CN114179122A - Cooperative robot joint and cooperative robot - Google Patents
Cooperative robot joint and cooperative robot Download PDFInfo
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- CN114179122A CN114179122A CN202111672083.5A CN202111672083A CN114179122A CN 114179122 A CN114179122 A CN 114179122A CN 202111672083 A CN202111672083 A CN 202111672083A CN 114179122 A CN114179122 A CN 114179122A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 239000000428 dust Substances 0.000 claims description 4
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- 238000009434 installation Methods 0.000 abstract description 17
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 229910052802 copper Inorganic materials 0.000 description 1
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- 238000006467 substitution reaction Methods 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
- B25J17/0258—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
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cooperative robot joint and a cooperative robot, wherein the cooperative robot joint comprises a harmonic speed reducer front end cover, an accommodating space formed by a shell and a rear cover, and a harmonic speed reducer assembly, a motor assembly, a brake assembly, an encoder assembly and a driver assembly which are positioned in the accommodating space; the motor assembly comprises a frameless torque motor and a rotor shaft which are coaxially arranged; the harmonic reducer assembly comprises a crossed roller bearing, a harmonic reducer rear end cover, a harmonic reducer input shaft, a double-cover type deep groove ball bearing assembly, a harmonic reducer and a first deep groove ball bearing which are coaxially mounted; the fast rotation of the rotor shaft is output as the slow rotation of the front end cover of the harmonic speed reducer under the action of the harmonic speed reducer. The invention has small volume and good sealing performance, amplifies the torque of the motor by the harmonic reducer assembly, reduces the installation requirement by installing the encoder assembly in a split mode, and greatly improves the yield of the split encoder.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a cooperative robot joint and a cooperative robot.
Background
Under the premise of the continuous strengthening of Chinese manufacture in recent years, the requirement on high-end intelligent equipment is continuously improved, and a new development opportunity is provided for the intelligent robot. In the traditional industrial robot, a series of characteristics such as large volume, high weight, invariance and installation and the like are provided, and the development of the cooperative robot is met. For the work of the cooperative robot, the requirements of safety, convenience in installation, modularization and the like are provided. And the joint of the cooperative robot is a core component. It needs to have characteristics such as simple structure, dead weight are low, the noise is little, and friction torque is little, and transmission efficiency height.
However, there are some disadvantages to the above-described cooperative robotic joints:
1) the self-weight of the joint of the cooperative robot is large, and the design of the joint of the cooperative robot follows the lightweight safety design criterion, so that a very high requirement is provided for the integration level of the cooperative robot, and the integration level of the cooperative robot is yet to be improved at present.
2) The adoption of two single-turn absolute encoders has certain difficulty in structural and lightweight design, and particularly, the layout of assembly and related cables has great influence on cost and production.
3) By adopting the friction plate type band-type brake structure, when the robot presses hands or equipment, the robot cannot move in a small range under the condition of power failure, and for a cooperative robot, the safety of the cooperative robot has obvious loopholes.
Disclosure of Invention
The invention provides a joint of a cooperative robot and the cooperative robot, which aim to solve the technical problems.
The technical scheme adopted by the invention is as follows: the cooperative robot joint comprises a front end cover of a harmonic speed reducer, an accommodating space formed by a shell and a rear cover, and a harmonic speed reducer assembly, a motor assembly and a crossed roller bearing which are positioned in the accommodating space and coaxially mounted;
the motor assembly comprises a frameless torque motor and a rotor shaft which are coaxially mounted, the frameless torque motor comprises a stator and a rotor, the rotor is fixedly mounted on the rotor shaft, and the stator is fixedly mounted on the shell;
the harmonic reducer assembly comprises a harmonic reducer rear end cover, a harmonic reducer input shaft, a double-cover type deep groove ball bearing assembly, a harmonic reducer and a first deep groove ball bearing, wherein the harmonic reducer rear end cover, the harmonic reducer input shaft, the double-cover type deep groove ball bearing assembly, the harmonic reducer and the first deep groove ball bearing are coaxially mounted; one end of the input shaft of the harmonic speed reducer is fixedly arranged on the rotor shaft; the inner ring of the double-cover type deep groove ball bearing assembly is fixedly arranged on the input shaft of the harmonic speed reducer, and the rear end cover of the harmonic speed reducer is fixedly arranged between the outer ring of the double-cover type deep groove ball bearing assembly and the shell; the input shaft of the harmonic speed reducer is of a hollow structure; a pipeline section is arranged in the middle of the front end cover of the harmonic speed reducer to form a T-shaped structure, and the pipeline section is positioned in the input shaft of the harmonic speed reducer;
the harmonic speed reducer comprises a steel wheel, a flexible wheel and a wave generator, and the wave generator is sleeved on the outer wall of the other end of the input shaft of the harmonic speed reducer; the steel wheel is fixedly arranged between the front end cover of the harmonic speed reducer and the inner ring of the crossed roller bearing; the first deep groove ball bearing is fixedly arranged between the inner wall at the other end of the input shaft of the harmonic speed reducer and the pipeline section; one end of the flexible wheel with a gear is positioned between the steel wheel and the wave generator, and the other end of the flexible wheel is fixedly connected with the outer ring of the crossed roller bearing.
