CN117798973A - High integration cavity formula joint of modularization robot - Google Patents

Abstract

The application provides a high integration cavity type joint of modularization robot belongs to robot technical field and special mechanical drive technical field. The novel high-speed motor comprises fourteen parts including a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a brake connecting piece 6, an encoder 7, an encoder mounting seat 8, a bearing 9, a hollow shaft 10, a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and a speed reducer 14, wherein the above components are hollow and designed for circuit wiring, and meanwhile, the components are assembled through mutual constraint and high integration so as to realize the hollow and high-integration functions of the joint.

Description

High integration cavity formula joint of modularization robot

Technical Field

The invention relates to a high-integration hollow joint of a modularized robot, and belongs to the technical field of robots and the technical field of special mechanical driving devices.

Background

The modularized robot has extremely strong environmental adaptability and multitasking adaptability, and has extremely strong application value in the fields of space construction, outer planetary detection, military, medical treatment and the like. In order to increase the operation capacity of the modularized robot in a narrow space, the size of the modularized robot units should be as small as possible, the integration level should be as high as possible, in addition, the modularized robot joints should be designed as hollow as possible in order to facilitate circuit routing in consideration of the need of power supply and communication transmission between the modularized robot units. The above requirements place higher demands on the design of modular robotic joints, how to design modular robotic joints has important practical implications for their floor application.

On one hand, the existing modularized robot joint is relatively large in size due to relatively low integration level, and on the other hand, most joints are solid, so that wiring requirements of modularized robot joint interface circuits and the like are difficult to meet. Therefore, the design of the high-integration hollow joint has important significance for promoting the technical development of the modularized robot.

Disclosure of Invention

The invention provides a modularized robot high-integration joint which comprises a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a brake connecting piece 6, an encoder 7, an encoder mounting seat 8, a bearing 9, a hollow shaft 10, a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and a speed reducer 14, wherein the above-mentioned included components are all designed in a hollow mode for circuit wiring, and meanwhile, the components are assembled in a mutually constrained and high-integration mode, so that the high-integration hollow design requirement of the joint is realized on the premise of meeting the manual torque output requirement of the modularized robot.

To achieve the above object, the present invention adopts the following solutions:

the invention provides a high-integration hollow joint of a modularized robot, which comprises the following components: the joint base 1, the driver 2, the brake mount 3, the joint housing 4, the brake 5, the brake connector 6, the encoder 7, the encoder mount 8, the bearing 9, the hollow shaft 10, the motor 11, the motor mount 12, the reducer mount 13 and the reducer 14, all of which are hollow in design for circuit wiring.

The upper surface of the joint base 1 is provided with three cylindrical bosses which are uniformly arranged in the circumferential direction and are used for installing the driver 2, the outer ring is provided with the cylindrical bosses, and the cylindrical bosses are positioned in a cylinder at the bottom end of the brake mounting seat 3 by being embedded into the cylinder, so that transition fit is formed.

According to the invention, a brake mounting interface is processed on the upper surface of the brake mounting seat 3 and is used for mounting a brake 5, a cylindrical boss is processed on the upper surface and is used for positioning and connecting the joint shell 4, a straight slot is processed on the outer cylindrical surface of the brake 3 and is used for fan heating, and meanwhile, the joint quality is reduced.

The joint shell 4 is cylindrical, a speed reducer mounting plate is processed on the upper end face of the joint shell, a positioning hole and a connecting hole are processed on the mounting plate, and a straight slot is processed on the cylindrical surface of the joint shell for heat dissipation, so that joint quality is reduced.

The brake connecting piece 6 is a square block, and a round hole is formed in the brake connecting piece for connecting with a hollow shaft.

The lower surface of the encoder mounting seat 8 is provided with the encoder mounting seat, the upper surface is provided with a cylindrical positioning boss for positioning the encoder mounting seat in coaxial relation with the motor mounting seat 12, and the upper surface is also provided with a bearing mounting seat for mounting a bearing 9.

The hollow shaft 10 is a multi-shaft section transmission shaft, a brake connecting piece 6, a movable end of an encoder 7, a bearing 9, a motor 10 and a speed reducer 14 are arranged on a shaft section, a through hole is formed in the hollow shaft for circuit wiring, and an outer spline groove is formed in the upper end of the hollow shaft and used for being matched with an inner spline of an input wheel of the speed reducer 14 to transmit torque.

