CN112276929A - Robot lower arm directly driven by built-in torque motor - Google Patents
Robot lower arm directly driven by built-in torque motor Download PDFInfo
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- CN112276929A CN112276929A CN202011125422.3A CN202011125422A CN112276929A CN 112276929 A CN112276929 A CN 112276929A CN 202011125422 A CN202011125422 A CN 202011125422A CN 112276929 A CN112276929 A CN 112276929A
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- lower arm
- rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot lower arm directly driven by a built-in torque motor, which comprises a waist body, a driving motor, a rotor inner sleeve, an encoder and a lower arm, wherein the waist body is provided with a plurality of connecting rods; the waist body is used for underarm transmission part installation, driving motor is servo revolving axle direct drive's low rotational speed, the built-in torque motor of big torque, the rotor endotheca is used for driving motor and underarm connection, the encoder is high accuracy magnetic grid absolute position encoder, the underarm is robot underarm swing motion part. The invention replaces the traditional servo motor with a novel servo revolving shaft directly driving a low-rotating-speed and high-torque built-in torque motor and a high-precision magnetic grid absolute position encoder, cancels transmission parts such as a speed reducer and the like, realizes the direct driving of the gapless, wearless and noiseless motor of the lower arm of the robot, has very simple structure, greatly improves the motion precision, does not need to maintain and replace parts, greatly prolongs the service life and greatly reduces the operation noise.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a robot lower arm directly driven by a built-in torque motor.
Background
At present, in the prior art, the lower arm of the vertical series robot has low rotation speed and large torque, while a common servo motor has high rated rotation speed and small output torque, so that the lower arm of the prior robot needs to be driven by an RV reducer or a harmonic reducer for large-scale speed reduction. The disadvantages of this structure are: the transmission system has the advantages of complex structure, more parts, high assembly requirement and large maintenance workload, and the transmission clearance, the part abrasion and the operation noise of the speed reducer directly influence the motion precision, the service life and the operation environment of the robot.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a robot lower arm directly driven by a motor, which can well realize the direct drive of the motor without gap, abrasion and noise of the robot lower arm, greatly improve the motion precision and prolong the service life.
In order to solve the technical problems, the technical scheme of the invention is as follows: a lower arm for a robot with a built-in torque motor for direct drive, comprising:
the waist body is a waist rotary motion part of the robot, the waist body is a special-shaped hollow flange connection plate with a lug and a rear cover at the upper part, the lug above the waist body is used for mounting a driving motor and supporting a lower arm, and the rear cover is used for sealing and protecting; the lug of the waist body is a hollow cylinder with a flange; the front side inner cavity of the lug is used for mounting the driving motor, and the motor stator is connected with the waist body into a whole through a front flange and a rear flange; the front end flange of the lug is used for fixing the inner ring of the support bearing of the lower arm and supporting the swinging motion of the lower arm; the inner hole at the rear side of the lug is used for installing an auxiliary supporting bearing and a positioning check ring of the rotor inner sleeve and carrying out radial positioning and axial floating support on the rotor inner sleeve; and a measuring head of the encoder is fixed on the rear end face of the waist body.
