CN216884037U

CN216884037U - Robot joint module

Info

Publication number: CN216884037U
Application number: CN202220295660.7U
Authority: CN
Inventors: 王明春; 陈天池
Original assignee: Suzhou Mingchi Precision Technology Co ltd
Current assignee: Suzhou Mingchi Precision Technology Co ltd
Priority date: 2022-02-13
Filing date: 2022-02-13
Publication date: 2022-07-05
Anticipated expiration: 2032-02-13

Abstract

The utility model discloses a robot joint module, which comprises 1 fixed shell, 1 set of motor assembly, 1 harmonic reducer, 1 brake fixed seat, 1 set of absolute encoder assembly, 1 set of incremental encoder assembly, 1 torque sensor, 1 drive control board, 1 output flange, 1 output shaft, 1 rear mounting seat and 1 set of forward support assembly. Among this robot joint module, this joint module is small, compact structure, space utilization is high, it is also comparatively convenient when the dismouting to constitute parts, furthermore, through the integrated joint torque sensor of output at the joint module, sensitivity when collision detection has been improved greatly, the joint module has integrateed no excitation stopper, the stopper action reaction is fast, no empty return stroke, can hold the motor shaft tightly immediately when the joint module loses the electricity suddenly, prevent its power loss and free rotation, thereby security when the arm application has been improved.

Description

Robot joint module

Technical Field

The utility model relates to the technical field of robots, in particular to a robot joint module.

Background

At the present stage, with the change of the robot technology at home and abroad, more and more intelligent robots are applied to the daily life of human beings, and the concept of 'robot-to-robot' is changing the past production and living behavior patterns of human beings subtly. In industrial automatic production, some repetitive tasks which are often accompanied by certain risks, such as carrying, welding, polishing, spraying and other tasks, are executed by industrial robots and logistics robots, so that the labor force of workers is greatly liberated, and the efficiency of industrial production is improved. In daily life behaviors, some intelligent service robots are replacing human beings to perform tasks such as sweeping, distribution, shopping guide and the like, and great convenience is brought to daily living and consumption entertainment of people.

The publication number is CN105313134A, and the patent name is lightweight mechanical arm modular joint; the publication number is CN208962036U, and the patent names are 'cooperative robot modular joint and cooperative robot', and all disclose a lightweight cooperative robot joint module, which achieves the design goal of lightweight through simplifying the structure of parts and selecting lightweight aluminum alloy materials. However, the structural space utilization rate is low, and the structure is complex, so that the quick assembly and disassembly of parts are inconvenient. In addition, when the mechanical arm is collided by an external object, the cooperative mechanical arm constructed based on the joint module can cause the change of the control current of the joint module, when the abnormal change of the current is detected, the mechanical arm stops moving immediately, however, the safety of the mechanical arm is ensured based on the change of the current of the joint module, the reaction sensitivity of the mechanical arm is low due to the mode, and the abnormal change of the current cannot be observed easily unless the collision force is large.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a robot joint module, so as to solve the problems mentioned above in the background art.

In order to achieve the purpose, the utility model provides a robot joint module which comprises 1 fixing shell, 1 set of motor assembly, 1 harmonic reducer, 1 brake fixing seat, 1 set of absolute encoder assembly, 1 set of incremental encoder assembly, 1 torque sensor, 1 driving and controlling plate, 1 output flange, 1 output shaft, 1 rear mounting seat and 1 set of forward supporting assembly, wherein the motor assembly is arranged in the fixing shell, the driving and controlling plate is arranged at the rearmost end of the joint module, the rear mounting seat is coaxially and fixedly connected with the brake fixing seat, and a circle of threaded holes are formed in the end part of the rear mounting seat.

Preferably, the motor assembly comprises a motor stator, a motor rotor, a motor shaft, a rotor pressing plate, a front supporting bearing and a rear mounting bearing, the motor stator and the fixed shell are coaxially arranged and fixedly connected with an inner hole matching surface of the fixed shell through high-strength adhesive, the motor rotor is sleeved on the motor shaft, one end of the motor rotor is limited through a shaft shoulder on the motor shaft, the other end of the motor rotor is pressed through the rotor pressing plate, the rotor pressing plate is fixed on the motor shaft through screws, the front end part and the rear end part of the motor shaft are respectively mounted on the front supporting bearing and the rear mounting bearing in an interference connection mode, and the motor shaft is supported in a mounting hole of the fixed shell through the front supporting bearing and the rear mounting bearing.

