CN114043523B - Modular robot joint - Google Patents
Modular robot joint Download PDFInfo
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- CN114043523B CN114043523B CN202111629347.9A CN202111629347A CN114043523B CN 114043523 B CN114043523 B CN 114043523B CN 202111629347 A CN202111629347 A CN 202111629347A CN 114043523 B CN114043523 B CN 114043523B
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- output
- motor
- end cover
- magnetic
- fixed flange
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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
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
A modularized robot joint relates to a robot actuator. The frameless torque motor is provided with an integrated control panel, a motor shaft connected with the speed reducer is provided with a magnetic ring of a motor magnetic encoder, the speed reducer is provided with an output magnetic ring end cover and an output magnetic encoding circuit board, the output magnetic ring end cover is provided with an output magnetic encoder magnetic ring, and the output magnetic encoding circuit board is in data transmission connection with the integrated control panel; the integrated control board is integrated with a joint control and drive circuit, an IMU sensor, a temperature sensor circuit, a force sensor acquisition circuit, an external communication circuit, a chip of a magnetic ring of a motor magnetic encoder, a connecting power line and a motor line. The force sensor is directly integrated on the fixed flange, the speed reducer is arranged, the frameless torque motor is integrated with circuits such as a driver, a controller and a sensor, and the structure is compact. The advantages of large reduction ratio, high transmission rigidity, large bearing capacity, high efficiency, high precision, small size, light weight and the like are realized.
Description
Technical Field
The invention relates to a robot actuator, in particular to a modularized robot joint.
Background
The modular robot joint is a module integrating a speed reducer, a motor, a controller, a motor driver, a sensor and the like together, is used for driving or directly serving as a joint structure of a robot, and realizes the convenience of design, installation and maintenance of the robot.
Chinese invention patents with the publication number of CN112372664B and the name of 'a high-integration modular cooperative robot joint module' and Chinese invention patents with the publication number of CN111687879B and the name of 'a cooperative robot modular joint' both disclose modular robot joints adopting harmonic reducers, but the harmonic reducers show lower rotary rigidity, and the control performance of the joints and the overall precision and performance of the robot are reduced. And the bearing capacity and the shock resistance of the harmonic reducer are poor, so that the bearing capacity and the service life of the joint are reduced, and the load of the robot is reduced. Meanwhile, the harmonic reducer has relatively low efficiency, and particularly has poor efficiency in a low-temperature environment, so that the joint output performance is further reduced.
In addition, among the prior art, still can adopt multistage planetary reducer or adopt multistage gear reducer's modularization joint, its most difficult design cavity is walked the line, simultaneously, because integrated force sensor can reduce joint rigidity by a wide margin in the modularization joint usually to make the structure very complicated, not integrated force sensor in a lot of modularization joints also adopts two encoder designs very seldom, and this makes the power control precision and the effect of joint relatively poor.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a modular robot joint.
The invention adopts the following technical scheme: a modularized robot joint comprises a magnetic ring of a motor magnetic encoder, an integrated control board, a frameless torque motor, an output magnetic ring end cover, an output magnetic encoding circuit board, an output magnetic encoder magnetic ring and a speed reducer; an integrated control panel is arranged on a motor end cover of the frameless torque motor, a magnetic ring of a motor magnetic encoder is arranged on a motor shaft of the frameless torque motor, the motor shaft is connected with a speed reducer, an output magnetic ring end cover and an output magnetic encoder circuit board are arranged on the speed reducer, an output magnetic encoder magnetic ring is arranged on the output magnetic ring end cover, and the output magnetic encoder circuit board is in data transmission connection with the integrated control panel; the integrated control panel is integrated with a joint control and drive circuit, an IMU sensor, a temperature sensor circuit, a force sensor acquisition circuit, an external communication circuit, a chip of a magnetic ring of a motor magnetic encoder, a connection power line and a motor line.
Compared with the prior art, the invention has the beneficial effects that:
1. the force sensor is directly integrated on the fixed flange, the speed reducer is arranged, the frameless torque motor is integrated with circuits such as a driver, a controller and a sensor, and the structure is compact.
