CN113070901A - Integrated flexible joint for robot - Google Patents
Integrated flexible joint for robot Download PDFInfo
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- CN113070901A CN113070901A CN202110293479.2A CN202110293479A CN113070901A CN 113070901 A CN113070901 A CN 113070901A CN 202110293479 A CN202110293479 A CN 202110293479A CN 113070901 A CN113070901 A CN 113070901A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 27
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- 230000009977 dual effect Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 8
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 230000008878 coupling Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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Abstract
The invention provides an integrated flexible joint for a robot, which comprises an outer shell, an input mechanism and an output mechanism, wherein the input mechanism comprises a main transmission shaft, a frameless torque motor, a harmonic reducer and a connecting flange; the output mechanism comprises an input component, an output component, a support rod, a spring and a connecting seat, wherein the input component is connected to the connecting flange, the output component is arranged on the outer shell through a crossed roller bearing, the connecting seat is arranged on the output component, one end of the support rod is supported on the connecting seat, the spring is sleeved on the support rod, and the rotating input component can transmit torque to the output component through the spring. The invention can simultaneously meet the requirements of large torque output and better compliance performance, and is beneficial to the integrated design of the robot joint.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an integrated flexible joint for a robot.
Background
When the robot and the surrounding environment perform interactive operation, the compliance performance is an important index of the robot, the robot and the surrounding environment can be protected from being damaged, and a flexible module is added in a robot joint, so that the method is a mode for improving the compliance performance of the robot.
When the robot joint comprising the flexible modules is designed, the structure of the joint is compact as much as possible while the torque requirement is ensured. At present, a robot joint comprising a flexible module has more achievements, but how to ensure that the robot joint has larger torque and a compact structure at the same time is still a difficult problem to be solved urgently. Because the flexible module exists in the robot joint, an extra encoder is needed to detect the deformation degree of the internal elastic element, and the selection and arrangement mode of the encoder type directly restricts the structural compactness of the robot joint; in addition, the selection and arrangement of the elastic elements are also important factors influencing the compactness of the joint structure.
The robot joint often needs inside hollow structure, makes things convenient for the electric wire to pass from joint inside, makes the joint more pleasing to the eye, integration. Many existing robot joints with flexible modules adopt an integrated structure of a direct current motor and a planetary reducer or a mode of combining the direct current motor without a hollow structure and a harmonic reducer, although the tail end of the motor is provided with an encoder, the hollow wiring cannot be realized, and the integrated design of the robot joints is not facilitated. In addition, in this type of structure, the encoder for detecting the deformation of the flexible module needs to be designed separately, increasing the overall size of the joint.
The combination of the frameless torque motor and the harmonic reducer with the hollow structure can enable the robot joint to output larger torque, has higher power density, can still realize a hollow wiring structure, and is beneficial to the integrated design of the robot joint. In addition, due to the hollow structure of the robot joint, an encoder for detecting the deformation of the flexible module can be arranged at the end of the frameless torque motor, so that the compactness of the structure is greatly enhanced. How to combine frameless torque motor, harmonic speed reducer ware and flexible module into integrated robot joint makes the joint have big output torque and compliance performance, has hollow structure simultaneously and makes things convenient for the electric wire to pass through, realizes the integrated design, is the development direction of designing the robot joint.
Chinese patent 201611059925.9 discloses a double-layered planar torsion spring for a compliant joint, which comprises a first planar torsion spring, a second planar torsion spring, a spline shaft, a middle washer and an output member; an intermediate washer is arranged between the opposite ends of the outer rings of the first planar torsion spring and the second planar torsion spring; the spline shaft is connected with the spline holes of the first plane torsion spring and the second plane torsion spring. The joint in the prior art does not embody the mounting mode of the frameless torque motor, the speed reducer and the encoder, and in addition, the structure cannot realize hollow wiring and is not beneficial to the integrated design of the robot joint.
Chinese patent 201910868465.1 discloses a compliant joint based on a counter-mounted planar torsion spring, which comprises a stationary housing, an output housing, a shaft and a rotating device connected to the shaft; the shaft is located at the rotation center of the output housing and is connected to the output housing through the second rotating body. The joint in the prior art has no hollow structure, cannot realize the internal penetration of an electric wire, and is not beneficial to the integrated design of the robot joint. In addition, the structure is not beneficial to the installation of the encoder, the size of the whole structure can be increased, and the compactness of the structure is not beneficial.
