CN113829383B - Driving joint - Google Patents
Driving joint Download PDFInfo
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- CN113829383B CN113829383B CN202111260182.2A CN202111260182A CN113829383B CN 113829383 B CN113829383 B CN 113829383B CN 202111260182 A CN202111260182 A CN 202111260182A CN 113829383 B CN113829383 B CN 113829383B
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- wave generator
- tooth
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- 238000005259 measurement Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Retarders (AREA)
Abstract
The invention discloses a driving joint, which is characterized in that a shell with an opening is arranged, a speed reduction part comprising a wave generator, a movable gear ring and a roller ring is arranged in the shell, wherein the movable gear ring and the roller ring are in tooth difference transmission, when the wave generator rotates, the inner side of the movable gear ring is extruded at the wave head, the outer side of the movable gear ring is extruded by the inner tooth surface of the roller ring, and the movable gear ring is pushed to rotate along the circumferential direction due to the action of tooth difference. A rotor is arranged at the input end of the wave generator, and a torque detection part is arranged on the movable gear ring; the stator and the control part are arranged in the accommodating space formed by the shell and the speed reducing part, and the control part receives the moment information of the moment detection part and controls the stator to realize the control of the output moment; all parts are integrated in the shell, and the type of the speed reducing part is a roller oscillating tooth speed reducer, so that the structure is compact, and the problem that the existing joint structure is not compact is solved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a driving joint.
Background
The key parts of the robot mainly comprise a speed reducer, a motor and a driver, and occupy more than 70% of the manufacturing cost of a single robot. At present, in commercial robot products, such as industrial mechanical arms, mobile robots, service robots and the like, most of speed reducers, motors and drivers are separation parts, so that the problems of complex structure, large volume and weight, large connecting gap and the like are caused. Therefore, the integrated joint and the distributed control system are an important development direction of the robot core component, and are widely used in the fields of exoskeleton robots, mobile robot dogs, cooperative robots, and the like. However, most of the current products are simply integrated with a motor and a speed reducer, and lack of compact design, and often the driver is still in a separated state, so that compact driving joints become the development trend of robot hardware. In addition, the robot operation requires supply of electricity, gas, liquid, and the like.
In addition, the speed reducer used in the robot industry mainly comprises a harmonic speed reducer and an RV speed reducer, the harmonic speed reducer is compact in structure and light in weight, but tooth difference engagement is realized by elastic deformation of a flexible gear, and the speed reducer is not suitable for heavy-load occasions, and after long-time operation, the phenomena of material fatigue, reliability reduction, large transmission error and the like are easy to occur; the RV reducer has high bearing capacity, but has complex structure and heavy weight, is generally applied to root joints of industrial mechanical arms, and has less application in moving and service robots.
Disclosure of Invention
The invention aims to solve the technical problem of providing a driving joint so as to solve the problem of the existing joint that the structure is not compact.
In order to solve the problems, the technical scheme of the invention is as follows:
the present invention provides a driving joint comprising:
A shell, wherein an opening is formed in one side of the shell;
The speed reducing part is arranged at the opening and is matched with the inner cavity of the shell to form a containing space; the speed reducing part comprises a wave generator, a movable gear ring and a roller ring which are coaxially and rotationally connected in sequence from inside to outside; the roller ring is arranged at the opening, the output end of the movable gear ring faces to the opening, and the input end of the wave generator stretches into the accommodating space; the inner tooth surface of the roller ring is matched with the outer tooth surface of the movable gear ring to form tooth difference transmission;
a rotor provided at an input end of the wave generator;
The stator is arranged in the accommodating space and corresponds to the rotor;
a torque detection part arranged on the movable gear ring;
and the control part is arranged in the accommodating space, is electrically connected with the stator and is in signal connection with the moment detection part.
The driving joint is characterized in that a plurality of movable tooth through grooves are formed in the movable gear ring, and movable teeth are connected in the movable tooth through grooves in a sliding mode along the radial direction; the movable teeth are matched with the outer surface of the movable gear ring to form the outer tooth surface towards one end of the roller ring, and one end of the movable teeth towards the wave generator is used for being in contact with the wave generator.
In the driving joint, a plurality of comb teeth are uniformly distributed on the movable gear ring;
the comb also comprises an input end cover and an output end cover which are covered on two sides of the comb teeth;
The adjacent comb teeth are matched with the input end cover and the output end cover to form the movable tooth through groove.