2. The invention has large design range of reduction ratio, and can still keep the central hole structure, thereby facilitating integrated installation and wiring.
3. Compared with the traditional scheme of using a harmonic reducer, the reducer disclosed by the invention has the advantages of large reduction ratio, high transmission rigidity, large bearing capacity, high efficiency, high precision, small size, light weight and the like, has force sensing capacity, and is conveniently integrated into a robot.
4. The invention has a double-encoder structure, can realize high-precision position control, and has a force sensor, which can realize force control and compliance control functions and motor end control.
5. The force sensor structure integrated to the fixed flange is simpler and more convenient, has smaller size, and adopts a vertical structure with better rigidity.
Drawings
FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a schematic strain gage position;
FIG. 4 is an exploded view of FIG. 1;
FIG. 5 is a schematic diagram of a retarder;
fig. 6 is an overall configuration diagram of embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments, and based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
Example 1:
a modularized robot joint comprises a magnetic ring 5 of a motor magnetic encoder, an integrated control board 6, a frameless torque motor 10, an output magnetic ring end cover 22, an output magnetic encoding circuit board 23, an output magnetic encoder magnetic ring 24 and a speed reducer; the rotor of the frameless torque motor 10 is fixed on the motor shaft 4, the stator of the frameless torque motor 10 is fixed on the motor housing 1 through a set screw 36, the motor shaft 4 is supported between the motor end cover 3 and the motor housing 1 through two motor bearings 9, and is fixed by a motor end cover screw 2. The frameless torque motor can also adopt an outer rotor structure or an axial flux motor to obtain larger motor torque density; a motor end cover 3 of the frameless torque motor 10 is provided with an integrated control panel 6 through a control panel supporting part 8 and a control panel screw 7, a motor shaft 4 of the frameless torque motor 10 is provided with a magnetic ring 5 of a motor magnetic encoder, and the magnetic ring 5 of the motor magnetic encoder is used for detecting the position of a rotor of the frameless torque motor 10; a motor shaft 4 is connected with a speed reducer, the speed reducer is provided with an output magnetic ring end cover 22 and an output magnetic coding circuit board 23, the output magnetic ring end cover 22 is provided with an output magnetic encoder magnetic ring 24, and the output magnetic coding circuit board 23 is in data transmission connection with the integrated control board 6; the rotation angle of the needle roller shell 28 can be obtained by detecting the magnetic encoder chip of the output magnetic encoding circuit board 23 on the output magnetic encoder magnetic ring 24, and the angle data is transmitted to the integrated control board 6 through the hollow structure through a cable; the integrated control panel 6 is integrated with a joint control and drive circuit, an IMU sensor, a temperature sensor circuit, a force sensor acquisition circuit, an external communication circuit, a chip of the magnetic ring 5 of the motor magnetic encoder, a connection power line and a motor line.
The reducer comprises a crankshaft 20, an output pin 25, an output bearing end cover 26, a cycloid gear 27, a needle roller shell 28, an output angular contact bearing 29, a needle roller 30, a fixed flange 35 and a planetary gear train, wherein a motor shaft 4 of the frameless torque motor 10 is coaxially and fixedly connected with a sun gear 13 of the planetary gear train, an inner gear ring 11 of the planetary gear train is fixed on the fixed flange 35, a force sensor is integrated on the fixed flange 35, and the fixed flange 35 is connected with a motor shell 1 of the frameless torque motor 10 through a motor shell fixing screw 14; the planet carrier 15 of the planetary gear train is in key connection with the input end of a crankshaft 20 and limited by an elastic retainer ring 16, two cycloid gears 27 are rotatably sleeved outside the crankshaft 20 through a cycloid gear bearing 17, the input end of the crankshaft 20 is rotatably connected with a fixed flange 35 through a crankshaft bearing 18, the output end of the crankshaft 20 is rotatably connected with an output bearing end cover 26 through another crankshaft bearing 18, an output pin 25 is arranged between every two corresponding circumferential circles of the two cycloid gears 27, one end of each output pin 25 is connected with the fixed flange 35, the other end of each output pin 25 is connected with the output bearing end cover 26, a needle shell 28 is sleeved outside the two cycloid gears 27, a needle roller 30 is arranged between the needle shell 28 and the two cycloid gears 27, two ends of the needle shell 28 are respectively and correspondingly and rotatably connected with the fixed flange 35 and the output bearing end cover 26 through an output angular contact bearing 29, the needle shell 28 is an output of a joint, the needle roller shell 28 is sleeved outside the output bearing end cover 26, a needle roller 22 is arranged on the needle shell 28, the output end cover 28 is connected with the fixed flange 35 through an output bearing end cover 19, and a magnetic encoding screw 23 is arranged on an output bearing circuit board.
