CN113414785A

CN113414785A - Electromechanical integrated intelligent robot joint module

Info

Publication number: CN113414785A
Application number: CN202110748602.5A
Authority: CN
Inventors: 张靖; 彭学举; 王永波; 谢发祥
Original assignee: Zhejiang Qiantang Robot And Intelligent Equipment Research Co ltd; Zhejiang Environmental Robot Joint Technology Co Ltd
Current assignee: Zhejiang Huandong Robot Joint Technology Co ltd
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2021-09-21
Anticipated expiration: 2041-07-02
Also published as: CN113414785B

Abstract

The invention provides an electromechanical integrated intelligent robot joint module which comprises a joint output shaft, a joint output flange, a joint input shaft, a harmonic reducer, a joint shell, a joint motor, a motor rotor/stator compression ring, a bearing seat, a joint shell end cover, a hollow threaded part, a brake assembly, a driver, an inner ring encoder, an outer ring encoder and an encoder shaft. According to the electromechanical integrated intelligent robot joint module, the joint output shaft serves as an integrated shaft of the harmonic reducer camshaft and the motor shaft, the structure of the joint output shaft is optimized, the joint shell with the multi-stage inner stepped through hole structure is made of light-weight aluminum alloy materials, the quality of the joint module is reduced, positioning and heat dissipation of more parts on the shaft are achieved, and the joint module is compact in structure, easy to machine parts and high in integration degree through the design of the encoder shaft; can realize the quick replacement of robot trouble joint through modular joint module, improve the robot work efficiency.

Description

Electromechanical integrated intelligent robot joint module

Technical Field

The invention relates to an integrated and modularized robot joint, in particular to an electromechanical integrated intelligent robot joint module, and belongs to the field of intelligent cooperative robots.

Background

With the change of the new industrial technology, the development of high-end intelligent equipment and intelligent robots is the most important in the field of intelligent manufacturing, and therefore, the research and development work on the mechatronic joint module is certainly the first time. Nowadays, the intelligent cooperative robot becomes the most active research direction in the robot research field, integrates a large amount of advanced technologies and relates to a lot of professional and subject knowledge; system knowledge such as mechanical, electronic, intelligent control algorithms, etc. is widely used in this field. All walks of life have proposed higher requirement to its product production quality and production efficiency, and a large amount of manual work posts will be replaced by professional intelligent cooperation robot, and the joint module plays crucial effect to the performance of robot as the core unit that constitutes intelligent cooperation robot. Therefore, the high-performance joint module has the advantages of light volume and weight, high safety coefficient, convenience in operation and maintenance, low price and the like; these are also problems that need to be solved in modular joint modules.

Disclosure of Invention

In view of the above background, an object of the present invention is to provide a lightweight mechatronic intelligent robot joint module

In order to achieve the above purpose, the invention provides the following technical scheme:

an electromechanical integrated intelligent robot joint module comprises a joint output shaft, a joint output flange, a joint input shaft, a harmonic reducer, a joint shell, a joint motor, a brake assembly, a driver, an inner ring encoder, an outer ring encoder and an encoder shaft;

the joint shell is cylindrical and internally provided with a multi-stage step through hole; the joint input shaft and the joint output shaft are coaxially arranged in the joint shell, and the joint input shaft is sleeved at the front position of the joint output shaft; the front end of the joint output shaft is provided with a joint output flange, the joint output flange and the joint input shaft are fixed through a limiting step, and the joint output flange rotates along with the joint output shaft; a first bearing is arranged between the joint output flange and the joint input shaft;

the harmonic reducer, the joint motor and the encoder shaft are sequentially arranged on the joint input shaft from the front end to the rear end; the outer ring encoder is arranged on the joint input shaft through an encoder shaft, and the inner ring encoder is arranged on the joint output shaft; the rear end of the joint shell is provided with a joint shell end cover;

the rear position department of joint output shaft be equipped with driver and braking component, the driver install the afterbody at the joint output shaft through the second bearing, braking component connects on the driver through hollow screw spare, leaves the clearance between braking end and the encoder axle of braking component, after starting the braking, braking component's braking end butt encoder axle realizes the braking.

