CN217020453U - Double-encoder cooperative robot joint and industrial robot - Google Patents

Abstract

The utility model discloses a double-encoder cooperative robot joint and an industrial robot, wherein the robot joint comprises a harmonic speed reducer end cover, a harmonic speed reducer, a shell and an encoder which are coaxially arranged, the harmonic speed reducer is sleeved outside the harmonic speed reducer end cover through a bearing, the shell is arranged outside the harmonic speed reducer, and the encoder is respectively connected with the harmonic speed reducer end cover, the harmonic speed reducer and the shell; through a plurality of magnetic sensors arranged on the encoder, magnetic rings fixed with an end cover of the harmonic speed reducer on the encoder are fed back in a rotating mode, and therefore the rotating speed of the cooperative robot is measured. The magnetic sensor is radially installed, so that the generation of accumulated tolerance is greatly reduced, only the harmonic speed reduction end cover and the harmonic speed reducer are coaxial during production and installation, the interference among all parts is reduced, the structure is simple, the installation is convenient, and the measurement result is more accurate.

Description

Double-encoder cooperative robot joint and industrial robot

Technical Field

The utility model relates to the technical field of cooperative robots, in particular to a joint of a dual-encoder cooperative robot and an industrial robot.

Background

With the continuous development of the market, the cooperative robot has a wider and wider application range. For more application scenarios, higher requirements are put on the cooperative robot, namely, operability and safety.

In conventional cooperative robot applications, there are generally two technical routes for encoder applications: one is that the encoder adopts a multi-turn absolute encoder structure, the structure only needs to be installed at a motor end, the installation structure is convenient, the position progress required by the installation size is well ensured, and the defect is that an external power supply needs to be provided for the multi-turn absolute encoder, otherwise, the robot cannot remember the current position in real time; the other type is that the encoder adopts the encoder structure, this structure is that a single circle encoder is installed in the motor end, feedback motor real-time information, another encoder is installed in the motor gear reducer end, record the absolute position in the robot joint, the advantage of this scheme is can no longer provide the battery for the encoder, the robot just can feed back the absolute position of robot joint by the single circle absolute value encoder at gear reducer end, and two encoders can carry out redundant computation, if one of them encoder is unusual, the second encoder can carry out effective feedback protection, the security that provides the robot, the shortcoming is that the encoder structure is complicated, installation size accumulative error is serious, assembly in the production causes the difficulty.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a joint of a double-encoder cooperative robot, which is simple in structure and convenient and fast to install, and can accurately measure the rotation of the joint of the cooperative robot so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme:

a double-encoder cooperative robot joint comprises a harmonic speed reducer end cover, a harmonic speed reducer, a shell and an encoder which are coaxially arranged, wherein the harmonic speed reducer is sleeved outside the harmonic speed reducer end cover through a bearing, the shell is arranged outside the harmonic speed reducer, and the encoder is respectively connected with the harmonic speed reducer end cover, the harmonic speed reducer and the shell;

the encoder comprises an encoder moving disc flange, a bearing inner pressing ring, a bearing outer pressing ring, an encoder static disc flange, a compression bearing, an encoder moving disc, an encoder static disc, a magnetic ring shaft and a magnetic ring, wherein the encoder moving disc flange and the bearing inner pressing ring are arranged on an inner ring of the compression bearing and are connected with the harmonic reducer through the encoder moving disc flange; the outer pressing ring of the bearing and the static disc flange of the encoder are arranged on the outer ring of the pressing bearing and are connected with the shell through the static disc flange of the encoder; the encoder static disc is provided with a plurality of magnetic sensors and is fixed on the encoder static disc flange; the magnetic ring shaft is fixedly connected with the end cover of the harmonic speed reducer, a magnetic ring is arranged outside the magnetic ring shaft, and the rotation of the magnetic ring is fed back through a plurality of magnetic sensors.

The further technical scheme is as follows: and a frameless torque motor stator and a frameless torque motor rotor are also arranged in the shell, the frameless torque motor stator is fixed with the shell, and the frameless torque motor rotor is connected with the harmonic speed reducer and the encoder movable disc flange.

The further technical scheme is as follows: the encoder-cooperative robot joint further comprises an ultrathin servo electromagnetic brake, and the ultrathin servo electromagnetic brake is sleeved outside the frameless torque motor rotor and fixed on the shell.

The further technical scheme is as follows: and a friction plate closely matched with the frameless torque motor rotor is arranged in the ultrathin servo electromagnetic brake, and when the ultrathin servo electromagnetic brake is electrified, the frameless torque motor rotor is loosened by the friction plate.

