle line hole of the modular joint can be crossed by using the wire protecting sleeve, so that the cooperative robot is simple and attractive in wiring; meanwhile, the wire protecting sleeve is connected with the motor shell to realize relative fixation, and the rotation amplitude of the motor shell is relatively small in the motion process of the cooperative robot, so that the abrasion to the cable is effectively reduced.

Preferably, a sealing gap is formed between one side of the wall of the through hole, which is close to the connecting end plate, and the outer wall of the wire protective sleeve, and a plurality of sealing grooves communicated with the sealing gap are axially arranged on the wall of the through hole at intervals.

Through adopting above-mentioned technical scheme, form between the pore wall of motor shaft perforating hole and the grommet outer wall sealed clearance and seal groove and can form non-contact's movive seal, reduce the inside condition of external dust entering modularization joint to keep the good activity efficiency of modularization joint, and reduce the wearing and tearing of dust to modularization joint inner part, play the effect of extension to the life of modularization joint part.

In summary, the invention includes at least one of the following beneficial technical effects:

1. the good transmission efficiency of the harmonic reducer is kept, the modular joint of the cooperative robot has excellent activity efficiency, and meanwhile, the loss of the service life of the harmonic reducer is reduced;

2. the sealing ring is used for realizing the sealing between the butting ring and the inner ring edge, so that the sealing effect of static sealing can be improved, and the condition that the size error influences the static sealing effect between the butting ring and the inner ring edge is reduced;

3. the plurality of annular grooves can form a plurality of flow blocking effects on the micro powder particles in the movement process, the speed of the micro powder particles is continuously reduced, and the micro powder particles are gradually accommodated in the annular grooves;

4. the adhesive can adhere and fix the micro powder particles contained in the annular groove, so that the condition that the micro powder particles are separated from the annular groove is reduced;

5. the motor module can be flexibly adjusted according to the requirements of the design scheme, the design flexibility and diversity are increased, and the situation that design iteration is influenced due to long shelf life of other basic components can be avoided;

6. the wire protection sleeve can be used for realizing the threading of the central line hole of the modular joint, so that the wiring of the cooperative robot is simple, convenient and attractive, and the abrasion to the cable is effectively reduced;

7. external dust is not easy to enter the modular joint, so that the good moving efficiency of the modular joint is kept, and the abrasion of the dust to the internal parts of the modular joint is reduced.

Drawings

Fig. 1 is a schematic cross-sectional structure of an embodiment of the present invention.

Fig. 2 is an enlarged schematic view of a portion a of fig. 1.

Fig. 3 is an enlarged schematic view of a portion B of fig. 1.

Fig. 4 is a schematic view showing the assembly relationship of the transmission disc and the brake in the embodiment of the invention.

Reference numerals: 1. installing a shell; 11. a motor housing; 12. an inner ring housing; 121. an inner ring shaft; 122. an inner annular edge; 122a, an annular concave platform; 2. a joint housing; 3. a drive mechanism; 31. a drive plate; 31a, a rotation gap; 31b, connecting bumps; 31c, a transmission gap; 31d, an annular groove; 32. a motor assembly; 321. a motor shaft; 321a, a sealing groove; 322. a motor rotor; 323. a motor stator; 33. a harmonic reducer; 4. a wire protecting sleeve; 4a, sealing the gap; 41. connecting the end plates; 5. a brake; 51. an outer housing; 52. a brake disc; 52a, connecting through grooves; 53. a friction disk; 54. a butting ring; 6. a data monitoring device; 61. a joint end encoder; 62. a motor end encoder; 63. a torque sensor; 7. a servo driver; 8. and (5) sealing rings.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, the invention discloses a dynamic and static seal combined cooperative robot modular joint, which comprises a mounting shell 1, a joint shell 2, a driving mechanism 3, a wire sheath 4, a brake 5, a data monitoring device 6 and a servo driver 7. Specifically, the mounting housing 1 includes a motor housing 11 and an inner ring housing 12; the motor housing 11 and the inner ring housing 12 have collinear central axes, and the motor housing 11 and the inner ring housing 12 are relatively fixed by screws. Meanwhile, the inner ring shell 12 is positioned on one side of the motor shell 11 close to the joint shell 2; an inner ring shaft 121 is installed on one side of the inner ring shell 12 facing the joint shell 2, the joint shell 2 is sleeved on the inner ring shaft 121, and a crossed roller bearing is installed on the inner wall of the joint shell 2 and the outer wall of the inner ring shaft 121. The joint housing 2 is rotationally connected with the inner ring shaft 121 through the crossed roller bearing, so that the joint housing 2 is rotationally connected with the mounting housing 1.