The driving motor is arranged in a lug inner cavity of the waist body and used for swinging driving of the lower arm, and the driving motor adopts a novel low-rotating-speed and high-torque belt-cooling built-in torque motor which is specially used for directly driving a servo rotating shaft; the driving motor is of a hollow structure, and the rotor and the stator can be separated; the stator of the driving motor is arranged in the lug inner cavity of the waist body through a front flange and a rear flange, the rear flange of the stator is directly fixed on the lug of the waist body, and the front flange of the stator is connected with the lug of the waist body through a stator fixing ring; the hollow rotor is arranged on the rotor inner sleeve, and the rotor inner sleeve and the lower arm are connected into a whole, so that the driving motor can directly drive the lower arm to swing, and gapless direct driving of the lower arm of the robot is realized; a cooling pipe and an armature cable of the driving motor are led in from a lug back cover of the waist body;
the rotor inner sleeve is arranged in the inner cavity of the rotor of the driving motor and is a middle part for connecting the rotor of the driving motor and the lower arm; the rotor inner sleeve is a hollow cylinder; the outer side of the rotor inner sleeve is used for fixing a rotor of the driving motor, the front end of the rotor inner sleeve is used for fixing the lower arm, and the rear end face of the rotor inner sleeve is used for fixing a magnetic ring of the encoder; the rotor of the driving motor, the lower arm of the robot and the encoder can be integrated into a whole through the rotor inner sleeve, so that gapless rigid connection of the rotor of the driving motor, the lower arm of the robot and the encoder is realized, and the driving motor directly drives the lower arm to move; the rear end of the rotor inner sleeve is radially positioned and axially supported in a floating manner through an auxiliary support bearing arranged in an inner hole at the rear side of the waist body lug; the robot pipeline can pass through the hollow hole of the rotor inner sleeve;
the encoder is arranged on the rear end face of the rotor inner sleeve and used for detecting the speed and the position of the driving motor; the encoder adopts a high-precision magnetic grid absolute position encoder which can directly carry out serial data communication with a robot control system and can store absolute position data by using a backup battery; the encoder is of a hollow circular ring structure; the encoder comprises a magnetic ring and a measuring head, the magnetic ring is arranged on the rear end face of the inner sleeve of the rotor and integrally rotates with the rotor of the driving motor, the measuring head is fixed on the rear end face of the lug of the waist body, and an encoder cable is led in from the rear cover of the lug of the waist body;
the lower arm is arranged on the front side of the waist body lug and is used for realizing the lower arm swinging motion of the robot; the lower arm is a connecting rod with a hollow flange connecting disc at the lower end; the inner side of a flange connecting disc of the lower arm is used for connecting the rotor inner sleeve, the outer side of the flange connecting disc is used for connecting a supporting bearing, and a robot pipeline can penetrate through a hollow hole of the flange connecting disc; the lower arm is connected with the rotor in an inner sleeve mode through a fixing screw; the outer ring of the supporting bearing is fixed on the lower arm through a pressure plate and a fixing screw, and the bearing gap can be adjusted through the pressure plate and the fixing screw; the lower arm can swing under the direct drive of the drive motor rotor so as to realize the direct drive of the lower arm of the robot without clearance, abrasion and noise.
Further, the driving motor and the lower arm support bearing are mounted on the lug, and a robot pipeline can penetrate through the hollow hole; the front end of a lug of the waist body is provided with a flange connected with an inner ring of a supporting bearing, and the front side of an inner cavity of the lug is provided with a positioning hole of a front flange of a stator of the driving motor, a positioning surface for installing a stator fixing ring and a fixing screw hole; the rear end of the inner cavity of the lug is provided with a positioning hole, a positioning surface and a fixing screw hole for fixing the rear flange of the driving motor stator, and an inner hole at the rear end of the lug is provided with a mounting groove for mounting the positioning hole and the check ring of the auxiliary supporting bearing of the rotor inner sleeve.
Further, the driving motor is a multipolar cooling permanent magnet alternating current synchronous motor, a stator of the driving motor is provided with a winding and a cooling loop, and a rotor is provided with a multipolar permanent magnet; the stator of the driving motor is provided with a front flange and a rear flange which are fixedly installed, and the rotor is provided with a positioning inner hole for connecting a load, a front positioning surface, a rear positioning surface and a fixing screw hole.
Furthermore, a front flange of the stator of the driving motor is fixed on the front side of the inner cavity of the waist body lug through a stator fixing ring, a rear flange is directly fixed on the rear side of the inner cavity of the waist body lug, and a rotor of the driving motor is fixed on an outer flange of the rotor inner sleeve.
Furthermore, the front end of the rotor inner sleeve is provided with a flange connected with the lower arm, the outer circle of the front side is provided with a flange connected with the rotor of the driving motor, the rear side is provided with a positioning circle for installing an auxiliary supporting bearing, and the rear end face is provided with a flange for installing the magnetic ring of the encoder.
Further, the auxiliary supporting bearing of the rotor inner sleeve is a cylindrical roller bearing, and the auxiliary supporting bearing is axially positioned in a floating mode through a check ring.