The motor mounting seat 12 is processed into a cylindrical shape, the inner wall of the cylinder is axially processed with semicircular column grooves, the positions of the semicircular column grooves correspond to the positions of the semicircular column grooves on the outer cylindrical surface of the motor 11 one by one, and the cylindrical pins are inserted to restrain the relative rotation of the motor mounting seat 12 and the motor 11.

The lower surface of the speed reducer mounting seat 13 is provided with a circular positioning groove, the coaxial relation between the speed reducer and the motor mounting seat 12 is restrained by the positioning groove, and the upper end surface is provided with a cylindrical positioning boss for positioning and restraining the coaxial relation between the speed reducer and the speed reducer 14.

The intra-articular component forms a high-integration joint module through a positioning constraint mechanism and a high-integration assembly sequence.

The invention provides a positioning constraint mechanism for intra-articular components, which comprises three mechanisms, namely coaxial constraint of a rotating component, coaxial constraint of a fixed component and coaxial constraint between the rotating component and the fixed component.

The rotating group component of the invention comprises a brake connector 6, a moving end of an encoder 7, an inner ring of a bearing 9, a hollow shaft 10, a rotor of a motor 11 and an input end of a speed reducer 14.

The fixed group component comprises a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a static end of an encoder 7, an encoder mounting seat 8, an outer end of a bearing 9, a stator of a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and an output end of a speed reducer 14.

The invention provides a coaxial constraint mechanism of a rotating group part, which is realized by a hollow shaft 10, wherein the hollow shaft 10 is an integral coaxial processing eight-shaft section transmission shaft with different shaft diameters, and the shaft sections sequentially comprise a first shaft section and an eighth shaft section from the bottom end to the top end.

The movable ends of the brake connector 6 and the encoder 7 are coaxially arranged on the first shaft section of the hollow shaft 10 and are fixed by fastening screws.

The bearing 9 is coaxially arranged on the second shaft section and the seventh shaft section of the hollow shaft 10, and the axial movement of the bearing is restrained by the shaft shoulders of the middle third shaft section and the sixth shaft section.

The rotor of the motor 11 according to the invention is coaxially mounted on the fourth shaft section of the hollow shaft 10 and is interference fit.

The input end of the speed reducer 14 is arranged on the eighth shaft section of the hollow shaft 10 and is connected through internal and external splines.

The invention provides a coaxial restraint mechanism of a fixed component, which extends to the upper side and the lower side on the basis of a motor mounting seat 12; the reducer mounting seat 13 is positioned and coaxially arranged at the upper end of the motor mounting seat 12 through a circular groove at the lower end of the reducer mounting seat 13, and the output end of the reducer 14 is positioned and coaxially arranged through a cylindrical boss at the upper end of the reducer mounting seat 13; the stator of the motor 11 is coaxially arranged in the cylinder of the motor mounting seat 12, the joint housing 4 is coaxially sleeved on the outer circular surface of the motor mounting seat 12, the encoder mounting seat 8 is positioned and coaxially arranged through the cylinder boss on the lower end surface of the motor mounting seat 12, the brake mounting seat 3 is positioned and coaxially arranged at the lower end of the joint housing 4 through the cylinder boss on the upper end of the brake mounting seat 3, the brake 5 is coaxially arranged at the center of the upper end surface of the brake mounting seat 3, the driver 2 is coaxially arranged at the center of the joint base 1, and the joint base 1 is coaxially arranged at the bottom end of the brake mounting seat 3.

The invention provides a coaxial constraint mechanism between a rotating group part and a fixed group part, which is realized through a bearing 9; the outer ring of the bearing 9 at the lower end is coaxially arranged in a bearing mounting seat of the encoder mounting seat 8, and the outer ring of the bearing 9 at the upper end is coaxially arranged in a bearing mounting hole of the speed reducer mounting seat 13, so that the coaxial mounting of the bearing 9 and a fixed group part is realized; the inner rings of the bearings 9 at the upper end and the lower end are coaxially arranged on the hollow shaft 10, so that the coaxial arrangement of the inner rings of the bearings and the hollow shaft is realized; the coaxial constraint between the rotating group part and the fixed group part is realized through the constraint of the upper end bearing 9 and the lower end bearing 9.

