CN112549067A

CN112549067A - Robot joint module

Info

Publication number: CN112549067A
Application number: CN202011355278.2A
Authority: CN
Inventors: 李星; 周扬
Original assignee: Chengdu Reach Machinery Co ltd
Current assignee: Chengdu Reach Machinery Co ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-03-26
Anticipated expiration: 2040-11-26
Also published as: CN112549067B

Abstract

The invention discloses a robot joint module, which comprises an input assembly, an output assembly and an angle adjusting mechanism, wherein the input assembly is connected with the output assembly; the input assembly comprises an input shell and an input shaft which is rotatably arranged in the input shell, and the output assembly comprises an output shell and an output shaft which is rotatably arranged in the output shell; the input shell and the output shell are rotatably connected through an angle adjusting mechanism, and the input shaft and the output shaft are in transmission connection through a synchronous belt penetrating through the angle adjusting mechanism. The angle adjusting mechanism and the synchronous belt are additionally arranged between the input assembly and the output assembly to be connected, the radial rotation angle of the input assembly compared with the radial rotation angle of the output assembly can be adjusted within the range of 180 degrees at most through the work of the angle adjusting mechanism and the cross transmission of the synchronous belt, and a rotation degree of freedom is additionally arranged for the robot joint module; the parts are arranged in an axial and radial combined mode instead of the traditional axial arrangement, so that the mounting is more convenient, the heat dissipation performance is better, and the service life is longer.

Description

Robot joint module

Technical Field

The invention relates to the technical field of robots, in particular to a robot joint module.

Background

With the rapid development of the robot industry, the cooperative robot is applied to various industries in the society at present, and the demand of the market for the robot is increasing day by day. The cooperative robot is mainly used in 3C and automobile industries at present, and is gradually popularized in the service industry, medical apparatus and other industries, along with the improvement of science and technology and the improvement of living standard of people, the demand of the cooperative robot is larger and larger in the future, and meanwhile, the requirement on the performance of the cooperative robot is higher and higher. For a joint module of a robot, the service life and the stability of a product are important quality indexes; on the premise of ensuring the quality, the structural diversity and the larger speed and torque adjusting space of the product can increase more possibilities for later development.

In the prior art, all parts of a joint module of a robot are axially arranged, and a driver, an output end encoder, an input end encoder, a braking device, a frameless motor and a harmonic speed reducer are sequentially arranged from input to output in the structural arrangement; the driver drives the frameless motor to rotate according to the instruction of an external upper computer, the frameless motor drives the harmonic speed reducer to realize speed reduction and torque increase, the input end encoder feeds back a motor speed signal to the driver, the output end encoder feeds back an output end position signal to the driver, and position and torque control is realized; the braking device is connected with a motor shaft for power-off safety protection. Because input frameless motor and output harmonic speed reducer machine are coaxial arranges, so single joint only one degree of freedom of rotation, simultaneously because the degree of integration is high, the space is compact, causes the thermal diffusivity not good, each part can influence each other, especially to harmonic speed reducer machine, the high temperature can lead to the grease rotten thereby increase wearing and tearing, reduce life.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: provided is a robot joint module having two rotational degrees of freedom and excellent heat dissipation.

In order to solve the technical problems, the invention adopts the technical scheme that: the robot joint module comprises an input assembly, an output assembly and an angle adjusting mechanism; the input assembly comprises an input shell and an input shaft which is rotatably arranged in the input shell, and the output assembly comprises an output shell and an output shaft which is rotatably arranged in the output shell; the input shell and the output shell are rotatably connected through an angle adjusting mechanism, and the input shaft and the output shaft are in transmission connection through a synchronous belt penetrating through the angle adjusting mechanism.

Further, the method comprises the following steps: the input assembly further comprises a motor, a braking device and an input end encoder which are arranged in the input shell, and the input shaft is in transmission connection with the motor, the braking device and the input end encoder.

Further, the method comprises the following steps: the output assembly further comprises a harmonic reducer, an output end encoder and a driver which are arranged in the output shell, and the output shaft is in transmission connection with the harmonic reducer, the output end encoder and the driver.

