CN117359680A

CN117359680A - Joint module and robot

Info

Publication number: CN117359680A
Application number: CN202311594497.XA
Authority: CN
Inventors: 屈云飞; 许长华; 凌乐军; 曾胜; 弓鹏伟; 张鑫
Original assignee: Shenzhen Inovance Technology Co Ltd
Current assignee: Shenzhen Inovance Technology Co Ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-01-09

Abstract

The invention discloses a joint module and a robot, wherein the joint module comprises a first joint part, a power assembly, a speed reduction assembly, a second joint part and a first monitoring assembly. The power assembly is fixed on the first joint part and provided with a first output part for outputting torque; the speed reducing assembly is in transmission connection with the first output piece, and is provided with a second output piece for outputting torque; the second joint piece is fixedly connected with the second output piece; the first monitoring assembly is used for monitoring the displacement of the second output piece relative to the second joint piece. By adopting the technical scheme, the first monitoring assembly is arranged at the positions of the second output piece and the second joint piece, so that a robot applying the joint module can acquire feedback signals of the joint output end, the correction of the terminal pose of the robot is realized by configuring a corresponding control method, the transmission errors caused by factors such as machining errors, assembly errors, deformation, hysteresis and the like of a speed reducer are reduced, and the precision of the joint module is improved.

Description

Joint module and robot

Technical Field

The invention relates to the technical field of machine equipment, in particular to a joint module and a robot.

Background

The joint module is one of the core structures of the robot and is arranged between two adjacent mechanical arms or between the base and the mechanical arms so as to enable the two mechanical arms to rotate relatively.

In the prior art, the joint module is mainly simple integration of a motor and a speed reduction assembly, and the compactness of the joint structure is relatively low. Furthermore, the joint module is provided with an encoder at the input end to obtain the angular displacement of the rotating shaft at the input end of the joint module. However, for general robots, due to the processing and assembly errors of the speed reducer, deformation, hysteresis and other characteristics, certain deviation exists between the input end and the output end of the joint module, and the movement precision of the robot is affected.

Disclosure of Invention

The invention mainly aims to provide a joint module, which aims to solve the problem of low precision of the joint module in the prior art.

In order to achieve the above object, the present invention provides a joint module, comprising:

a first articular component;

a power assembly secured to the first articulation member and having a first output member for outputting torque;

the speed reduction assembly is in transmission connection with the first output piece and is provided with a second output piece for outputting torque;

the second joint piece is fixedly connected with the second output piece; and

and the first monitoring component is used for monitoring the displacement of the second joint part relative to the second output part.

In an embodiment, the first monitoring assembly includes a monitoring grating fixedly disposed on the second output member, and a reading member fixedly disposed on the second joint member, the reading member being configured to read information of the monitoring grating.

In one embodiment, the joint module further comprises a second monitoring assembly for monitoring the angular displacement of the first output member relative to the first joint member.

In one embodiment, the second monitoring assembly includes an encoder fixed to the outer periphery of the first output member, and a control member fixedly disposed on the first joint member for reading information of the encoder.

In an embodiment, a placing groove is formed in one end, far away from the speed reducing assembly, of the first joint part, the first output part extends into the placing groove, and the control part is fixed in the placing groove.

In one embodiment, the first articulation member has a first receiving cavity within which the power assembly is received.

In an embodiment, the power assembly further comprises a stator fixed in the first accommodating cavity and a rotor rotatably arranged in the stator, the rotor is fixedly connected with the first output piece, and the first output piece is rotatably connected with the first joint piece.

In an embodiment, a plurality of heat dissipation grooves are formed in the outer wall of the first joint member.

In one embodiment, the speed reducing assembly comprises a mounting seat, a first driving wheel and a second driving wheel;

the mounting seat is fixed on the first joint piece and is provided with a second accommodating cavity, the first driving wheel is accommodated in the second accommodating cavity and sleeved on the periphery of the first output piece, the second driving wheel is meshed with the first driving wheel and the inner wall of the mounting seat, and the second driving wheel is in transmission connection with the second output piece;

when the first output piece rotates, the second driving wheel rotates around the first driving wheel and drives the second output piece to rotate.