The driving joint of the invention is characterized in that a plurality of roller through cavities which are axially arranged are uniformly distributed on the inner surface of the roller ring; the roller through cavity is rotationally connected with a roller;
Wherein the rollers cooperate with an inner surface of the roller race to form an inner tooth surface of the roller race.
In the driving joint, the side surface of the movable gear ring in the axial direction is provided with a middle extension ring; the outer circular surface of the middle extension ring is coaxially and rotatably connected with the roller ring, and the inner circular surface of the middle extension ring is coaxially and rotatably connected with the wave generator.
According to the movable tooth roller reducer, the outer extension ring is arranged on the lateral surface of the roller ring in the axial direction, the inner circular surface of the outer extension ring and the outer circular surface of the middle extension ring are respectively provided with corresponding grooves, a first ball accommodating groove is formed, and a plurality of balls are accommodated in the first ball accommodating groove.
According to the movable tooth roller reducer, the inner extension ring is arranged on the side face of the wave generator in the axial direction, the outer circular face of the inner extension ring and the inner circular face of the middle extension ring are respectively provided with the corresponding grooves, and the second ball accommodating groove is formed and is internally provided with a plurality of balls.
The moment detection part comprises a plurality of strain structural bridges and a plurality of strain gauges; the strain structure bridges are uniformly distributed on the movable gear ring; the strain gauges are respectively arranged on the corresponding strain structure bridges and are in signal connection with the control part.
In the driving joint, the wave generator is provided with a hollow through groove, and the hollow through groove is coaxial with the rotation axis of the wave generator; the shell is provided with a hollow gap corresponding to the hollow through groove.
The driving joint comprises a shell body, a driving mechanism and a driving mechanism, wherein the shell body comprises a cylindrical shell and a bottom cover; the first end of the cylindrical shell is the opening; the bottom cover is arranged at the second end of the cylindrical shell.
By adopting the technical scheme, the invention has the following advantages and positive effects compared with the prior art:
According to the embodiment of the invention, the shell with the opening is arranged, the speed reduction part comprising the wave generator, the movable gear ring and the roller ring is arranged in the shell, wherein the movable gear ring and the roller ring are in tooth difference transmission, when the wave generator rotates, the inner side of the movable gear ring is extruded at the wave head, the outer side of the movable gear ring is extruded by the inner tooth surface of the roller ring, and the movable gear ring is pushed to rotate along the circumferential direction due to the tooth difference. A rotor is arranged at the input end of the wave generator, and a torque detection part is arranged on the movable gear ring; the stator and the control part are arranged in the accommodating space formed by the shell and the speed reducing part, and the control part receives the moment information of the moment detection part and controls the stator to realize the control of the output moment; all parts are integrated in the shell, and the type of the speed reducing part is a roller oscillating tooth speed reducer, so that the structure is compact, and the problem that the existing joint structure is not compact is solved.
Drawings
FIG. 1 is a schematic view of a drive joint of the present invention;
FIG. 2 is a cross-sectional view of a drive joint of the present invention;
FIG. 3 is a schematic view of a live ring gear of the drive joint of the present invention;
FIG. 4 is a schematic view of a reduction gear section of the drive joint of the present invention;
Fig. 5 is another schematic view of the driving joint of the present invention.
Reference numerals illustrate: 1: a speed reducing unit; 11: roller rings; 12: a movable gear ring; 121: comb teeth; 122: a strained structural bridge; 123: a strain gage; 13: a wave generator; 14: oscillating teeth; 15: a roller; 16: a ball; 17: an output end cap; 18: an input end cap; 2: a motor; 21: a stator; 22: a rotor; 23: a control unit; 3: a housing; 31: a cylindrical housing; 32: and (3) a bottom cover.
Detailed Description
A driving joint according to the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims.
Referring to fig. 1 to 5, in one embodiment, a driving joint includes a housing 3, a reduction gear portion 1, a rotor 22, a stator 21, a torque detection portion, and a control portion 23.
Wherein one side of the housing 3 is provided with an opening. The speed reducing part 1 is arranged at the opening and is matched with the inner cavity of the shell 3 to form a containing space. Wherein the speed reducing part 1 comprises a wave generator 13, a movable gear ring 12 and a roller ring 11 which are coaxially and rotationally connected in sequence from inside to outside. The roller ring 11 is installed at the opening, the output end of the movable gear ring 12 faces the opening, and the input end of the wave generator 13 extends into the accommodating space. The inner tooth surface of the roller ring 11 is matched with the outer tooth surface of the movable gear ring 12 to form tooth difference transmission, the movable gear ring 12 adopts a rigid structure, and the tooth difference number is equal to the wave head number of the wave generator 13.