Further, the method comprises the following steps: the angle adjusting mechanism comprises a rotating shaft and an electromagnetic braking assembly which are fixed on the input shell, and the synchronous belt penetrates through the rotating shaft; the friction plate is arranged on the rotating shaft and can rotate along with the rotating shaft; the electromagnetic brake assembly comprises a stator, a coil, springs and a moving plate, wherein the stator is fixed on the output shell, the coil is packaged in the stator, the moving plate is movably sleeved on the rotating shaft, the moving plate is pressed on the friction plate after the springs extend out of the stator, and the moving plate is attracted by electromagnetic force and separated from the friction plate after the coils are electrified.

Further, the method comprises the following steps: the stator is provided with a plurality of spring grooves which are uniformly distributed in a circular shape, the spring grooves correspond to the springs one to one, the springs are arranged in the corresponding spring grooves, and one ends of the springs extend out of the spring grooves and press the movable plates on the friction plates.

Further, the method comprises the following steps: a limiting hub is fixed on the rotating shaft, and a limiting hole in clearance fit with the limiting hub is formed in the center of the friction plate.

Further, the method comprises the following steps: the limiting hub is a square hub, and the limiting hole of the friction plate is a square hole in clearance fit with the square hub.

Further, the method comprises the following steps: the cross bearing is characterized by further comprising a cross bearing and a bearing mounting flange, wherein the inner ring of the cross bearing is mounted on the rotating shaft, the outer ring of the cross bearing is mounted on the bearing mounting flange, and the bearing mounting flange is fixed on the output shell.

Further, the method comprises the following steps: the stator is characterized by further comprising a pressing plate and a lining, wherein a plurality of U-shaped notches distributed along the circumference are formed in the moving plate, the lining penetrates through the U-shaped notches and then is fixed on the stator, one end, not connected with the stator, of the lining is fixedly connected with the pressing plate, the moving plate can move between the pressing plate and the stator along the lining, and the friction plate is located between the pressing plate and the moving plate.

Further, the method comprises the following steps: the height of the bush is larger than the total thickness of the movable plate and the friction plate, and the outer diameter of the bush is smaller than the width of the U-shaped notch.

The invention has the beneficial effects that: the robot joint module is improved, an input assembly and an output assembly in the joint module are separated, an angle adjusting mechanism and a synchronous belt are additionally arranged between the input assembly and the output assembly to be connected, and the radial rotation angle of the input assembly relative to the output assembly can be adjusted within the range of 180 degrees at most through the work of the angle adjusting mechanism and the cross transmission of the synchronous belt, so that a rotation degree of freedom is additionally arranged for the robot joint module; in addition, the synchronous belt adopted in the invention can reach 10-level transmission ratio, can effectively increase the speed regulation range and the upper limit of output torque, and improve the performance of the robot joint; the parts are arranged in an axial and radial combined mode instead of the traditional axial arrangement, so that the mounting is more convenient, the heat dissipation performance is better, and the service life is longer.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a cross-sectional view of the present invention;

FIG. 3 is an isometric view of a rotating shaft;

FIG. 4 is an isometric view of the rotor plate;

FIG. 5 is an isometric view of the friction plate;

labeled as: 100-input assembly, 110-input shell, 120-input shaft, 130-motor, 140-brake device, 150-input end encoder, 200-output assembly, 210-output shell, 220-output shaft, 230-harmonic reducer, 240-output end encoder, 250-driver, 300-synchronous belt, 400-angle adjusting mechanism, 410-rotating shaft, 411-limiting hub, 421-stator, 422-spring groove, 423-coil, 424-spring, 425-moving plate, 426-U-shaped notch, 430-friction plate, 431-limiting hole, 440-cross bearing, 450-bearing mounting flange, 460-pressing plate and 470-bushing.

Detailed Description

In order to facilitate understanding of the invention, the invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the robot joint module disclosed in the present invention is composed of an input assembly 100, an output assembly 200, a synchronous belt 300 and an angle adjusting mechanism 400, wherein the input assembly 100 includes an input housing 100 and an input shaft 120, and the output assembly 200 includes an output housing 210 and an output shaft 220; the input housing 100 and the output housing 200 are both T-shaped cylindrical structures; the input shaft 120 is rotatably mounted in the input housing 100, the output shaft 220 is rotatably mounted in the output housing 210, the input shaft 120 and the output shaft 220 are in transmission connection through the synchronizer 300, and the input housing 110 and the output housing 210 are connected through the angle adjusting mechanism 400 to realize radial rotation of the input housing 110 and the output housing 210. The invention changes the axial arrangement mode of parts in the traditional robot joint module into the mode of combining the axial direction and the radial direction, separates the input assembly 100 and the output assembly 200 to improve the heat radiation performance, and connects the input 120 and the output shaft 220 through the synchronous belt 300 to realize the functions of transmitting power and increasing the range of speed and torque regulation; the input assembly 100 and the output assembly 200 are connected by the angle adjusting mechanism 400 to add a radially adjustable rotational degree of freedom to the robot joint module.

