CN211709355U

CN211709355U - Arm integrated joint for bidirectional output humanoid robot

Info

Publication number: CN211709355U
Application number: CN201921886735.3U
Authority: CN
Inventors: 赵洪华; 林逸飞; 穆昢; 段星光; 鲁守银; 汤承龙; 曹树坤; 周天
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-10-20
Anticipated expiration: 2029-11-05

Abstract

An arm integrated joint for a bidirectional output humanoid robot is composed of a frameless torque motor, an electromagnetic safety brake, an absolute value position sensor, a harmonic reducer, an output part, a bearing frame and a shell. The frameless torque motor, the electromagnetic safety brake and the absolute value position sensor are arranged on a high-speed motor shaft; the harmonic reducer is connected with a high-speed motor shaft and a low-speed output shaft; the output part is arranged on the low-speed output shaft; the bearing and the bearing frame are fixed in the shell. The utility model discloses a speed reduction gear, sensing detection, arresting gear are as an organic whole having been gathered, adopt special servo driver to drive. Structurally, innovation and optimization are carried out, compared with the existing product, the designed integrated joint can realize bidirectional force application, and the problems of uneven force application, single connection mode and the like caused by single-opening force application are solved. The integrated joint has light weight, small volume and large bearing load, and meets various performance indexes of the arm movement of the humanoid robot.

Description

Arm integrated joint for bidirectional output humanoid robot

Technical Field

The utility model belongs to the technical field of the robot joint technique and specifically relates to a two-way output humanoid robot is with arm integration joint.

Background

The integrated joint is an independent integrated unit, and components such as a servo motor kit, a safety brake, an encoder, a speed reducer and the like are ingeniously designed and mechanically processed in the integrated joint to form a unified organism. And this combined process cannot be simply considered as a pure mechanical reconstruction because it also includes a high level set of control systems including software and hardware, such as control algorithms, circuitry, etc. Therefore, the modular joint is an integrated unit integrating mechanical transmission, electromechanical control, driving and communication. However, the existing integrated joints are all single-opening force, which causes the problems of uneven stress, single connection mode and the like, and an integrated joint which is capable of exerting force in two directions and is more suitable for a humanoid robot is urgently needed to adapt to various free connection modes.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the problem of uneven stress caused by single-port output in an integrated joint in the prior art is solved.

The utility model provides a technical scheme that its technical problem adopted is: an arm integrated joint for a bidirectional output humanoid robot comprises the following structure.

A housing.

The harmonic reducer is characterized in that the rigid gear is fixed in the shell, the rigid gear, the flexible gear, the reducer bearing and the harmonic generator are sleeved on a high-speed motor shaft together, the harmonic reducer has a short axial length, is compact in the design of the current harmonic reducer, has high torque capacity, can bear certain impact load due to excellent rigidity, and has the advantages of no tooth clearance, and excellent positioning precision and rotation precision. The harmonic generator is fastened on a high-speed motor shaft, and the flexible gear is fastened on a low-speed output shaft and arranged in the joint shell.

The frameless torque motor is provided with a motor stator and a motor rotor positioned in the stator, the motor rotor is fixed on a high-speed motor shaft, the frameless torque motor can provide higher torque output and power density in a compact design and has certain overload capacity, a high-density copper winding is adopted, heat loss is reduced, the frameless torque motor can be designed into a hollow shaft, the precision is higher, and the motor stator is fixed in a joint shell.

And the high-speed motor shaft is fixedly connected with a motor rotor of the frameless torque motor, a harmonic generator of the harmonic reducer and an electromagnetic safety brake, and is a hollow shaft which is sleeved on the low-speed output shaft.

And the low-speed output shaft is fixedly connected to the flexible gear of the harmonic reducer through a T-shaped design, and a main output end flange and an auxiliary output end flange are fixed at the left end and the right end of the low-speed output shaft.

The electromagnetic safety brake comprises a stator body, a positioning friction disc, a sensing brake disc and an outer sealing cover.