Furthermore, the double-cover deep groove ball bearing assembly comprises two parallel double-cover deep groove ball bearings, a spigot used for axially limiting one side of an inner ring of the double-cover deep groove ball bearing assembly is arranged on the input shaft of the harmonic speed reducer, and a clamp spring retainer ring for a first shaft is further arranged on the input shaft of the harmonic speed reducer and used for axially limiting the other side of the inner ring of the double-cover deep groove ball bearing assembly; thereby the inboard edge of harmonic speed reducer machine rear end cap has a limit of buckling and fixes one side of double-canopy formula deep groove ball bearing subassembly outer lane, thereby it fixes to still be fixed with bearing outer lane solid fixed ring on the harmonic speed reducer machine rear end cap the opposite side of double-canopy formula deep groove ball bearing subassembly outer lane.
Further, still include the band-type brake subassembly in the accommodation space, the band-type brake subassembly is including installing rotary mechanism on the rotor shaft and installing barrier mechanism on the shells inner wall.
Furthermore, the rotating mechanism comprises a clamp spring retainer ring for a second shaft, a large gasket, a waveform gasket, a first small gasket, a brake disc, a second small gasket and a clamp spring retainer ring for a third shaft which are sequentially arranged at one end of the rotor shaft; the blocking mechanism comprises a spring, a stop pin, an electromagnet and an electromagnet fixing piece, wherein the electromagnet is fixed on the inner wall of the shell through the electromagnet fixing piece, the spring is arranged in a reserved counter bore in the shell, one end of the stop pin is located in the reserved counter bore and abuts against one end of the spring, and one end of an iron core in the electromagnet abuts against the other end of the stop pin.
Furthermore, the accommodating space also comprises an encoder assembly, the encoder assembly is arranged at the tail end of the rotor shaft, the encoder assembly comprises an encoder moving disc, an encoder static disc flange, an encoder moving disc flange, a rolling connecting piece and an installation sheet metal part which are coaxially arranged, and the encoder static disc is detachably connected with the encoder static disc flange; the encoder moving disc is detachably connected with the encoder moving disc flange; a rolling connecting piece is arranged between the encoder static disc flange and the encoder moving disc flange, and the encoder moving disc flange rotates in parallel relative to the encoder static disc flange; the mounting sheet metal part is connected to the shell, and the encoder static disc is connected to the mounting sheet metal part through a flange; the encoder movable disc flange is fixed on the rotor shaft.
Further, the rolling connecting piece is a second deep groove ball bearing, a ball or a rolling shaft.
Furthermore, the accommodating space further comprises a driver assembly, the driver assembly is fixed on the shell and comprises a driver lower plate and a driver upper plate, the driver lower plate and the driver upper plate are connected through a stud, and the driver lower plate and the driver upper plate are fixed on the shell through bolts.
And further, the sealing ring is arranged between the outer ring of the crossed roller bearing and the contact surface of the flexible gear, between the flexible gear and the contact surface of the rear end cover of the harmonic speed reducer, between the inner ring of the crossed roller bearing and the contact surface of the steel gear, and between the inner ring of the first deep groove ball bearing and the contact surface of the pipeline section of the front end cover of the harmonic speed reducer.
Furthermore, a dustproof ring and a rubber ring are further fixed on the outer edge of the front end cover of the harmonic reducer.
The invention also provides a cooperative robot, which comprises the joint of the cooperative robot.
The invention has the beneficial effects that:
(1) the torque of the motor is amplified through the harmonic reducer assembly, and different from the installation of other harmonic reducers in the prior art, the flexible gear is fixed, the steel wheel rotates at a low speed along with the front end cover of the harmonic reducer and the inner ring of the crossed roller bearing, and the harmonic reducer and the crossed roller bearing are matched for use, so that the size of a joint can be reduced.