As shown in fig. 2, the input assembly 100 of the present invention further includes a motor 130, a brake device 140, and an input encoder 150 in the input housing 110, wherein the input shaft 120 is drivingly connected to the motor 130, the brake device 140, and the input encoder 150; the motor 130 is a frameless motor, and the rotor of the frameless motor, the rotor of the brake device 140 and the rotating part of the input encoder 150 are all connected to the input shaft 120. The output assembly 200 of the present invention is further provided with a harmonic reducer 230, an output end encoder 240 and a driver 250 in the access housing 210, and the output shaft 220 is in transmission connection with the harmonic reducer 230, the output end encoder 240 and the driver 250; the wave generator of the harmonic reducer 230 and the rotating part of the output end encoder 240 are connected to the output shaft 220; the driver 250 is electrically connected to the motor 130. The input shaft 120 and the output shaft 220 are connected through a synchronous belt 300, the driver 250 transmits a signal instruction of an external upper computer to the motor 130 after receiving the signal instruction, the motor 130 works to drive the input shaft 120 to rotate, the input shaft 120 rotates to drive the output shaft 220 to rotate through the synchronous belt 300, the harmonic reducer 230 and the output shaft 220 synchronously rotate, and the functions of speed regulation and torque regulation are realized through the synchronous belt 300 and the harmonic reducer 230; the input shaft 120 is connected with the rotor of the braking device 140 for power-off protection, and an input end encoder 150 connected to the input shaft 120 and an output end encoder 240 connected to the output shaft 220 measure the motor speed and the harmonic output end position respectively and feed back to the starter of the robot joint module to realize the positioning and torque sensing functions.

As shown in fig. 2, the angle adjustment mechanism 400 employed in the present invention includes an electromagnetic brake assembly including a stator 421, a coil 423, a spring 424, and a moving plate 425, a rotating shaft 410, and a friction plate 430. The rotating shaft 410 is installed on the input housing 110, the stator 421 of the electromagnetic braking assembly is installed on the output housing 210, the input housing 110 and the output housing 210 are rotatably connected, the coil 423 in the electromagnetic braking assembly is encapsulated in the stator 421, the stator 421 is made of 10# steel, the steel has good magnetic permeability, and the coil 423 can generate an electromagnetic field after being electrified. The rotating shaft 410 is positioned above the stator 421, the synchronous belt 300 passes through the rotating shaft 410, the moving plate 425 is an SPCC circular thin plate with a hole at the center, the moving plate 425 and the friction plate 430 are sleeved on the rotating shaft 410, the moving plate 425 is not connected and fixed with the transmission shaft 300 so that the moving plate 425 can ascend and descend in the vertical direction, the moving plate 425 is positioned below the friction plate 430, the friction plate 430 can rotate along with the rotating shaft 410, the stator 421 is provided with a plurality of springs 424, the springs 424 extend upwards from the stator 421 and are in contact with the moving plate 425, the springs 424 are compressed in advance before the springs 424 are installed so that the springs 424 have pretightening force, the moving plate 425 is pressed on the friction plate 430 by the springs 424, the friction plate 430 is a thin skin with high friction coefficient, when the friction plate 430 is pressed by the moving plate 425, the friction plate 430 is locked, and the rotating shaft 410 which moves synchronously with the friction plate 430 cannot rotate, the input housing 110 and the output housing 210 are locked and can not rotate relatively; once the coil 423 is powered on, the electromagnetic force generated by the coil 423 is greater than the pressure of the spring 424 on the moving plate 425, the moving plate 425 is separated from the friction plate 430 under the attraction of the electromagnetic force, at this time, the friction plate 430 is no longer under the action of the friction force of the moving plate 425, the friction plate 430 can rotate along with the rotating shaft 410, the rotation of the rotating shaft 410 drives the input housing 110 to axially rotate, the input housing 110 and the output housing 210 rotate relatively, and therefore the angle between the input housing 110 and the output housing 210 can be adjusted. In addition, the invention adopts the combination of electromagnetism and machinery to match, and utilizes the electromagnetic force to drive the moving piece 425 to move, thereby playing a role of buffering the collision and avoiding the damage caused by the rigid collision of the structure.

