CN216000572U - Servo joint and double-encoder system thereof - Google Patents
Servo joint and double-encoder system thereof Download PDFInfo
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- CN216000572U CN216000572U CN202122679255.3U CN202122679255U CN216000572U CN 216000572 U CN216000572 U CN 216000572U CN 202122679255 U CN202122679255 U CN 202122679255U CN 216000572 U CN216000572 U CN 216000572U
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- circuit board
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Abstract
The utility model provides a servo articulated two encoder systems and servo joint, two encoder systems include: a circuit board; a first encoder magnetic ring rotatably provided with respect to the circuit board; a second encoder magnetic ring rotatably disposed with respect to the circuit board and sleeved on a radial outer side of the first encoder magnetic ring; the first chip is arranged on the circuit board and used for detecting a feedback signal of the first encoder magnetic ring; and the second chip is arranged on the circuit board and is used for detecting a feedback signal of the second encoder magnetic ring. Utilize the utility model discloses a two encoder systems and servo joint can make servo joint's compact structure and solve the servo joint that has different end two encoders and walk line difficulty, sealed bad scheduling problem when improving servo joint's output precision.
Description
Technical Field
The utility model relates to a robotechnology field particularly, relates to a servo articulated two encoder systems and servo joint.
Background
A collaborative robot is a robot designed to be in direct contact with a human in close proximity in a common workspace. Therefore, the cooperative robot focuses more on the safety, high integration, convenience of installation, and simplification of the use of the body. Based on the above requirements, the cooperative robot generally requires a lighter body and a higher load-weight ratio. Therefore, the body of the cooperative robot generally improves the integration level of the body of the cooperative robot by the modular combination of highly integrated servo joints with different load capacities, simplifies the internal wiring of the cooperative robot while achieving the light weight of the body of the cooperative robot, and achieves the convenience of installation.
Aiming at the servo joint of the cooperative robot commonly seen in the market at present, the following defects still exist. First, for a servo joint employing a scheme in which only one multi-turn absolute encoder is disposed at the motor end, the battery needs to be replaced periodically in order to maintain the multi-turn count. Since the harmonic reducer has a transmission error of about 100arc-sec, if only one motor-side encoder is provided, the actual position after passing through the harmonic reducer has a certain error during position control. Secondly, for the servo joint adopting the scheme of the different-end double encoders, the output precision of the servo joint is improved due to the fact that position feedback of the output end is increased, but due to the fact that one encoder is added, the structural size of the servo joint is increased, the compactness of the servo joint is reduced, and on the other hand, the risks of difficulty in wiring, poor sealing of the servo joint and the like exist.
Therefore, there is a need to optimize the structure of existing encoder systems and servo joints.
It is noted that the information disclosed in the background section above is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
In order to solve one or more of the above-mentioned problems that exist among the prior art, the utility model provides a servo articular two encoder systems and servo joint.
The utility model discloses a servo articulated two encoder systems includes: a circuit board; a first encoder magnetic ring rotatably provided with respect to the circuit board; a second encoder magnetic ring rotatably disposed with respect to the circuit board and sleeved on a radial outer side of the first encoder magnetic ring; the first chip is arranged on the circuit board and used for detecting a feedback signal of the first encoder magnetic ring; and the second chip is arranged on the circuit board and is used for detecting a feedback signal of the second encoder magnetic ring.
The utility model also provides a servo joint, servo joint includes: the dual encoder system; one end of an output shaft of the speed reducer unit is fixedly connected with the first encoder magnetic ring; and one end of a motor shaft of the motor unit is fixedly connected with the second encoder magnetic ring.
According to the utility model discloses an embodiment, the motor unit includes: the shell comprises a motor stator shell and a brake fixing shell fixedly connected with the motor stator shell; the motor stator is fixedly connected with the motor stator shell; the motor rotor is sleeved on the radial inner side of the motor stator and is fixedly connected with the motor shaft penetrating through the shaft hole of the motor rotor; and one end of the brake is matched with the motor shaft, and the other end of the brake is fixedly connected with the brake fixing shell.
