CN117961962A - Multi-joint robot based on double encoders - Google Patents

Abstract

The invention discloses a double-encoder-based multi-joint robot, which comprises: at least one I-type joint and at least one L-type joint; the I-shaped joint and the L-shaped joint comprise joint shells, output connecting pieces, harmonic reducers, motor assemblies, motor end encoders, far-end encoders and drive control circuit boards; the harmonic reducer, the motor assembly, the motor end encoder, the far-end encoder and the drive control circuit board are all sequentially assembled in the joint shell; one end of the joint shell, which is far away from the drive control circuit board, is connected with the output connecting piece; the harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid wheel is connected with the output connecting piece; the flexible wheel is connected with the joint shell; the input shaft of the wave generator penetrates through the motor assembly and is connected with the motor end encoder; the connecting shaft of the output connecting piece sequentially penetrates through the harmonic speed reducer, the motor assembly and the motor end encoder to be connected with the far-end encoder. The invention can realize higher-precision position control and improve the construction efficiency of the multi-joint robot.

Description

Multi-joint robot based on double encoders

Technical Field

The invention relates to the technical field of robots, in particular to a double-encoder-based multi-joint robot.

Background

A robot is a machine capable of performing tasks such as work or movement by programming and automatic control, and mainly uses three driving technologies, i.e., a hydraulic driving technology, a pneumatic driving technology, and an electric driving technology, wherein the electric driving technology refers to a technology of driving a robot joint using a motor; compared with hydraulic drive technology and pneumatic drive technology, the electric drive technology has higher precision, faster response speed and lower energy consumption, which enables the robot to perform various tasks more flexibly and adapt to complex environments better. The core of the electrically driven robot is a motor, an encoder and a control system; the motor is used for converting electric energy into mechanical energy, the encoder is used for measuring motion information of the motor, and the control system is used for receiving the motion information fed back by the encoder and controlling the motion of the motor so as to realize accurate control of the electric drive joint.

Most of the existing electric drive joints are single encoder joints, so that before the mechanical arm or the robot is built by using the electric drive joints, a professional technician is required to perform relatively complex dynamic design, and the working efficiency of the robot can be fully realized after long-time motion control development and adjustment; and with the increase of the electric drive joints and the internal functional devices, the problems of external wiring and winding occur between the electric drive joints.

Therefore, the existing multi-joint robot has the problems of low control precision and high construction difficulty.

Disclosure of Invention

The invention aims to provide a double-encoder-based multi-joint robot, which aims to solve the problems of low control precision and high construction difficulty of the existing multi-joint robot.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a dual encoder-based multi-joint robot, the multi-joint robot comprising: at least one I-type joint and at least one L-type joint;

The I-shaped joint and the L-shaped joint comprise joint shells, output connecting pieces, harmonic reducers, motor components, motor end encoders, remote encoders and drive control circuit boards; the drive control circuit board is electrically connected with the harmonic reducer, the motor assembly, the motor end encoder and the far-end encoder;

The harmonic speed reducer, the motor assembly, the motor end encoder, the far-end encoder and the drive control circuit board are all assembled in the joint shell in sequence; one end of the joint shell, which is far away from the drive control circuit board, is connected with the output connecting piece;

The harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid wheel is connected with the output connecting piece; the flexible wheel is connected with the joint shell; the input shaft of the wave generator penetrates through the motor assembly and is connected with the motor end encoder;

the connecting shaft of the output connecting piece sequentially penetrates through the harmonic speed reducer, the motor assembly and the motor end encoder to be connected with the far-end encoder.

Further, the motor assembly comprises a motor stator fixing piece, an electronic rotor connecting piece, a motor rotor and a motor stator;

the input shaft of the wave generator is sequentially sleeved with the electronic rotor connecting piece, the motor rotor and the motor stator from inside to outside;

and one end of the motor stator, which is far away from the motor end encoder, is sleeved with the motor stator fixing piece.

Further, the output connecting piece comprises a connecting part and a connecting shaft connected with the connecting part;

the output connecting piece comprises a hollow part which sequentially penetrates through the connecting part and the connecting shaft;

The connecting part is fixedly connected with the rigid wheel through a connecting screw.

Further, a first connecting piece and a second connecting piece are sequentially arranged in the joint shell, and the second connecting piece is arranged at one side close to the motor end encoder;

the joint shell is fixedly connected with the flexible gear through a first connecting piece.