Further, a sensing brake disc inside the electromagnetic safety brake is fastened with the shaft, and a high-strength electromagnetic braking element is arranged inside the stator. A brake disc fastened with a high-speed motor shaft is limited between an outer sealing cover and a stator body, and a friction ring is arranged outside the stator body. When the brake is generated, the magnetic induction coil in the stator body forms a magnetic field, the armature in the sensing brake disc cuts magnetic lines of force to generate an eddy current when rotating, and the eddy current and the magnetic field generate an effect mutually to form a brake torque. Meanwhile, the sensing brake disc can generate suction force because of the action of electromagnetic force, deviates from the free position and is sucked by the stator body, and the brake disc rotating at high speed and the friction disc rub against each other to generate friction braking torque. The high-efficiency braking is realized through electromagnetic eddy current and friction effect.

The absolute value position sensor comprises an auxiliary support ring, a sensor ring, a PCB and a PCB balance assembly, wherein the auxiliary support ring is fixedly connected with a shell, an outer sealing cover of the electromagnetic safety brake is fixedly connected with the left end of the auxiliary support ring, the PCB of the absolute value position sensor is fixedly connected with the right end of the auxiliary support ring, and the absolute value position sensor is installed on a high-speed motor shaft and reads the rotating speed of the high-speed motor shaft.

Further, joint casing, high-speed motor shaft, low-speed output shaft, main output end low-speed output shaft bearing frame, vice output end high-speed motor shaft bearing frame adopt 7075 high strength aluminum alloy so that realize articular lightweight design, make the modular robot that this joint was built have higher load-carrying capacity to and lower weight.

Furthermore, the main output end low-speed output bearing, the auxiliary output end low-speed output shaft bearing, the auxiliary output end high-speed motor shaft bearing and the main output end high-speed motor shaft bearing are cross roller bearings which are compact-structure bearings with rollers orthogonally arranged between the inner ring and the outer ring. The rolling surfaces are in line contact, so that the elastic displacement caused by the bearing load is extremely small, and the bearing can simultaneously bear complex loads such as radial load, axial load and moment.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic cross-sectional view of the arm integrated joint for the bidirectional output humanoid robot of the present invention.

Fig. 2 is an isometric appearance diagram of the arm integrated joint for the bidirectional output humanoid robot of the present invention.

Fig. 3 is a schematic view of the auxiliary support ring of the arm integrated joint for the bidirectional output humanoid robot of the present invention.

Fig. 4 is a schematic view of the auxiliary shaft support structure of the arm integrated joint for the bidirectional output humanoid robot of the present invention.

In fig. 1: 100 series is frameless torque motor, including 110 motor stator, 120 motor rotor, 130 high speed motor shaft, 200 series is electromagnetic safety brake, including 210 stator body, 220 positioning friction disk, 230 sensing brake disk, 240 outer cover, 250 shaft support auxiliary structure, 300 series is absolute value position sensor, including 310 auxiliary support ring, 320 sensor ring, 330PCB plate, 340PCB balance assembly, 400 series is harmonic reducer, including 410 rigid gear, 420 flexible gear, 430 reducer bearing, 440 harmonic generator, 500 series is output portion, including 510 low speed output shaft, 520 main output end flange, 530 secondary output end flange, 600 series is bearing frame and bearing, including 610 main output end low speed output bearing, 620 main output end low speed output shaft bearing frame, 630 secondary output end low speed output shaft bearing, 640 secondary output end low speed output shaft bearing frame, 650 secondary output end high speed bearing, motor shaft, 660 secondary output high speed motor shaft bearing frame, 670 primary output high speed motor shaft bearing, 700 is the casing.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic drawings, which illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention, and the directions and references (e.g., upper, lower, left, right, etc.) may be used only to help describe the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.

Example 1.

As shown in fig. 1 and 2, the arm-integrated joint for the bidirectional output humanoid robot comprises the following structure.

The shell 700, the main output end low-speed output shaft bearing frame 620, the auxiliary output end low-speed output shaft bearing frame 640, the auxiliary output end high-speed motor shaft bearing frame 660, the auxiliary support ring 310 and the rigid gear 410 are fixed in the joint shell 700.