According to an embodiment of the present invention, the brake is a friction plate brake.
According to the utility model discloses an embodiment, the both ends of motor shaft respectively with first deep groove ball bearing's inner circle and second deep groove ball bearing's inner circle fixed connection.
According to the utility model discloses an embodiment, first deep groove ball bearing's outer lane with motor stator shell fixed connection, second deep groove ball bearing's outer lane with stopper fixed connection.
According to the utility model discloses an embodiment, the reduction gear unit includes: the harmonic speed reducer comprises a flexible gear, a wave generator arranged on an inner ring of the flexible gear and a steel gear arranged on an outer ring of the flexible gear; the harmonic speed reducer mounting plate is sleeved on the radial outer side of the harmonic speed reducer; and the joint output flange is fixedly connected with one end of the harmonic speed reducer mounting plate, one end of the wave generator is fixedly connected with the motor shaft so that the power generated by the motor unit is subjected to torque amplification through the harmonic speed reducer and is subjected to power transmission through the joint output flange, and the output shaft is fixedly connected with the inner side of the joint output flange and is matched with the wave generator through a third deep groove ball bearing so that the output shaft can rotate along with the joint output flange and forms relative rotation with the wave generator.
According to the utility model discloses an embodiment, servo joint still includes the driver unit, the driver unit includes: the driver adapter plate is fixedly connected with the double-encoder system; and the servo driver is fixedly connected with the driver adapter plate.
According to the utility model discloses an embodiment, two encoder systems still include with the outside fixed connection's of circuit board support piece, circuit board support piece's one end with driver keysets fixed connection, circuit board support piece's the other end with stopper set casing fixed connection.
According to an embodiment of the present invention, the driver unit further comprises a wire harness plate fixedly connected to the servo driver, the wire harness plate being provided with a wire harness protection member.
Utilize the utility model discloses a two encoder systems and servo joint can make servo joint compact structure and solve the servo joint that has different end two encoders and walk line difficulty, sealed bad scheduling problem when improving servo joint's output precision.
Drawings
The above and other features of the present invention will be explained in detail below with reference to certain exemplary embodiments shown in the drawings, which are given by way of illustration only and thus do not limit the present invention, wherein:
fig. 1 is a schematic perspective view illustrating a dual encoder system according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view illustrating a dual encoder system according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view illustrating a servo joint according to an embodiment of the present invention.
Fig. 4 is a sectional view illustrating a servo joint according to an embodiment of the present invention.
Description of the symbols
1 Servo joint
10 dual encoder system
11 circuit board
12 first encoder magnetic ring
13 second encoder magnetic ring
14 encoder circuit board support
15 flat end set screw
20 electric machine unit
21 motor stator
22 motor stator casing
23 electric machine rotor
24 motor shaft
25 brake
26 brake fixing shell
27 first deep groove ball bearing
28 second deep groove ball bearing
30 driver unit
31 servo driver
32 driver adapter plate
33 bunch board
34 harness protector
40 reducer unit
41 harmonic speed reducer machine mounting plate
42 joint output flange
43 output shaft
44 third deep groove ball bearing
45 wave generator
Detailed Description
The present invention is described in detail below with reference to specific examples so that those skilled in the art can easily implement the present invention based on the disclosure of the present specification. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by a person skilled in the art based on the embodiments described in the present specification without any inventive step belong to the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments in the present specification may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
First, a dual encoder system 10 of a servo joint according to an embodiment of the present invention will be described with reference to fig. 1 and 2. Fig. 1 is a schematic perspective view illustrating a dual encoder system 10 according to an embodiment of the present invention, and fig. 2 is a cross-sectional view illustrating the dual encoder system 10 according to an embodiment of the present invention.