(2) The joint of the cooperative robot is small in size, and the waterproof and dustproof performance is better due to the fully-closed design.
(3) The installation innovative design of split type encoder has reduced split type encoder and has required to the condition of installation, improves split type encoder's yield by a wide margin.
(4) And a bolt type braking mode is adopted, so that the joint structure of the cooperative robot is further compact.
(5) One end of the frameless torque motor is sealed through the double-cover type deep groove ball bearing assembly, so that dust cannot enter the frameless torque motor, and the space is saved.
Drawings
FIG. 1 is a cross-sectional view of a cooperative robotic joint as disclosed herein.
Fig. 2 is an exploded view of a cooperative robotic joint as disclosed herein.
Fig. 3 is a cross-sectional view of a flexspline as disclosed herein.
Figure 4 is an exploded view of the disclosed band-type brake assembly.
FIG. 5 is a cross-sectional view of an encoder assembly as disclosed herein.
Fig. 6 is a schematic structural diagram of an encoder assembly disclosed in the present invention.
FIG. 7 is a cross-sectional view of an encoder rotor flange according to the present disclosure.
FIG. 8 is a cross-sectional view of another disclosed encoder assembly.
Reference numerals: 1. a front end cover of the harmonic reducer; 101. a pipe section; 2. a dust ring; 3. a rubber ring; 4. a crossed roller bearing; 5. a housing; 6. a stator; 7. a rotor; 8. a rotor shaft; 9. fixing a metal plate by an encoder; 10. A static disc flange of the encoder; 1001. mounting a support lug; 11. a coder movable disc flange; 111. a first positioning step; 112. a second positioning step; 113. mounting holes; 12. an encoder rotor; 13. a static disc of an encoder; 14. a driver lower plate; 15. a driver upper plate; 16. a stud; 17. a rear cover; 18. a first deep groove ball bearing; 19. a spring; 20. a stop pin; 21. an electromagnet fixing piece; 22. an electromagnet; 23. a circlip retainer ring for the second shaft; 24. a large gasket; 25. a wave-shaped gasket; 26. a first small pad; 27. a brake disc; 28. a double-capped deep groove ball bearing assembly; 29. a harmonic reducer rear end cover; 30. framework oil seal; 31. a steel wheel; 32. a flexible gear; 33. an input shaft of a harmonic reducer; 34. a wave generator; 35. a bearing outer ring fixing ring; 36. the inner ring is fixed with a flange; 37. the snap spring retainer ring for the first shaft; 38. an iron core; 39. a second deep groove ball bearing; 40. a second small pad; 41. a clamp spring retainer ring for the third shaft; 42. the flange is fixed on the outer ring; 43. and installing a positioning ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below with reference to the accompanying drawings, but embodiments of the present invention are not limited thereto.
Example 1:
referring to fig. 1-2, a cooperative robot joint includes an accommodating space formed by a front end cover 1 of a harmonic reducer, a shell 5 and a rear cover 17, and a harmonic reducer assembly, a cross roller bearing 4, a motor assembly, a brake assembly, an encoder assembly and a driver assembly located in the accommodating space.
Referring to fig. 1, the motor assembly comprises a coaxially mounted frameless torque motor comprising a stator 6 and a rotor 7, the rotor 7 being fixedly mounted on the rotor shaft 8, and the stator 6 being fixedly mounted on the housing 5, and a rotor shaft 8.
Referring to fig. 1, the harmonic reducer assembly includes a coaxially mounted harmonic reducer rear end cap 29, a harmonic reducer input shaft 33, a double-capped deep groove ball bearing assembly 28, a harmonic reducer, and a first deep groove ball bearing 18. One end of the input shaft 33 of the harmonic speed reducer is fixedly arranged on the rotor shaft 8 through anaerobic adhesive; the inner ring of the double-cover type deep groove ball bearing assembly 28 is fixedly arranged on the input shaft 33 of the harmonic speed reducer, and the rear end cover 29 of the harmonic speed reducer is fixedly arranged between the outer ring of the double-cover type deep groove ball bearing assembly 28 and the shell 5. Specifically, the double-covered deep groove ball bearing assembly 28 includes two parallel double-covered deep groove ball bearings (i.e., the deep groove ball bearings 2RS), and the double-covered deep groove ball bearing assembly 28 can seal oil on the left side thereof. A spigot used for axially limiting one side (the left side in figure 1) of the inner ring of the double-cover type deep groove ball bearing assembly 28 is arranged on the input shaft 33 of the harmonic speed reducer, and a first shaft snap spring retainer ring 37 used for axially limiting the other side (the right side in figure 1) of the inner ring of the double-cover type deep groove ball bearing assembly is further arranged on the input shaft 33 of the harmonic speed reducer. The inner side edge of the harmonic reducer rear end cover 29 has a bent edge to fix one side (left side in fig. 1) of the double-covered deep groove ball bearing assembly 28 outer ring, and the harmonic reducer rear end cover 29 is further fixed with a bearing outer ring fixing ring 35 to fix the other side (right side in fig. 1) of the double-covered deep groove ball bearing assembly 28 outer ring.