The force sensor comprises four groups of strain measurement surfaces, each group of strain measurement surfaces comprises two V-shaped strain gauges 35a, each V-shaped strain gauge 35a comprises two strain gauges which are symmetrically arranged in 45-degree directions, the two V-shaped strain gauges 35a form a full-bridge current, one group of strain measurement surfaces comprises two full-bridge circuits, the design has good anti-crosstalk performance and high rigidity characteristic, and can be designed into a spoke type structure or other elastomer structures, and the strain gauge measurement scheme can be changed into the design of capacitance type, photoelectric type, encoder measurement and the like; each strain gauge is connected with the integrated control board 6 and used for moment measurement. As shown in fig. 3, one V-shaped strain gauge is attached to each of four measurement positions in the circumferential direction of the fixing flange 35.
The crankshaft 20 is externally sleeved with a retainer ring 31, the retainer ring 31 is arranged on the inner side of the output angle contact bearing 29, and the clearance for assembling the output angle contact bearing 29 is adjusted by adjusting the axial size of the retainer ring 31.
Example 2:
this example differs from example 1 in that:
the reducer comprises a crankshaft 20, an output pin 25, an output bearing end cover 26, a cycloid gear 27, a needle roller shell 28, an output angular contact bearing 29, a needle roller 30, a fixed flange 35 and a planetary gear train, wherein a motor shaft 4 of the frameless torque motor 10 is coaxially and fixedly connected with a sun gear 13 of the planetary gear train, an inner gear ring 11 of the planetary gear train is fixed on the fixed flange 35, and the fixed flange 35 is connected with a motor shell 1 of the frameless torque motor 10 through a motor shell fixing screw 14; the planet carrier 15 of the planetary gear train is connected with the input end of the crankshaft 20 in a key manner and limited by the elastic retainer ring 16, two cycloid gears 27 are rotatably sleeved on the outer side of the crankshaft 20 through a cycloid bearing 17, the input end of the crankshaft 20 is rotatably connected with a fixed flange 35 through a crankshaft bearing 18, the output end of the crankshaft 20 is rotatably connected with an output bearing end cover 26 through another crankshaft bearing 18, an output pin 25 is arranged between every two corresponding circumferential circles of the two cycloid gears 27, one end of each output pin 25 is connected with the fixed flange 35, the other end of each output pin 25 is connected with the output bearing end cover 26, a needle shell 28 is sleeved on the outer side of each cycloid gear 27, a needle roller 30 is arranged between each needle shell 28 and the two cycloid gears 27, a force sensor is integrated on each needle shell 28, one end of each needle shell 28 is connected with the fixed flange 35, the other end of each needle shell 28 is rotatably connected with the output bearing end cover 26 through an output angular contact bearing 29, the output bearing end cover 26 is the output of a joint, a magnetic ring 22 is arranged on the output bearing end cover 26, and an output magnetic encoding circuit board 23 is arranged on the fixed circuit board 21.
The driver, controller, sensor, etc. circuitry may also be designed as multiple circuit boards, or all integrated into one board, which may require adjustment of the mounting of the output magnetic encoder.