Further, the motor end encoder comprises a first encoder rotor and a first encoder stator which are sequentially arranged from inside to outside, and the first encoder rotor is sleeved on the periphery of an input shaft of the wave generator;

The first encoder stator is fixedly connected with the second connecting piece.

Further, the remote encoder comprises a second encoder rotor and a second encoder stator which are sequentially arranged from inside to outside, and the second encoder rotor is sleeved on the periphery of the connecting shaft of the output connecting piece;

The distal end encoder is fixedly connected with the second connecting piece through a distal end encoder fixing piece.

Further, the second encoder stator is fixedly connected with the distal encoder fixing member.

Further, the joint shell of the I-shaped joint is an I-shaped joint shell, and the joint shell of the L-shaped joint is an L-shaped joint shell;

the I-shaped joint shell and the L-shaped joint shell are respectively provided with a first opening part;

the first opening part of the L-shaped joint shell is provided with an end cover matched with the first opening part.

Further, a second opening is formed below the L-shaped joint housing, and the opening direction of the second opening is perpendicular to the opening direction of the first opening of the L-shaped joint housing.

Further, the I-shaped joint and the L-shaped joint further comprise a brake piece, and the brake piece is assembled in the joint shell;

The brake piece comprises a brake rotor and a brake stator which are sequentially arranged from inside to outside, and the brake rotor is sleeved on the periphery of an input shaft of the wave generator; the brake stator is fixedly connected with the joint shell.

The invention discloses a multi-joint robot based on double encoders, comprising: at least one I-type joint and at least one L-type joint; the I-shaped joint and the L-shaped joint comprise joint shells, output connecting pieces, harmonic reducers, motor components, motor end encoders, remote encoders and drive control circuit boards; the drive control circuit board is electrically connected with the harmonic reducer, the motor assembly, the motor end encoder and the far-end encoder; the harmonic speed reducer, the motor assembly, the motor end encoder, the far-end encoder and the drive control circuit board are all assembled in the joint shell in sequence; one end of the joint shell, which is far away from the drive control circuit board, is connected with the output connecting piece; the harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid wheel is connected with the output connecting piece; the flexible wheel is connected with the joint shell; the input shaft of the wave generator penetrates through the motor assembly and is connected with the motor end encoder; the connecting shaft of the output connecting piece sequentially penetrates through the harmonic speed reducer, the motor assembly and the motor end encoder to be connected with the far-end encoder. According to the invention, the motor end encoder and the remote end encoder are arranged, so that the position control with higher precision can be realized, and the construction efficiency of the multi-joint robot can be improved.

Drawings

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

FIG. 1 is an exploded view of an I-joint in a multi-joint robot according to an embodiment of the present invention;

FIG. 2 is an exploded view of an L-joint in a multi-joint robot according to an embodiment of the present invention;

FIG. 3 is a block diagram of an I-joint in a multi-joint robot according to an embodiment of the present invention;

fig. 4 is a structural diagram of an L-shaped joint in the multi-joint robot according to the embodiment of the present invention;

Fig. 5 is a block diagram of a joint housing of an I-joint in a multi-joint robot according to an embodiment of the present invention;

Wherein, each reference sign is as follows in the figure:

100. Type I joint; 200. an L-shaped joint; 110. a joint housing; 111. a first connector; 112. a second connector; 120. an output connection; 121. a connection part; 122. a connecting shaft; 130. a harmonic reducer; 131. rigid wheel; 132. a flexible wheel; 133. a wave generator; 140. a motor assembly; 141. a motor stator mount; 142. an electronic rotor connection; 143. a motor rotor; 144. a motor stator; 150. a motor end encoder; 160. a remote encoder; 161. a distal encoder fixture; 170. a drive control circuit board; 210. an end cap; 220. and a second opening portion.

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 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 understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, fig. 1 is an exploded view of an I-joint in an articulated robot according to an embodiment of the present invention; FIG. 2 is an exploded view of an L-joint in a multi-joint robot according to an embodiment of the present invention; FIG. 3 is a block diagram of an I-joint in a multi-joint robot according to an embodiment of the present invention;