Further, a flange positioning hole, a positioning surface and a fixing screw hole which are connected with the rotor inner sleeve are formed in the inner side of a flange connecting disc of the lower arm; and a positioning hole, a positioning surface and a fixing screw hole which are connected with the outer ring of the supporting bearing are arranged on the outer side of the flange connecting disc.
Furthermore, the supporting bearing adopts a crossed roller bearing capable of bearing radial and bidirectional axial loads, the supporting bearing adopts an inner ring fixing and outer ring rotating structure, the inner ring of the bearing is fixed at the front end of the waist body lug, the outer ring is connected with a flange connection plate of the lower arm, and the bearing gap is adjusted through an outer ring pressing plate and a screw.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention replaces the traditional servo motor with a novel servo revolving shaft directly driving a low-rotating-speed and large-torque built-in torque motor and a high-precision magnetic grid absolute position encoder, compared with the common lower arm of the robot, the invention not only cancels a speed reducer, but also ensures that the lower arm of the robot is directly driven by a motor without clearance, abrasion and noise; meanwhile, mechanical transmission parts are greatly reduced; the structure is very simple, the motion precision is greatly improved, parts do not need to be maintained and replaced, the service life is greatly prolonged, and the operation noise is greatly reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of portion B of FIG. 1;
the robot comprises a waist body 1, a waist body 1.1, a rear cover 2, an encoder 2.1, a magnetic ring 2.2, a measuring head 2.3, an encoder cable 3, a driving motor 3.1, a cooling pipe 3.2, a rotor 3.3, a stator 3.4, an armature cable 4, an auxiliary supporting bearing 4.1, a retainer ring 5, a supporting bearing 5.1, an inner ring 5.2, an outer ring 5.3, a pressure plate 5.4, a fixing screw 6, a lower arm 7, a robot pipeline 8, a rotor inner sleeve 9 and a stator fixing ring.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 1 to 3, the lower arm of the robot directly driven by the built-in torque motor of the present embodiment includes a waist body 1, a driving motor 3, a rotor inner sleeve 8, an encoder 2, and a lower arm 6.
The waist body 1 is a waist rotary motion part of the robot, the waist body 1 is a special-shaped hollow flange connection plate with a lug and a rear cover 1.1 at the upper part, the lug at the upper part of the waist body 1 is used for mounting a driving motor 3 and supporting a lower arm 6, and the rear cover 1.1 is used for sealing and protecting; the waist body lug is a hollow cylinder with a flange; the front side cavity of the lug is used for installing a driving motor 3, and a motor stator 3.3 is connected with the waist body 1 into a whole through a front flange and a rear flange; the front end flange of the lug is used for fixing the inner ring 5.1 of the support bearing 5 of the lower arm 6 and supporting the swinging motion of the lower arm 6; the inner hole at the rear side of the lug is used for installing an auxiliary supporting bearing 4 and a positioning retainer ring 4.1 of the rotor inner sleeve 8, and the rotor inner sleeve 8 is radially positioned and axially supported in a floating manner; the measuring head 2.2 of the encoder 2 is fixed on the back end face of the waist body 1.
The driving Motor 3 is arranged in an inner cavity at the front side of a lug above the waist body 1, and the driving Motor 3 adopts a novel Built-in torque Motor (build-in torque Motor) with low rotating speed and large torque which is specially used for directly driving a servo rotating shaft; the driving motor 3 is of a hollow structure, and the rotor 3.2 and the stator 3.3 can be separated; a stator 3.3 of the driving motor is arranged in the lug inner cavity of the waist body 1 through a front flange and a rear flange, the rear flange of the stator 3.3 is directly fixed on the lug of the waist body, and the front flange of the stator 3.3 is connected with the lug of the waist body through a stator fixing ring 9; the hollow rotor 3.2 is arranged on a rotor inner sleeve 8, and the rotor inner sleeve 8 and the lower arm 6 are connected into a whole, so that the driving motor 3 can directly drive the lower arm 6 to perform swinging motion, and gapless direct driving of the lower arm of the robot is realized; the cooling tube 3.1 and the armature cable 3.4 of the drive motor are led in from the lug back cover 1.1 of the waist body 1.