The further technical scheme is as follows: and the shell is bonded with the frameless torque motor stator, the harmonic speed reducer is bonded with the frameless torque motor rotor, and the magnetic ring shaft is bonded with the magnetic ring through anaerobic adhesives.

The further technical scheme is as follows: the encoder further comprises an encoder module support, and the encoder module support is fixed on the encoder static disc flange and the shell.

The further technical scheme is as follows: the joint of the encoder cooperative robot further comprises a driver and a cable bracket, and a stainless steel stud for fixing the driver and the cable bracket is arranged on the shell.

The further technical scheme is as follows: the number of the magnetic sensors is four, and the magnetic sensors are uniformly distributed outside the magnetic ring.

The further technical scheme is as follows: the end cover of the harmonic speed reducer is T-shaped.

Meanwhile, the utility model also provides the following technical scheme: an industrial robot utilizes the joint of the double-encoder cooperative robot.

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

the magnetic sensor is radially installed, so that the accumulated tolerance is greatly reduced, and when the joint of the double-encoder cooperative robot is produced and installed, only the harmonic speed reduction end cover and the harmonic speed reducer are coaxial, so that the interference among all parts is reduced, the structure is simple, the installation is convenient, the measurement result is more accurate, and the practicability of the cooperative robot is greatly improved.

Drawings

FIG. 1 is a schematic structural diagram of a joint of a dual-encoder cooperative robot according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of an encoder according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of an encoder according to an embodiment of the present invention.

Reference numerals are as follows: 1. the device comprises an end cover of a harmonic speed reducer, 2. the harmonic speed reducer, 3. a shell, 4. a stator of a frameless torque motor, 5. a rotor of the frameless torque motor, 6. an ultrathin servo electromagnetic brake, 7. an outer pressing ring of a bearing, 8. a static disc flange of an encoder, 9. a pressing bearing, 10. a module bracket of the encoder, 11. a movable disc of the encoder, 12. a static disc of the encoder, 13. a driver, 14. a cable bracket, 15. a magnetic ring shaft, 16. a magnetic ring, 17. a movable disc flange of the encoder, 18. an inner pressing ring of the bearing, 19. a stainless steel stud, 20. a bearing and 21. a magnetic sensor.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Examples

As shown in fig. 1 to 3, the utility model provides a double-encoder cooperative robot joint, which includes a harmonic reducer end cover 1, a harmonic reducer 2, an encoder, a housing 3, a frameless torque motor stator 4, a frameless torque motor rotor 5, and an ultrathin servo electromagnetic brake 6, which are coaxially disposed, wherein the harmonic reducer is sleeved outside the harmonic reducer end cover, the encoder is respectively connected with the harmonic reducer end cover, the harmonic reducer, and the housing, and the rotational speed of the harmonic reducer end cover 1 is fed back through the encoder.

Specifically, harmonic speed reducer machine end cover 1 is the T font, and harmonic speed reducer machine end cover right-hand member inserts and passes harmonic speed reducer machine 2, and the left end is installed in harmonic speed reducer machine 2 left side, and is provided with bearing 20 between harmonic speed reducer machine end cover 1 and the harmonic speed reducer machine 2 and carries out coaxial fixed. The harmonic speed reducer 2 is fixed in the shell 3, a frameless torque motor stator 4 and a frameless torque motor rotor 5 are fixed in an installation space between the harmonic speed reducer 2 and the shell 3, the frameless torque motor stator 4 is adhered in the shell 3 through anaerobic glue, the frameless torque motor rotor 5 is adhered on the harmonic speed reducer 2 through anaerobic glue, the ultrathin servo electromagnetic brake 6 is sleeved outside the frameless torque motor rotor and fixed on the shell 3 through screws, preferably, a friction plate tightly matched with the frameless torque motor rotor is arranged in an inner hole of the ultrathin servo electromagnetic brake 6, when the ultrathin servo electromagnetic brake 6 is powered on, the friction plate arranged in the ultrathin servo electromagnetic brake 6 is loosened, and the frameless torque motor rotor 5 can normally rotate.