Preferably, the harmonic reducer comprises a rigid gear, a flexible gear and a wave generator, the rigid gear is coaxially and fixedly connected with the end part of the fixed shell through a screw, the flexible gear is indirectly connected with the output flange through a screw, and the wave generator is matched and connected with the shaft end of the motor shaft through an inner hole and fixed through a screw.

Preferably, the brake is composed of a stator, a rotor and a friction plate, the stator is fixedly installed on the brake fixing seat, and the rotor is fixed on the motor shaft through a screw.

Preferably, the absolute encoder assembly is composed of an absolute reading head, a magnetic ring and a reading head fixing seat, the absolute reading head is fixedly installed on the reading head fixing seat, the magnetic ring is arranged at the rear end of the output shaft and fixed with the shaft end of the output shaft through a screw, and the reading head fixing seat is fixedly connected with the brake fixing seat through a screw.

Preferably, the incremental encoder assembly comprises a grating code wheel and an incremental reading head, the grating code wheel is coaxially fixed with the motor shaft, and the incremental reading head is fixedly installed on the reading head fixing seat through screws.

Preferably, the inner side of the torque sensor is fixedly connected with a flexible gear of the harmonic reducer through a screw, and the outer side of the torque sensor is fixedly connected with the output flange through a screw.

Preferably, the fixed shell is cylindrical, the middle of the outer surface of the fixed shell is provided with a plurality of parallel grooves, the harmonic reducer is cup-shaped and is arranged at the foremost end of a transmission mechanism of the joint module, the brake is of an ultrathin cylindrical structure, and the torque sensor is of a hollow disc-shaped structure.

Preferably, the forward support assembly is composed of a crossed roller bearing and an outer compression ring, the crossed roller bearing is coaxially mounted on the fixing shell, an outer ring of the crossed roller bearing is axially fixed with the fixing shell through the outer compression ring, an inner ring of the crossed roller bearing is sleeved on an outer cylindrical surface of the torque sensor, and the outer cylindrical surface is axially compressed through one side end face of the output flange and is fastened through screws.

Compared with the prior art, the utility model has the beneficial effects that:

in the robot joint module, the joint module has small volume, compact structure and high space utilization rate, the components are convenient to disassemble and assemble, in addition, the sensitivity in collision detection is greatly improved by integrating the joint torque sensor at the output end of the joint module, the joint module integrates the excitation-free brake, the brake has quick action response and no idle return stroke, the motor shaft can be immediately held tightly to prevent the motor shaft from losing power and freely rotating when the joint module suddenly loses power, so that the safety in application of the mechanical arm is improved, the torque sensor is of a hollow disc-shaped structure, the axial space occupied in the integration process is minimum, the inner side of the torque sensor is coaxially fixed with the flexible wheel of the harmonic reducer, the outer side of the torque sensor is fixedly connected with the output flange, and when the joint moves relatively, the torque sensor can reflect the torque at the joint in real time, when the joint is subjected to external abnormal acting force, the moment sensor at the joint can immediately sense the acting force, so that the safety of the mechanical arm during action is greatly improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

fig. 3 is a schematic structural view of the brake of the present invention.

The various reference numbers in the figures mean:

1. a stationary case; 2. a motor assembly; 3. a harmonic reducer; 3-1, a rigid wheel; 3-2, a flexible gear; 3-3, a wave generator; 4. a brake; 4-1, a stator, 4-2 and a rotor; 4-3 friction plates; 5. a brake holder; 6. an absolute encoder assembly; 6-1, absolute reading head; 6-2, a magnetic ring; 6-3, a reading head fixing seat; 7. a sleeve incremental encoder assembly; 7-1, a grating code disc; 7-2, incremental read head; 8. a torque sensor; 9. a drive control plate; 10. an output flange; 11. an output shaft; 12. a rear mounting seat; 13. a forward support assembly; 13-1, crossed roller bearings; 13-2 and an outer pressing ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

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 and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Example 1

The utility model provides a robot joint module, which is composed of 1 fixed shell 1, 1 set of motor component 2, 1 harmonic reducer 3, 1 brake 4, 1 brake fixed seat 5, 1 set of absolute encoder component 6, 1 set of incremental encoder component 7, 1 torque sensor 8, 1 driving and controlling plate 9, 1 output flange 10, 1 output shaft 11, 1 rear mounting seat 12 and 1 set of forward support component 13, as shown in figures 1-3, wherein the motor component 2 is arranged in the fixed shell 1.

