CN210650737U

CN210650737U - Robot joint module

Info

Publication number: CN210650737U
Application number: CN201921098410.9U
Authority: CN
Inventors: 贾玺庆
Original assignee: Shenzhen Zeroerr Technology Co ltd
Current assignee: Shenzhen Zeroerr Technology Co ltd
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-06-02
Anticipated expiration: 2029-07-15

Abstract

The utility model relates to the technical field of robot, concretely relates to robot joint module, including module end cover, circuit board, encoder code wheel, motor, brake, speed reducer and the speed reducer output shaft that sets gradually, wherein, the encoder code wheel is including the first code wheel of encoder that is used for measuring speed reducer output shaft angle to and be used for measuring the encoder second code wheel of motor angle, be provided with motor driver circuit, motor input read head circuit and speed reducer output read head circuit on the circuit board, motor input read head circuit, speed reducer output read head circuit correspond encoder second code wheel, the first code wheel position setting of encoder respectively. Through setting up motor input read head circuit, speed reducer output read head motor and motor driver circuit in unison on the circuit board, prevent that the line confusion from appearing walking in the joint module, be favorable to integrating joint module structure, guarantee its simple structure and compactness, also make things convenient for follow-up maintenance.

Description

Robot joint module

Technical Field

The utility model relates to the technical field of robot, concretely relates to joint module of robot.

Background

With the rapid development of industrial automation technology, the robot is more and more emphasized and widely applied as an important industrial automation device. In the related art of robots, control of moving parts such as robot joints is the most important and critical.

Among the robot joint module among the prior art, its structure is complicated, and corresponding read head and driver circuit distribute on different circuit boards, lead to walking the line confusion, are difficult to the installation, and simultaneously, whole joint needs the multicomponent to assemble, and the joint that obtains is bulky, weight is heavy, and because of the too much difficult maintenance of part, whole use to the robot has received very big restriction.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, a compact robot joint module of simple structure is provided.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a robot joint module, including the module end cover, circuit board, encoder code wheel, motor, brake, speed reducer and the speed reducer output shaft that set gradually, wherein, the encoder code wheel is including the first code wheel of encoder that is used for measuring speed reducer output shaft angle to and be used for measuring the second code wheel of encoder of motor corner, be provided with motor driver circuit, motor input read head circuit and speed reducer output read head circuit on the circuit board, motor input read head circuit, speed reducer output read head circuit correspond encoder second code wheel, the first code wheel position setting of encoder respectively.

The utility model discloses a further preferred scheme is: the first encoder coded disc and the second encoder coded disc are arranged concentrically, the first encoder coded disc is arranged in a hollow ring of the second encoder coded disc, and the first encoder coded disc is fixedly connected with the output shaft of the speed reducer.

The utility model discloses a further preferred scheme is: the motor includes motor input shaft, bearing, electric motor rotor, motor stator and motor housing, motor input shaft one end is passed through bearing and motor housing assembly, and motor rotor sets up on the motor input shaft, and motor stator sets up in the motor rotor outside, the encoder second yardage wheel is fixed in motor input shaft's outer end.

The utility model discloses a further preferred scheme is: the motor input shaft comprises a base and a hollow shaft, the base is connected with the hollow shaft through a first shaft shoulder, a cavity used for containing a first code wheel of an encoder is arranged inside the base, a limiting boss is arranged on the inner side of a motor shell, the bearing comprises a bearing outer ring and a bearing inner ring, the bearing inner ring is connected with the first shaft shoulder, and the bearing outer ring is supported on the limiting boss.

The utility model discloses a further preferred scheme is: and a second shaft shoulder for supporting the motor rotor is arranged on the hollow shaft.

The utility model discloses a further preferred scheme is: the robot joint module further comprises a shaft sleeve, wherein the shaft sleeve comprises an inner cylinder, an outer cylinder and a transition shaft shoulder for connecting the inner cylinder and the outer cylinder, the inner cylinder is arranged on the speed reducer, the motor input shaft is fixed with the inner side of the outer cylinder, and the outermost end of the motor input shaft is abutted to the transition shaft shoulder.

The utility model discloses a further preferred scheme is: the motor stator is correspondingly provided with an annular groove matched with the limiting boss, and the motor stator and the bearing are respectively arranged on two sides of the limiting boss.

The utility model discloses a further preferred scheme is: the speed reducer output shaft is provided with the screw thread with the first code wheel of encoder one end of being connected, and the first code wheel of encoder is provided with threaded fixing base, fixing base and speed reducer output shaft threaded connection.

The utility model discloses a further preferred scheme is: the module end cover is provided with heat dissipation holes.

The utility model provides an among the robot joint module, through setting up motor input read head circuit, speed reducer output read head motor and motor driver circuit in unison on the circuit board, prevent that the joint module from appearing walking the line confusion, be favorable to integrating joint module structure, guarantee its simple structure and compactness, also make things convenient for follow-up maintenance.