The input shaft 33 of the harmonic speed reducer is of a hollow structure; the middle part of the front end cover 1 of the harmonic speed reducer is provided with a pipeline section 101, so that the front end cover 1 of the harmonic speed reducer forms a T-shaped structure, and the pipeline section 101 is positioned in the input shaft 33 of the harmonic speed reducer and the axes of the two are coincident.
Referring to fig. 1, the harmonic reducer includes a steel wheel 31, a flexible wheel 32, and a wave generator 34, and the wave generator 34 is sleeved on an outer wall of the other end (left end in fig. 1) of the input shaft 33 of the harmonic reducer. The steel wheel 31 is fixedly arranged between the right side wall of the front end cover 1 of the harmonic speed reducer and the left side wall of the inner ring of the crossed roller bearing. The first deep groove ball bearing 18 is fixedly mounted between the inner wall of the other end (left end in fig. 1) of the harmonic reducer input shaft 33 and the pipeline section 101, that is, the inner ring of the first deep groove ball bearing 18 is fixed to the pipeline section 101, and the outer ring of the first deep groove ball bearing 18 is fixed to the inner wall of the harmonic reducer input shaft 33, so that the harmonic reducer front end housing can rotate relative to the harmonic reducer input shaft 33 and the rotor shaft 8. Structure of the flexspline 32 referring to fig. 3, one end (left end in fig. 3) of the flexspline 32 having a gear is located between the steel spline 31 and the wave generator 34, and the other end of the flexspline 32 is fixedly connected to the right side wall of the outer ring of the cross roller bearing 4. The installation of this embodiment is different from other prior art harmonic speed reducers, and in this embodiment, flexbile gear 32 is fixed, and steel wheel 31 follows harmonic speed reducer front end housing 1 and the inner circle of cross roller bearing 4 and rotates with low-speed.
Referring to fig. 1 and 4, the band-type brake assembly comprises a rotating mechanism mounted on the rotor shaft 8 and a blocking mechanism mounted on the inner wall of the housing 5. Specifically, the rotating mechanism comprises a second shaft circlip retainer ring 23, a large gasket 24, a waveform gasket 25, a first small gasket 26, a brake disc 27, a second small gasket 40 and a third shaft circlip retainer ring 41 which are sequentially arranged at one end of the rotor shaft 8, the two shaft circlip retainer rings axially limit elements in the middle, and the elastic deformation of the waveform gasket 25 provides axial pressure for the brake disc 27, so that the friction force between the brake disc 27 and the upper and lower small gaskets during rotation is increased. The corrugated washer 25 is made of carbon steel and has high hardness; the brake disc 27 is made of an alloy material, and the first small pad 26 and the second small pad 40 are arranged between the wave-shaped pad 25 and the brake disc 27, so that the abrasion of the brake disc 27 can be reduced, and the service life of the brake disc can be prolonged. The blocking mechanism comprises a spring 19, a stop pin 20, an electromagnet 22 and an electromagnet fixing piece 21, wherein the electromagnet 22 is fixed on the inner wall of the shell 5 through the electromagnet fixing piece 21, the spring 19 is arranged in a reserved counter bore on the shell 5, referring to fig. 4, the bottom end of the stop pin 20 is positioned in the reserved counter bore and abuts against the top end of the spring 19, the bottom end of an iron core 38 in the electromagnet 22 abuts against the top end of the stop pin 20, when the electromagnet 22 does not work, the stop pin 20 is jacked up by the spring 19, and the brake disc 27 rotates within a certain range and can be blocked by the stop pin 20, so that the rotation of the rotor shaft 8 is blocked, and the braking effect is achieved. When the electromagnet 22 is energized, the plunger 38 moves downward to push the stopper pin 20 downward, and since the plunger 38 is thinner than the stopper pin 20, the brake disk 27 is not shielded. Be provided with four stabilizer blades on brake disc 27, under the condition that the power failure or someone's hand was pushed down by the robot, also can carry out the minizone with the brake disc and rotate to drive whole joint and carry out the minizone and rotate, improved the security.