The speed reducer is composed of a high-speed-stage speed reducing unit and a low-speed-stage speed reducing unit, the planetary gear train is the high-speed-stage speed reducing unit, and the crankshaft 20, the cycloid gear 27, the needle roller shell 28, the output pin 25, the needle roller 30, the fixing flange 35, the output bearing end cover 26 and the like are the low-speed-stage speed reducing unit. The high-speed reduction unit adopts an involute gear design, the low-speed reduction unit adopts a cycloid pinwheel design, large reduction ratio, high transmission rigidity, large bearing capacity, high efficiency, high precision, small size and light weight are guaranteed, and a central hole structure can be reserved. The low-speed reduction unit can also adopt an involute gear, a cycloid gear and a circular arc gear, and the high-speed reduction unit can also adopt other tooth forms. The characteristics of the reducer can be adjusted by optimizing the tooth profile structure.
The working process of the invention is as follows:
the rotation motion of the frameless torque motor 10 is transmitted to the planet carrier 15 of the planetary gear train through the sun gear 13 of the planetary gear train, then the planet carrier 15 drives the crankshaft 20 to move, and then the rotation motion is output as the rotation motion of the needle roller shell 28 through the cycloid gear 27.
The invention is fixed by a fixed flange 35 and is connected with the outside by a needle roller shell 28 to output rotary motion.
As shown in fig. 5, the frameless torque motor 10 outputs to the S1 gear (sun gear 13), transmits to the H1 (planet carrier 15), fixes the V1 portion (fixed flange 35 and output bearing cover 26), and outputs through the R2 gear (needle housing 28).
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A modular robotic joint, characterized by: the magnetic encoder comprises a magnetic ring (5) of a motor magnetic encoder, an integrated control board (6), a frameless torque motor (10), an output magnetic ring end cover (22), an output magnetic encoding circuit board (23), an output magnetic encoder magnetic ring (24) and a speed reducer; an integrated control board (6) is arranged on a motor end cover (3) of the frameless torque motor (10), a magnetic ring (5) of a motor magnetic encoder is arranged on a motor shaft (4) of the frameless torque motor (10), the motor shaft (4) is connected with a speed reducer, an output magnetic ring end cover (22) and an output magnetic encoding circuit board (23) are arranged on the speed reducer, an output magnetic encoder magnetic ring (24) is arranged on the output magnetic ring end cover (22), and the output magnetic encoding circuit board (23) is in data transmission connection with the integrated control board (6); the integrated control panel (6) is integrated with a joint control and drive circuit, an IMU sensor, a temperature sensor circuit, a force sensor acquisition circuit, an external communication circuit, a chip of a motor magnetic encoder magnetic ring (5), a connection power line and a motor line.
2. A modular robotic joint as claimed in claim 1, wherein: the reducer comprises a crankshaft (20), an output pin (25), an output bearing end cover (26), a cycloid gear (27), a needle roller shell (28), an output angle contact bearing (29), a needle roller (30), a fixed flange (35) and a planetary gear train, wherein a motor shaft (4) of the frameless torque motor (10) is coaxially and fixedly connected with a sun gear (13) of the planetary gear train, an inner gear ring (11) of the planetary gear train is fixed on the fixed flange (35), a force sensor is integrated on the fixed flange (35), and the fixed flange (35) is connected with a motor shell (1) of the frameless torque motor (10); the planet carrier (15) of the planetary gear train is in key connection with the input end of a crankshaft (20), two cycloid gears (27) are rotatably sleeved on the outer side of the crankshaft (20), the input end of the crankshaft (20) is rotatably connected with a fixed flange (35), the output end of the crankshaft (20) is rotatably connected with an output bearing end cover (26), an output pin (25) is arranged between every two corresponding circumferential circles of the two cycloid gears (27), one end of each output pin (25) is connected with the fixed flange (35), the other end of each output pin (25) is connected with the output bearing end cover (26), needle roller shells (28) are sleeved on the outer sides of the two cycloid gears (27), a needle roller (30) is arranged between each needle roller shell (28) and the two cycloid gears (27), two ends of each needle roller shell (28) are correspondingly rotatably connected with the fixed flange (35) and the output bearing end cover (26) through output angle contact bearings (29), a needle roller shell (28) is sleeved on the outer side of the output bearing end cover (26), a magnetic ring (22) is connected with the output bearing end cover (26), and a magnetic encoding bearing (23) is arranged on the output bearing end cover (26).