As shown in fig. 2, the stator 421 of the present invention is provided with spring slots 422 having the same number as the springs 424, the springs 424 are installed through the spring slots 422, the spring slots 422 are uniformly distributed on the stator 421 in a circular shape, the springs 424 are vertically installed in the spring slots 422, and one end of the springs 424 extend upward from the spring slots 422 and press against the movable plate 425.

As shown in fig. 3 and 5, the rotating shaft 410 and the friction plate 430 are connected by a snap-fit manner, a circle of limiting hub 411 is fixed on the rotating shaft 410, a limiting hole 431 in clearance fit with the limiting hub 411 is arranged at the center of the friction plate 430, the limiting hub 411 in the invention is a square hub, correspondingly, the limiting hole 431 of the friction plate 430 is a square hole in clearance fit with the square hub, and the friction plate 430 is mounted on the rotating shaft 410 by a snap-fit manner to realize synchronous rotation of the friction plate 430 and the rotating shaft 410. Other matching shapes of the limiting boss 411 and the limiting hole 431 can be adopted, for example, a triangular boss is matched with the triangular hole, and the friction plate 430 and the rotating shaft 410 can be synchronously rotated.

The cross bearing 440 and the bearing mounting flange 450 are adopted to realize the rotatable connection of the input shell 110 and the output shell 210, the cross bearing 440 is one of cross roller bearings, and the outer ring of the cross bearing 440 is fixed and the inner ring rotates. As shown in fig. 2, the inner ring of the cross bearing 440 is mounted on the rotating shaft 410, and the inner ring of the cross bearing 440 can be locked by using the shoulder and the snap spring of the rotating shaft 410; the outer ring of the crossed bearing 440 is mounted on the bearing mounting flange 450, the bearing mounting flange 450 is fixed on the output housing 210, and the rotating shaft 410 can drive the inner ring of the crossed bearing 440 to rotate together when rotating, and meanwhile, the connection between the input housing 110 and the output housing 210 cannot be influenced.

In order to limit the movement of the moving plate 425 to ensure the stability of the lifting of the moving plate 425, the invention further provides a pressing plate 460 and a bushing 470, and as shown in fig. 4, a plurality of U-shaped notches 426 distributed along the circumference are arranged on the moving plate 425, the number of the bushings 470 corresponding to the number of the U-shaped notches 426 are adopted, the bushings 470 penetrate through the corresponding U-shaped notches 426, the bottom of the bushings 470 are fixed on the stator 421, the pressing plate 460 is fixed on the top of the bushings 470, the moving plate 425 is located between the pressing plate 460 and the stator 421, the bushing 470 is used for limiting the moving plate 425, the moving plate 425 moves along the bushings 470, and the friction plate 430 is located between the pressing plate 460 and the moving plate 425. It should be noted that the height of bushing 470 is greater than the combined thickness of rotor 425 and friction plate 430, allowing room for rotor 425 to move; the outer diameter of the bushing 470 should be smaller than the width of the U-shaped notch 426 to ensure a clearance fit between the U-shaped notch 426 of the rotor 425 and the bushing 470, so that the rotor 425 can move smoothly.

The input assembly 100 and the output assembly 200 are rotatably connected through the angle adjusting mechanism 400, a radially adjustable rotational degree of freedom is added to a robot joint module by the angle adjusting mechanism 400, the input shaft 120 in the input assembly 100 is connected with the output shaft 220 in the output assembly 200 through the synchronous belt 300, and the input assembly 100 is radially rotated within the range of the maximum 180 degrees clockwise and anticlockwise relative to the output assembly 200 through the cross transmission with the maximum angle of 180 degrees of the synchronous belt 300; the synchronous belt 300 can reach 10-stage transmission ratio at most, and the speed regulation range and the upper limit of output torque are increased. According to the invention, the input assembly 100 and the output assembly 200 are separated by the angle adjusting mechanism 400, the axial arrangement mode of parts is changed into an arrangement mode of combining the axial direction and the radial direction, heating elements such as the motor 130, the braking device 140 and the harmonic reducer 230 are separated, the internal space of the robot joint module is liberated, the heat dissipation effect is improved, and the service life of the robot joint module is prolonged.