Referring to fig. 1-2 and 5-8, the encoder component is mounted at the tail end of the rotor shaft 8, the encoder component comprises an encoder moving disc 12, an encoder static disc 13, an encoder static disc flange 10, an encoder moving disc flange 11, a rolling connecting piece and an encoder fixing metal plate 9 which are coaxially mounted, and the encoder static disc 13 is detachably connected with the encoder static disc flange 10; the encoder moving disc 12 is detachably connected with the encoder moving disc flange 11; a rolling connecting piece is arranged between the encoder static disc flange 10 and the encoder moving disc flange 11, and the encoder moving disc flange 11 rotates in parallel relative to the encoder static disc flange 10; the encoder fixing metal plate 9 is connected to the shell 5, and the encoder static disc flange 10 is connected to the encoder fixing metal plate 9; the encoder rotor flange 11 is fixed on the rotor shaft 8. This design can carry out the location of split type encoder position through the location of second deep groove ball bearing 39 terminal surfaces, adopts this structure, can reduce to split type encoder installation demand, improves production efficiency.
Specifically, in one embodiment, the detachable connection is selected from a screw connection, the encoder fixed disk 13 is mounted on the encoder fixed disk flange 10, specifically, referring to fig. 6, a plurality of mounting lugs 1001 are fixedly arranged on the side wall of the encoder fixed disk flange 10, a plurality of threaded holes corresponding to the mounting lugs 1001 are arranged on the encoder fixed disk 13, and the plurality of screws mount the encoder fixed disk 13 on the mounting lugs 1001 on the side wall of the encoder fixed disk flange 10; similarly, the encoder moving disk 12 and the encoder moving disk flange 11 are both provided with threaded holes and are detachably connected through the matching of screws and the threaded holes; and/or, in one embodiment, the encoder static disc 13 and/or the encoder moving disc 12 are hollow in the center, and the inner wall of the center ring of the encoder static disc 13 is connected with the encoder static disc flange 10 in an interference fit manner and/or the inner wall of the center ring of the encoder moving disc 12 is connected with the encoder moving disc flange 11 in an interference fit manner. Namely, the center of the plate is punched to form a central ring, the plate is excessively contacted by utilizing the thickness of each plate, and the thickness direction is a contact surface. The structure and shape of each component are appropriately adjusted according to the application, and are not limited to the examples given in the drawings, which are schematic views of only one specific embodiment thereof. The copper post is as the connection fixing device that the PCB board is commonly used, and this application can be nimble arbitrary use.
In one embodiment, referring to fig. 7, the encoder moving disk flange 11 is provided with a first positioning step 111, and the encoder moving disk 12 is mounted on the first positioning step 111 of the encoder moving disk flange 11. Specifically, the encoder moving disk 12 is fixed on the first positioning step 111 of the encoder moving disk flange 11 by a plurality of screws parallel to the axis, that is, the screws are axially mounted, and of course, non-axial mounting can be selected according to the requirement; and may also be assembled and installed in the manner referred to above as an interference fit.
Referring to fig. 8, fig. 8 shows another encoder assembly structure, a mounting and positioning ring 43 is connected to the encoder disc 12, and the mounting and positioning ring 43 is connected with the encoder disc flange 11 in an interference fit manner or in a screw connection manner. The installation holding ring 43 is a hollow ring, and the inside is used for holding the spare part of encoder driving disk 12, for example outstanding integrated module etc. this installation holding ring 43 not only can play the effect of protection, prevents or reduces the influence of dust, also can play the effect of location, and encoder driving disk flange 11 is established to installation holding ring 43 cover.
Use this application split type encoder during, be fixed in the motor end with split type encoder, it is specific, like FIG. 6, be provided with mounting hole 113 on the encoder driving disk flange 11, the rotor shaft of motor supports the tang department in encoder driving disk 12, passes 113 after-fixing of mounting hole on the rotor shaft with the bolt, the fixed whole split type encoder of 9 fixed panel beating of encoder, rotor shaft butt inner circle mounting flange 36 that of course also can the motor is fixed through applicable mode. When the motor rotates, the rotor shaft drives the encoder moving disc flange 11 to rotate, the encoder moving disc 12 is driven to rotate, the encoder static disc 13 is not moved, and the rotating speed, the position and other related information of the motor can be fed back in real time through the difference value of the two coded discs.