Referring to fig. 1 and 2, the driving mechanism 3 is installed between the joint housing 2 and the mounting housing 1, and is used for driving the joint housing 2 to rotate relative to the mounting housing 1, specifically, the driving mechanism 3 includes a transmission disc 31, a motor assembly 32 and a harmonic reducer 33; wherein, the driving plate 31 is installed in the inner ring shell in a rotating way, and the rotating axis of the driving plate 31 is collinear with the central axis of the inner ring shell. In actual operation, the transmission disc 31 rotates relative to the inner ring housing, so that a rotation gap 31a needs to be left between the transmission disc 31 and the inner ring housing; in order to reduce the size of the rotating gap 31a, an inner rim 122 adapted to the side edge of the transmission disc 31 is integrally formed on the inner side wall of the inner ring housing.

Referring to fig. 1, the motor assembly 32 is installed between the transmission disc 31 and the motor assembly 32, and is used for driving the transmission disc 31 to rotate; specifically, the motor assembly 32 includes a motor shaft 321, a motor rotor 322, and a motor stator 323. Wherein, the motor shaft 321 is rotatably installed in the motor housing 11, and the rotation center of the motor shaft 321 is collinear with the central axis of the motor housing 11; the motor rotor 322 is sleeved on the motor shaft 321 and is fixedly bonded with the motor shaft 321; the motor stator 323 is adhesively mounted on the inner side wall of the motor housing 11, and the motor stator 323 and the electronic rotor are mutually matched to realize the effect of driving the motor shaft 321 to rotate.

Referring to fig. 1 and 3, the motor shaft 321 is provided with a through hole (not shown) along an axial direction of the motor shaft 321; correspondingly, the wire protecting sleeve 4 is positioned in the through hole, and the wire protecting sleeve 4 is hollow and used for allowing a cable to pass through so as to realize the wiring of the modularized joint and the whole cooperative robot; meanwhile, a connecting end plate 41 is installed on one side of the wire sheath 4, and the connecting end plate 41 is connected with the motor shell 11 through a screw, so that the relative fixation of the wire sheath 4 and the motor shell 11 is realized. In addition, a sealing gap 4a is formed between one side of the hole wall of the through hole close to the connecting end plate 41 and the outer wall of the grommet 4; correspondingly, the wall of the through hole is provided with a plurality of sealing grooves 321a at intervals along the axial direction, which are communicated with the sealing gap 4 a. The arrangement of the sealing groove 321a and the sealing gap 4a enables a contact dynamic seal to be formed between the motor shaft 321 and the wire sheath 4, so that the situation that external powder enters the modular joint from the joint of the motor shaft 321 and the wire sheath 4 is reduced.

Referring to fig. 1, the harmonic reducer 33 is fixedly mounted on the inner ring shell 12, an input end of the harmonic reducer 33 is connected to the transmission disc 31, and an output end of the harmonic reducer 33 is connected to the joint housing 2, and is configured to transmit power of the motor shaft 321 to the joint housing 2, so as to drive the joint housing 2 to move relative to the mounting housing 1.

Referring to fig. 1, a brake 5 is located within the inner ring housing 12 for braking the drive plate 31. In this embodiment, the brake 5 is of a magnetic attraction friction type, and specifically, the brake 5 includes an outer housing 51, a brake disc 52, a friction disc 53, and an abutment ring 54. The outer shell 51 is connected with one end of the motor shell 11 close to the inner ring shell 12 through a screw, so that the brake 5 and the inner ring shell 12 are relatively fixed; meanwhile, a magnetic component (not shown) is also installed in the outer shell 51.