The rotor inner sleeve 8 is arranged in the inner cavity of the drive motor rotor 3.2, and the rotor inner sleeve 8 is a middle part for connecting the drive motor rotor 3.2 and the lower arm 6; the rotor inner sleeve 8 is a hollow cylinder; the outer side of the rotor inner sleeve 8 is used for fixing a rotor 3.2 of the driving motor 3, the front end of the rotor inner sleeve is used for fixing a lower arm 6, and the rear end face of the rotor inner sleeve is used for fixing a magnetic ring 2.1 of the encoder 2; the rotor inner sleeve 8 can integrate the driving motor rotor 3.2, the robot lower arm 6 and the encoder 9, thereby realizing gapless rigid connection of the three parts and enabling the driving motor to directly drive the lower arm 6 to move; the rear end of the rotor inner sleeve 8 is radially positioned and axially supported in a floating way through an auxiliary support bearing 4 arranged in an inner hole at the rear side of a lug of the waist body 1; the robot pipe 7 can pass through the hollow inner hole of the rotor inner sleeve 8.
The encoder 2 is arranged on the rear end face of the rotor inner sleeve 8, and the encoder 2 is used for detecting the speed and the position of the driving motor 3; the encoder 2 is a high-precision magnetic grid absolute position encoder, the encoder 2 can be directly in serial data communication with a robot control system, and absolute position data of the encoder 2 is stored by a backup battery; the encoder 2 is of a hollow circular ring structure; the encoder 2 comprises a magnetic ring 2.1 and a measuring head 2.2, the magnetic ring 2.1 is arranged on the rear end face of the rotor inner sleeve 8 and integrally rotates along with the driving motor rotor 3.2, the measuring head 2.2 is fixed on the rear end face of the lug of the waist body 1, and the encoder cable 2.3 is led in from the lug rear cover 1.1 of the waist body 1.
The lower arm 6 is arranged on the front side of the lug of the waist body 1, and the lower arm 6 is a connecting rod with a hollow flange connecting disc at the lower end; the inner side of a flange connecting disc of the lower arm 6 is used for connecting a rotor inner sleeve 8, the outer side of the flange connecting disc is used for connecting a supporting bearing 5, and a robot pipeline 7 can penetrate through a hollow hole of the flange connecting disc; the lower arm 6 is connected with the rotor inner sleeve 8 into a whole through a fixing screw; the outer ring 5.2 of the supporting bearing 5 is fixed on the lower arm 6 through a pressing plate 5.3 and a fixing screw 5.4, the bearing gap can be adjusted through the pressing plate 5.3 and the fixing screw 5.4, and the lower arm 6 can perform swinging motion under the direct drive of the driving motor rotor 3.2, so that the gapless, abrasion-free and noise-free direct drive of the lower arm of the robot is realized.
The driving motor 3 and the lower arm supporting bearing 5 are arranged on the lug, and a robot pipeline can pass through the hollow hole; the outer side of the front end of a lug of the waist body 1 is provided with a flange connected with an inner ring 5.1 of the support bearing 5, and the inner side of the front end of the lug is provided with a positioning circle of a front flange of a driving motor stator 3.3 and a positioning hole, a positioning surface and a fixing screw hole for mounting a stator fixing ring 9; the front inner side of the rear end of the lug above the waist body 1 is provided with a positioning hole, a positioning surface and a fixing screw hole which are connected with a rear flange of a driving motor stator 3.3, and the rear inner side of the rear end is provided with a positioning hole for installing a rotor inner sleeve 8 auxiliary supporting bearing 4 and an installation groove for installing an axial floating positioning retainer ring 4.1.
The driving motor 3 is a multipolar permanent magnet type alternating current synchronous motor with cooling, the driving motor 3 comprises a rotor 3.2 and a stator 3.3 which can be separated, the stator 3.3 is provided with a winding and a cooling loop, and the rotor 3.2 is provided with a multipolar permanent magnet; the stator 3.3 is provided with a front flange and a rear flange which are fixedly arranged, and the rotor is provided with a positioning inner hole, a front positioning surface, a rear positioning surface and a fixing screw hole which are used for connecting loads.