As shown in fig. 1 and 2, the dual encoder system 10 includes a circuit board 11, and a first encoder magnetic ring 12 and a second encoder magnetic ring 13 rotatably disposed with respect to the circuit board 11, and the second encoder magnetic ring 13 is sleeved on a radial outer side of the first encoder magnetic ring 12. Although not shown, the circuit board 11 may be provided with a first chip for detecting a feedback signal of the first encoder magnetic ring 12 and a second chip for detecting a feedback signal of the second encoder magnetic ring 13 (the first chip and the second chip may also be referred to as a reading chip).
The first encoder magnetic ring 12 and the second encoder magnetic ring 13 are arranged in a sleeved manner and are freely rotatably arranged relative to the circuit board 11, so that the double-encoder system 10 with the same end coplanar is formed, the output precision of the servo joint can be improved, the structure compactness of the servo joint is realized, and the problems of difficult wiring, poor sealing and the like of the servo joint when a different-end double-encoder system is adopted are solved.
In addition, as shown in fig. 2, in the present embodiment, a circuit board support 14 may be fixedly connected to an outer side of the circuit board 11. By such a design, the dual encoder system 10 can be easily connected to other units.
Next, a servo joint 1 according to an embodiment of the present invention will be described with reference to fig. 3 and 4. Fig. 3 is a schematic perspective view illustrating the servo joint 1 according to an embodiment of the present invention, and fig. 4 is a cross-sectional view illustrating the servo joint 1 according to an embodiment of the present invention.
As shown in fig. 3, the servo joint 1 includes a dual encoder system 10, a motor unit 20, a driver unit 30, and a reducer unit 40.
Specifically, as shown in fig. 4, the dual encoder system 10 includes a circuit board 11, a first encoder magnetic ring 12 rotatably disposed with respect to the circuit board 11, a first chip (not shown) disposed on the circuit board 11 and corresponding to the first encoder magnetic ring 12, a second encoder magnetic ring 13 rotatably disposed with respect to the circuit board 11 and sleeved on a radial outer side of the first encoder magnetic ring 12, a second chip (not shown) disposed on the circuit board 11 and corresponding to the second encoder magnetic ring 13, and an encoder circuit board support 14 fixedly connected to the radial outer side of the circuit board 11.
Further, the motor unit 20 includes a motor stator 21, a motor rotor 23 sleeved on a radial inner side of the motor stator 21, a motor shaft 24 penetrating a shaft hole of the motor rotor, a brake 25 for braking the motor shaft 24, and a housing for accommodating the above components. Wherein, the shell comprises a motor stator shell 22 and a brake fixing shell 26 fixedly connected with the motor stator shell 22. Specifically, the motor stator 21 is fixedly connected to the motor stator housing 22, and the motor rotor 23 is fixedly connected to the motor shaft 24. One end of the brake 25 is disposed to be engaged with the motor shaft 24, and the other end of the brake 25 is fixedly coupled to the brake fixing case 26. The brake anchor housing 26 is fixedly connected to the motor stator housing 22, for example, by bolts, to form the complete motor unit 20. When brake 25 is open, the rotor of brake 25 can rotate synchronously with motor shaft 24, and when brake 25 is closed, brake 25 forms a brake by locking the rotor to cause motor shaft 24 to stop moving.
As shown in fig. 4, in the present embodiment, it is preferable that both ends of the motor shaft 24 are fixedly connected to inner rings of the first deep groove ball bearing 27 and the second deep groove ball bearing 28, respectively, an outer ring of the first deep groove ball bearing 27 is fixedly connected to the motor stator housing 22, and an outer ring of the second deep groove ball bearing 28 is fixedly connected to the brake 25. Thus, the motor shaft 24 is supported by the two ends, thereby ensuring the smooth operation of the motor shaft 24.