The rotor 22 is provided at the input of the wave generator 13. The stator 21 is disposed in the accommodating space and corresponds to the rotor 22. The torque detection unit is provided on the ring gear 12 and detects torque information. The control part 23 is disposed in the accommodating space, electrically connected to the stator 21, and in signal connection with the torque detecting part, for receiving the torque information.
In the embodiment, by arranging the shell 3 with an opening, the speed reduction part 1 comprising the wave generator 13, the movable gear ring 12 and the roller ring 11 is arranged in the shell 3, wherein the movable gear ring 12 and the roller ring 11 are in tooth difference transmission, when the wave generator 13 rotates, the inner side of the movable teeth 14 of the movable gear ring 12 is extruded at the wave head, and the outer side of the movable teeth is extruded by the inner tooth surface of the roller ring 11, and the movable teeth 14 push the movable gear ring 12 to rotate along the circumferential direction due to the tooth difference. A rotor 22 is provided at the input end of the wave generator 13, and a torque detecting unit is provided on the ring gear 12. The stator 21 and the control unit 23 are provided in the space formed by the casing 3 and the reduction unit 1, and the control unit 23 receives torque information from the torque detection unit and controls the stator 21 to control the output torque. All parts are integrated in the shell 3, and the speed reducer 1 is a roller 15 oscillating tooth 14 speed reducer, so that the structure is compact, and the problem of the existing joint structure is solved.
The specific structure of the driving joint of this embodiment is further described below:
In this embodiment, the movable gear ring 12 is provided with a plurality of movable teeth 14 through slots arranged in a radial direction, and each movable tooth 14 through slot is connected with a movable tooth 14 in a sliding manner in the radial direction. The end of the movable tooth 14 facing the roller ring 11 cooperates with the outer surface of the movable ring gear 12 to form an outer tooth surface, and the end of the movable tooth 14 facing the wave generator 13 is adapted to contact the wave generator 13.
Wherein, the through slot of the movable teeth 14 can be formed by matching a plurality of comb teeth 121. Specifically, as follows, the movable gear ring 12 is uniformly provided with a plurality of comb teeth 121, and an input end cover 18 and an output end cover 17 which are covered on two sides of the comb teeth 121. The function of the input end cap 18 and the output end cap 17 is to limit the play of the movable teeth 14 in the axial direction of the movable ring gear 12. The adjacent comb teeth 121 are matched with the input end cover 18 and the output end cover 17 to form a through groove of the movable teeth 14, so that the tooth shape of the movable gear ring 12 is in the shape of the comb teeth 121 and is in a rigid structure, and two sides of the movable teeth 14 are attached to the side walls of the through groove of the movable teeth 14.
In this embodiment, a plurality of axially disposed roller 15 through cavities are uniformly distributed on the inner surface of the roller ring 11. Each roller 15 is rotatably connected with the roller 15 along the axial direction of the roller ring 11 in the through cavity. Wherein the rollers 15 cooperate with the inner surface of the roller ring 11 to form the inner toothed surface of the roller ring 11.
The operation of the reduction unit 1 is as follows: when the wave generator 13 rotates, the inner side of the movable tooth 14 at the wave crest is extruded by the wave generator 13 and the outer side of the movable tooth 14 at the wave crest is extruded by the roller 15 and pushed towards the wave generator 13, the outer side of the movable tooth 14 at the wave crest of the wave generator 13 is jacked between the rollers 15, the movable tooth 14 at the wave trough of the wave generator 13 is completely pushed away from the rollers 15, and the movable tooth 14 is in a transitional state between the two limit positions along the circumferential direction between the wave crest and the wave trough. When the wave generator 13 rotates, the interaction of the movable teeth 14 with the rollers 15 under the action of the differential teeth on the roller ring 11 and the movable tooth ring 12 causes the movable teeth 14 to move circumferentially, thereby pushing the movable tooth ring 12 to rotate.
In the present embodiment, the movable ring gear 12 is provided with a middle extension ring on the side in the axial direction. The outer circular surface of the middle extension ring is coaxially and rotatably connected with the roller ring 11, and the inner circular surface of the middle extension ring is coaxially and rotatably connected with the wave generator 13.