In an embodiment, the speed reduction assembly further comprises a third output member, a third drive wheel, and a fourth drive wheel;

the third output piece is rotationally connected with the second transmission wheel, the third transmission wheel is fixed on the third output piece, the fourth transmission wheel is meshed with the third transmission wheel and the inner wall of the mounting seat, and the fourth transmission wheel is in transmission connection with the second output piece;

when the second driving wheel drives the third output piece to rotate, the fourth driving wheel rotates around the third driving wheel and drives the second output piece to rotate.

The invention also provides a robot comprising the joint module according to any embodiment.

By adopting the technical scheme of the embodiment, the first monitoring assembly is arranged at the positions of the second output piece and the second joint piece, so that a robot applying the joint module can acquire feedback signals of the joint output end, the correction of the tail end pose of the robot is realized by configuring a corresponding control method, the transmission errors caused by factors such as machining errors, assembly errors, deformation, hysteresis and the like of a speed reducer are reduced, and the precision of the joint module is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an embodiment of a joint module according to the present invention;

fig. 2 is a cross-sectional view of the joint module of fig. 1.

Reference numerals:

100-joint modules;

110-first articulation piece, 110 a-first accommodation chamber, 110 b-heat sink, 110 c-placement slot, 112-cover plate;

120-power assembly, 122-first output member, 124-stator, 126-rotor;

130-a speed reducing assembly, 131-a second output piece, 132-a mounting seat, 132 a-a second accommodating cavity, 133-a first driving wheel, 134-a second driving wheel, 135-a third output piece, 136-a third driving wheel, 137-a fourth driving wheel;

140-a second articular component;

150-a first monitoring assembly, 152-a monitoring grating, 154-a reading member;

160-second monitoring component, 162-encoder, 164-control.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1 and 2, the present invention provides an articulation module 100, which includes a first articulation component 110, a power component 120, a deceleration component 130, a second articulation component 140, and a first monitoring component 150. The power assembly 120 is fixed to the first joint member 110, and the power assembly 120 has a first output member 122 for outputting torque; the speed reducing assembly 130 is in transmission connection with the first output member 122, and the speed reducing assembly 130 has a second output member 131 for outputting torque; the second joint member 140 is fixedly connected to the second output member 131; the first monitoring assembly 150 is used for monitoring the displacement of the second output member 131 relative to the second joint member 140.

According to the present embodiment, when the joint module 100 works, the power assembly 120 fixed in the first accommodating cavity 110a drives the first output member 122 to rotate, the first output member 122 drives the speed reduction assembly 130 in driving connection with the first output member 122 to work, and the second output member 131 is driven to rotate, and finally the second output member 131 drives the second joint member 140 in fixing connection with the second output member to rotate, so as to realize the relative rotation of the first joint member 110 and the second joint member 140. The first monitoring assembly 150 can monitor the relative displacement between the second output member 131 and the second joint member 140 in real time, and perform feedback.

By adopting the technical scheme of the embodiment, the first monitoring assembly 150 is arranged at the positions of the second output piece 131 and the second joint piece 140, so that the robot applying the joint module 100 can acquire the feedback signal of the joint output end, and the correction of the terminal pose of the robot is realized by configuring a corresponding control method, so that the transmission errors caused by factors such as machining errors, assembly errors, deformation, hysteresis and the like of a speed reducer are reduced, and the precision of the joint module 100 is improved.

The relative displacement obtained by the first monitoring component 150 in this embodiment may be an angular displacement or a linear displacement.