Further, in the present embodiment, the brake 25 may preferably be a friction plate type brake. This is because, if the conventional pin brake is used, the output end is deflected at a small angle even in the case of emergency braking, and there is a certain safety risk. In addition, the pin type brake causes the servo joint to be clamped and not move after the robot is powered on when the robot is started, and the stability of the robot is reduced. By setting the brake 25 as a friction plate brake, the above disadvantages can be overcome, and the safety of the servo joint braking can be ensured.
Further, in the present embodiment, the motor unit 20 may preferably employ a frameless torque motor as a drive. The frameless torque motor can improve the force control precision of the servo joint, can increase the output torque of the servo joint, and is particularly suitable for a cooperative robot.
The reducer unit 40 includes a harmonic reducer, a harmonic reducer mounting plate 41 fitted to the radial outer side of the harmonic reducer, a joint output flange 42 fixedly connected to the harmonic reducer mounting plate 41, and an output shaft 43 fixedly connected to the joint output flange 42. Specifically, the harmonic reducer may have a flexspline conventionally provided in the art, a wave generator 45 provided at an inner ring of the flexspline, and a steel wheel provided at an outer ring of the flexspline. The joint output flange 42 is fixedly connected with one end of the harmonic reducer mounting plate 41. The harmonic reducer mounting plate 41 is fixedly connected with the motor stator housing 22. One end of the wave generator 45 is fixedly connected with the motor shaft 24 through a bolt and the like, and the other end of the wave generator 45 is arranged in a manner of being matched with the flexible gear. Accordingly, the rotation of the motor shaft 24 drives the wave generator 45 to rotate, so that the power generated by the motor unit 20 is amplified in torque by the harmonic reducer and transmitted to the outside through the joint output flange 42. In addition, one end of the output shaft 43 is fixedly connected with the inner side of the joint output flange 42 and is matched with the wave generator 45 through a third deep groove ball bearing 44, so that the output shaft 43 can rotate along with the joint output flange 42 and form relative rotation with the wave generator 45.
As shown in fig. 4, the first encoder magnetic ring 12 of the dual encoder system 10 is fixedly connected to one end of the output shaft 43, and the second encoder magnetic ring 13 is fixedly connected to one end of the motor shaft 24 of the motor unit 20. That is, the first encoder magnetic ring 12 connected to the output shaft 43 and the second encoder magnetic ring 13 connected to the motor shaft 24 are located on the same side and are provided on the same surface (i.e., on the circuit board 11 side). In addition, one end of the encoder circuit board support 14 is fixedly connected to the brake fixing case 26. By using the first chip and the second chip arranged on the circuit board 11, the real-time position information of the reducer end and the motor end can be obtained according to the feedback information of the first encoder magnetic ring 12 and the second encoder magnetic ring 13, respectively. Note that, as shown in fig. 4, the first encoder magnetic ring 12 may be fixedly connected to the output shaft 43 by a flat-end set screw 15.
In addition, the driver unit 30 includes a servo driver 31, a driver adapter board 32, and a line bundle board 33. Specifically, the driver adapter plate 32 is fixedly connected to the other end of the encoder circuit board support 14, the servo driver 31 is fixedly connected to the driver adapter plate 32, and the line bundle plate 33 is fixedly connected to the servo driver 31. By such an arrangement, the driver unit 30 is integrated into the servo joint 1, and the complexity of the robot in the wiring can be effectively reduced. In addition, as shown in fig. 4, a harness protector 34 is preferably attached to the harness plate 33 so as to protect the harness passing through the servo joint 1 during the movement of the robot from being damaged. In the present embodiment, the harness protector 34 is a harness rubber ring.
The overall operation principle of the servo joint 1 of the present embodiment is as follows.
A motion command planned and issued by a motion controller on the upper layer of the mechanical arm is processed through the servo driver 31 to drag the frameless torque motor composed of the motor stator 21 and the motor rotor 23, meanwhile, a motor end encoder composed of the second encoder magnetic ring 13 and the circuit board 11 feeds back a specific phase angle rotated by the frameless torque motor to the servo driver 31 to perform closed loop motor FOC dragging, and an output end encoder composed of the first encoder magnetic ring 12 and the circuit board 11 feeds back real-time position information of the output end of the servo joint to the servo driver 31 to form position closed loop.