Fig. 4 is a structural diagram of an L-shaped joint in the multi-joint robot according to the embodiment of the present invention. As shown in fig. 1, 2, 3 and 4, the present invention proposes a double encoder-based multi-joint robot comprising: at least one type I joint 100 and at least one type L joint 200; the I-type joint 100 and the L-type joint 200 each comprise a joint housing 110, an output connector 120, a harmonic reducer 130, a motor assembly 140, a motor end encoder 150, a distal end encoder 160, and a drive control circuit board 170; the drive and control circuit board 170 is electrically connected with the harmonic reducer 130, the motor assembly 140, the motor end encoder 150 and the remote encoder 160; the harmonic reducer 130, the motor assembly 140, the motor end encoder 150, the remote encoder 160, and the drive circuit board 170 are all assembled in the joint housing 110 in sequence; one end of the joint housing 110, which is far away from the driving circuit board 170, is connected with the output connector 120; the harmonic reducer 130 comprises a rigid gear 131, a flexible gear 132 and a wave generator 133; the rigid wheel 131 is connected with the output connecting piece 120; the flexible wheel 132 is connected with the joint housing 110; the input shaft of the wave generator 133 is connected to the motor-side encoder 150 through the motor assembly 140; the connecting shaft of the output connector 120 sequentially penetrates through the harmonic reducer 130, the motor assembly 140 and the motor end encoder 150 to be connected with the remote encoder 160.

In this embodiment, the number of the I-type joints 100 and the L-type joints 200 is not limited, and a developer may set the number of the I-type joints 100 and the L-type joints 200 according to specific use requirements. The I-shaped joint 100 moves axially when rotating, and the L-shaped joint 200 moves radially when rotating; the I-type joint 100 and the L-type joint 200 each comprise a joint housing 110, an output connector 120, a harmonic reducer 130, a motor assembly 140, a motor end encoder 150, a distal end encoder 160, and a drive control circuit board 170; the drive and control circuit board 170 is electrically connected with the harmonic reducer 130, the motor assembly 140, the motor end encoder 150 and the remote encoder 160; the target joint can be connected with the next robot joint through the output connecting piece 120, and the target joint is the I-shaped joint 100 or the L-shaped joint 200; the harmonic reducer 130 is used for adjusting the motion speed of the target joint, which is the I-type joint 100 or the L-type joint 200; the motor end encoder 150 is configured to detect a motion state of the motor assembly 140 in real time, the remote encoder 160 is configured to measure motion information of a target joint, the motion information includes information such as an actual angle and an actual position of the target joint, and the drive control circuit board 170 is configured to read the motion state collected by the motor end encoder 150 and the motion information collected by the remote encoder 160, and control the motor assembly 140 to rotate according to the motion state and the motion information.

In one embodiment, as shown in fig. 1 and 2, the motor assembly 140 includes a motor stator mount 141, an electronic rotor connection 142, a motor rotor 143, and a motor stator 144; the input shaft of the wave generator 133 is sequentially sleeved with the electronic rotor connecting piece 142, the motor rotor 143 and the motor stator 144 from inside to outside; the motor stator 144 is sleeved with the motor stator fixing member 141 at one end far away from the motor end encoder 150.

In this embodiment, the motor assembly 140 is disposed in the joint housing 110, and the motor stator 144 is adapted to the joint housing 110, and the motor stator fixing member 141 is used to implement axial limiting. The power output by the motor rotor 143 is reduced by the harmonic reducer 130 and then drives the connecting shaft of the output connector 120 to rotate, and the motor end encoder 150 is used for detecting the motion state of the motor rotor 143 in real time and sending the motion state of the motor rotor 143 to the drive control circuit board 170 in real time.

In one embodiment, as shown in fig. 1 and 2, the output connector 120 includes a connecting portion 121 and a connecting shaft 122 connected to the connecting portion 121; the output connector 120 includes a hollow portion penetrating through the connecting portion 121 and the connecting shaft 122 in sequence; the connecting portion 121 is fixedly connected with the rigid wheel 131 through a connecting screw.

In this embodiment, a plurality of connection screw holes are uniformly formed on the peripheral side of the connection portion 121, and the connection portion 121 may be fixedly connected with the next robot joint through the plurality of connection screw holes. The drive control circuit board 170 is provided with a power interface and a communication interface, and the power interface can be electrically connected with an adjacent robot joint through a power line; the communication interface can be in communication connection with the adjacent robot joints through a connecting wire; the power line and the connecting line can pass through the hollow part to be electrically connected with the driving and controlling circuit board 170 of the adjacent robot joints, so that signal transmission between the two adjacent robot joints is realized, and the effect of hiding the cables is also realized.

In an embodiment, as shown in fig. 1,2 and 5, a first connecting piece 111 and a second connecting piece 112 are sequentially disposed in the joint housing 110, and the second connecting piece 112 is disposed at a side close to the motor end encoder 150; the joint housing 110 is fixedly connected with the flexible gear 132 through a first connecting piece 111.