The front flange of the stator 3.3 of the driving motor 3 is fixed on the front side of the lug inner cavity of the waist body 1 through the stator fixing ring 9, the rear flange is directly fixed on the rear side of the lug inner cavity of the waist body 1, and the rotor 3.2 of the driving motor 3 is fixed on the outer flange of the rotor inner sleeve 8.
The front end of the rotor inner sleeve 8 is provided with a flange connected with the lower arm 6, the outer circle of the front side is provided with a flange connected with the driving motor rotor 3.2, the rear side is provided with a positioning circle for installing the auxiliary supporting bearing 4, and the rear end face is provided with a flange for installing the magnetic ring 2.1 of the encoder 2.
The auxiliary supporting bearing 4 of the rotor inner sleeve 8 adopts a cylindrical roller bearing, and the auxiliary supporting bearing 4 is axially positioned in a floating way through a retainer ring 4.1.
The lower arm 6 is a connecting rod with a hollow flange connecting disc at the lower end, and a flange positioning hole, a positioning surface and a fixing screw hole which are connected with the rotor inner sleeve 8 are arranged on the inner side of the flange connecting disc; and a positioning hole, a positioning surface and a fixing screw hole for connecting the outer ring 5.2 of the support bearing 5 are arranged on the outer side of the flange connecting disc.
The supporting bearing 5 adopts a crossed roller bearing capable of bearing radial and bidirectional axial loads, the supporting bearing 5 adopts a structure that an inner ring 5.1 is fixed and an outer ring 5.2 rotates, the bearing inner ring 5.1 is fixed at the front end of a lug of the waist body 1, the outer ring 5.2 is connected with a flange connection disc of the lower arm 6, and the bearing gap is adjusted through an outer ring pressing plate 5.3 and a screw 5.4.
The working principle of the invention is as follows:
a novel servo rotating shaft is used for directly driving a low-rotating-speed and high-torque Built-in torque Motor and a high-precision magnetic grid absolute position encoder to replace the conventional servo Motor, and a Motor stator 3.3 and a robot waist body 1 are connected into a whole and are fixed; the motor rotor 3.2 is connected with the lower arm 6 into a whole through a rotor inner sleeve 8, so that the motor rotor directly drives the lower arm 6 of the robot to swing; the speed and the position of the driving motor 3 are detected by a high-precision magnetic grid absolute position encoder 2 arranged on the rotor inner sleeve 8, the encoder 2 can directly carry out serial data communication with a robot control system, and absolute position data can be stored by using a backup battery; therefore, the existing transmission parts such as a speed reducer are eliminated, the lower arm of the robot is in rigid direct connection with the driving motor, and the direct drive of the lower arm of the robot in zero clearance, no noise and high precision is realized.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A robot lower arm directly driven by a built-in torque motor is characterized by comprising:
the waist body (1) is a waist rotary motion part of a robot, the waist body (1) is a special-shaped hollow flange connection disc with a lug and a rear cover (1.1) at the upper part, the lug at the upper part of the waist body (1) is used for mounting a driving motor (3) and supporting a lower arm (6), and the rear cover (1.1) is used for sealing and protecting; the lug of the waist body (1) is a hollow cylinder with a flange; the front side inner cavity of the lug is used for mounting the driving motor (3), and a motor stator (3.3) is connected with the waist body (1) into a whole through a front flange and a rear flange; the front end flange of the lug is used for fixing the inner ring (5.1) of the support bearing (5) of the lower arm (6) and supporting the swinging motion of the lower arm (6); the rear inner hole of the lug is used for installing an auxiliary support bearing (4) and a positioning retainer ring (4.1) of the rotor inner sleeve (8) to radially position and axially support the rotor inner sleeve (8) in a floating manner; and a measuring head (2.2) of the encoder (2) is fixed on the rear end face of the waist body (1).