Referring to fig. 1 and 4, the brake disc 52 is fixedly mounted on one side of the outer shell 51 away from the motor housing 11, and the brake disc 52 is provided with a connecting through slot 52a, and correspondingly, one side of the transmission disc 31 facing the brake disc 52 is integrally formed with a connecting protrusion 31b, and the connecting protrusion 31b is matched with the connecting through slot 52 a. The relative fixation between the driving disc 31 and the brake disc 52 is realized by the insertion fit between the connecting convex block 31b and the connecting through groove 52a, so that the brake disc 52 can rotate along with the driving disc 31.

Referring to fig. 1, the friction plate 53 is installed between the outer case 51 and the brake disc 52, the friction plate 53 is movably connected to the outer case 51 in a direction in which the outer case 51 faces the brake disc 52, and a spring (not shown) is installed between the friction plate 53 and the outer case 51. When the magnetic attraction component is not electrified, the friction disc 53 is pressed against the brake disc 52 under the action of the spring, and the brake on the brake disc 52, namely the brake action on the drive disc 31 is realized. When the magnetic attraction component is powered on, the friction disc 53 is attracted by the magnetic attraction force of the magnetic attraction component to move in the direction close to the outer shell 51, and the spring is compressed; at this time, the friction disk 53 is separated from the brake disk 52, and braking of the brake disk 31 is released.

Referring to fig. 1 and 2, the abutment ring 54 is fixedly attached to the outer housing 51, and the abutment ring 54 is located on a side of the brake disc 52 away from the outer housing 51. In this embodiment, the diameter of the inner annular wall of the abutment ring 54 is larger than the maximum outer diameter of the coupling projection 31b, and the diameter of the outer annular wall of the abutment ring 54 is larger than the outer diameter of the transmission disc 31. Further, the seal ring 8 is attached between the abutment ring 54 and the inner rim 122, and the abutment ring 54 and the inner rim 122 are brought into close contact with each other by the seal ring 8, thereby achieving static sealing between the abutment ring 54 and the inner rim 122.

Referring to fig. 2, an annular concave table 122a is formed on the side wall of the inner ring edge 122 close to the abutting ring 54, and the sealing ring 8 is sleeved in the annular concave table 122a, so that the sealing ring 8 and the inner ring edge 122 are relatively fixed; meanwhile, the diameter of the seal ring 8 is larger than the opening depth of the annular concave platform 122a, and when the seal ring 8 is installed in the annular concave platform 122a, the seal ring 8 protrudes out of the inner ring edge 122.

Referring to fig. 2, the transmission disc 31 rotates relative to the abutment ring 54, and a transmission gap 31c is further provided between the transmission disc 31 and the abutment ring 54 to reduce the wear between the transmission disc 31 and the abutment ring 54. Meanwhile, the surface of the transmission disc 31 facing the abutting ring 54 is provided with a plurality of annular grooves 31d at intervals along the radial direction of the transmission disc 31, and the annular grooves 31d are communicated with the transmission gap 31 c. The micro powder particles approach to the rotating gap 31a through the transmission gap 31c, when the micro powder can move to the position of the annular groove 31d from the transmission gap 31c, the flow velocity section is suddenly enlarged, so that the micro powder particles can form a vortex in the annular groove 31d, the movement rate of the micro powder particles is reduced, and part of the micro powder particles are contained in the annular groove 31d, so that the flow blocking effect on the micro powder particles is realized, and the dynamic seal is formed between the transmission disc 31 and the abutting ring 54. In addition, an adhesive (not shown) may be further disposed in the annular groove 31d to adhere and fix the fine powder particles received in the annular groove 31d, so as to reduce the separation of the fine powder particles from the annular groove 31 d. In this embodiment, high temperature grease may be added to the annular groove 31d as an adhesive.