It will be appreciated that, based on the processing cost, the second joint member 140 and the second output member 131 are not integrally formed, so there is a certain assembly error. Furthermore, the second joint member 140 has a load that provides a certain resistance to rotation of the second joint member 140 and also slightly deforms the second joint member 140. These factors, as well as other factors not listed, affect the transmission between the second output member 131 and the second joint member 140, and the joint module 100 according to the present embodiment can eliminate the influence of these factors to a certain extent.

In a possible embodiment, the first monitoring component 150 learns that the second joint member 140 deflects a certain position relative to the second output member 131 during monitoring, and then the first monitoring component 150 feeds back the information to the controller, and the controller converts the information into parameters related to the power component 120 after receiving the information, so as to control the power component 120 to compensate the second output member 131 and correct the pose of the second output member 131.

In a further embodiment, the feedback value of the first monitoring component 150 may be preset, and when it is known that the displacement value of the second output member 131 relative to the second joint member 140 exceeds a certain range, the information is fed back to the controller, so that the power component 120 corrects the displacement value.

In addition, the first joint member 110 and the second joint member 140 mentioned in this embodiment only show two structures for relative movement, and the first joint member 110 may be used as a moving arm or a mounting base, and the second joint member 140 may also be used.

With continued reference to fig. 1 and 2, in one embodiment, the first monitor assembly 150 includes a monitor grating 152 fixedly disposed on the second output member 131, and a reading member 154 fixedly disposed on the second joint member 140, wherein the reading member 154 is configured to read information of the monitor grating 152.

The monitor grating 152 refers to an optical device composed of a large number of parallel slits of equal width and equal pitch. The present embodiment adopts a combination structure of the monitoring grating 152 and the readout component, so as to improve the monitoring accuracy of the second output component 131 and the second joint component 140.

In a specific embodiment, the joint module 100 further includes a second monitoring assembly 160 for monitoring the angular displacement of the first output member 122 relative to the first joint member 110. By this arrangement, the input and output terminals can be monitored simultaneously, so that closed-loop control of the joint module 100 is realized, which means a control relationship in which the output quantity to be controlled is returned to the input terminal as control in a certain manner and a control influence is exerted on the input terminal.

In a more specific embodiment, the second monitoring assembly 160 includes an encoder 162 secured to the outer periphery of the first output member 122, and a control member 164 secured to the first articulation member 110, the control member 164 being configured to read information from the encoder 162.

Encoder 162 is a device that compiles, converts, or otherwise converts signals or data into a form of signals that can be used for communication, transmission, and storage. The encoder 162 is used in the present embodiment to monitor the number of rotations and the real-time position of the first output member 122.

As shown in fig. 2, a placing groove 110c is formed at an end of the first joint member 110 away from the deceleration assembly 130, the first output member 122 extends into the placing groove 110c, and the control member 164 is fixed in the placing groove 110c.

In this embodiment, the placement groove 110c is formed by the wall thickness of the first joint component 110 to realize the installation and fixation of the control component 164, so that the space in the first accommodating cavity 110a is not occupied, and the compactness of the joint module 100 is improved.

Optionally, the placement groove 110c is configured in a multi-step configuration to accommodate the first output member 122, the encoder 162, and the controller.

Further, the first joint member 110 further includes a cover plate 112, and the cover plate 112 is used for covering the placement groove 110c.

Optionally, the first joint member 110 is further provided with a sink in communication with the placement groove 110c, and the cover plate 112 is fixed in the sink and seals the placement groove 110c. This ensures that the surface of the first joint member 110 is smooth to enhance the aesthetic appearance of the joint module 100.

With continued reference to fig. 2, in yet another embodiment, the first joint member 110 has a first accommodating cavity 110a, and the power assembly 120 is accommodated in the first accommodating cavity 110 a. In the technical solution of this embodiment, the first joint member 110 is used as the housing of the power assembly 120, so that the volume of the joint module 100 is relatively reduced, the compactness of the structure is improved, and meanwhile, the space can be effectively utilized to increase the output torque of the power assembly 120.