The frameless torque motor 100 is provided with a motor stator 110 and a motor rotor 120 positioned inside the motor stator 110, and the frameless torque motor 100 is sleeved on a high-speed motor shaft 130 with a hollow structure together, the frameless torque motor 100 starts to work after receiving a driver signal, the motor rotor 120 drives the high-speed motor shaft 130 to rotate, the high-speed motor shaft 130 transmits power to a low-speed output shaft 510 after being decelerated by a harmonic reducer 400, the low-speed output shaft 510 drives a main output end flange 520 and an auxiliary output end flange 530 which are fixedly connected with the low-speed output shaft to output power to an external mechanical arm, and the motion of the humanoid robot is achieved.

The high-speed motor shaft 130 is fixedly connected to the motor rotor 120 and the harmonic generator 440 of the harmonic reducer 400.

And a low-speed output shaft 510 fixedly connected to the harmonic reducer 400.

The electromagnetic safety brake 200 is sleeved on the high-speed motor shaft 130, a sensing brake disc 230 inside the electromagnetic safety brake 200 is fastened with the high-speed motor shaft 130, and a high-strength electromagnetic braking element is arranged inside the stator body 210. When braking is performed, the magnetic induction coil inside the stator body 210 forms a magnetic field, the armature inside the sensing brake disk 230 cuts magnetic lines of force when rotating to generate an eddy current, and the eddy current and the magnetic field generate an effect mutually to form a braking torque. Meanwhile, the sensing brake disc 230 generates an attractive force due to the action of electromagnetic force, the sensing brake disc deviates from the free position and is attracted to the stator body 210, and the sensing brake disc 230 rotating at a high speed and the positioning friction disc 220 rub against each other to generate a friction braking torque. The high-efficiency braking is realized through electromagnetic eddy current and friction effect.

The harmonic reducer 400 comprises a rigid gear 410, a flexible gear 420, a reducer bearing 430 and a harmonic generator 440, wherein the harmonic generator 440 is a core component of the harmonic reducer 400 and is an oval component, the outer part of an oval cam of the harmonic generator is combined with the inner ring of the flexible bearing, the harmonic generator is connected with a high-speed motor shaft 130, the flexible gear 420 is a component combined with the harmonic generator 440, dense teeth are carved on the outer ring of an opening part of the flexible gear 420, the flexible gear is a thin elastic component, the rigid gear 410 is a rigid outer annular component, teeth are carved on the inner ring of the rigid gear 410, and the number of teeth is larger than that of the flexible gear. The rigid gear 410 is fixedly connected with the shell 700, the flexible gear 420 is fixedly connected with the low-speed output shaft 510, the harmonic generator 440 is fixedly connected with the high-speed motor shaft 130, the harmonic reducer 400 is connected with the high-speed motor shaft 130 and the low-speed output shaft 510, the harmonic reducer 400 realizes a speed reduction process by staggered teeth, and a speed reduction ratio of 100:1 can be realized.

The absolute value position sensor 300, which includes an auxiliary support ring 310, a sensor ring 320, a PCB board 330, a PCB balancing assembly 340, is disposed in the housing 700, and an absolute value encoder is marked with an absolutely unique code corresponding to each position through which the high speed motor shaft rotates when the high speed motor shaft rotates.

The main output end low-speed output bearing 610 is sleeved in the main output end low-speed output shaft bearing frame 620, the auxiliary output end low-speed output shaft bearing 630 is sleeved in the auxiliary output end low-speed output shaft bearing frame 640, the auxiliary output end high-speed motor shaft bearing 650 is sleeved in the auxiliary output end high-speed motor shaft bearing frame 660, the main output end high-speed motor shaft bearing 670 is sleeved in the shell 700, furthermore, the main output end low-speed output bearing 610, the auxiliary output end low-speed output shaft bearing 630, the auxiliary output end high-speed motor shaft bearing 650 and the main output end high-speed motor shaft bearing 670 are cross roller bearings, and the cross roller bearings are bearings of compact structures with rollers orthogonally arranged between an inner ring and an outer ring. The rolling surfaces are in line contact, so that the elastic displacement caused by the bearing load is extremely small, and complicated loads such as radial load, axial load, moment and the like can be simultaneously borne. The difference between the main output end and the auxiliary output end is only used for explaining the contents in the figure, and the torque and the rotating speed of the main output end and the auxiliary output end do not have obvious difference.