In summary, according to the utility model discloses a technical scheme has following technological effect:
(1) through increasing feedback encoder in output end position, utilize output end encoder feedback to driver unit to carry out closed loop processing with the actual output position behind the servo joint through the reduction gear unit to solve the position error problem that single encoder servo joint exists.
(2) Through the customized compactness design of a double-encoder connecting structure aiming at the motor end and the output end, a first encoder magnetic ring serving as an output end encoder magnetic ring and a second encoder magnetic ring serving as a motor end encoder magnetic ring are respectively connected with an output shaft and a motor shaft in a mode of sleeving small rings by large rings, and two reading chips (namely a first chip and a second chip) are respectively added in one encoder circuit board to detect feedback signals of an inner ring encoder and an outer ring encoder, so that a same-end coplanar compact double-magnetic-ring encoder system is formed. Moreover, the communication line of the double encoders can be connected with the servo driver nearby, so that a hollow wiring line of the double encoders at different ends or a long-distance wiring line outside the servo joint is omitted, the output precision of the servo joint is improved, the compactness of the servo joint structure is realized, and the problems of difficulty in wiring, poor sealing and the like of the joints of the double encoders at different ends are solved.
(3) And a friction plate type brake is adopted, so that the braking safety of the servo joint is ensured.
(4) Through lightweight design and compact design of the structural part of the servo joint, high torque density of the servo joint is realized.
(5) The double-encoder system, the motor unit, the driver unit and the reducer unit are integrated to form an integrated servo joint, so that a highly integrated compact servo execution unit is formed, and the servo execution unit is particularly suitable for application scenes of multi-joint type cooperative robots with compact and light structures and high requirements on output precision and output capacity.
It will be appreciated that the structures shown in the figures are merely schematic and may include more or fewer modules or components than shown in the figures or have a different configuration than shown in the figures. It is to be noted that, when the present invention is implemented by using embodiments which are not exhaustive in the present specification, a person skilled in the art may adapt the configuration, position or functional arrangement of the relevant components.
It is to be understood that the features listed above for the different embodiments may be combined with each other, where technically feasible, to form further embodiments within the scope of the invention. Furthermore, the specific examples and embodiments described herein are non-limiting, and various modifications of the structure, dimensions, materials, etc., set forth above may be made without departing from the scope of the invention.
In this application, the use of the conjunction of the contrary intention is intended to include the conjunction. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, references to "the" object or "an" and "an" object are intended to mean one of many such objects possible. Furthermore, the conjunction "or" may be used to convey simultaneous features, rather than mutually exclusive schemes. In other words, the conjunction "or" should be understood to include "and/or". The term "comprising" is inclusive and has the same scope as "comprising".
The above-described embodiments, particularly any "preferred" embodiments, are possible examples of implementations, and are presented merely for a clear understanding of the principles of the invention. Many variations and modifications may be made to the above-described embodiments without departing substantially from the spirit and principles of the technology described herein. All such modifications are intended to be included within the scope of this disclosure.
All documents mentioned in this specification are herein incorporated by reference as if each were incorporated by reference in its entirety.
Furthermore, it should be understood that after reading the above description of the present invention, those skilled in the art may make various changes or modifications to the present invention, and such equivalents also fall within the scope of the present invention.
Claims (10)
1. A dual encoder system for a servo joint, the dual encoder system comprising:
a circuit board;
a first encoder magnetic ring rotatably provided with respect to the circuit board;
a second encoder magnetic ring rotatably disposed with respect to the circuit board and sleeved on a radial outer side of the first encoder magnetic ring;
the first chip is arranged on the circuit board and used for detecting a feedback signal of the first encoder magnetic ring; and
and the second chip is arranged on the circuit board and is used for detecting a feedback signal of the second encoder magnetic ring.