3. A modular robotic joint as claimed in claim 1, wherein: the reducer comprises a crankshaft (20), an output pin (25), an output bearing end cover (26), a cycloid gear (27), a needle roller shell (28), an output angle contact bearing (29), a needle roller (30), a fixed flange (35) and a planetary gear train, wherein a motor shaft (4) of the frameless torque motor (10) is coaxially and fixedly connected with a sun gear (13) of the planetary gear train, an inner gear ring (11) of the planetary gear train is fixed on the fixed flange (35), and the fixed flange (35) is connected with a motor shell (1) of the frameless torque motor (10); the planet carrier (15) of the planetary gear train is in key connection with the input end of a crankshaft (20), two cycloid gears (27) are rotatably sleeved on the outer side of the crankshaft (20), the input end of the crankshaft (20) is rotatably connected with a fixed flange (35), the output end of the crankshaft (20) is rotatably connected with an output bearing end cover (26), an output pin (25) is arranged between every two corresponding circumferential circles of the two cycloid gears (27), one end of each output pin (25) is connected with the fixed flange (35), the other end of each output pin (25) is connected with the output bearing end cover (26), needle shells (28) are sleeved on the outer sides of the two cycloid gears (27), needle rollers (30) are arranged between the needle shells (28) and the two cycloid gears (27), force sensors are integrated on the needle shells (28), one ends of the needle shells (28) are connected with the fixed flange (35), the other ends of the needle shells (28) are rotatably connected with the output bearing end cover (26) through output angle contact bearings (29), and magnetic encoding magnetic ring end covers (22) and output bearing circuit boards (23) are arranged on the output bearing end covers (28).
4. A modular robotic joint as claimed in claim 2 or 3, wherein: the force sensor comprises four groups of strain measurement surfaces, each group of strain measurement surfaces comprises two V-shaped strain gauges (35 a), each V-shaped strain gauge (35 a) comprises two symmetrically arranged strain gauges in 45-degree directions, the two V-shaped strain gauges 35a form a full-bridge current, and one group of strain measurement surfaces is provided with two full-bridge circuits; each strain gauge is connected with an integrated control plate (6).
5. A modular robotic joint as claimed in claim 2 or 3, wherein: a retainer ring (31) is sleeved outside the crankshaft (20), and the retainer ring (31) is arranged on the inner side of the output angle contact bearing (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629347.9A CN114043523B (en) | 2021-12-28 | 2021-12-28 | Modular robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629347.9A CN114043523B (en) | 2021-12-28 | 2021-12-28 | Modular robot joint |
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| Publication Number | Publication Date |
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| CN114043523A CN114043523A (en) | 2022-02-15 |
| CN114043523B true CN114043523B (en) | 2023-03-21 |
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| CN202111629347.9A Active CN114043523B (en) | 2021-12-28 | 2021-12-28 | Modular robot joint |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117245687B (en) * | 2023-11-17 | 2024-02-27 | 江西炬龙精密科技有限公司 | Flexible linear robot joint based on planetary roller screw pair and use method |
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| CN1807032A (en) * | 2006-02-28 | 2006-07-26 | 哈尔滨工业大学 | Modularized joint of space manipulator |
| CN102626930A (en) * | 2012-04-28 | 2012-08-08 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| JP2017184430A (en) * | 2016-03-30 | 2017-10-05 | 日本電産サンキョー株式会社 | Rotary actuator and robot |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
-
2021
- 2021-12-28 CN CN202111629347.9A patent/CN114043523B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1807032A (en) * | 2006-02-28 | 2006-07-26 | 哈尔滨工业大学 | Modularized joint of space manipulator |
| CN102626930A (en) * | 2012-04-28 | 2012-08-08 | 哈尔滨工业大学 | Mechanical arm modular joint with power-off brake and multiple perceptive functions |
| JP2017184430A (en) * | 2016-03-30 | 2017-10-05 | 日本電産サンキョー株式会社 | Rotary actuator and robot |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
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| CN114043523A (en) | 2022-02-15 |
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