Referring to fig. 1, data monitoring devices 6 are used for monitoring the motion data of modularization joint, and specifically, data monitoring devices 6 includes joint end encoder 61, motor end encoder 62 and torque sensor 63, and joint end encoder 61, motor end encoder 62 and torque sensor 63 are the purchase spare in advance. The joint end encoder 61 is mounted on one side of the joint housing 2 away from the mounting housing 1 through a screw, and is used for reading the rotation angle and the rotation speed of the joint housing 2. The motor end encoder 62 is mounted on the side of the mounting housing 1 away from the joint housing 2 by screws, and is used for reading the rotation angle and the rotation speed of the motor shaft 321.

Referring to fig. 1, the torque sensor 63 is located on a side of the joint housing 2 away from the mounting housing 1, and the torque sensor 63 is simultaneously connected to the joint housing 2 and the output end of the flexspline of the harmonic reducer 33 through screws, so as to realize connection between the output end of the flexspline of the harmonic reducer 33 and the joint housing 2. The servo driver 7 is fixedly installed on one side of the torque sensor 63 far away from the joint housing 2 through screws, and the joint end encoder 61, the motor end encoder 62 and the torque sensor 63 are electrically connected to the servo driver 7.

The implementation principle of the embodiment is as follows: after the joint servo driver 7 receives a starting instruction of the control system, the magnetic attraction component of the brake 5 is electrified, the friction disc 53 is attracted by the magnetic attraction force of the magnetic attraction component to move along the direction close to the outer shell 51, and the spring is compressed; at this time, the friction disk 53 is separated from the brake disk 52, and braking of the brake disk 31 is released. Then, the joint servo driver 7 drives the motor shaft 321 in the motor assembly 32 to rotate, so as to drive the input end of the harmonic reducer 33 to rotate, and after the speed of the harmonic reducer 33 is reduced, the output end of the harmonic reducer 33 drives the torque sensor 63 and the outer ring shell to rotate, thereby realizing the output torque and the rotation speed of the joint.

Meanwhile, the motor end encoder 62 reads the rotation angle and the rotation speed of the motor shaft 321, and the joint end encoder 61 reads the rotation angle and the rotation speed of the outer ring housing. When the joint servo driver 7 receives a control system stop instruction, the motor assembly 32 is controlled to decelerate; the magnetic attraction component in the brake 5 is powered off, and the spring is reset, so that the brake function on the transmission disc 31 is realized, and the joint is driven to stop moving.

During the process of braking the driving disc 31 by using the brake 5, micro powder particles are inevitably generated; the micro powder particles are in a fluid state in the moving process, when the micro powder particles move to the position of the annular groove 31d from the position that the transmission gap 31c is close to the rotating gap 31a, the flow velocity section is suddenly expanded, so that the micro powder particles can form a vortex in the annular groove 31d, the moving speed of the micro powder particles can be reduced, and part of the micro powder particles are contained in the annular groove 31d and are adhered and fixed by the adhesive in the annular groove 31 d.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims (10)

1. A dynamic and static seal combined cooperative robot modular joint comprises a mounting shell (1), a joint shell (2), a driving mechanism (3) and a brake (5), wherein the joint shell (2) is rotatably connected to the mounting shell (1); actuating mechanism (3) are including driving disk (31), be used for driving motor element (32) that driving disk (31) rotated and be used for with driving disk (31) power transmission to joint casing (2) harmonic speed reducer ware (33), its characterized in that: the transmission disc (31) is rotatably arranged in the mounting shell (1), and an inner ring edge (122) matched with the side edge of the transmission disc (31) is arranged on the inner side wall of the mounting shell (1);

the brake (5) is arranged in the mounting shell (1), and the brake (5) is positioned on one side, away from the harmonic reducer (33), of the transmission disc (31); the brake (5) comprises a brake body and a butting ring (54), and the butting ring (54) is arranged on one side, close to the transmission disc (31), of the brake body;

the abutting ring (54) is fixed relative to the mounting shell (1), and one side, close to the outer ring wall, of the surface, facing the transmission disc (31), of the abutting ring (54) abuts against the end face of the inner ring edge (122) to form static seal;

a transmission gap (31c) is formed between the transmission disc (31) and the abutting ring (54), and an annular groove (31d) is formed in the surface, close to the abutting ring (54), of the transmission disc (31); the annular groove (31d) is communicated with the transmission gap (31c) to form dynamic seal.