The screws and bolts which are not marked in the drawing mostly adopt non-standard fasteners, and the screws and bolts with small head sizes are adopted, so that the axial length can be effectively reduced.

Claims

1. An arm integration joint for a bidirectional output humanoid robot is characterized in that: the device comprises a frameless torque motor (100), an electromagnetic safety brake (200), an absolute value position sensor (300), a harmonic reducer (400), an output part (500), a bearing and bearing frame (600) and a shell (700); the frameless torque motor (100) comprises a motor stator (110), a motor rotor (120) and a high-speed motor shaft (130), wherein the motor stator (110) is arranged on the inner wall of the shell (700), and the motor rotor (120) is arranged on the high-speed motor shaft (130); the electromagnetic safety brake (200) comprises a stator body (210), a positioning friction disc (220), a sensing brake disc (230), an outer sealing cover (240) and an auxiliary shaft support structure (250), wherein the electromagnetic safety brake (200) is arranged on a high-speed motor shaft (130) and can realize braking in a very short time; the absolute value position sensor (300) comprises an auxiliary support ring (310), a sensor ring (320), a PCB (printed circuit board) (330) and a PCB balance assembly (340), wherein the auxiliary support ring (310) is fixedly connected with the shell (700), an outer sealing cover (240) of the electromagnetic safety brake (200) is fixedly connected with the left end of the auxiliary support ring (310), the PCB (330) of the absolute value position sensor (300) is fixedly connected with the right end of the auxiliary support ring, the absolute value position sensor (300) is installed on a high-speed motor shaft (130), and the rotating speed of the high-speed motor shaft (130) is read; the harmonic reducer (400) comprises a rigid gear (410), a flexible gear (420), a reducer bearing (430) and a harmonic generator (440), wherein the rigid gear (410) is fixedly connected with the shell (700), the flexible gear (420) is fixedly connected with the low-speed output shaft (510), the harmonic generator (440) is fixedly connected with the high-speed motor shaft (130), and the harmonic reducer (400) is connected with the high-speed motor shaft (130) and the low-speed output shaft (510); the output part (500) comprises a low-speed output shaft (510), a main output end flange (520) and an auxiliary output end flange (530), wherein the main output end flange (520) and the auxiliary output end flange (530) are connected to the low-speed output shaft (510); the bearing and bearing frame (600) comprises a main output end low-speed output bearing (610), a main output end low-speed output shaft bearing frame (620), an auxiliary output end low-speed output shaft bearing (630), an auxiliary output end low-speed output shaft bearing frame (640), an auxiliary output end high-speed motor shaft bearing (650), an auxiliary output end high-speed motor shaft bearing frame (660) and a main output end high-speed motor shaft bearing (670), wherein the main output end low-speed output shaft bearing frame (620), the auxiliary output end low-speed output shaft bearing frame (640) and the auxiliary output end high-speed motor shaft bearing frame (660) are fastened on the shell (700); the main output end low-speed output bearing (610), the main output end low-speed output shaft bearing frame (620), the auxiliary output end low-speed output shaft bearing (630) and the auxiliary output end low-speed output shaft bearing frame (640) support the low-speed output shaft (510) and guarantee the rotation precision of the low-speed output shaft, and the auxiliary output end high-speed motor shaft bearing (650), the auxiliary output end high-speed motor shaft bearing frame (660) and the main output end high-speed motor shaft bearing (670) support the high-speed motor shaft and guarantee the rotation precision of the high-speed; the shell (700) is used for fixing, protecting and supporting the parts.

2. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: the main elements are placed in the following order from left to right: the system comprises a harmonic reducer (400), a frameless torque motor (100), an electromagnetic safety brake (200) and an absolute value position sensor (300); all the components are arranged in a dense arrangement mode, so that a large gap is avoided at a certain position.

3. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1 or 2, wherein: adding an auxiliary support ring (310) between the electromagnetic safety brake (200) and the absolute value position sensor (300); the auxiliary support ring (310) is fastened with the shell (700), an outer sealing cover (240) of the electromagnetic safety brake (200) is fastened with the left end of the auxiliary support ring (310), an inner sensing brake disc (230) is used as a rotating piece, and the outer diameter of the inner sensing brake disc is smaller than the inner diameter of the auxiliary support ring (310); the positioning holes of the auxiliary support ring (310) are designed by taking the reserved mounting holes of the PCB (330) of the electromagnetic safety brake (200) and the absolute value position sensor (300) as the reference.

4. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 3, wherein: a sensor ring (320) of the absolute value position sensor (300) and a sensing brake disc (230) of the electromagnetic safety brake (200) are rotating parts, and both need to be fastened with a high-speed motor shaft (130) and rotate at a high speed along with the high-speed motor shaft; for this purpose, a shaft supporting auxiliary structure (250) is designed, the position of the shaft supporting auxiliary structure is positioned inside the auxiliary supporting ring (310), and the outer diameter of the shaft supporting auxiliary structure is smaller than the inner diameter of the auxiliary supporting ring (310); through the hole on the auxiliary structure (250) of the axle support, the sensor ring (320) of the absolute value position sensor (300) and the sensing brake disc (230) of the electromagnetic safety brake (200) are connected and fastened at the shoulder of the axle through long screws, and the external fixation and the internal support of the main parts are realized.

5. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 3, wherein: the right end of the auxiliary support ring (310) is fixedly connected with a PCB (330) of the absolute value position sensor (300), and considering that the circumferential angle of the PCB is less than 180 degrees, the phenomenon of rotating mass unbalance loading can be caused during high-speed rotation, therefore, a PCB balance assembly (340) is designed, the inner diameter and the outer diameter of the PCB balance assembly are the same as those of the PCB, and the comprehensive circumferential angle can reach 340 degrees by combining the PCB balance assembly and the PCB balance assembly so as to balance the mass unbalance loading caused during high-speed rotation of the PCB.

6. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: the low-speed output shaft (510) is designed into a T-shaped structure and is connected with a flexible gear (420) of the harmonic reducer (400); the two ends of the low-speed output shaft (510) are connected with a main output end flange (520) and an auxiliary output end flange (530).

7. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 6, wherein: the low-speed output shaft (510) is connected with the main output end flange (520) and the auxiliary output end flange (530) to output outwards, so that uniform output torque at two ends of the ring joint is realized, and bidirectional output is realized.

8. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: the high-speed motor shaft (130) is designed into a hollow shaft, and a solid low-speed output shaft (510) is sleeved inside the hollow shaft; a harmonic generator (440) with the head inserted into the harmonic reducer (400) is manufactured at the left end of the high-speed motor shaft (130), and a threaded hole is manufactured on the plane of the shoulder to be matched with a mounting hole of the harmonic reducer (400) for fastening and mounting; the middle of the high speed motor shaft (130) is combined with the frameless torque motor rotor (120) to form a retaining ring structure for positioning the motor rotor (120).

9. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: a sensing brake disc (230) inside the electromagnetic safety brake (200) is fastened with a high-speed motor shaft (130), and a high-strength electromagnetic braking element is arranged inside the stator body (210); a sensing brake disc (230) fastened with a high-speed motor shaft (130) is limited between an outer cover (240) and a stator body (210), and a positioning friction disc (220) is arranged outside the stator body (210).

10. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: the main output end low-speed output bearing (610), the auxiliary output end low-speed output shaft bearing (630), the auxiliary output end high-speed motor shaft bearing (650) and the main output end high-speed motor shaft bearing (670) are cross roller bearings, and a single bearing can bear the common load of radial force, bidirectional axial force and overturning moment.

11. The arm-integrated joint for a bidirectional output humanoid robot as claimed in claim 1, wherein: on the basis of safe connection among all parts, the screw and the bolt with small head size are adopted, so that the axial length can be effectively reduced; each auxiliary supporting structure adopts a mode of fastening with the shell, so that the installation and the disassembly in case of failure are convenient.