The robot joint who contains flexible module among the prior art is difficult to make the joint satisfy big moment of torsion output, better compliance performance and cavity simultaneously and walks the line structure, is unfavorable for robot joint's integrated design, and based on this, this application provides an integrated robot joint who contains flexible module to solve prior art's defect.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an integrated flexible joint for a robot, which can simultaneously meet the requirements of large torque output and better compliance performance and is beneficial to the integrated design of the robot joint.
In order to achieve the above object, the present invention provides an integrated flexible joint for a robot, comprising:
an outer housing;
the input mechanism comprises a main transmission shaft, a frameless torque motor, a harmonic reducer and a connecting flange, wherein a stator of the frameless torque motor is arranged on the outer shell, the main transmission shaft is arranged in a rotor of the frameless torque motor, an input part of the harmonic reducer is connected with the main transmission shaft, and the connecting flange is arranged at an output part of the harmonic reducer;
output mechanism, including input component, output component, cradling piece, spring and connecting seat, input component connects on flange, and output component sets up on the shell body through cross roller bearing, and the connecting seat sets up on output component, and the one end of cradling piece supports on the connecting seat, and on the cradling piece was located to the spring housing, the both ends of spring butt connecting seat and input component respectively, and wherein pivoted input component can transmit the moment of torsion for output component through the spring.
According to another embodiment of the present invention, the input member includes a disk-shaped main body, at least one connecting lug located on a circumferential direction of the main body, the main body is connected to the connecting flange, one end of the support rod is threadedly disposed on the connecting base, and the other end of the support rod is suspended and located between the connecting base and the connecting lug.
According to another embodiment of the invention, the connecting lug and the connecting base are provided with abutting end surfaces, two ends of the spring abut against the two abutting end surfaces respectively, and the spring can be compressed when the main body rotates.
According to another embodiment of the present invention, the connecting base is provided with a plurality of grooves linearly distributed along a rotation center of the output member, each of the grooves is provided with a support rod, and each of the support rods is provided with a spring.
The spring of formation stacked structure in this scheme can carry out rational design according to actual moment of torsion demand to the number of piles, the spring quantity of stacked structure to satisfy robot joint's moment of torsion demand.
According to another embodiment of the present invention, the output member has a cylindrical shape, which is fitted over an outer periphery of the input member.
According to another embodiment of the present invention, further comprising a dual encoder mechanism including a first component for detecting a rotational angle of the main transmission shaft and a second component for detecting a rotational angle of the output member;
the first assembly comprises a large encoder magnetic ring and a first connecting piece, and the large encoder magnetic ring is arranged on the main transmission shaft through the first connecting piece and rotates synchronously with the main transmission shaft;
the second assembly comprises a small encoder magnetic ring and a second connecting piece, and the small encoder magnetic ring is arranged on the output member through the second connecting piece and rotates synchronously with the output member.
According to another embodiment of the invention, the second assembly comprises a bracket for connection, the frameless torque motor, the main transmission shaft, the harmonic reducer, the connecting flange and the input member are all hollow structures to form a channel, the bracket penetrates through the channel, and the large encoder magnetic ring, the first connecting piece, the small encoder magnetic ring and the second connecting piece are all located at one end close to the frameless torque motor.
Wherein the two ends of the bracket are respectively connected with the second connecting piece and the output member.
According to another embodiment of the invention, the bracket is provided with a hole for passing through the electric wire.
According to another specific embodiment of the present invention, the dual encoder mechanism further comprises a PCB board for data processing, and the rotation angle of the small encoder magnetic ring and the rotation angle of the large encoder magnetic ring are respectively obtained through the PCB board;
wherein, the rotation angle of the small encoder magnetic ring is the rotation angle output by the output component;
the rotating angle output by the output part of the harmonic reducer is obtained through calculation of the rotating angle of the large encoder magnetic ring and the reduction ratio of the harmonic reducer, and the rotating angle is the rotating angle input by the input component;
the compression amount of the spring is calculated through the rotation angle output by the output member and the rotation angle input by the main transmission shaft, and then the torque borne by the output member is obtained, namely the torque borne by the flexible joint.
The invention has the following beneficial effects:
the output mechanism adopted by the invention is a flexible output mechanism, wherein the output mechanism realizes flexibility while transmitting torque through a uniquely designed spring structure, so that the output mechanism has good flexibility and simultaneously has output transmission of large torque.