The invention provides a high-integration assembly sequence of intra-articular components, which comprises the following steps:

step S1: mounting a rotor inner ring of the motor 11 on a motor mounting shaft section of the hollow shaft 10 and forming interference fit;

step S2: on the basis of the step S1, bearings 9 at the upper end and the lower end are arranged on a bearing installation shaft section of a hollow shaft 10;

step S3: the stator outer ring of the motor 11 is arranged in an inner hole of the motor mounting seat 12, and the relative movement of the two is completely restrained through a pin shaft;

step S4: based on the steps S2 and S3, sleeving the inner ring of the stator of the motor 11 on the outer ring of the motor rotor;

step S5: on the basis of the step S4, the upper end of the hollow shaft 10 is inserted into the speed reducer mounting seat 13, so that the upper end bearing 9 just enters the bearing mounting seat of the speed reducer mounting seat 13, and meanwhile, the position of the speed reducer mounting seat 13 is adjusted so that the speed reducer mounting seat is coaxially matched with the upper end of the motor mounting seat 12 and is connected through bolts;

step S6: on the basis of the step S5, the lower end of the hollow shaft 10 is inserted into the encoder mounting seat 8, so that the lower end bearing 9 just enters the bearing mounting seat of the encoder mounting seat 8, and meanwhile, the position of the encoder mounting seat 8 is adjusted so that the encoder mounting seat is coaxially matched with the lower end of the motor mounting seat 12 and is connected through bolts;

step S7: on the basis of the step S6, the static end of the encoder 7 is mounted on the lower end surface of the encoder mounting seat 8 and is fixed through bolts;

step S8: on the basis of the step S7, the movable end of the encoder 7 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S9: on the basis of step S8, the brake connector 6 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S10: inserting the assembly formed in the step 9 into an inner hole of the joint housing 4 at the same time, so that the lower end surface of the speed reducer mounting seat 13 is attached to the upper end surface of the joint housing 4 and is fixed through bolts;

step S11: the brake 5 is mounted on the brake mounting seat 3 and connected through bolts;

step S12: the driver 2 is installed on the joint base 1 and connected through bolts;

step S13: coaxially mounting the assembly formed in the step S11 to the lower end of the assembly formed in the step S12, and connecting the assembly by bolts;

step S14: inserting the assembly formed in step S13 into the lower end of the assembly formed in step S10 so that the brake connector 6 is fully inserted into the square hole of the moving end of the brake 5;

step S15: the input end of the speed reducer 14 is connected with the hollow shaft in the component obtained in the step S14 through a spline, and the fixed end of the speed reducer is connected with the speed reducer mounting seat 13 through a bolt.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are required to be used in the specific embodiments will be briefly described below.

FIG. 1 is a diagram of a modular robotic joint composition;

FIG. 2 is a block diagram of a joint base;

FIG. 3 is a block diagram of a brake mount;

FIG. 4 is a block diagram of a joint enclosure;

FIG. 5 is a block diagram of an encoder mount;

FIG. 6 is a diagram of a hollow shaft structure;

FIG. 7 is a block diagram of a motor mount;

FIG. 8 is a block diagram of a reducer mount;

FIG. 9 is a general assembly view of a modular robotic joint;

FIG. 10 is a diagram of a coaxial restraint installation of a rotating group component;

FIG. 11 is a diagram of a coaxial restraint installation of a fixed set of components;

fig. 12 is a flowchart of a modular robotic joint assembly sequence.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The present invention will be described in detail below with reference to the accompanying drawings for more clearly explaining the objects, technical solutions and advantages of the present invention.

It should be understood that the described embodiments are merely 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.

The invention provides a high-integration hollow joint of a modularized robot, which is shown in fig. 1, and comprises 14 components including a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a brake connecting piece 6, an encoder 7, an encoder mounting seat 8, a bearing 9, a hollow shaft 10, a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and a speed reducer 14. The component features of the modular robotic joint are described in detail below in conjunction with fig. 1.