Further, the power assembly 120 further includes a stator 124 fixed in the first accommodating cavity 110a, and a rotor 126 rotatably disposed in the stator 124, wherein the rotor 126 is fixedly connected to the first output member 122, and the first output member 122 is rotatably connected to the first joint member 110.

It should be noted that, in the present embodiment, the outer periphery of the stator 124 abuts against the inner wall of the first accommodating cavity 110a, the housing of the power assembly 120 is removed, and the first joint member 110 is used as the housing of the power assembly 120, so that the volume of the joint module 100 is relatively reduced.

In addition, in the present embodiment, the rotor 126 is fixedly disposed on the outer periphery of the first output member 122, and the rotor 126 can rotate relative to the stator 124 to directly drive the first output member 122 to rotate on the first joint member 110, so that no other transmission structure is required, and the compactness of the joint module 100 is reflected.

In addition, the outer circumference of the first output member 122 forms a step for mounting a rolling bearing that is mounted in the first joint member 110 so that the first output member 122 rotates with respect to the first joint member 110.

In a specific embodiment, the outer wall of the first joint member 110 is provided with a plurality of heat dissipation grooves 110b, and the plurality of heat dissipation grooves 110b are arranged along the axial direction of the first output member 122.

Because the power assembly 120 is in direct contact with the first articular component 110, the first articular component 110 is capable of conducting heat generated by the power assembly 120. In this embodiment, by providing a plurality of heat dissipation grooves 110b, the surface area of the first joint member 110 can be increased, and the heat dissipation effect thereof can be improved.

Optionally, the heat dissipation groove 110b extends along a circumferential direction of the first joint member 110.

In another embodiment, as shown in fig. 2, the reduction assembly 130 includes a mount 132, a first drive wheel 133, and a second drive wheel 134; the mounting seat 132 is fixed on the first joint member 110 and provided with a second accommodating cavity 132a, the first driving wheel 133 is accommodated in the second accommodating cavity 132a and sleeved on the periphery of the first output member 122, the second driving wheel 134 is meshed with the first driving wheel 133 and the inner wall of the mounting seat 132, and the second driving wheel 134 is in transmission connection with the second output member 131; when the first output member 122 rotates, the second driving wheel 134 rotates around the first driving wheel 133 and drives the second output member 131 to rotate.

After the power assembly 120 works, the first output member 122 drives the first driving wheel 133 sleeved on the outer periphery thereof to rotate, and the second driving wheel 134 performs circular motion around the first driving wheel 133 due to the engagement of the first driving wheel 133 with the second driving wheel 134 and the engagement of the second driving wheel 134 with the inner wall of the mounting seat 132, so that the second output member 131 rotates to output torque.

By adopting the technical scheme of the embodiment, the first transmission wheel 133 and the second transmission wheel 134 which are radially arranged are used for realizing primary speed reduction, the occupied axial space is relatively small, the volume of the joint module 100 is further reduced, and the joint module 100 can be applied to more narrow application scenes.

Optionally, the number of second driving wheels 134 is two or more.

Further, the reduction assembly 130 further includes a third output member 135, a third drive wheel 136, and a fourth drive wheel 137; the third output piece 135 is rotationally connected with the second transmission wheel 134, the third transmission wheel 136 is fixed on the third output piece 135, the fourth transmission wheel 137 is meshed with the third transmission wheel 136 and the inner wall of the mounting seat 132, and the fourth transmission wheel 137 is in transmission connection with the second output piece 131; when the second driving wheel 134 drives the third output member 135 to rotate, the fourth driving wheel 137 rotates around the third driving wheel 136 and drives the second output member 131 to rotate.

In this embodiment, when the second driving wheel 134 rotates around the first driving wheel 133, the second driving wheel 134 drives the third output member 135 to rotate, and the third output member 135 drives the third driving wheel 136 fixedly connected with the third driving wheel 135 to rotate, so that the fourth driving wheel 137 is meshed with the third driving wheel 136 and the inner wall of the mounting seat 132, and the fourth rotating wheel moves circumferentially around the third driving wheel 136, so as to drive the second output member 131 to rotate. By adopting the technical scheme of the embodiment, the axial occupied space is smaller while two-stage deceleration is realized.