2. A servo joint, comprising:
the dual encoder system of claim 1;
one end of an output shaft of the speed reducer unit is fixedly connected with the first encoder magnetic ring; and
and one end of a motor shaft of the motor unit is fixedly connected with the second encoder magnetic ring.
3. The servo joint of claim 2, wherein the motor unit comprises:
the shell comprises a motor stator shell and a brake fixing shell fixedly connected with the motor stator shell;
the motor stator is fixedly connected with the motor stator shell;
the motor rotor is sleeved on the radial inner side of the motor stator and is fixedly connected with the motor shaft penetrating through the shaft hole of the motor rotor; and
and one end of the brake is matched with the motor shaft, and the other end of the brake is fixedly connected with the brake fixing shell.
4. The servo joint of claim 3, wherein the brake is a friction plate brake.
5. The servo joint of claim 3, wherein both ends of the motor shaft are fixedly connected with the inner ring of the first deep groove ball bearing and the inner ring of the second deep groove ball bearing, respectively.
6. The servo joint of claim 5, wherein the outer race of the first deep groove ball bearing is fixedly connected to the motor stator housing and the outer race of the second deep groove ball bearing is fixedly connected to the brake.
7. Servo joint according to any of claims 3 to 6, characterized in that the reducer unit comprises:
the harmonic speed reducer comprises a flexible gear, a wave generator arranged on an inner ring of the flexible gear and a steel gear arranged on an outer ring of the flexible gear;
the harmonic speed reducer mounting plate is sleeved on the radial outer side of the harmonic speed reducer; and
a joint output flange fixedly connected with one end of the harmonic speed reducer mounting plate,
wherein one end of the wave generator is fixedly connected with the motor shaft so that the power generated by the motor unit is subjected to torque amplification through the harmonic speed reducer and is subjected to power transmission through the joint output flange,
the output shaft is fixedly connected with the inner side of the joint output flange and is matched with the wave generator through a third deep groove ball bearing, so that the output shaft can rotate along with the joint output flange and can rotate relative to the wave generator.
8. Servo joint according to any of claims 3-6, characterized in that the servo joint further comprises a driver unit comprising:
the driver adapter plate is fixedly connected with the double-encoder system; and
and the servo driver is fixedly connected with the driver adapter plate.
9. The servo joint of claim 8, wherein the dual encoder system further comprises a circuit board support fixedly attached to an outer side of the circuit board, one end of the circuit board support fixedly attached to the driver adapter plate and the other end of the circuit board support fixedly attached to the brake mounting housing.
10. The servo joint of claim 8 wherein the actuator unit further comprises a harness plate fixedly attached to the servo actuator, the harness plate having a harness protector mounted thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122679255.3U CN216000572U (en) | 2021-11-04 | 2021-11-04 | Servo joint and double-encoder system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122679255.3U CN216000572U (en) | 2021-11-04 | 2021-11-04 | Servo joint and double-encoder system thereof |
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| CN216000572U true CN216000572U (en) | 2022-03-11 |
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| CN202122679255.3U Active CN216000572U (en) | 2021-11-04 | 2021-11-04 | Servo joint and double-encoder system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230182325A1 (en) * | 2021-12-10 | 2023-06-15 | Coretronic Mems Corporation | Joint actuator of robot |
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2021
- 2021-11-04 CN CN202122679255.3U patent/CN216000572U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230182325A1 (en) * | 2021-12-10 | 2023-06-15 | Coretronic Mems Corporation | Joint actuator of robot |
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Effective date of registration: 20220406 Address after: 100085 8th floor, building 1, Hongyuan Shouzhu building, Shangdi 6th Street, Haidian District, Beijing Patentee after: As you can see (Beijing) Technology Co.,Ltd. Address before: 101300 room 24, 62 Farm Road, Erjie village, Yangzhen Town, Shunyi District, Beijing Patentee before: Beijing fangjianghu Technology Co.,Ltd. |
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