In addition, the invention adopts a hollow structure convenient for wiring, so that the electric wire can conveniently pass through the joint, the joint is more attractive, and meanwhile, the double-encoder structure for detecting the rotation angle is simultaneously arranged at one end of the joint, so that the whole structure is more compact, and the integrated design of robot shutdown is facilitated.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall construction of a flexible joint of the present invention;
FIG. 2 is a schematic front view of FIG. 1;
FIG. 3 is an exploded schematic view of FIG. 1;
FIG. 4 is a schematic partial cross-sectional view of FIG. 1;
FIG. 5 is a schematic structural view of an output mechanism in the flexible joint of the present invention;
FIG. 6 is a schematic cross-sectional view of FIG. 5;
FIG. 7 is a schematic view of the input member of the output mechanism of the present invention;
FIG. 8 is a schematic view of the output member of the output mechanism of the present invention;
FIG. 9 is a cross-sectional schematic view of a cross roller bearing assembly in the output mechanism of the present invention;
FIG. 10 is a schematic front view of a dual encoder mechanism of the present invention;
FIG. 11 is a schematic partial cross-sectional view of a dual encoder mechanism of the present invention;
FIG. 12 is a partial schematic view of the mating of the large encoder magnetic ring and the first connector of the first assembly of the present invention;
FIG. 13 is a schematic structural view of the main transfer shaft of the present invention;
FIG. 14 is a partial schematic view of the mating of the small encoder magnetic ring and the second connector in the second assembly of the present invention;
FIG. 15 is a schematic view of the structure of the bracket in the second assembly of the present invention;
FIG. 16 is a schematic diagram illustrating the calculation principle of the joint moment according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
An integrated flexible joint for a robot, as shown in fig. 1-15, comprises an outer shell 100, an input mechanism 200 and an output mechanism 300, wherein the outer shell 100 is cylindrical, and the input mechanism 200 is arranged in the outer shell 100.
The input mechanism 200 includes a main transmission shaft 210, a frameless torque motor 220, a harmonic reducer 230, and a connection flange 240, wherein a stator of the frameless torque motor 220 is disposed on the outer housing 100, the main transmission shaft 210 is disposed in a rotor of the frameless torque motor 220, an input portion of the harmonic reducer 230 is connected to the main transmission shaft 210, and the connection flange 240 is disposed at an output portion of the harmonic reducer 230;
the output mechanism 300 includes an input member 310, an output member 320, a support rod 330, a spring 340 and a connecting seat 350, wherein the input member 310 is connected to the connecting flange 240, the output member 320 is disposed on the outer casing 100 through a cross roller bearing 400 and can rotate relative to the outer casing 100, the connecting seat 350 is disposed on the output member 320, one end of the support rod 330 is supported on the connecting seat 350, the other end of the support rod 330 is suspended, the spring 340 is sleeved on the support rod 330, two ends of the spring 340 respectively abut against the connecting seat 350 and the input member 310, and the rotating input member 310 can transmit torque to the output member 320 through the spring 340.
Specifically, the cross roller bearing 400 has a bearing outer race 410 and a bearing inner race 420;
the output mechanism 300 further comprises an outer pressing plate 360, an inner pressing plate 370, a bearing outer sleeve 380 and a bearing inner sleeve 390 for connection, the bearing outer sleeve 380 is fixedly connected with the outer shell 100 through bolts, the bearing outer ring 410 is nested in the bearing outer sleeve 380 and limited through the outer pressing plate 360, the bearing inner sleeve 390 is nested in the bearing inner ring 420 and limited cooperatively through a shaft shoulder of the bearing inner sleeve 390 and the inner pressing plate 370;
wherein the output member 320 is bolted to the bearing inner case 390.
More specifically, the input member 310 includes a main body 311 having a disk shape, three connecting lugs 312 located on the circumference of the main body 311, the three connecting lugs 312 are distributed in a central symmetrical manner, and the main body 311 is connected to the connecting flange 240 and can rotate under the driving of the input mechanism 200.
Wherein each of the coupling seats 350 is provided with a groove 351, and one end of the holder bar 330 is threadedly disposed in the groove 351.
As shown in fig. 5, the three connecting ears 312 and the three connecting seats 350 are alternately distributed to form six sets of flexible structures, wherein abutting end surfaces are provided at the connecting ears 312 and the connecting seats 350, two ends of the spring 340 abut against the two abutting end surfaces respectively, and the spring 340 can be compressed when the main body 311 rotates.