As shown in fig. 2, the upper surface of the joint base 1 is provided with three 104-cylinder bosses which are uniformly arranged in the circumferential direction and are used for installing the driver 2; the outer ring is provided with a 101-cylinder boss, eight 105-threaded holes are uniformly distributed in the circumferential direction of the boss, the 101-cylinder boss is positioned in a cylinder at the bottom end of the brake mounting seat 3 by being embedded into the cylinder, and meanwhile, transition fit is formed, and then the connection is carried out through 105-threaded holes and bolts; for the convenience of circuit routing, the center of the upper surface is provided with 103-round holes, and the edge is also provided with three uniformly distributed 102-round holes.

As shown in fig. 3, the upper surface of the brake mounting seat 3 is provided with a 304-brake mounting interface and a 302-brake connecting threaded hole for mounting the brake 5; simultaneously, the upper surface is processed with 305-cylinder bosses and six 303-shell connecting threaded holes for positioning and connecting the joint shell 4; in order to facilitate the circuit routing, a 301-circular hole is further processed on the upper surface, and a circular hole is processed in the center; the outer cylindrical surface of the brake 3 is provided with a straight slot for heat dissipation, the joint quality is reduced, and the cylindrical surface is provided with six 307-countersunk threaded holes near the bottom end for connecting the joint base 1.

As shown in fig. 4, the joint housing 4 is cylindrical, a reducer mounting plate is machined on the upper end face of the joint housing, a 403-positioning U-shaped hole and a 402-bolt connecting hole are machined on the mounting plate, a 401-straight slot is machined on the cylindrical face of the joint housing for fan heating, meanwhile, the quality of the joint is reduced, a 404-circular ring face is machined at the bottom end of the cylinder, and a 405-threaded hole is machined on the face of the cylinder for connecting the brake mounting seat 3.

The appearance of the brake connecting piece 6 is a square block, the square block size corresponds to the square groove size of the output end of the speed reducer, a round hole is formed in the center of the square block and used for being connected with the hollow shaft, and a threaded hole is formed in the cutting surface of the square block and used for being screwed into a jackscrew so that the jackscrew is fixed with the hollow shaft.

As shown in fig. 5, an 801-encoder mounting seat is machined on the lower surface of the encoder mounting seat 8, an 803-bearing mounting seat and an 804-bearing shoulder are machined in the center for mounting the bearing 9, and an 802-countersunk hole and a 805-U-shaped positioning groove are machined near the edge; the upper surface is machined 806-cylindrical positioning boss for positioning it in coaxial relation with the motor mount 12, by positioning and bolting for achieving a fixed mounting of the encoder mount to the motor housing.

As shown in fig. 6, the hollow shaft 10 is a multi-shaft transmission shaft, a brake connector 6 is arranged on a 1008-shaft section, an encoder 7 moving end is arranged on a 1007-shaft section, a lower bearing 9 is arranged on a 1006-shaft section, a 1005-shaft section is used for restraining axial movement of the bearing, a motor 10 is arranged on a 1004-shaft section, a 1003-shaft section is used for restraining axial movement of the motor, a speed reducer 14 is arranged on a 1002-shaft section, a through hole is formed in the hollow shaft for circuit wiring, and an external spline groove is formed on a 1001-shaft section of the hollow shaft and used for being matched with an internal spline connected with an input wheel of the speed reducer 14 to transmit torque.

As shown in fig. 7, the motor mounting seat 12 is processed into a cylinder, 1203-motor mounting seat and 1204-motor shoulder are processed in the cylinder, 1206-semi-cylindrical grooves are processed on the inner wall of the cylinder along the axial direction, the positions of the semi-cylindrical grooves correspond to the positions of the semi-cylindrical grooves on the outer cylindrical surface of the motor 11 one by one, and the relative rotation of the motor mounting seat 12 and the motor 11 is restrained by inserting cylindrical pins; 1202-annular notches are formed in the middle of the inner wall and the outer wall of the cylinder, so that the cylinder is hollowed out, the weight of a motor mounting seat is greatly reduced, 1205-encoder mounting seat limiting bosses and 1201-reducer mounting seat limiting bosses are respectively formed on the upper end face and the lower end face of the motor mounting seat, and the motor mounting seat limiting bosses are respectively used for mounting an encoder mounting seat 8 and a reducer mounting seat 13.