Preferably, the joint output shaft and the joint input shaft are of hollow structures, the rear end of the joint output shaft extends out of the joint shell and is connected with the driver through an external driver end cover, and the driver, the brake assembly and the second bearing are fixed.

Preferably, a through hole for weight reduction and routing is formed in the joint shell, and a gap is reserved between a step at the front end of the joint shell and the harmonic reducer, so that a radial uniform relative air gap is kept when a stator and a rotor of the joint motor are installed.

Preferably, the stator and the rotor in the joint motor are respectively fixed in the joint shell and on the joint input shaft by fixing glue, and then are respectively secondarily fixed by a motor stator compression ring and a motor rotor compression ring.

Preferably, the two axial sides of the brake assembly are respectively axially positioned by a hollow threaded piece and a driver end cover.

Preferably, the driver is fixed inside the joint housing through a driver mounting plate and used for driving the joint motor.

Preferably, the encoder shaft is of a hollow structure and comprises a first annular body and a second annular body which are coaxial, and the inner diameter of the second annular body is larger than that of the first annular body;

the first annular bulge is arranged on the outer annular plane of the first annular body, and forms a first step with the outer annular plane of the first annular body, and the first step is abutted against the rear end of the joint input shaft and is connected with the joint input shaft; a second annular bulge is arranged on the outer annular plane of the second annular body, a second step is formed by the second annular bulge and the outer annular plane of the second annular body, and the outer ring encoder is fixed at the second step through fixing glue; and a third annular bulge is arranged on the outer circular surface of the second annular body, and the third annular bulge is matched with the braking end of the braking assembly to realize the braking of the joint module under the action of the third annular bulge.

Preferably, the outer wall of the encoder shaft is provided with a third bearing, and the third bearing is fixed through a bearing seat.

Preferably, the relative axial distance between the outer ring encoder and the inner ring encoder and the driver is adjusted through a driver mounting plate.

Preferably, the strain gauge is further included, and the strain gauge is fixed on a flexible gear of the harmonic reducer and is wired through a through hole in the joint shell.

The invention comprehensively considers the technical parameters needed by the joint module in the field of cooperative robots, and compared with the prior art, the invention has the following beneficial effects:

(1) the joint output shaft is used as an integral shaft of the camshaft and the motor shaft of the harmonic reducer, and the structure of the joint output shaft is optimized.

(2) The joint shell is designed into a structure with multi-stage inner stepped through holes, is made of light-weight aluminum alloy materials, and is provided with more through holes, so that the quality of a joint module is greatly reduced, the shell structure can be used for realizing the positioning of more parts on a shaft, and the installation of parts close to the shell to directly conduct and dissipate heat (such as a joint motor, a driver and the like) can be realized, and the wiring can be realized through the through holes in the joint shell; in addition, the joint input shaft and the joint output shaft both adopt hollow structures, so that the joint wiring is simpler and more convenient.

(3) The invention creatively designs the structure of the encoder shaft, the connection with the joint input shaft is realized through the bulge part at the front end, and the bulge part at the rear end realizes the installation of the outer ring encoder and the matching braking with the brake component; the functions of the outer encoder, the joint brake structure (brake component) and the like are integrated on the encoder shaft, so that the number of joint module parts is reduced; moreover, the structures of all parts in the joint module are simple, and the processing is convenient; and by adopting a modular joint design, the joint of the cooperative robot can be replaced more quickly, conveniently and simply.

Drawings

FIG. 1 is a schematic structural diagram of an electromechanical integrated joint module for an intelligent cooperative robot according to the present invention;

FIG. 2 is a cross-sectional view of a joint housing of the mechatronic joint module of the present invention;

FIG. 3 is an isometric view of an encoder shaft of the mechatronic joint module of the present invention;

in the above figures: 1. a joint output shaft; 2. a joint output flange; 3. a joint input shaft; 4. a harmonic reducer; 5. a flexible gear end cover of the harmonic reducer; 6. a joint housing; 7. a joint motor; 8. a motor stator compression ring; 9. a hexagonal copper cylinder; 10. a bearing seat; 11. a driver mounting plate; 12. a hollow threaded member; 13. a joint housing end cap; 14. a brake assembly; 15. a driver end cap; 16. a driver; 17. an inner ring encoder; 18. an outer loop encoder; 19. an encoder shaft; 20. a motor rotor compression ring; 21. a strain gauge.