In one embodiment, the encoder fixing metal plate 9 or the outer ring fixing flange 42 is detachably connected with the encoder static disc flange 10; the encoder fixing metal plate 9 or the outer ring fixing flange 42 is connected with an external fixing device. As mentioned above, the stationary encoder disk 13 can also be fixed by the outer ring fixing flange 42 to connect with an external fixing structure.
In one embodiment, a second positioning step 112 is further disposed on the encoder moving disk flange 11, a third positioning step (i.e., a part extending out from the center in fig. 5 or fig. 8) is disposed on the inner ring fixing flange 36, the encoder moving disk flange 11 and the inner ring fixing flange 36 are detachably connected, if both are provided with threaded holes, and are fixed by screws, and the second positioning step 112 and the third positioning step are respectively abutted against corresponding sides of the bearing inner ring; the sum of the heights of the second positioning step 112 and the third positioning step is equal to the width of the inner ring of the second deep groove ball bearing 39 or slightly smaller than the width; and/or, in an embodiment, a fourth positioning step (e.g., a protruding structure corresponding to the horizontal plane of the second positioning step 112 in fig. 5) is disposed on the upper portion of the encoder static disc flange 10, a fifth positioning step is disposed on the outer ring fixing flange 42, the encoder static disc flange 10 and the outer ring fixing flange 42 are detachably connected, and the fourth positioning step and the fifth positioning step are respectively abutted to corresponding sides of the outer ring of the second deep groove ball bearing 39. The third positioning step and the fifth positioning step are not necessarily step-shaped, and may be straight plate-shaped, and the contact portion with the inner ring and the outer ring of the bearing is regarded as a step, as shown in fig. 5 or fig. 8, the inner ring fixing flange 36 has a step, and the outer ring fixing flange 42 is a straight plate.
In one embodiment, the outer ring of the second deep groove ball bearing 39 is connected with the inner ring of the encoder static disc flange 10 in an interference fit manner, and the inner ring of the bearing is connected with the outer ring of the encoder dynamic disc flange 11 in an interference fit manner. The inner ring and the outer ring of the bearing can be respectively and correspondingly fixed through interference fit, and the stepped combined structure can be combined to realize fixation. The conventional connection assembly mode can adopt a threaded hole and then connect two parts through a screw, and the connection mode can be defaulted if no special description exists. Meanwhile, the method and the device can combine any non-conflicting technical features to form a new technical scheme. The split type encoder of this embodiment is positioned with two parallel terminal surfaces of bearing inner race outer lane, solves the problem that the installation time gap is inhomogeneous, and the clearance adjustment is difficult. And the coaxiality of the installation of the split type encoder can be ensured to meet the requirements by utilizing the high-precision coaxiality of the inner ring and the outer ring of the bearing. When the installation, a plurality of location steps greatly reduced the installation degree of difficulty.
In another embodiment, the number 7 shown in fig. 5 or 8 is replaced by a rolling connecting piece selected from a ball or a roller, grooves matched with the rolling connecting piece are respectively arranged on the encoder static disc flange and the encoder moving disc flange, namely the encoder static disc flange and the encoder moving disc flange are respectively corresponding to an outer ring and an inner ring of the bearing; the encoder static disc flange, the encoder moving disc flange and the rolling connecting piece are matched to form a bearing structure; the present embodiment is not separately illustrated, and similar to the existing drawings, only the names indicated by the corresponding numbers in the drawings need to be emphasized. As shown in the direction of the figure, the groove arranged on the movable disc flange of the encoder is formed by matching the second step in the description of the prior drawings with the inner ring fixed flange, and similarly, the groove arranged on the fixed disc flange of the encoder is formed by matching the fourth step in the description with the outer ring fixed flange 42, and the ball or the roller is placed in the groove; in the present embodiment, the inner ring fixed flange is regarded as a part of the encoder rotor flange, i.e., the lower part shown in the drawing; the outer ring fixed flange 42 is regarded as a part of the encoder stationary plate flange, i.e., the lower part as shown in the drawing. Of course, a split structure can be adopted, for example, the split structure is combined by a screw to form a groove, and the split structure is a non-standard bearing, so that a non-professional person can conveniently install the roller or the ball. The bearing can be directly installed by adopting a standard purchased bearing, and can also be arranged into a nonstandard bearing with a special structure by adopting the design principle of a bearing structure. The encoder static disc flange needs to be fixed outside, can be directly fixed with the outside through screws, can also be fixed through reconnection of installation sheet metal parts, and can also be connected with the outside through a part extended from the encoder static disc flange body or a part extended from an assembly (such as the outer ring fixing flange 42) which can realize other functions through matching with the body. The outer ring fixing flange 42 shown in the figure can also achieve the effect of installing sheet metal parts if extending outwards in the figure. The specific needs are to select one or more of the combinations according to actual needs.