As shown in fig. 8, the lower surface of the decelerator mounting seat 13 is processed with 1307-annular positioning grooves, and the coaxial relation between the decelerator mounting seat and the motor mounting seat 12 is restrained by the 1307-annular positioning grooves; the upper end face is provided with a 1302-cylindrical positioning boss for positioning and restraining the coaxial relation between the upper end face and the speed reducer 14, the center of the upper end circular face is provided with a 1305-bearing mounting seat and a 1304-bearing retaining shoulder for mounting the restraining bearing 9, and the circular face and the 1305-bearing mounting seat are provided with 1301-U-shaped positioning grooves, 1303-countersunk holes and 1306-through holes which are uniformly formed in the circumferential direction of the center of the circular face and are used for positioning and matching with bolts to fixedly connect the motor mounting seat 12.

The intra-articular component assembly is formed into a highly integrated articular module by a positioning constraint mechanism and a highly integrated assembly sequence, as shown in fig. 9, and the method of positioning the component assembly constraint mechanism and the highly integrated assembly sequence is described in detail below with reference to fig. 9.

The positioning constraint mechanism comprises three mechanisms, namely coaxial constraint of a rotating group part, coaxial constraint of a fixed group part and coaxial constraint between the rotating group part and the fixed group part; the rotating group part comprises a brake connecting piece 6, a moving end of an encoder 7, an inner ring of a bearing 9, a hollow shaft 10, a rotor of a motor 11 and an input end of a speed reducer 14; the fixed group of components comprises a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a static end of an encoder 7, an encoder mounting seat 8, an outer end of a bearing 9, a stator of a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and an output end of a speed reducer 14.

As shown in fig. 10, the coaxial constraint mechanism of the rotating group component is realized by a hollow shaft 10, the hollow shaft 10 is an integral eight-shaft-section transmission shaft which is coaxially processed and has different shaft diameters, and the shaft sections are sequentially from the bottom end to the top end from a first shaft section to an eighth shaft section; the movable ends of the brake connecting piece 6 and the encoder 7 are coaxially arranged on the first shaft section of the hollow shaft 10 and are fixed through fastening screws; the bearing 9 is coaxially arranged on the second shaft section and the seventh shaft section of the hollow shaft 10, and restrains the seventh shaft section from moving axially through the shaft shoulders of the middle third shaft section and the sixth shaft section; the rotor of the motor 11 is coaxially arranged on the fourth shaft section of the hollow shaft 10 and is in interference fit; the input end of the speed reducer 14 is mounted on the eighth shaft section of the hollow shaft 10 and connected by internal and external splines, and coaxial constraint of the rotating group members is realized by coaxial cooperation between the above-mentioned group members.

As shown in fig. 11, the coaxial restraint mechanism of the fixed group member extends upward and downward on the basis of the motor mount 12; the reducer mounting seat 13 is positioned and coaxially arranged at the upper end of the motor mounting seat 12 through a circular groove at the lower end of the reducer mounting seat 13, and the output end of the reducer 14 is positioned and coaxially arranged through a cylindrical boss at the upper end of the reducer mounting seat 13; the stator of the motor 11 is coaxially arranged in the cylinder of the motor mounting seat 12, the joint housing 4 is coaxially sleeved on the outer circular surface of the motor mounting seat 12, the encoder mounting seat 8 is positioned and coaxially arranged through the cylinder boss on the lower end surface of the motor mounting seat 12, the brake mounting seat 3 is positioned and coaxially arranged at the lower end of the joint housing 4 through the cylinder boss on the upper end of the brake mounting seat 3, the brake 5 is coaxially arranged at the center of the upper end surface of the brake mounting seat 3, the driver 2 is coaxially arranged at the center of the joint base 1, and the joint base 1 is coaxially arranged at the bottom end of the brake mounting seat 3.

The coaxial constraint mechanism between the rotating group part and the fixed group part is realized through a bearing 9; the outer ring of the bearing 9 at the lower end is coaxially arranged in a bearing mounting seat of the encoder mounting seat 8, and the outer ring of the bearing 9 at the upper end is coaxially arranged in a bearing mounting hole of the speed reducer mounting seat 13, so that the coaxial mounting of the bearing 9 and a fixed group part is realized; the inner rings of the bearings 9 at the upper end and the lower end are coaxially arranged on the hollow shaft 10, so that the coaxial arrangement of the inner rings of the bearings and the hollow shaft is realized; the coaxial constraint between the rotating group part and the fixed group part is realized through the constraint of the upper end bearing 9 and the lower end bearing 9.