In this embodiment, a first connecting piece 111 and a second connecting piece 112 are sequentially disposed in the joint housing 110, and the second connecting piece 112 is disposed at a side close to the motor end encoder 150; the joint housing 110 is fixedly connected with the flexible gear 132 through a first connecting piece 111; specifically, the first connecting piece 111 is fixedly connected with the flexible wheel 132 through a connecting screw.

In one embodiment, as shown in fig. 1 and 2, the motor end encoder 150 includes a first encoder rotor and a first encoder stator sequentially disposed from inside to outside, where the first encoder rotor is sleeved on the outer periphery of the input shaft of the wave generator; the first encoder stator is fixedly connected with the second connecting piece 112.

In this embodiment, the motor end encoder 150 includes a first encoder rotor and a first encoder stator that are sequentially disposed from inside to outside, where the first encoder rotor is sleeved on the outer periphery of the input shaft of the wave generator; the first encoder stator is fixedly connected with the second connecting piece 112 through a connecting screw.

In one embodiment, as shown in fig. 1 and 2, the distal encoder 160 includes a second encoder rotor and a second encoder stator sequentially disposed from inside to outside, and the second encoder rotor is sleeved on the outer circumference of the connecting shaft of the output connecting member 120; the distal encoder 160 is fixedly coupled to the second coupling member by a distal encoder fixing member 161.

In this embodiment, the distal encoder fixing member 161 is sleeved on the outer periphery of the first encoder stator, a plurality of distal encoder connecting members are disposed around the inner sidewall of the distal encoder fixing member 161, and the second encoder stator of the distal encoder 160 is fixedly connected with the plurality of distal encoder connecting members through a plurality of connecting screws.

In one embodiment, as shown in fig. 1 and 2, the second encoder stator is fixedly coupled to the distal encoder fixture 161.

In this embodiment, the second encoder stator is fixedly connected to the distal encoder connector of the distal encoder fixing member 161 by a connection screw.

In one embodiment, as shown in fig. 1, 2, 3 and 4, the joint housing of the I-type joint 100 is an I-type joint housing, and the joint housing of the L-type joint 200 is an L-type joint housing; the I-shaped joint shell and the L-shaped joint shell are respectively provided with a first opening part; the first opening of the L-shaped joint housing is provided with an end cap 210 that is adapted to the first opening.

In this embodiment, the joint housing of the I-type joint 100 is an I-type joint housing, the I-type joint 100 may be fixedly connected to the output connector 120 of an adjacent robot joint through the first opening, and the robot joint may be the I-type joint 100 or the L-type joint 200; the joint housing of the L-shaped joint 200 is an L-shaped joint housing, and a first opening of the L-shaped joint housing is provided with an end cap 210 adapted to the first opening.

In an embodiment, as shown in fig. 2, a second opening 220 is formed below the L-shaped joint housing, and the opening direction of the second opening 220 is perpendicular to the opening direction of the first opening of the L-shaped joint housing.

In this embodiment, a second opening 220 is formed below the L-shaped joint housing, and the L-shaped joint 200 may be fixedly connected to the output connector 120 of an adjacent robot joint through the second opening.

In one embodiment, as shown in fig. 1 and 2, the I-shaped joint 100 and the L-shaped joint 200 further comprise a brake member, and the brake member is assembled in the joint housing 110; the brake piece comprises a brake rotor and a brake stator which are sequentially arranged from inside to outside, and the brake rotor is sleeved on the periphery of the input shaft of the wave generator 133; the brake stator is fixedly connected with the joint housing 110.

In this embodiment, the brake member includes a brake rotor and a brake stator sequentially disposed from inside to outside, and the brake rotor is sleeved on the periphery of the input shaft of the wave generator 133; the brake stator is fixedly connected with the joint housing 110. When the target joint is in an electrified state, the brake rotor and the brake stator in the target joint are in a separated state; the target joint may be the I-type joint 100 or the L-type joint 200; when the target joint is in a power-down state, the brake rotor and the brake stator in the target joint are in a contact state so as to maintain the joint position of the target joint.