Drawings

The invention will be further explained with reference to the drawings and examples, wherein:

FIG. 1 is a schematic view of the structure of the robot joint module of the present invention;

fig. 2 is a cross-sectional view of the robot joint module without the module end cap and the circuit board of the present invention;

fig. 3 is a schematic structural view of the motor input shaft of the present invention;

fig. 4 is a schematic view of the shaft sleeve structure of the present invention;

fig. 5 is a schematic structural diagram of the motor housing of the present invention.

In the figure: the module comprises a module end cover 1, heat dissipation holes 11 and wiring holes 12; a circuit board 2; a first encoder 3 and a fixed seat 31; an encoder second code wheel 4; a motor housing 51, a limit boss 511; the motor input shaft 52, the base 521, the first shoulder 522, the cavity 523, the hollow shaft 524, and the second shoulder 525; a bearing 53; motor stator 54, annular groove 541; a motor rotor 55; a brake 6; the shaft sleeve 7, the outer cylinder 71, the inner cylinder 72 and the transition shaft shoulder 73; a speed reducer 8; and a reducer output shaft 9.

Detailed Description

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

As shown in fig. 1-5, the utility model provides a robot joint module, including setting gradually module end cover 1, circuit board 2, encoder code wheel, motor, brake 6, speed reducer 8 and speed reducer output shaft 9, wherein, the encoder code wheel is including the first code wheel 3 of encoder that is used for measuring the 9 corners of speed reducer output shaft to and be used for measuring the second code wheel 4 of encoder of motor corner, be provided with motor driver circuit, motor input read head circuit and speed reducer output read head circuit on the circuit board 2, motor input read head circuit, speed reducer output read head circuit correspond encoder second code wheel 4, the first code wheel 3 position settings of encoder respectively. Set up the first code wheel 3 of encoder and measure speed reducer output shaft 9 corner, encoder second code wheel 4 measures the motor corner, through setting up motor input read head circuit, speed reducer output read head motor and motor driver circuit in unison on a circuit board 2, can prevent that the line chaotic situation is walked to the joint module to appear, is favorable to integrating joint module structure, guarantees its simple structure and compactness, also makes things convenient for follow-up maintenance, has also reduced manufacturing cost simultaneously.

Specifically, the second encoder coded disc 4 is used for measuring a rotation angle of the motor, the first encoder coded disc 3 is used for measuring a rotation angle of the output shaft 9 of the speed reducer, the first encoder coded disc 3 and the second encoder coded disc 4 are concentrically arranged, the inner diameter of the second encoder coded disc 4 is larger than the outer diameter of the first encoder coded disc 3, the first encoder coded disc 3 is nested in a hollow ring of the second encoder coded disc 4, and the first encoder coded disc 3 is fixed with the output shaft 9 of the speed reducer. The first code disc 3 and the second code disc 4 of the encoder which are concentrically arranged are beneficial to reading by a reading head on the circuit board 2, and the measurement precision of the corresponding rotating angle is improved. The utility model discloses an encoder can adopt magnetic encoder, does to adopt photoelectric encoder, and the preferred magnetic encoder that adopts corresponds thermal stability better, and can guarantee the precision.

The motor comprises a motor input shaft 52, a bearing 53, a motor rotor 55, a motor stator 54 and a motor shell 51, wherein a hollow cavity is formed inside the motor shell 51, the motor input shaft 52, the motor stator 54 and the motor rotor 55 are all arranged in the hollow cavity of the motor shell 51, one end of the motor input shaft 52 is assembled with the motor shell 51 through the bearing 53, the motor rotor 55 is arranged on the motor input shaft 52, and the motor stator 54 is arranged outside the motor rotor 55. The second code disc 4 of encoder is fixed in the outer end of motor input shaft 52, and circuit board 2 inlays in module end cover 1, and module end cover 1 is fixed with motor housing 51's one end, and accessible screw locking has seted up wiring hole 12 and has been used for the radiating louvre 11 of circuit board 2 on the module end cover 1, and motor housing 51's the other end is connected with speed reducer 8.

With reference to fig. 1-3 and 5, the motor input shaft 52 of the present invention includes a base 521 and a hollow shaft 524, the base 521 is connected with the hollow shaft 524 through a first shoulder 522, the inner side of the motor housing 51 is provided with a limit boss 511, the bearing 53 includes a bearing outer ring and a bearing inner ring, wherein the bearing outer ring is supported on the limit boss 511 of the motor housing 51, and the bearing inner ring is connected with the first shoulder 522 near one end of the base. The hollow shaft 524 is provided with a second shoulder 525 for supporting the motor rotor 55, the outer end of the motor stator 54 is provided with an annular groove 541 matched with the limit boss 511 of the motor housing 51, and the inner end of the motor stator 54 is supported on one end of the first shoulder 525 of the hollow shaft close to the hollow shaft. The inner end of the base 521 is provided with a cavity 523 for accommodating the first encoder disc 3 of the encoder, the cavity 523 can also be used for accommodating a mounting seat of the encoder disc, and the reducer output shaft 9 penetrates through the motor input shaft 52 and is fixedly connected with the first encoder disc 3 of the encoder.