The driving motor (3) is arranged in a lug inner cavity of the waist body (1), the driving motor (3) is used for swinging and driving the lower arm (6), and the driving motor (3) adopts a novel low-rotating-speed and high-torque belt-cooling built-in torque motor which is specially used for directly driving a servo rotating shaft; the driving motor (3) is of a hollow structure, and the rotor (3.2) and the stator (3.3) can be separated; the stator (3.3) of the driving motor is arranged in the lug inner cavity of the waist body (1) through a front flange and a rear flange, the rear flange of the stator (3.3) is directly fixed on the lug of the waist body, and the front flange of the stator (3.3) is connected with the lug of the waist body through a stator fixing ring (9); the hollow rotor (3.2) is arranged on the rotor inner sleeve (8), and the rotor inner sleeve (8) and the lower arm (6) are connected into a whole, so that the driving motor (3) can directly drive the lower arm (6) to perform swinging motion, and gapless direct driving of the lower arm of the robot is realized; a cooling pipe (3.1) and an armature cable (3.4) of the driving motor are led in from a lug back cover (1.1) of the waist body (1);
the rotor inner sleeve (8) is arranged in the inner cavity of the driving motor rotor (3.2), and the rotor inner sleeve (8) is a middle part for connecting the driving motor rotor (3.2) and the lower arm (6); the rotor inner sleeve (8) is a hollow cylinder; the outer side of the rotor inner sleeve (8) is used for fixing a rotor (3.2) of the driving motor (3), the front end of the rotor inner sleeve is used for fixing the lower arm (6), and the rear end face of the rotor inner sleeve is used for fixing a magnetic ring (2.1) of the encoder (2); the rotor inner sleeve (8) can enable the driving motor rotor (3.2), the robot lower arm (6) and the encoder (9) to be integrated, so that gapless rigid connection of the driving motor rotor, the robot lower arm and the encoder is realized, and the driving motor (3) directly drives the lower arm (6) to move; the rear end of the rotor inner sleeve (8) is radially positioned and axially supported in a floating way through an auxiliary support bearing (4) arranged in an inner hole at the rear side of the lug of the waist body (1); the robot pipeline (7) can penetrate through the hollow hole of the rotor inner sleeve (8);
the encoder (2) is arranged on the rear end face of the rotor inner sleeve (8), and the encoder (2) is used for detecting the speed and the position of the driving motor (3); the encoder (2) adopts a high-precision magnetic grid absolute position encoder which can directly carry out serial data communication with a robot control system and save absolute position data by using a backup battery; the encoder (2) is of a hollow circular ring structure; the encoder (2) comprises a magnetic ring (2.1) and a measuring head (2.2), the magnetic ring (2.1) is arranged on the rear end face of the rotor inner sleeve (8) and integrally rotates along with the driving motor rotor (3.2), the measuring head (2.2) is fixed on the rear end face of the lug of the waist body (1), and the encoder cable (2.3) is led in from the lug rear cover (1.1) of the waist body (1);
the lower arm (6) is arranged on the front side of the lug of the waist body (1), and the lower arm (6) is used for realizing the lower arm swinging motion of the robot; the lower arm (6) is a connecting rod with a hollow flange connecting disc at the lower end; the inner side of a flange connecting disc of the lower arm (6) is used for connecting the rotor inner sleeve (8), the outer side of the flange connecting disc is used for connecting the supporting bearing (5), and a robot pipeline (7) can penetrate through a hollow hole of the flange connecting disc; the lower arm (6) is connected with the rotor inner sleeve (8) into a whole through a fixing screw; the outer ring (5.2) of the support bearing (5) is fixed on the lower arm (6) through a pressure plate (5.3) and a fixing screw (5.4), and the bearing gap can be adjusted through the pressure plate (5.3) and the fixing screw (5.4); the lower arm (6) can swing under the direct drive of the drive motor rotor (3.2) so as to realize the direct drive of the robot lower arm without gap, abrasion and noise.