The roller ring 11 is provided with an outer extending ring on the axial side, corresponding grooves are respectively formed on the inner circular surface of the outer extending ring and the outer circular surface of the middle extending ring, and a first ball 16 accommodating groove is formed, and a plurality of balls 16 are accommodated in the first ball 16 accommodating groove. The wave generator 13 is provided with an inner extension ring on the axial side surface, corresponding grooves are respectively formed on the outer circular surface of the inner extension ring and the inner circular surface of the middle extension ring, and a second ball 16 accommodating groove is formed, and a plurality of balls 16 are accommodated in the second ball 16 accommodating groove. Meanwhile, the annular cavity formed between the roller ring 11 and the ring gear 12, and between the ring gear 12 and the wave generator 13 can hold lubricating grease.
I.e. the movable ring gear 12, the roller ring 11 and the wave generator 13 are provided with extensions, respectively, which are coaxially rotated by the mating relationship between the extensions. The inner side of the roller ring 11 and the inner side and the outer side of the movable gear ring 12, the outer side of the wave generator 13 are respectively provided with a ball 16 channel, and the balls 16 are distributed in opposite grooves, so that a bearing structure is formed among the roller ring 11, the movable gear ring 12 and the wave generator 13. The balls 16 may be replaced with bearing rollers 15, cross rollers, etc.; in addition, the roller ring 11, the movable gear ring 12 and the wave generator 13 can also be directly fixed by adopting bearings.
In order to improve the cooperative work ability of the robot, and to refine the operation ability, force control is also necessary in addition to position control. The current robot joint moment measurement form mainly comprises: the current measurement of the motor 2, the measurement of the joint moment sensor and the multidimensional force measurement of the tail end of the mechanical arm, wherein the current detection precision and accuracy of the motor 2 are not high, the motor is mainly used for joint safety protection, and the multidimensional force detection of the tail end cannot feed back the stress condition of each joint, so that the force control based on the joints becomes an important development direction of the robot. At present, the torque sensor is installed at the output end of the speed reducer in a joint force measurement mode, but the problems of complex circuit arrangement, influence of assembly gaps and the like exist in the using process.
In this embodiment, the moment detecting portion may specifically include a plurality of strain bridges 122 and a plurality of strain gauges 123. A plurality of strain structural bridges 122 are uniformly distributed on the ring gear 12. The strain gauges 123 are respectively adhered to the corresponding strain structural bridges 122, and the inside of the movable gear ring 12 is hollow and is connected with a load for an output end. The movable ring gear 12 generates fine deformation of the strain structure bridge 122 under the interaction of input and output, and the fine deformation is measured by the strain gauge 123 and fed back to the control part 23, and the output torque of the joint is obtained through calculation.
In the present embodiment, the control section 23 may be specifically a drive detection circuit.
In the present embodiment, the rotor 22 cooperates with the stator 21 to form the motor 2. The rotor 22 may be a magnetic steel, which is fixed on the central rotating shaft (i.e. the input end) of the wave generator 13, the stator 21 in the motor 2 is fixed with the housing 3, and the roller ring 11 in the speed reducing portion 1 is also fixed with the housing 3, so that the stator 21, the housing 3 and the roller ring 11 form the same rigid connection body, a plurality of magnetic field excitation coils are circumferentially distributed on the stator 21, the stator 21 can circumferentially form a rotating magnetic field under the excitation of the drive detection circuit, and the magnetic steel is a strong magnetic permanent magnet, at this moment, under the action of the rotating magnetic field, the permanent magnet drives the wave generator 13 to rotate together, under the action of the tooth difference between the movable gear ring 12 and the roller ring 11, the movable gear ring 12 is pushed, and at this moment, the output moment measured by the movable gear ring 12 is synchronously fed back to the drive detection circuit.
The existing harmonic speed reducer and RV speed reducer are difficult to realize a hollow structure due to structural limitation, so that pipelines such as electricity, gas, liquid and the like can be only arranged outside. In this embodiment, since the roller 15 is of a reduction structure of the movable teeth 14, a hollow through groove can be formed in the wave generator 13, and the operation of the reduction gear is not affected, and the hollow through groove is coaxial with the rotation axis of the wave generator 13. The shell 3 is provided with a hollow gap corresponding to the hollow through groove, so that a hollow structure penetrating through the whole driving joint is formed. The internal crossing of pipelines such as electricity, gas, liquid and the like is facilitated by adopting a hollow structure, the device has the modularized appearance characteristics, all joints can be flexibly connected, an independent driving control circuit is arranged in each joint, and the real-time connection of multiple joints can be realized by adopting a bus mode.