In the embodiment, the motor assembly 2 consists of a motor stator 2-1, a motor rotor 2-2, a motor shaft 2-3, a rotor pressing plate 2-4, a front support bearing 2-5 and a rear mounting bearing 2-6, wherein the motor stator 2-1 and the fixed shell 1 are coaxially configured and fixedly connected with an inner hole matching surface of the fixed shell 1 through high-strength adhesive, the motor rotor 2-2 is sleeved on the motor shaft 2-3, one end of the motor rotor is limited through a shaft shoulder on the motor shaft 2-3, the other end of the motor rotor is tightly pressed through the rotor pressing plate 2-4, and the rotor pressing plate 2-4 is fixed on the motor shaft 2-3 through a screw; the front end part and the rear end part of the motor shaft 2-3 are respectively arranged on the front supporting bearing 2-5 and the rear mounting bearing 2-6 in an interference connection mode, and the motor shaft 2-3 is supported in the mounting hole of the fixed shell 1 through the front supporting bearing 2-5 and the rear mounting bearing 2-6.

Specifically, the harmonic reducer 3 is composed of a rigid gear 3-1, a flexible gear 3-2 and a wave generator 3-3, the rigid gear 3-1 is coaxially and fixedly connected with the end part of the fixed shell 1 through a screw, the flexible gear 3-2 is indirectly connected with the output flange 10 through a screw, the wave generator 3-3 is matched and connected with the shaft end of the motor shaft 2-3 through an inner hole and fixed through a screw, the rigid gear 3-1 is fixed during work, the wave generator 3-3 is driven to synchronously rotate by the rotation of the motor shaft 2-3, the wave generator 3-3 is meshed with the inner circular surface of the flexible gear 3-2 in a non-slip mode through the outer circular surface of the wave generator 3-3, and then the flexible gear 3-2 is driven to rotate at a final reduction ratio.

Further, the brake 4 consists of a stator 4-1, a rotor 4-2 and a friction plate 4-3, wherein the stator 4-1 is fixedly arranged on a brake fixing seat 5; the rotor 4-2 is fixed on the motor shaft 2-3 through a screw, when the joint module is electrified, the stator 4-1 releases the friction plate 4-3 and is in a free state, and then the motor shaft 2-3 can rotate freely, when the joint module is not electrified, the stator 4-1 attracts the friction plate 4-3 and is in a locking state, and because the rotor 4-2 fixedly connected with the motor shaft 2-3 is embedded in an inner groove of the friction plate 4-3, the motor shaft 2-3 cannot rotate continuously under the restraint of the friction plate 4-3.

Furthermore, the brake 4 is an ultrathin excitation-free brake, has the advantages of fast action response, no idle return and the like, and can immediately hold the motor shafts 2-3 tightly when the joint module loses power suddenly to prevent the motor shafts from freely rotating due to power loss, so that the safety of the mechanical arm in application is improved.

It is worth noting that the absolute encoder assembly 6 is composed of an absolute reading head 6-1, a magnetic ring 6-2 and a reading head fixing seat 6-3, the absolute reading head 6-1 is fixedly installed on the reading head fixing seat 6-3, the magnetic ring 6-2 is arranged at the rear end portion of an output shaft 11 and is fixed with the shaft end of the output shaft 11 through a screw, the reading head fixing seat 6-3 is fixedly connected with a brake fixing seat 5 through a screw, when the absolute encoder assembly works, the output shaft 11 rotates to synchronously drive the magnetic ring 6-2 to rotate, and position information on the circumference of the magnetic ring 6-2 is read in real time through the absolute reading head 6-1 and is fed back to a driving and controlling system of the joint module.

Further, the incremental encoder assembly 7 comprises a grating code disc 7-1 and an incremental reading head 7-2; the grating code disc 7-1 and the motor shaft 2-3 are coaxially fixed, the incremental reading head 7-2 is fixedly arranged on the reading head fixing seat 6-3 through a screw, when the motor shaft 2-3 works, the grating code disc 7-1 is driven by the motor shaft 2-3 to synchronously rotate, and the incremental reading head 7-2 detects scale information on the grating code disc 7-1, so that a driving and controlling system can obtain motion parameters such as a rotating angle and a rotating speed when the motor shaft 2-3 rotates, and the motion of the motor is conveniently and effectively controlled.