Optionally, the number of fourth rotating wheels is two or more.

In addition, in order to facilitate the rotational output of the second driving wheel 134 and the fourth driving wheel 137, a rolling bearing and a connecting shaft are provided in the middle of the second driving wheel 134, and the connecting shaft is connected with the third output member 135; the fourth transmission wheel 137 is connected to the second output member 131 in the same manner.

With continued reference to fig. 2, in order to facilitate the rotation of the second output member 131 and the mounting seat 132, an angular ball bearing is disposed between the second output member 131 and the mounting seat 132.

Further, a rotary seal is disposed at an end of the mounting base 132 away from the first joint member 110, and the rotary seal is disposed between the second output member 131 and the mounting base 132.

In one specific embodiment, the joint module 100 includes a first joint member 110, a power assembly 120, a reduction assembly 130, a second joint member 140, a first monitoring assembly 150, and a second monitoring assembly 160. The first joint element 110 has a first receiving cavity in which the power assembly 120 is received. The features of the power component, the speed reduction component or other components can be referred to the above embodiments, and are not described herein. By adopting the design, the first joint member 110 is used as the housing of the power assembly 120, and the first joint member and the housing are integrated, so that the compactness of the structure of the joint module 100 and the output torque of the power assembly 120 are improved. On this basis, the encoder 162 is arranged on the first output member 122, the reading member is arranged on the first joint member 110, the monitoring grating 152 is arranged on the second output member 131, and the monitoring grating 154 is arranged on the second joint member 140, so that the position information of the input end and the output end can be acquired, and the full-closed loop or double-closed loop control of the joint module is realized. According to the feedback signal of the grating ruler, the pose of the tail end of the robot is corrected through an algorithm, the gap of a transmission chain of the robot is eliminated, the influence of joint deformation caused by the gravity of a robot body on absolute precision is avoided, the inhibition of residual vibration, running shake and the like of the robot is realized, and the precision performance of the robot is improved.

The invention also proposes a robot comprising a joint module 100 according to any of the embodiments described above. The specific structure of the joint module 100 refers to the above embodiment, and since the present robot adopts all the technical solutions of all the embodiments, at least has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A joint module, comprising:

a first articular component;

the second joint piece is fixedly connected with the second output piece; and

2. The joint module of claim 1, wherein the first monitoring assembly comprises a monitoring grating fixedly disposed on the second output member, and a reading member fixedly disposed on the second joint member, the reading member for reading information of the monitoring grating.

3. The joint module of claim 2, further comprising a second monitoring assembly for monitoring displacement of the first output member relative to the first joint member.

4. The joint module of claim 3, wherein the second monitoring assembly includes an encoder fixed to an outer periphery of the first output member, and a control member fixedly disposed on the first joint member for reading information of the encoder.

5. The joint module of claim 4, wherein a placement slot is formed in an end of the first joint member away from the deceleration assembly, the first output member extends into the placement slot, and the control member is fixed in the placement slot.

6. The joint module of any one of claims 1-5, wherein the first joint member has a first receiving cavity, the power assembly being received in the first receiving cavity.

7. The joint module of claim 6, wherein the power assembly further comprises a stator secured within the first receiving cavity and a rotor rotatably disposed within the stator, the rotor being fixedly coupled to the first output member, the first output member being rotatably coupled to the first joint member.

8. The joint module of claim 7, wherein the outer wall of the first joint member is provided with a plurality of heat sink grooves.

9. The joint module of any one of claims 1-5, wherein the reduction assembly comprises a mount, a first drive wheel, and a second drive wheel;

10. The joint module of claim 9, wherein the reduction assembly further comprises a third output member, a third drive wheel, and a fourth drive wheel;

11. A robot comprising a joint module according to any one of claims 1-10.