Further, in this embodiment, the connecting seat 350 is provided with two grooves 351, the grooves 351 are linearly distributed along the rotation center of the output member 320, each groove 351 is provided with a support rod 330, each support rod 330 is provided with a spring 340, and a stacked combined flexible structure is formed, as shown in fig. 6, six groups of flexible structures located on the same layer are symmetrically distributed, the distribution of the flexible structures can improve the maximum bearing torque of the robot joint, and the number of the main bodies 311 stacked in a stacked manner can be increased or decreased according to requirements, so as to adjust the maximum bearing torque.
As shown in fig. 7, in order to further simplify the structure, the output member 320 has a cylindrical shape and can be fitted over the outer circumference of the input member 310.
The present embodiment further includes a dual encoder mechanism 500, as shown in fig. 10 to 15, the dual encoder mechanism 500 includes a first component 510 for detecting a rotation angle of the main transmission shaft 210, a second component 520 for detecting a rotation angle of the output member 320, and a PCB board 530 for data processing;
the first assembly 510 comprises a large encoder magnetic ring 511 and a first connecting piece 512, the large encoder magnetic ring 511 is arranged on the main transmission shaft 210 through the first connecting piece 512 and rotates synchronously with the main transmission shaft 210, and a rotation angle output by the harmonic reducer (connecting flange), namely a rotation angle input by the input component, is calculated through a rotation angle of the large encoder magnetic ring and a reduction ratio of the harmonic reducer;
the second assembly 520 comprises a small encoder magnetic ring 521, a second connecting piece 522 and a connecting bracket 523, the bracket 523 is arranged on the output member 320 and rotates synchronously with the output member 320, the small encoder magnetic ring 521 is connected with the bracket 523 through the second connecting piece 522 and rotates synchronously, and a hole 524 for passing an electric wire is formed in the bracket 523.
The frameless torque motor 220, the main transmission shaft 210, the harmonic reducer 230, the connecting flange 240 and the input member 310 are all hollow structures to form a channel, the bracket 523 penetrates through the channel, and the large encoder magnetic ring 511, the first connecting piece 512, the small encoder magnetic ring 521 and the second connecting piece 522 are all located at one end close to the frameless torque motor 220.
In the embodiment, the frameless torque motor 220 in the input mechanism 200 drives the main transmission shaft 210 to rotate, the motion is sequentially transmitted to the connecting flange 240 and the input member 310 through the harmonic reducer 230, the torque of the input member 310 is transmitted to the output member 320 through the spring 340, and the external member connected with the output member 320 is driven to rotate.
In the motion transmission process, the rotation angle of the small encoder magnetic ring 521 and the rotation angle of the large encoder magnetic ring 511 are respectively obtained through the PCB 530;
wherein, the rotation angle of the small encoder magnetic ring 521 is the rotation angle output by the output member 320;
wherein the rotation angle output by the harmonic reducer (connecting flange), namely the rotation angle input by the input member, is calculated through the rotation angle of the large encoder magnetic ring 511 and the reduction ratio of the harmonic reducer 230;
the compression amount of the spring 340 is calculated by the rotation angle output by the output member 320 and the rotation angle input by the main transmission shaft 210, and then the magnitude of the moment borne by the output member 320, that is, the magnitude of the moment borne by the flexible joint is obtained.
As shown in fig. 16, the joint moment calculation principle in the present embodiment is:
when the joint is not subjected to external moment, the spring has certain precompression amount, and the precompression amount ensures that when the maximum moment is applied to the flexible joint, the end face of the spring is still abutted against the abutting end faces of the connecting lug 312 and the connecting seats 350, so that the total moment applied to each connecting seat 350 is equivalent to the moment applied by the spring with the stiffness coefficient 2 times.
When the flexible joint is subjected to moment, the stiffness of a single spring is k, the relative rotation angle between the input member 310 and the output member 320 is expressed as phi, the total number of the springs is N, r is the radius of the stress point of the connecting lug part 312 and the connecting seat 350,
the amount of spring compression is expressed approximately as:
the elastic moment that whole elasticity module can produce is: t ═ rNkx.