Detailed Description

In order to make the technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to specific embodiments.

The terms "connected," "connected," and "disposed" used in the description of the present invention should be interpreted broadly, and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through intermediate components; the specific meaning of the above terms can be understood by those of ordinary skill in the art as appropriate.

Referring to the attached drawing 1, the embodiment provides a specific structure diagram of an electromechanical integrated intelligent robot joint module, which includes a joint output shaft 1, a joint output flange 2, a joint input shaft 3, a harmonic reducer 4, a harmonic reducer flexible gear end cover 5, a joint housing 6, a joint motor 7, a motor stator compression ring 8, a hexagonal copper cylinder 9, a bearing seat 10, a driver mounting plate 11, a hollow threaded part 12, a joint housing end cover 13, a brake assembly 14, a driver end cover 15, a driver 16, an inner ring encoder 17, an outer ring encoder 18, an encoder shaft 19, a motor rotor compression ring 20, and a strain gauge 21;

as shown in fig. 2, the joint housing 6 is cylindrical and has a multi-step through hole therein; the joint input shaft 3 and the joint output shaft 1 are coaxially arranged in the joint shell 6, and the joint input shaft 3 is sleeved at the front position of the joint output shaft 1; the front end of the joint output shaft 1 is provided with a joint output flange 2, the joint output flange 2 and the joint input shaft 3 are fixed through a limiting ladder, and the joint output flange 2 rotates along with the joint output shaft 1; a first bearing is arranged between the joint output flange 2 and the joint input shaft 3;

in this embodiment, the joint housing 6 is made of a light-weight aluminum alloy material, and has a plurality of through holes therein, so that the weight of the joint can be reduced and the wiring is facilitated, and the joint housing is provided with radial holes for connecting with the joint housing end cover 13.

The harmonic reducer 4, the joint motor 7 and the encoder shaft 19 are sequentially arranged on the joint input shaft 3 from the front end to the rear end; the outer ring encoder 18 is arranged on the joint input shaft 3 through an encoder shaft 19, and the inner ring encoder 17 is arranged on the joint output shaft 1; the joint housing 6 is provided at its rear end with a joint housing end cap 13.

The rear part of the joint output shaft 1 is provided with a driver 16 and a brake assembly 14, the driver 16 is mounted at the tail part of the joint output shaft 1 through a second bearing, the brake assembly 14 is connected to the driver 16 through a hollow threaded part 12, a gap is reserved between the brake end of the brake assembly 14 and an encoder shaft 19, and after the brake is started, the brake end of the brake assembly 14 is abutted against the encoder shaft 19 to realize the brake.

In this embodiment, the driver 16 is fixed inside the joint housing 6 through the driver mounting plate 11, and is used for driving the joint motor 7 to move, and the power of the joint motor 7 drives the joint output shaft 1 through the output end of the harmonic reducer 4; the joint output flange 2 is fixed on the end face of the joint output shaft 1, and the joint output flange 2 moves along with the joint output shaft 1 simultaneously.

The inner ring encoder 17 is arranged on the joint output shaft 1 and used for detecting the position and the speed of the joint output shaft 1; the outer ring encoder 18 is mounted on the joint input shaft 3 through an encoder shaft 19, and the axial and radial positions are fixed through the encoder shaft 19 for detecting the position of the joint motor 7. The relative axial distance of the outer ring encoder 18 and the inner ring encoder 17 from the driver 16 is adjusted by the driver mounting plate 11.