Further, 8 inside parts of torque sensor are connected with 3-2 of flexbile gear of harmonic speed reducer ware 3 through the screw is fixed, outside parts and output flange 10 are through screw fixed connection, when the joint of the arm of this joint module of integration takes place relative motion, output flange 10 will receive the effect of external force, if receive external impact also can final effect on the output flange 10 of joint module, because one side and the output flange 10 of torque sensor 8 link firmly, then the moment of torsion that bears on the output flange 10 will finally be carried out real-time detection and feedback by torque sensor 8.

Further, the appearance of set casing 1 is the column, and the material is the aluminum alloy, and the surface middle part is provided with a plurality of recesses that parallel, and the purpose is in order to increase the heat radiating area of 2 during operations of motor element, plays quick radiating effect, and harmonic reducer ware 3 is "cup" appearance, sets up at the foremost end of the drive mechanism of joint module, and stopper 4 is ultra-thin cylinder structure, and torque sensor 8 is the cavity disk structure.

Furthermore, the driving and controlling plate 9 is arranged at the rearmost end of the joint module, the rear mounting seat 12 is coaxially and fixedly connected with the brake fixing seat 5, a circle of threaded holes are formed in the end portion of the rear mounting seat, and the joint module can be fixed on a corresponding shell through the threaded holes when the mechanical arm is combined and cooperated.

Example 2

In order to further improve the bearing rigidity of the output part of the joint module, on the basis of embodiment 1, the forward support assembly 13 is composed of a crossed roller bearing 13-1 and an outer pressing ring 13-2, the crossed roller bearing 13-1 is coaxially installed on the fixed shell 1, the outer ring of the crossed roller bearing is axially fixed with the fixed shell 1 through the outer pressing ring 13-2, the inner ring of the crossed roller bearing is sleeved on the outer cylindrical surface of the torque sensor 8, one side end surface of the output flange 10 is axially pressed and fastened through a screw, the output of the harmonic reducer 3 is provided with auxiliary support through the crossed roller bearing 13-1, and further the bearing rigidity of the output part of the joint module is greatly improved.

When the robot joint module is used, firstly, the rigid wheel 3-1 is fixed, the friction plate 4-3 is released by the stator 4-1 and is in a free state, then the motor shaft 2-3 can freely rotate, the rotation of the motor shaft 2-3 drives the wave generator 3-3 to synchronously rotate, the outer circular surface of the wave generator 3-3 is meshed with the inner circular surface of the flexible wheel 3-2 without sliding, the flexible wheel 3-2 is further driven to rotate at a final reduction ratio, the motor shaft 2-3 drives the grating code wheel 7-1 to synchronously rotate, the incremental reading head 7-2 is used for detecting scale information on the grating code wheel 7-1, and then the drive and control system can obtain the motion parameters such as the rotating angle and the rotating speed when the motor shaft 2-3 rotates, so that the motion of the motor can be effectively controlled, the friction plate 4-3 is sucked by the stator 4-1 and is in a locking state, because the rotor 4-2 fixedly connected with the motor shaft 2-3 is embedded in an inner groove of the friction plate 4-3, the motor shaft 2-3 cannot continuously rotate under the constraint of the friction plate 4-3, the rotation of the motor shaft 2-3 drives the output shaft 11 to rotate, the rotation of the output shaft 11 synchronously drives the magnetic ring 6-2 to rotate, the position information on the circumference of the magnetic ring 6-2 is read in real time through the absolute reading head 6-1 and then fed back to a driving and controlling system of the joint module, when the joint of the mechanical arm integrating the joint module moves relatively, the output flange 10 is acted by external force, if the external impact is exerted on the output flange 10 of the joint module, because one side of the torque sensor 8 is fixedly connected with the output flange 10, the torque applied to the output flange 10 will eventually be sensed and fed back by the torque sensor 8 in real time.