Claims

1. Robot joint module, its characterized in that: comprises an input component (100), an output component (200) and an angle adjusting mechanism (400); the input assembly (100) comprises an input housing (110) and an input shaft (120) rotatably arranged in the input housing (110), and the output assembly (200) comprises an output housing (210) and an output shaft (220) rotatably arranged in the output housing (210); the input shell (110) and the output shell (210) are rotatably connected through an angle adjusting mechanism (400), and the input shaft (120) and the output shaft (220) are in transmission connection through a synchronous belt (300) penetrating through the angle adjusting mechanism (400).

2. The robotic joint module of claim 1, wherein: the input assembly (100) further comprises a motor (130), a braking device (140) and an input end encoder (150) which are arranged in the input shell (110), and the input shaft (120) is in transmission connection with the motor (130), the braking device (140) and the input end encoder (150).

3. The robotic joint module of claim 1, wherein: the output assembly (200) further comprises a harmonic reducer (230), an output end encoder (240) and a driver (250) which are arranged in the output shell (210), and the output shaft (220) is in transmission connection with the harmonic reducer (230), the output end encoder (240) and the driver (250).

4. The robotic joint module of claim 1, wherein: the angle adjusting mechanism (400) comprises a rotating shaft (410) fixed on the input shell (110) and an electromagnetic brake assembly, and the synchronous belt (300) penetrates through the rotating shaft (410); the friction plate (430) is mounted on the rotating shaft (410), and the friction plate (430) can rotate along with the rotating shaft (410); the electromagnetic brake assembly comprises a stator (421), a coil (423), springs (424) and a moving plate (425), wherein the stator (421) is fixed on the output shell (210), the coil (423) is packaged in the stator (421), the moving plate (425) is movably sleeved on the rotating shaft (410), the moving plate (425) is pressed on the friction plate (430) after the springs (424) extend out of the stator (421), and the moving plate (425) is attracted by electromagnetic force to be separated from the friction plate (430) after the coil (423) is electrified.

5. The robotic joint module of claim 4, wherein: the stator (421) is provided with a plurality of spring grooves (422) which are uniformly distributed in a circular shape, the spring grooves (422) correspond to the springs (424) one by one, the springs (424) are arranged in the corresponding spring grooves (422), and one ends of the springs (424) extend out of the spring grooves (422) and press the movable plates (425) on the friction plates (430).

6. The robotic joint module of claim 4, wherein: a limiting hub (411) is fixed on the rotating shaft (410), and a limiting hole (431) in clearance fit with the limiting hub (411) is formed in the center of the friction plate (430).

7. The robotic joint module of claim 6, wherein: spacing wheel hub (411) are square wheel hub, and spacing hole (431) of friction disc (430) are the quad slit with square wheel hub clearance fit.

8. The robotic joint module of claim 4, wherein: the cross-shaped bearing assembly is characterized by further comprising a cross-shaped bearing (440) and a bearing mounting flange (450), wherein the inner ring of the cross-shaped bearing (440) is mounted on the rotating shaft (410), the outer ring of the cross-shaped bearing (440) is mounted on the bearing mounting flange (450), and the bearing mounting flange (450) is fixed on the output shell (210).

9. The robotic joint module of claim 4, wherein: the stator structure comprises a stator (421) and a friction plate (430), and is characterized by further comprising a pressing plate (460) and a bushing (470), wherein a plurality of U-shaped notches (426) are circumferentially distributed in the dynamic plate (425), the bushing (470) penetrates through the U-shaped notches (426) and then is fixed on the stator (421), one end, which is not connected with the stator (421), of the bushing (470) is fixedly connected with the pressing plate (460), the dynamic plate (425) can move between the pressing plate (460) and the stator (421) along the bushing (470), and the friction plate (430) is located between the pressing plate (460) and the dynamic plate (425).

10. The robotic joint module of claim 9, wherein: the height of the bushing (470) is larger than the total thickness of the movable plate (425) and the friction plate (430), and the outer diameter of the bushing (470) is smaller than the width of the U-shaped notch (426).