The embodiment provides a specific implementation manner of the encoder shaft 19: the encoder shaft 19 described with reference to fig. 3 is a hollow structure with a convex portion, and specifically includes a first circular ring body and a second circular ring body which are coaxial, and the inner diameter of the second circular ring body is greater than the inner diameter of the first circular ring body; a first annular bulge is arranged on the outer annular plane of the first annular body, and forms a first step with the outer annular plane of the first annular body, and the first step is abutted against the rear end of the joint input shaft 3 and is connected with the joint input shaft 3; a second annular bulge is arranged on the outer annular plane of the second annular body, a second step is formed by the second annular bulge and the outer annular plane of the second annular body, and the outer ring encoder 18 is fixed at the second step through fixing glue; and a third circular ring bulge is arranged on the outer circular surface of the second circular ring body, and the third circular ring bulge is matched with the braking end of the braking component 14 to realize braking under the action of the third circular ring bulge. In one embodiment, the outer wall of the encoder shaft 19 is provided with a third bearing (deep groove ball bearing) for supporting, said third bearing being fixed by the bearing seat 10.

In this embodiment, the joint output shaft 1 and the joint input shaft 3 have a hollow structure, so that the joint can be conveniently wired, and the joint input shaft 1 passes through the joint output shaft 3 and is connected to the joint output flange 2; the rear end of the joint output shaft 1 extends out of the joint shell 6 and is connected with a driver 16 through an external driver end cover 15, so that the driver 16, the brake assembly 14 and the second bearing are fixed.

The harmonic gear reducer is a new type transmission structure in the gear reducer, it utilizes the flexible gear to produce controllable elastic deformation wave to cause the relative staggered teeth between the teeth of rigid gear and flexible gear to transfer power and movement. The joint input shaft 3 processes a camshaft part of the harmonic reducer 4 and a shaft of the joint motor 7 into an integral shaft, and the harmonic reducer 4 and the joint motor 7 are arranged on the joint input shaft 3; the strain gauge 21 is fixed on a flexible gear of the harmonic reducer, and the strain gauge 21 is wired through a through hole in the joint shell 6.

The joint motor 7 is respectively fixed on the joint shell 6 and the joint input shaft 3 by fixing glue, and finally is further fixed by a motor stator pressure ring 8 and a motor rotor pressure ring 9, and the joint motor is limited by the joint shell 6 in the radial direction.

The two sides of the brake component 14 along the axial direction are respectively positioned axially through the hollow external thread component 12 and the driver end cover 15. The lower portion of the brake assembly 14 is mounted in the internal thread of the hollow screw member 12, and the external thread of the hollow screw member 12 is coupled in the mounting hole of the driver 16, thereby achieving the fixing of the brake assembly.

The joint module of the present invention may be provided with bearing parts and bearing seats thereof not limited to those shown in fig. 1, and the bearings may be deep groove ball bearings, tapered roller bearings, etc., according to the common general knowledge of those skilled in the art.

When the intelligent robot joint module works, the joint motor 7 is controlled to work through the driver 16, and the power of the joint motor 7 drives the joint output shaft 1 through the harmonic reducer 4; during braking, the brake assembly is activated and the braking end is braked by the protruding portion of the encoder shaft 19.

The foregoing is a more detailed description of the invention that is presented in connection with specific embodiments, and the practice of the invention is not intended to be limited to these descriptions. Any simple modification, improvement, equivalent replacement and other obvious changes based on the technical scheme of the invention should be considered to be within the protection scope of the invention for the ordinary skilled in the technical field of the invention without departing from the concept of the invention.