The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A robot joint module, its characterized in that: by 1 set of set casing (1), 1 motor element (2), 1 harmonic speed reducer ware (3), 1 stopper (4), 1 stopper fixing base (5), 1 set of absolute encoder subassembly (6), 1 set of increment encoder subassembly (7), 1 torque sensor (8), 1 drive accuse board (9), 1 output flange (10), 1 output shaft (11), 1 back mount pad (12) and 1 set forward supporting component (13) to constitute, place in motor element (2) in set casing (1), drive accuse board (9) and set up the rearmost end at the joint module, back mount pad (12) with the coaxial fixed connection of stopper fixing base (5), its tip is provided with round screw hole.

2. The robotic joint module of claim 1, wherein: the motor assembly (2) is composed of a motor stator (2-1), a motor rotor (2-2), a motor shaft (2-3), a rotor pressing plate (2-4), a front supporting bearing (2-5) and a rear mounting bearing (2-6), the motor stator (2-1) and the fixed shell (1) are coaxially arranged and fixedly connected with an inner hole matching surface of the fixed shell (1) through high-strength adhesive, the motor rotor (2-2) is sleeved on the motor shaft (2-3), one end of the motor rotor is limited through a shaft shoulder on the motor shaft (2-3), the other end of the motor rotor is pressed through the rotor pressing plate (2-4), the rotor pressing plate (2-4) is fixed on the motor shaft (2-3) through screws, and the front end part and the rear end part of the motor shaft (2-3) are respectively installed on the front supporting bearing (2-4) in an interference connection mode -5) and rear mounting bearings (2-6), by means of which front support bearings (2-5) and rear mounting bearings (2-6) the motor shaft (2-3) is supported in the mounting hole of the stationary housing (1).

3. The robotic joint module of claim 2, wherein: harmonic speed reducer ware (3) comprise rigid wheel (3-1), flexbile gear (3-2) and wave generator (3-3), rigid wheel (3-1) through the screw with the coaxial fixed connection of tip of set casing (1), flexbile gear (3-2) through the screw with output flange (10) link to each other indirectly, wave generator (3-3) through the hole with the axle head cooperation of motor shaft (2-3) is connected and is fixed through the screw.

4. The robotic joint module of claim 2, wherein: the brake (4) is composed of a stator (4-1), a rotor (4-2) and a friction plate (4-3), the stator (4-1) is fixedly installed on the brake fixing seat (5), and the rotor (4-2) is fixed on the motor shaft (2-3) through a screw.

5. The robot joint module of claim 2, wherein: the absolute encoder assembly (6) is composed of an absolute reading head (6-1), a magnetic ring (6-2) and a reading head fixing seat (6-3), the absolute reading head (6-1) is fixedly installed on the reading head fixing seat (6-3), the magnetic ring (6-2) is arranged at the rear end of the output shaft (11) and fixed with the shaft end of the output shaft (11) through a screw, and the reading head fixing seat (6-3) is fixedly connected with the brake fixing seat (5) through a screw.

6. The robotic joint module of claim 5, wherein: the incremental encoder component (7) comprises a grating code disc (7-1) and an incremental reading head (7-2), the grating code disc (7-1) and the motor shaft (2-3) are coaxially fixed, and the incremental reading head (7-2) is fixedly installed on the reading head fixing seat (6-3) through a screw.

7. The robotic joint module of claim 3, wherein: the inner side part of the torque sensor (8) is fixedly connected with a flexible gear (3-2) of the harmonic reducer (3) through a screw, and the outer side part of the torque sensor is fixedly connected with the output flange (10) through a screw.

8. The robot joint module of claim 1, wherein: the appearance of set casing (1) is the column, and surface middle part is provided with a plurality of recesses that parallel, harmonic speed reducer ware (3) are "cup" appearance, set up at the foremost of the drive mechanism of joint module, stopper (4) are ultra-thin cylinder structure, torque sensor (8) are cavity disc structure.

9. The robotic joint module of claim 1, wherein: the forward support assembly (13) is composed of a crossed roller bearing (13-1) and an outer pressing ring (13-2), the crossed roller bearing (13-1) is coaxially installed on the fixing shell (1), the outer ring of the crossed roller bearing is axially fixed with the fixing shell (1) through the outer pressing ring (13-2), the inner ring of the crossed roller bearing is sleeved on the outer cylindrical surface of the torque sensor (8), and the output flange (10) is axially compressed through one side end surface of the output flange and is fastened through screws.