As shown in fig. 12, the intra-articular component-assembly high-integration assembly sequence flow is as follows:

step S1: mounting a rotor inner ring of the motor 11 on a motor mounting shaft section of the hollow shaft 10 and forming interference fit;

step S2: on the basis of the step S1, bearings 9 at the upper end and the lower end are arranged on a bearing installation shaft section of a hollow shaft 10;

step S3: the stator outer ring of the motor 11 is arranged in an inner hole of the motor mounting seat 12, and the relative movement of the two is completely restrained through a pin shaft;

step S4: based on the steps S2 and S3, sleeving the inner ring of the stator of the motor 11 on the outer ring of the motor rotor;

step S5: on the basis of the step S4, the upper end of the hollow shaft 10 is inserted into the speed reducer mounting seat 13, so that the upper end bearing 9 just enters the bearing mounting seat of the speed reducer mounting seat 13, and meanwhile, the position of the speed reducer mounting seat 13 is adjusted so that the speed reducer mounting seat is coaxially matched with the upper end of the motor mounting seat 12 and is connected through bolts;

step S6: on the basis of the step S5, the lower end of the hollow shaft 10 is inserted into the encoder mounting seat 8, so that the lower end bearing 9 just enters the bearing mounting seat of the encoder mounting seat 8, and meanwhile, the position of the encoder mounting seat 8 is adjusted so that the encoder mounting seat is coaxially matched with the lower end of the motor mounting seat 12 and is connected through bolts;

step S7: on the basis of the step S6, the static end of the encoder 7 is mounted on the lower end surface of the encoder mounting seat 8 and is fixed through bolts;

step S8: on the basis of the step S7, the movable end of the encoder 7 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S9: on the basis of step S8, the brake connector 6 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S10: inserting the assembly formed in the step 9 into an inner hole of the joint housing 4 at the same time, so that the lower end surface of the speed reducer mounting seat 13 is attached to the upper end surface of the joint housing 4 and is fixed through bolts;

step S11: the brake 5 is mounted on the brake mounting seat 3 and connected through bolts;

step S12: the driver 2 is installed on the joint base 1 and connected through bolts;

step S13: coaxially mounting the assembly formed in the step S11 to the lower end of the assembly formed in the step S12, and connecting the assembly by bolts;

step S14: inserting the assembly formed in step S13 into the lower end of the assembly formed in step S10 so that the brake connector 6 is fully inserted into the square hole of the moving end of the brake 5;

step S15: the input end of the speed reducer 14 is connected with the hollow shaft in the component obtained in the step S14 through a spline, and the fixed end of the speed reducer is connected with the speed reducer mounting seat 13 through a bolt.

The high-integration assembly of the modularized robot joint is realized through the flow assembly.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

What is not described in detail in the present specification is a well known technology to those skilled in the art.

Claims (6)

1. A modular robotic highly integrated hollow joint, the joint comprising:

the device comprises a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a brake connecting piece 6, an encoder 7, an encoder mounting seat 8, a bearing 9, a hollow shaft 10, a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and a speed reducer 14, wherein all the included group parts are hollow and designed for circuit wiring;

the upper surface of the joint base 1 is provided with three cylindrical bosses which are uniformly arranged in the circumferential direction and used for installing the driver 2, the outer ring is provided with cylindrical bosses, and the cylindrical bosses are positioned in a cylinder at the bottom end of the brake mounting seat 3 by being embedded into the cylinder to form transition fit;

the upper surface of the brake mounting seat 3 is provided with a brake mounting interface for mounting a brake 5, and meanwhile, the upper surface of the brake mounting seat is provided with a cylinder boss for positioning and connecting the joint shell 4, and the outer cylinder surface of the brake 3 is provided with a straight slot for fan heating, so that joint quality is reduced;