Referring to fig. 1-2, a driver assembly is secured to the housing 5, the driver assembly including a driver lower plate 14 and a driver upper plate 15, the driver lower plate 14 and the driver upper plate 15 being connected by studs 16, preferably stainless steel studs, and the driver lower plate 14 and the driver upper plate 15 being bolted to the housing.
Specifically, in order to ensure that the lubricating oil in the crossed roller bearing 4 cannot leak, a framework oil seal 30 is arranged between the outer ring and the inner ring of the crossed roller bearing 4, and sealing rings are arranged between the contact surfaces of the outer ring of the crossed roller bearing 4 and a flexible gear 32, between the contact surfaces of the flexible gear 32 and a harmonic reducer rear end cover 29, between the contact surfaces of the inner ring of the crossed roller bearing 4 and a steel gear 31, and between the inner ring of the first deep groove ball bearing 18 and the contact surface of the pipeline section 101 of the harmonic reducer front end cover 1.
And a dustproof ring 2 and a rubber ring 3 are further fixed on the outer edge of the front end cover of the harmonic speed reducer.
The working principle of the invention is as follows: after the frameless torque motor is controlled by the driver assembly to be electrified, the rotor shaft 8 and the harmonic reducer input shaft 33 rotate at a high speed together, under the action of the wave generator 34, the steel wheel 31 rotates at a low speed on the gear of the flexible wheel 32, and the steel wheel 31 drives the front end cover 1 of the harmonic reducer and the inner ring of the crossed roller bearing 4 to rotate at a low speed. The encoder moving disc 12 rotates along with the rotor shaft 8, whether the frameless torque motor rotates in place or not is determined according to the rotation angle of the encoder moving disc 12 relative to the encoder static disc 13, and after the frameless torque motor rotates in place, the brake component brakes the rotor shaft 8.
Example 2
A cooperative robot comprising a cooperative robot joint as described in embodiment 1.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A cooperative robot joint is characterized by comprising an accommodating space formed by a front end cover of a harmonic reducer, a shell and a rear cover, and a harmonic reducer assembly, a motor assembly and a crossed roller bearing which are positioned in the accommodating space and coaxially mounted;
the motor assembly comprises a frameless torque motor and a rotor shaft which are coaxially mounted, the frameless torque motor comprises a stator and a rotor, the rotor is fixedly mounted on the rotor shaft, and the stator is fixedly mounted on the shell;
the harmonic reducer assembly comprises a harmonic reducer rear end cover, a harmonic reducer input shaft, a double-cover type deep groove ball bearing assembly, a harmonic reducer and a first deep groove ball bearing, wherein the harmonic reducer rear end cover, the harmonic reducer input shaft, the double-cover type deep groove ball bearing assembly, the harmonic reducer and the first deep groove ball bearing are coaxially mounted; one end of the input shaft of the harmonic speed reducer is fixedly arranged on the rotor shaft; the inner ring of the double-cover type deep groove ball bearing assembly is fixedly arranged on the input shaft of the harmonic speed reducer, and the rear end cover of the harmonic speed reducer is fixedly arranged between the outer ring of the double-cover type deep groove ball bearing assembly and the shell; the input shaft of the harmonic speed reducer is of a hollow structure; a pipeline section is arranged in the middle of the front end cover of the harmonic speed reducer to form a T-shaped structure, and the pipeline section is positioned in the input shaft of the harmonic speed reducer;
the harmonic speed reducer comprises a steel wheel, a flexible wheel and a wave generator, and the wave generator is sleeved on the outer wall of the other end of the input shaft of the harmonic speed reducer; the steel wheel is fixedly arranged between the front end cover of the harmonic speed reducer and the inner ring of the crossed roller bearing; the first deep groove ball bearing is fixedly arranged between the inner wall at the other end of the input shaft of the harmonic speed reducer and the pipeline section; one end of the flexible wheel with a gear is positioned between the steel wheel and the wave generator, and the other end of the flexible wheel is fixedly connected with the outer ring of the crossed roller bearing.