Claims

1. An electromechanical integrated intelligent robot joint module is characterized by comprising a joint output shaft (1), a joint output flange (2), a joint input shaft (3), a harmonic reducer (4), a joint shell (6), a joint motor (7), a brake component (14), a driver (16), an inner ring encoder (17), an outer ring encoder (18) and an encoder shaft (19);

the joint shell (6) is cylindrical and internally provided with a multi-stage step through hole; the joint input shaft (3) and the joint output shaft (1) are coaxially arranged in the joint shell (6), and the joint input shaft (3) is sleeved at the front position of the joint output shaft (1); the front end of the joint output shaft (1) is provided with a joint output flange (2), the joint output flange (2) is fixed with the joint input shaft (3) through a limiting step, and the joint output flange (2) rotates along with the joint output shaft (1); a first bearing is arranged between the joint output flange (2) and the joint input shaft (3);

the harmonic reducer (4), the joint motor (7) and the encoder shaft (19) are sequentially arranged on the joint input shaft (3) from the front end to the rear end; the outer ring encoder (18) is arranged on the joint input shaft (3) through an encoder shaft (19), and the inner ring encoder (17) is arranged on the joint output shaft (1); the rear end of the joint shell (6) is provided with a joint shell end cover (13);

the brake device is characterized in that a driver (16) and a brake assembly (14) are arranged at the rear part of the joint output shaft (1), the driver (16) is installed at the tail part of the joint output shaft (1) through a second bearing, the brake assembly (14) is connected to the driver (16) through a hollow threaded part (12), a gap is reserved between the brake end of the brake assembly (14) and the encoder shaft (19), and after the brake is started, the brake end of the brake assembly (14) is abutted to the encoder shaft (19) to realize the brake.

2. The mechatronic intelligent robot joint module of claim 1, characterized in that, the joint output shaft (1) and the joint input shaft (3) have hollow structures, the rear end of the joint output shaft (1) extends out of the joint housing (6), and is connected with the driver (16) through an external driver end cover (15), so as to realize the fixation of the driver (16), the brake component (14) and the second bearing.

3. The mechatronic intelligent robot joint module of claim 1, characterized in that the joint housing (6) is internally provided with through holes for weight reduction and routing, and a gap is left between a step at the front end of the joint housing (6) and the harmonic reducer so as to maintain a radially uniform relative air gap when a stator and a rotor of the joint motor (7) are installed.

4. The joint module of the mechatronic intelligent robot of claim 1, wherein the stator and the rotor of the joint motor (7) are fixed in the joint housing (6) and on the joint input shaft (3) by fixing glue respectively, and then are secondarily fixed by a motor stator compression ring (8) and a motor rotor compression ring (9) respectively.

5. The mechatronic intelligent robot joint module of claim 1, wherein the two axial sides of the brake assembly (14) are axially positioned by a hollow screw (12) and a driver end cover (15).

6. The mechatronic intelligent robot joint module of claim 1, characterized in that the driver (16) is fixed inside the joint housing (6) through a driver mounting plate (11) for driving the joint motor (7).

7. The mechatronic intelligent robot joint module of claim 1, wherein the encoder shaft (19) is a hollow structure and comprises a first circular ring body and a second circular ring body which are coaxial, and the inner diameter of the second circular ring body is larger than that of the first circular ring body;

a first annular bulge is arranged on the outer annular plane of the first annular body, and forms a first step with the outer annular plane of the first annular body, and the first step is abutted against the rear end of the joint input shaft (3) and is connected with the joint input shaft (3); a second annular bulge is arranged on the outer annular plane of the second annular body, a second step is formed by the second annular bulge and the outer annular plane of the second annular body, and the outer ring encoder (18) is fixed at the second step through fixing glue; and a third circular ring bulge is arranged on the outer circular surface of the second circular ring body, and the third circular ring bulge is matched with the braking end of the braking assembly (14) to realize the braking of the joint module under the action of the third circular ring bulge.

8. The mechatronic intelligent robot joint module of claim 7, characterized in that the outer wall of the encoder shaft (19) is provided with a third bearing, and the third bearing is fixed by a bearing seat (10).

9. The mechatronic intelligent robot joint module of claim 7, characterized in that the relative axial distance between the outer ring encoder (18) and the inner ring encoder (17) and the driver (16) is adjusted by the driver mounting plate (11).

10. The mechatronic intelligent robot joint module of claim 1, characterized in that, further comprises a strain gauge (21), the strain gauge (21) is fixed on a flexspline of the harmonic reducer (4) and is routed through a through hole in the joint housing (6).