the joint shell 4 is cylindrical, a speed reducer mounting plate is processed on the upper end face of the joint shell, a positioning hole and a connecting hole are processed on the mounting plate, a straight slot is processed on the cylindrical surface of the joint shell for heat dissipation, and meanwhile joint quality is reduced;

the brake connecting piece 6 is a square block, and a round hole is formed in the brake connecting piece for connecting with the hollow shaft;

the lower surface of the encoder mounting seat 8 is provided with an encoder mounting seat, the upper surface is provided with a cylindrical positioning boss for positioning the encoder mounting seat in coaxial relation with the motor mounting seat 12, and the upper surface is also provided with a bearing mounting seat for mounting a bearing 9;

the hollow shaft 10 is a multi-shaft section transmission shaft, a brake connecting piece 6, a movable end of an encoder 7, a bearing 9, a motor 10 and a speed reducer 14 are arranged on the shaft section, a through hole is formed in the hollow shaft for circuit wiring, an external spline groove is formed in the upper end of the hollow shaft and used for being matched with an internal spline of an input wheel of the speed reducer 14 to transmit torque;

the motor mounting seat 12 is processed into a cylinder shape, the inner wall of the cylinder is axially processed with semicircular column grooves, the positions of the semicircular column grooves correspond to the positions of the semicircular column grooves on the outer cylinder surface of the motor 11 one by one, and the cylindrical pins are inserted to restrict the relative rotation of the motor mounting seat 12 and the motor 11;

the lower surface of the speed reducer mounting seat 13 is provided with a circular positioning groove, the coaxial relation between the speed reducer and the motor mounting seat 12 is restrained through the positioning groove, and the upper end surface is provided with a cylindrical positioning boss for positioning and restraining the coaxial relation between the speed reducer and the speed reducer 14;

the intra-articular components form a high-integration joint module through a positioning constraint mechanism and a high-integration assembly sequence.

2. The intra-articular component positioning constraint mechanism of claim 1, wherein:

the positioning constraint mechanism comprises three mechanisms of coaxial constraint of a rotating group part and coaxial constraint of a fixed group part and coaxial constraint between the rotating group part and the fixed group part;

the rotating group part comprises a brake connecting piece 6, a moving end of an encoder 7, an inner ring of a bearing 9, a hollow shaft 10, a rotor of a motor 11 and an input end of a speed reducer 14;

the fixed group part comprises a joint base 1, a driver 2, a brake mounting seat 3, a joint shell 4, a brake 5, a static end of an encoder 7, an encoder mounting seat 8, an outer end of a bearing 9, a stator of a motor 11, a motor mounting seat 12, a speed reducer mounting seat 13 and an output end of a speed reducer 14.

3. The rotating-group component coaxial restraint mechanism of claim 2, wherein:

the coaxial constraint mechanism of the rotating group part is realized through a hollow shaft 10, the hollow shaft 10 is an eight-shaft-section transmission shaft which is integrally and coaxially processed and has different shaft diameters, and the shaft sections are sequentially from the bottom end to the top end and are from a first shaft section to an eighth shaft section;

the movable ends of the brake connecting piece 6 and the encoder 7 are coaxially arranged on the first shaft section of the hollow shaft 10 and are fixed through fastening screws;

the bearing 9 is coaxially arranged on the second shaft section and the seventh shaft section of the hollow shaft 10, and restrains the seventh shaft section from moving axially through the shaft shoulders of the middle third shaft section and the sixth shaft section;

the rotor of the motor 11 is coaxially arranged on the fourth shaft section of the hollow shaft 10 and is in interference fit;

the input end of the speed reducer 14 is mounted on the eighth shaft section of the hollow shaft 10 and is connected by internal and external splines.