The invention discloses a multi-joint robot based on double encoders, comprising: at least one I-type joint and at least one L-type joint; the I-shaped joint and the L-shaped joint comprise joint shells, output connecting pieces, harmonic reducers, motor components, motor end encoders, remote encoders and drive control circuit boards; the drive control circuit board is electrically connected with the harmonic reducer, the motor assembly, the motor end encoder and the far-end encoder; the harmonic speed reducer, the motor assembly, the motor end encoder, the far-end encoder and the drive control circuit board are all assembled in the joint shell in sequence; one end of the joint shell, which is far away from the drive control circuit board, is connected with the output connecting piece; the harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid wheel is connected with the output connecting piece; the flexible wheel is connected with the joint shell; the input shaft of the wave generator penetrates through the motor assembly and is connected with the motor end encoder; the connecting shaft of the output connecting piece sequentially penetrates through the harmonic speed reducer, the motor assembly and the motor end encoder to be connected with the far-end encoder. According to the invention, the motor end encoder and the remote end encoder are arranged, so that the position control with higher precision can be realized, and the construction efficiency of the multi-joint robot can be improved.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (10)

1. A double encoder-based multi-joint robot, the multi-joint robot comprising: at least one I-type joint and at least one L-type joint;

The I-shaped joint and the L-shaped joint comprise joint shells, output connecting pieces, harmonic reducers, motor components, motor end encoders, remote encoders and drive control circuit boards; the drive control circuit board is electrically connected with the harmonic reducer, the motor assembly, the motor end encoder and the far-end encoder;

The harmonic speed reducer, the motor assembly, the motor end encoder, the far-end encoder and the drive control circuit board are all assembled in the joint shell in sequence; one end of the joint shell, which is far away from the drive control circuit board, is connected with the output connecting piece;

The harmonic reducer comprises a rigid gear, a flexible gear and a wave generator; the rigid wheel is connected with the output connecting piece; the flexible wheel is connected with the joint shell; the input shaft of the wave generator penetrates through the motor assembly and is connected with the motor end encoder;

the connecting shaft of the output connecting piece sequentially penetrates through the harmonic speed reducer, the motor assembly and the motor end encoder to be connected with the far-end encoder.

2. The double encoder based multi-articulated robot of claim 1 wherein the motor assembly comprises a motor stator mount, an electronic rotor connection, a motor rotor, and a motor stator;

the input shaft of the wave generator is sequentially sleeved with the electronic rotor connecting piece, the motor rotor and the motor stator from inside to outside;

and one end of the motor stator, which is far away from the motor end encoder, is sleeved with the motor stator fixing piece.

3. The double encoder based multi-joint robot of claim 1, wherein the output connection comprises a connection part and a connection shaft connected with the connection part;

the output connecting piece comprises a hollow part which sequentially penetrates through the connecting part and the connecting shaft;

The connecting part is fixedly connected with the rigid wheel through a connecting screw.

4. The double-encoder-based multi-joint robot according to claim 1, wherein a first connecting piece and a second connecting piece are sequentially arranged in the joint shell, and the second connecting piece is arranged on one side close to the motor-end encoder;

the joint shell is fixedly connected with the flexible gear through a first connecting piece.

5. The double-encoder-based multi-joint robot according to claim 4, wherein the motor-end encoder comprises a first encoder rotor and a first encoder stator which are sequentially arranged from inside to outside, and the first encoder rotor is sleeved on the periphery of an input shaft of the wave generator;

The first encoder stator is fixedly connected with the second connecting piece.

6. The double-encoder-based multi-joint robot according to claim 4, wherein the distal encoder comprises a second encoder rotor and a second encoder stator which are sequentially arranged from inside to outside, and the second encoder rotor is sleeved on the periphery of the connecting shaft of the output connecting piece;

The distal end encoder is fixedly connected with the second connecting piece through a distal end encoder fixing piece.

7. The dual encoder based multi-joint robot of claim 6, wherein the second encoder stator is fixedly connected to the distal encoder fixture.

8. The double encoder based multi-joint robot of claim 1, wherein the joint housing of the I-type joint is an I-type joint housing, and the joint housing of the L-type joint is an L-type joint housing;

the I-shaped joint shell and the L-shaped joint shell are respectively provided with a first opening part;

the first opening part of the L-shaped joint shell is provided with an end cover matched with the first opening part.

9. The double encoder-based multi-joint robot of claim 8, wherein a second opening is formed below the L-shaped joint housing, and an opening direction of the second opening is perpendicular to an opening direction of the first opening of the L-shaped joint housing.

10. The dual encoder based multi-joint robot of claim 1, wherein the I-joint and the L-joint further comprise a brake, the brake fitting within the joint housing;

The brake piece comprises a brake rotor and a brake stator which are sequentially arranged from inside to outside, and the brake rotor is sleeved on the periphery of an input shaft of the wave generator; the brake stator is fixedly connected with the joint shell.