The embodiment can simultaneously meet the requirements of large torque output, better compliance performance and a hollow wiring structure, and is favorable for the integrated design of the robot joint.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. An integrated flexible joint for a robot, comprising:
an outer housing;
the input mechanism comprises a main transmission shaft, a frameless torque motor, a harmonic reducer and a connecting flange, wherein a stator of the frameless torque motor is arranged on the outer shell, the main transmission shaft is arranged in a rotor of the frameless torque motor, an input part of the harmonic reducer is connected with the main transmission shaft, and the connecting flange is arranged at an output part of the harmonic reducer;
the output mechanism comprises an input component, an output component, a support rod, a spring and a connecting seat, wherein the input component is connected to the connecting flange, the output component is arranged on the outer shell through a crossed roller bearing, the connecting seat is arranged on the output component, one end of the support rod is supported on the connecting seat, the spring is sleeved on the support rod, two ends of the spring are respectively abutted to the connecting seat and the input component, and the rotating input component can transmit torque to the output component through the spring.
2. The integrated flexible joint for a robot according to claim 1, wherein the input member comprises a disk-shaped main body connected to the connecting flange, at least one connecting lug located on a circumference of the main body, one end of the support rod is threadedly disposed on the connecting seat, and the other end of the support rod is suspended and located between the connecting seat and the connecting lug.
3. The integrated flexible joint for a robot according to claim 2, wherein the connecting ear and the connecting seat are each provided with an abutting end surface, and both ends of the spring abut against the two abutting end surfaces, respectively, and the spring can be compressed when the main body rotates.
4. The integrated flexible joint for a robot according to claim 2, wherein the connecting seat is provided with a plurality of grooves linearly distributed along a center of rotation of the output member, each of the grooves is provided with the support rod, and each of the support rods is provided with the spring.
5. The integrated flexible joint for a robot according to claim 2, wherein the output member has a cylindrical shape which is fitted over an outer periphery of the input member.
6. The integrated flexible joint for a robot according to claim 1, further comprising a dual encoder mechanism including a first component for detecting a rotation angle of the main transmission shaft and a second component for detecting a rotation angle of the output member;
the first assembly comprises a large encoder magnetic ring and a first connecting piece, and the large encoder magnetic ring is arranged on the main transmission shaft through the first connecting piece and rotates synchronously with the main transmission shaft;
the second assembly comprises a small encoder magnetic ring and a second connecting piece, and the small encoder magnetic ring is arranged on the output member through the second connecting piece and rotates synchronously with the output member.
7. The integrated flexible joint for a robot of claim 6, wherein the second assembly includes a bracket for connection, the frameless torque motor, the main transfer shaft, the harmonic reducer, the connecting flange and the input member are all hollow structures to form a channel through which the bracket passes, and the large encoder magnetic ring, the first connector, the small encoder magnetic ring and the second connector are all located near one end of the frameless torque motor.
8. The integrated flexible joint for a robot according to claim 7, wherein the bracket is provided with a hole for passing an electric wire therethrough.
9. The integrated flexible joint for a robot as claimed in claim 6, wherein the dual encoder mechanism further comprises a PCB board for data processing, by which a rotation angle of the small encoder magnetic ring and a rotation angle of the large encoder magnetic ring are respectively acquired;
the rotation angle of the small encoder magnetic ring is the rotation angle output by the output component;
the rotating angle output by the output part of the harmonic reducer is obtained through calculation of the rotating angle of the large encoder magnetic ring and the reduction ratio of the harmonic reducer, and the rotating angle is the rotating angle input by the input component;
the compression amount of the spring is calculated through the rotation angle output by the output member and the rotation angle input by the main transmission shaft, and the torque borne by the output member, namely the torque borne by the flexible joint, is further obtained.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293479.2A CN113070901A (en) | 2021-03-18 | 2021-03-18 | Integrated flexible joint for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293479.2A CN113070901A (en) | 2021-03-18 | 2021-03-18 | Integrated flexible joint for robot |
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| CN113070901A true CN113070901A (en) | 2021-07-06 |
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| CN202110293479.2A Pending CN113070901A (en) | 2021-03-18 | 2021-03-18 | Integrated flexible joint for robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113649998A (en) * | 2021-08-26 | 2021-11-16 | 武汉大学深圳研究院 | Series elastic driver suitable for flexible exoskeleton robot |
| CN114043523A (en) * | 2021-12-28 | 2022-02-15 | 哈尔滨工业大学 | Modular robot joint |
| CN117927634A (en) * | 2024-01-23 | 2024-04-26 | 天津朗道自动化技术有限公司 | Series elastic actuator |
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| CN117927634A (en) * | 2024-01-23 | 2024-04-26 | 天津朗道自动化技术有限公司 | Series elastic actuator |
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Application publication date: 20210706 |
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| RJ01 | Rejection of invention patent application after publication |