4. The fixed-group component coaxial restraint mechanism of claim 2, wherein:

the coaxial restraint mechanism of the fixed group part extends to the upper side and the lower side on the basis of the motor mounting seat 12;

the reducer mounting seat 13 is positioned and coaxially arranged at the upper end of the motor mounting seat 12 through a circular groove at the lower end of the reducer mounting seat 13, and the output end of the reducer 14 is positioned and coaxially arranged through a cylindrical boss at the upper end of the reducer mounting seat 13;

the stator of the motor 11 is coaxially arranged in the cylinder of the motor mounting seat 12, the joint housing 4 is coaxially sleeved on the outer circular surface of the motor mounting seat 12, the encoder mounting seat 8 is positioned and coaxially arranged through the cylinder boss on the lower end surface of the motor mounting seat 12, the brake mounting seat 3 is positioned and coaxially arranged at the lower end of the joint housing 4 through the cylinder boss on the upper end of the brake mounting seat 3, the brake 5 is coaxially arranged at the center of the upper end surface of the brake mounting seat 3, the driver 2 is coaxially arranged at the center of the joint base 1, and the joint base 1 is coaxially arranged at the bottom end of the brake mounting seat 3.

5. The coaxial restraint mechanism between rotating and stationary components of claim 2, wherein:

the coaxial constraint mechanism between the rotating group part and the fixed group part is realized through a bearing 9;

the outer ring of the bearing 9 at the lower end is coaxially arranged in a bearing mounting seat of the encoder mounting seat 8, and the outer ring of the bearing 9 at the upper end is coaxially arranged in a bearing mounting hole of the speed reducer mounting seat 13, so that the coaxial mounting of the bearing 9 and a fixed group part is realized;

the inner rings of the bearings 9 at the upper end and the lower end are coaxially arranged on the hollow shaft 10, so that the coaxial arrangement of the inner rings of the bearings and the hollow shaft is realized;

the coaxial constraint between the rotating group part and the fixed group part is realized through the constraint of the upper end bearing 9 and the lower end bearing 9.

6. The intra-articular component highly-integrated assembly sequence of claim 1, wherein the highly-integrated assembly sequence comprises:

step S1: mounting a rotor inner ring of the motor 11 on a motor mounting shaft section of the hollow shaft 10 and forming interference fit;

step S2: on the basis of the step S1, bearings 9 at the upper end and the lower end are arranged on a bearing installation shaft section of a hollow shaft 10;

step S3: the stator outer ring of the motor 11 is arranged in an inner hole of the motor mounting seat 12, and the relative movement of the two is completely restrained through a pin shaft;

step S4: based on the steps S2 and S3, sleeving the inner ring of the stator of the motor 11 on the outer ring of the motor rotor;

step S5: on the basis of the step S4, the upper end of the hollow shaft 10 is inserted into the speed reducer mounting seat 13, so that the upper end bearing 9 just enters the bearing mounting seat of the speed reducer mounting seat 13, and meanwhile, the position of the speed reducer mounting seat 13 is adjusted so that the speed reducer mounting seat is coaxially matched with the upper end of the motor mounting seat 12 and is connected through bolts;

step S6: on the basis of the step S5, the lower end of the hollow shaft 10 is inserted into the encoder mounting seat 8, so that the lower end bearing 9 just enters the bearing mounting seat of the encoder mounting seat 8, and meanwhile, the position of the encoder mounting seat 8 is adjusted so that the encoder mounting seat is coaxially matched with the lower end of the motor mounting seat 12 and is connected through bolts;

step S7: on the basis of the step S6, the static end of the encoder 7 is mounted on the lower end surface of the encoder mounting seat 8 and is fixed through bolts;

step S8: on the basis of the step S7, the movable end of the encoder 7 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S9: on the basis of step S8, the brake connector 6 is mounted on the lower end shaft of the hollow shaft 10 and fixed by fastening screws;

step S10: inserting the assembly formed in the step 9 into an inner hole of the joint housing 4 at the same time, so that the lower end surface of the speed reducer mounting seat 13 is attached to the upper end surface of the joint housing 4 and is fixed through bolts;

step S11: the brake 5 is mounted on the brake mounting seat 3 and connected through bolts;

step S12: the driver 2 is installed on the joint base 1 and connected through bolts;

step S13: coaxially mounting the assembly formed in the step S11 to the lower end of the assembly formed in the step S12, and connecting the assembly by bolts;

step S14: inserting the assembly formed in step S13 into the lower end of the assembly formed in step S10 so that the brake connector 6 is fully inserted into the square hole of the moving end of the brake 5;

step S15: the input end of the speed reducer 14 is connected with the hollow shaft in the component obtained in the step S14 through a spline, and the fixed end of the speed reducer is connected with the speed reducer mounting seat 13 through a bolt.