2. A lower arm for a built-in torque motor direct drive robot as claimed in claim 1, wherein the drive motor (3) and the lower arm support bearing (5) are mounted on lugs, through which a robot line can pass; the front end of a lug of the waist body (1) is provided with a flange connected with an inner ring (5.1) of the support bearing (5), and the front side of an inner cavity of the lug is provided with a positioning hole of a front flange of the driving motor stator (3.3), a positioning surface for mounting a stator fixing ring (9) and a fixing screw hole; the rear end of the inner cavity of the lug is provided with a positioning hole, a positioning surface and a fixing screw hole for fixing a rear flange of the driving motor stator (3.3), and an inner hole at the rear end of the lug is provided with a positioning hole for installing the rotor inner sleeve (8) for assisting the supporting bearing (4) and an installation groove for installing the retainer ring (4.1).
3. Lower arm of a robot driven directly by an internal torque motor according to claim 2, characterised in that the drive motor (3) is an ac synchronous machine with cooling multipoles permanent magnets, the stator (3.3) of the drive motor (3) is fitted with windings and cooling circuits, the rotor (3.2) is arranged with multipoles permanent magnets; the stator (3.3) of the driving motor (3) is provided with a front flange and a rear flange which are fixedly installed, and the rotor (3.2) is provided with a positioning inner hole for connecting a load, a front positioning surface, a rear positioning surface and a fixing screw hole.
4. A lower arm of a built-in torque motor direct drive robot as claimed in claim 3, wherein the front flange of the drive motor stator (3.3) is fixed on the front side of the lug cavity of the waist body (1) through a stator fixing ring (9), the rear flange is fixed on the rear side of the lug cavity of the waist body (1), and the rotor (3.2) of the drive motor (3) is fixed on the outer flange of the rotor inner sleeve (8).
5. The lower arm of a robot directly driven by a built-in torque motor as claimed in claim 1, wherein the front end of the rotor inner sleeve (8) is provided with a flange connected with the lower arm (6), the front outer circle is provided with a flange connected with the rotor (3.2) of the driving motor, the rear side is provided with a positioning circle for installing the auxiliary supporting bearing (4), and the rear end surface is provided with a flange for installing the magnetic ring (2.1) of the encoder (2).
6. A lower arm of a robot directly driven by a built-in torque motor as claimed in claim 5, characterized in that the auxiliary support bearing (4) of the rotor inner sleeve (8) is a cylindrical roller bearing, and the auxiliary support bearing (4) is axially positioned in a floating way by a retainer ring (4.1).
7. The lower arm of the robot directly driven by the built-in torque motor as claimed in claim 1, wherein the inner side of the flange connection plate of the lower arm (6) is provided with a flange positioning hole, a positioning surface and a fixing screw hole for connecting the rotor inner sleeve (8); and a positioning hole, a positioning surface and a fixing screw hole which are connected with the outer ring (5.2) of the supporting bearing (5) are arranged on the outer side of the flange connecting disc.
8. The lower arm of the robot directly driven by the built-in torque motor as claimed in claim 7, wherein the supporting bearing (5) is a crossed roller bearing capable of bearing radial and bidirectional axial loads, the supporting bearing (5) is of a structure with an inner ring (5.1) fixed and an outer ring (5.2) rotating, the inner ring (5.1) of the bearing is fixed at the front end of a lug of the waist body (1), the outer ring (5.2) of the bearing is connected with a flange connection plate of the lower arm (6), and the bearing gap is adjusted through an outer ring pressing plate (5.3) and a screw (5.4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011125422.3A CN112276929A (en) | 2020-10-20 | 2020-10-20 | Robot lower arm directly driven by built-in torque motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011125422.3A CN112276929A (en) | 2020-10-20 | 2020-10-20 | Robot lower arm directly driven by built-in torque motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112276929A true CN112276929A (en) | 2021-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011125422.3A Withdrawn CN112276929A (en) | 2020-10-20 | 2020-10-20 | Robot lower arm directly driven by built-in torque motor |
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| Country | Link |
|---|---|
| CN (1) | CN112276929A (en) |
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2020
- 2020-10-20 CN CN202011125422.3A patent/CN112276929A/en not_active Withdrawn
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Application publication date: 20210129 |
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