2. The dynamic-static seal bonded cooperative robotic modular joint of claim 1, wherein: a sealing ring (8) is arranged between the abutting ring (54) and the inner ring edge (122), and the abutting ring (54) abuts against the inner ring edge (122) through the sealing ring (8) to form static sealing.

3. A dynamic-static seal bonded cooperative robotic modular joint as claimed in claim 2, wherein: an annular concave table (122a) is arranged on the surface, close to the abutting plate, of the inner ring edge (122), and the sealing ring (8) is sleeved in the annular concave table (122 a); the depth of the annular recess (122a) is smaller than the diameter of the sealing ring (8).

4. The dynamic-static seal bonded cooperative robotic modular joint of claim 1, wherein: the annular grooves (31d) are arranged in a plurality, and the annular grooves (31d) are arranged at intervals along the diameter direction of the transmission disc (31).

5. A dynamic-static seal bonded cooperative robotic modular joint as claimed in claim 1 or 4, wherein: an adhesive is arranged in the annular groove (31 d).

6. The dynamic-static seal bonded cooperative robotic modular joint of claim 1, wherein: the mounting shell (1) comprises a motor shell (11) and an inner ring shell (12), the motor shell (11) is connected with the inner ring shell (12) through screws, and the motor shell (11) is located on one side, far away from the joint shell, of the inner ring shell (12);

the motor assembly (32) comprises a motor shaft (321), a motor rotor (322) and a motor stator (323), the motor shaft (321) is rotatably arranged in the motor shell (11), and one end of the motor shaft (321) is connected with the transmission disc (31);

the motor rotor (322) is fixedly sleeved on the motor shaft (321), the motor stator (323) is arranged on the inner side wall of the motor shell (11), and the motor stator (323) is matched with the motor rotor (322);

the inner ring edge (122) is arranged on the inner side wall of the inner ring shell (12).

7. A dynamic-static seal bonded cooperative robotic modular joint as claimed in claim 6, wherein: one side of the inner ring shell (12) close to the joint shell (2) is provided with an inner ring shaft (121), the joint shell (2) is sleeved on the inner ring shaft (121), and the joint shell (2) is rotatably connected with the inner ring shaft (121) through a bearing.

8. The dynamic-static seal bonded cooperative robotic modular joint of claim 1, wherein: the joint end monitoring device comprises a joint end encoder (61), a motor end encoder (62) and a torque sensor (63), and the joint end encoder (61) is arranged on one side, far away from the mounting shell (1), of the joint shell (2); the motor end encoder (62) is arranged on one side, far away from the joint shell (2), of the mounting shell (1);

the torque sensor (63) is connected to the end face, far away from the mounting shell (1), of the joint shell (2), and the torque sensor (63) is connected with the output end of the harmonic reducer (33);

the servo driver (7) is arranged on one side, away from the joint shell (2), of the torque sensor (63), and the joint end encoder (61), the motor end encoder (62) and the torque sensor (63) are electrically connected to the servo driver (7).

9. A dynamic-static seal bonded cooperative robotic modular joint as claimed in claim 6, wherein: the motor shaft (321) is provided with a through hole along the circumferential direction for the wire protecting sleeve (4) to pass through; one end of the wire protecting sleeve (4) is exposed out of the through hole and is provided with a connecting end plate (41), and the connecting end plate (41) is connected with the motor shell (11).

10. A dynamic-static seal bonded cooperative robotic modular joint as claimed in claim 9, wherein: one side of the through hole wall close to the connecting end plate (41) and the outer wall of the wire protecting sleeve (4) are provided with sealing gaps (4a), and the through hole wall is provided with a plurality of sealing grooves (321a) communicated with the sealing gaps (4a) at intervals along the axial direction.

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