Further referring to fig. 4, one end of the speed reducer 8 is connected to the motor housing 51, the other end of the speed reducer 8 is fixed to the speed reducer output shaft 9, the robot joint module further includes a shaft sleeve 7, the shaft sleeve 7 includes an inner cylinder 72, an outer cylinder 71 and a transition shoulder 73, the inner cylinder 72 is fixedly mounted on the speed reducer 8 to form an input portion of the speed reducer 8, an outer side of one end of the hollow shaft 524 of the motor input shaft 52, which is far away from the base 521, is fixed to an inner side of the outer cylinder 71, an outermost end of the hollow shaft 524 abuts against the transition shoulder 73, and an inner diameter of the transition shoulder 73 is the same as.

The utility model discloses in, the first code wheel 3 of speed reducer output shaft 9 and encoder is connected one end and is provided with the screw thread, and the first code wheel 3 of encoder is provided with threaded fixing base 31, fixing base 31 and speed reducer output shaft 9 threaded connection, and speed reducer output shaft 9 and fixing base 31 are connected and are formed highly to keep the first code wheel 3 of encoder and encoder second code wheel 4 at the coplanar. In other embodiments, the encoder first code wheel 3 and the reducer output shaft 9 may be fixed by screws or the like. The utility model discloses a speed reducer output shaft 9 is direct to be connected with the first code wheel 3 of encoder, and other fixed knot construct is not had in the centre, but the corner of direct measurement speed reducer input shaft 9 need not unnecessary part, simple structure. Furthermore, the robot joint module of the present invention includes a brake 6, wherein the brake 6 is disposed in the inner cavity of the motor housing 51. Furthermore, in the present embodiment, the brake 6 is a jaw clutch, and is used for braking the joint module, and the brake on the motor rotor 55 is implemented by controlling the power-on condition of the brake 6, wherein when the power-on is turned on, the motor rotor 55 freely rotates; when the brake 6 is not electrified, the motor rotor is pressed by the 55 brake and cannot rotate, and braking is realized. Compared with the situation that the ejector pin brake is easy to be unstable and short in service life of the ejector pin and the friction brake fails due to the infiltration of lubricating oil, the jaw clutch adopted in the embodiment has the characteristics of stability, longer service life and convenience in maintenance.

The utility model discloses a joint module utilizes a bearing 53 to assemble motor element and speed reducer 8, simultaneously with motor driver circuit, motor input read head circuit and speed reducer output read head circuit integrated to a circuit board 2 on, with the concentric setting of encoder first code wheel 3 and encoder second code wheel 4, greatly reduced the use and the equipment cost of part, saved manpower and time.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Claims

1. The robot joint module is characterized by comprising a module end cover, a circuit board, an encoder coded disc, a motor, a brake, a speed reducer and a speed reducer output shaft which are sequentially arranged, wherein the encoder coded disc comprises a first encoder coded disc used for measuring the rotation angle of the output shaft of the speed reducer and a second encoder coded disc used for measuring the rotation angle of the motor, a motor driver circuit, a motor input end read head circuit and a speed reducer output end read head circuit are arranged on the circuit board, and the motor input end read head circuit and the speed reducer output end read head circuit respectively correspond to the second encoder coded disc and the first encoder coded disc in position.

2. The robot joint module of claim 1, wherein the first encoder disc and the second encoder disc are concentrically arranged, the first encoder disc is arranged in a hollow ring of the second encoder disc, and the first encoder disc is fixedly connected with the reducer output shaft.

3. The robot joint module of claim 2, wherein the motor comprises a motor input shaft, a bearing, a motor rotor, a motor stator, and a motor housing, the motor input shaft is assembled with the motor housing through the bearing, the motor rotor is disposed on the motor input shaft, the motor stator is disposed outside the motor rotor, and the second encoder disk is fixed to an outer end of the motor input shaft.

4. The robot joint module of claim 3, wherein the motor input shaft comprises a base and a hollow shaft, the base and the hollow shaft are connected through a first shoulder, a cavity for accommodating a first code disc of the encoder is arranged inside the base, a limiting boss is arranged inside the motor housing, the bearing comprises a bearing outer ring and a bearing inner ring, the bearing inner ring is connected with the first shoulder, and the bearing outer ring is supported on the limiting boss.

5. A robot joint module according to claim 4, characterized in that the hollow shaft is provided with a second shoulder for supporting a motor rotor.

6. The robot joint module of claim 5, further comprising a bushing, wherein the bushing comprises an inner cylinder, an outer cylinder, and a transition shoulder connecting the inner cylinder and the outer cylinder, the inner cylinder is mounted on the reducer, the motor input shaft is fixed to the inner side of the outer cylinder, and the outermost end of the motor input shaft abuts against the transition shoulder.

7. The robot joint module of claim 6, wherein the motor stator is correspondingly provided with an annular groove matched with the limit boss, and the motor stator and the bearing are respectively arranged at two sides of the limit boss.

8. The robot joint module of claim 7, wherein the reducer output shaft is threaded at an end thereof connected to the first encoder disc, the first encoder disc being provided with a threaded mounting seat, the mounting seat being threaded to the reducer output shaft.

9. A robot joint module according to claim 1 or 8, wherein heat dissipation holes are provided in the module end cover.