In the present embodiment, the housing 3 may specifically include a cylindrical outer shell 31 and a bottom cover 32. The first end of the cylindrical housing 31 is open. The bottom cover 32 is provided at the second end of the cylindrical housing 31.
In conclusion, the robot joint is compact in structure, high in bearing capacity, capable of controlling force position, hollow in structure and integrated in driving and controlling, and can be widely applied to the field of robots. The method is particularly suitable for high-performance application of cooperative robots, mobile robots, space robots and the like.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is within the scope of the appended claims and their equivalents to fall within the scope of the invention.
Claims (8)
1. A drive joint, comprising:
A shell, wherein an opening is formed in one side of the shell;
The speed reducing part is arranged at the opening and is matched with the inner cavity of the shell to form a containing space; the speed reducing part comprises a wave generator, a movable gear ring and a roller ring which are coaxially and rotationally connected in sequence from inside to outside; the roller ring is arranged at the opening, the output end of the movable gear ring faces to the opening, and the input end of the wave generator stretches into the accommodating space; the inner tooth surface of the roller ring is matched with the outer tooth surface of the movable gear ring to form tooth difference transmission;
a rotor provided at an input end of the wave generator;
The stator is arranged in the accommodating space and corresponds to the rotor;
a torque detection part arranged on the movable gear ring;
The control part is arranged in the accommodating space, is electrically connected with the stator and is in signal connection with the moment detection part;
The moment detection part comprises a plurality of strain structural bridges and a plurality of strain gauges; the strain structure bridges are uniformly distributed on the movable gear ring; the strain gauges are respectively arranged on the corresponding strain structure bridges and are in signal connection with the control part;
The wave generator is provided with a hollow through groove, and the hollow through groove is coaxial with the rotation axis of the wave generator; the shell is provided with a hollow gap corresponding to the hollow through groove.
2. The driving joint as defined in claim 1, wherein a plurality of movable tooth through grooves are arranged on the movable gear ring in a radial direction, and movable teeth are connected in each movable tooth through groove in a sliding manner along the radial direction; the movable teeth are matched with the outer surface of the movable gear ring to form the outer tooth surface towards one end of the roller ring, and one end of the movable teeth towards the wave generator is used for being in contact with the wave generator.
3. The driving joint as defined in claim 2, wherein a plurality of comb teeth are uniformly distributed on the movable gear ring;
the comb also comprises an input end cover and an output end cover which are covered on two sides of the comb teeth;
The adjacent comb teeth are matched with the input end cover and the output end cover to form the movable tooth through groove.
4. The drive joint of claim 1, wherein a plurality of axially disposed roller through cavities are uniformly distributed on the inner surface of the roller ring; the roller through cavity is rotationally connected with a roller;
Wherein the rollers cooperate with an inner surface of the roller race to form an inner tooth surface of the roller race.
5. The drive joint according to claim 1, wherein the movable ring gear is provided with a middle extension ring on a side in an axial direction; the outer circular surface of the middle extension ring is coaxially and rotatably connected with the roller ring, and the inner circular surface of the middle extension ring is coaxially and rotatably connected with the wave generator.
6. The movable tooth roller reducer of claim 5, wherein the roller ring is provided with an outer extension ring on the axial side surface, corresponding grooves are respectively formed on the inner circular surface of the outer extension ring and the outer circular surface of the middle extension ring, and a first ball accommodating groove is formed, and a plurality of balls are accommodated in the first ball accommodating groove.
7. The movable tooth roller reducer according to claim 5, wherein the wave generator is provided with an inner extension ring on an axial side surface, corresponding grooves are respectively formed on an outer circumferential surface of the inner extension ring and an inner circumferential surface of the middle extension ring, and a second ball accommodating groove is formed, and a plurality of balls are accommodated in the second ball accommodating groove.
8. The drive joint of claim 1, wherein the housing comprises a cylindrical outer shell and a bottom cap; the first end of the cylindrical shell is the opening; the bottom cover is arranged at the second end of the cylindrical shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111260182.2A CN113829383B (en) | 2021-10-28 | 2021-10-28 | Driving joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111260182.2A CN113829383B (en) | 2021-10-28 | 2021-10-28 | Driving joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113829383A CN113829383A (en) | 2021-12-24 |
| CN113829383B true CN113829383B (en) | 2024-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111260182.2A Active CN113829383B (en) | 2021-10-28 | 2021-10-28 | Driving joint |
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| Country | Link |
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| CN (1) | CN113829383B (en) |
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