2. The cooperative robot joint as recited in claim 1, wherein the double-covered deep groove ball bearing assembly comprises two parallel double-covered deep groove ball bearings, the harmonic reducer input shaft is provided with a spigot for axially limiting one side of the inner ring of the double-covered deep groove ball bearing assembly, and the harmonic reducer input shaft is further provided with a snap spring retainer ring for a first shaft for axially limiting the other side of the inner ring of the double-covered deep groove ball bearing assembly; thereby the inboard edge of harmonic speed reducer machine rear end cap has a limit of buckling and fixes one side of double-canopy formula deep groove ball bearing subassembly outer lane, thereby it fixes to still be fixed with bearing outer lane solid fixed ring on the harmonic speed reducer machine rear end cap the opposite side of double-canopy formula deep groove ball bearing subassembly outer lane.
3. The cooperative robotic joint of claim 1, further comprising a brake assembly within the housing, the brake assembly comprising a rotation mechanism mounted on the rotor shaft and a blocking mechanism mounted on an inner wall of the housing.
4. The joint of claim 3, wherein the rotating mechanism comprises a second shaft circlip, a large gasket, a wave-shaped gasket, a first small gasket, a brake disc, a second small gasket, and a third shaft circlip retainer ring which are arranged at one end of the rotor shaft in sequence; the blocking mechanism comprises a spring, a stop pin, an electromagnet and an electromagnet fixing piece, wherein the electromagnet is fixed on the inner wall of the shell through the electromagnet fixing piece, the spring is arranged in a reserved counter bore in the shell, one end of the stop pin is located in the reserved counter bore and abuts against one end of the spring, and one end of an iron core in the electromagnet abuts against the other end of the stop pin.
5. The joint of claim 1, further comprising an encoder assembly mounted at the end of the rotor shaft, wherein the encoder assembly comprises a coaxially mounted encoder moving disc, a encoder static disc, an encoder static disc flange, an encoder moving disc flange, a rolling connector and a mounting sheet metal part, and the encoder static disc is detachably connected with the encoder static disc flange; the encoder moving disc is detachably connected with the encoder moving disc flange; a rolling connecting piece is arranged between the encoder static disc flange and the encoder moving disc flange, and the encoder moving disc flange rotates in parallel relative to the encoder static disc flange; the mounting sheet metal part is connected to the shell, and the encoder static disc is connected to the mounting sheet metal part through a flange; the encoder movable disc flange is fixed on the rotor shaft.
6. The cooperative robotic joint as recited in claim 5, wherein the rolling connection is a second deep groove ball bearing, a ball, or a roller.
7. The cooperative robotic joint of claim 1, wherein the receiving space further comprises a driver assembly secured to the housing, the driver assembly comprising a driver lower plate and a driver upper plate, the driver lower plate and the driver upper plate being connected by a stud, the driver lower plate and the driver upper plate being secured to the housing by a bolt.
8. The cooperative robot joint according to claim 1, further comprising a skeleton oil seal disposed between the outer ring and the inner ring of the crossed roller bearing, wherein sealing rings are disposed between the contact surfaces of the outer ring and the flexspline of the crossed roller bearing, between the contact surfaces of the flexspline and the rear end cover of the harmonic reducer, between the contact surfaces of the inner ring and the steel wheel of the crossed roller bearing, and between the contact surfaces of the inner ring of the first deep groove ball bearing and the pipeline section of the front end cover of the harmonic reducer.
9. The cooperative robot joint according to claim 1, wherein a dust ring and a rubber ring are further fixed to an outer edge of the front end cover of the harmonic reducer.
10. A cooperative robot comprising a cooperative robot joint as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111672083.5A CN114179122A (en) | 2021-12-31 | 2021-12-31 | Cooperative robot joint and cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111672083.5A CN114179122A (en) | 2021-12-31 | 2021-12-31 | Cooperative robot joint and cooperative robot |
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| CN114179122A true CN114179122A (en) | 2022-03-15 |
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| CN202111672083.5A Pending CN114179122A (en) | 2021-12-31 | 2021-12-31 | Cooperative robot joint and cooperative robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114382861A (en) * | 2022-03-25 | 2022-04-22 | 成都瑞迪智驱科技股份有限公司 | Electromagnetic braking harmonic speed reduction device embedded in robot joint and joint system |
| CN116061229A (en) * | 2023-03-09 | 2023-05-05 | 佳奕筱安(上海)机器人科技有限公司 | High-integration-level integrated joint module for cooperative robot |
| CN117719003A (en) * | 2023-12-22 | 2024-03-19 | 北京高帆机器人科技有限公司 | Braking device for robot joint, robot joint and robot |
| WO2024073950A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市越疆科技有限公司 | Collaborative robotic arm and joint module thereof |
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