An encoder is arranged on the frameless torque motor rotor 5 on the right side of the ultrathin servo electromagnetic brake 6, the encoder comprises an outer bearing pressing ring 7, a stationary encoder disc flange 8, a pressing bearing 9, an encoder module support 10, an encoder moving disc 11, a stationary encoder disc 12, a magnetic ring shaft 15, a magnetic ring 16, an inner bearing pressing ring 18 and an encoder moving disc flange 17, the encoder moving disc flange 17 is fixed at the right end of the frameless torque motor rotor 5 through screws, the inner bearing pressing ring 18 is fixed at one end, close to the ultrathin servo electromagnetic brake 6, of the encoder moving disc flange 17, the pressing bearing 9 is jointly arranged outside the encoder moving disc flange 17 and the inner bearing pressing ring 18, the outer bearing pressing ring 7 and the stationary encoder disc flange 8 which are fixedly connected are arranged outside the pressing bearing 9, the outer ring of the bearing 9 is pressed by the bearing outer pressing ring 7, and the inner ring of the bearing 9 is pressed by the bearing inner pressing ring 18, so that the pressing bearing is fixed in the encoder fixed disc flange 8. The encoder driving disk flange 17 is kept away from 6 one end of ultra-thin servo electromagnetic brake and is fixed with encoder driving disk 11, is fixed with the quiet dish 12 of encoder on the quiet dish flange 8 of encoder, and the quiet dish 12 of encoder sets up in the right side of encoder driving disk 11, and the quiet dish 12 other pot head of encoder is located outside the magnetic ring 16. The magnetic ring shaft 15 is fixed on the right end face of the end cover 1 of the harmonic reducer through a screw, and a magnetic ring 16 is fixedly arranged outside the magnetic ring shaft 15, preferably, the magnetic ring 16 is adhered to the magnetic ring shaft 15 through anaerobic glue. During the operation, through frameless torque motor 5's rotation, drive encoder driving disk flange 17 and rotate, rethread encoder driving disk flange 17 rotates and drives encoder driving disk 11 and rotate, and the quiet dish 12 of encoder is static, and the rotation of accessible encoder driving disk 11 and then signals such as rotation of real-time feedback play harmonic speed reducer ware from this. A plurality of magnetic sensors 21 in contact with the magnetic ring 16 are welded on the encoder fixed disk 12, and preferably, the number of the magnetic sensors is four, and the magnetic sensors are uniformly distributed outside the circumference of the magnetic ring. The magnetic ring shaft 15 is fixed on the harmonic reducer end cover 1, and the magnetic ring shaft 15 is driven to rotate through the rotation of the harmonic reducer end cover 1, so that the magnetic ring 16 is driven to rotate, the rotation of the magnetic ring 16 enables the magnetic sensor 21 to generate a corresponding signal, the signal is fed back to the encoder fixed disc 12, the rotating speed of the harmonic reducer end cover 1 is fed back in real time, and the rotating speed of the robot is fed back.

On encoder module support 10 one end was fixed in encoder quiet dish flange 8, on the encoder module support 10 other end was fixed in casing 3 to on being fixed in casing 3 with encoder quiet dish flange 8 through encoder module support 10. The housing 3 is further fixedly provided with a stainless steel stud 19, and the driver 13 and the cable bracket 14 are arranged on the stainless steel stud 19 so as to fix a cable passing through the end cover of the harmonic reducer through the cable bracket 14.

The encoder of the joint of the robot with the double encoders cooperated can fix the static disc of the encoder, fix the harmonic reducer with the movable disc of the encoder and fix the end cover of the harmonic reducer with the magnetic ring through the shell, so that the rotation of the harmonic reducer and the end cover of the harmonic reducer can be monitored through a plurality of magnetic sensors on the static disc of the encoder. The sensors of the end cover of the traditional harmonic speed reducer are axially mounted, accumulated tolerance is easy to generate in the mounting process, and the magnetic sensor 21 is mounted in a radial mode, so that the probability of generating the accumulated tolerance is greatly reduced. During production, only the coaxial arrangement of the harmonic speed reduction end cover 1 and the harmonic speed reducer 2 needs to be considered, and interference among all parts is reduced. In addition, the encoder arranged on the end cover 1 of the harmonic speed reducer is improved, so that the influence caused by accumulated tolerance generated in the production and manufacturing of the front-end shell 3, the harmonic speed reducer 2, the frameless torque motor rotor 5 and other parts is avoided, and the measured rotating speed of the robot is more accurate.

In addition, the utility model also provides an industrial robot, and the joint of the robot with the double encoders in cooperation is adopted.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (10)

1. The joint is characterized by comprising a harmonic speed reducer end cover, a harmonic speed reducer, a shell and an encoder which are coaxially arranged, wherein the harmonic speed reducer is sleeved outside the harmonic speed reducer end cover through a bearing sleeve, the shell is arranged outside the harmonic speed reducer, and the encoder is respectively connected with the harmonic speed reducer end cover, the harmonic speed reducer and the shell;

the encoder comprises an encoder movable disc flange, a bearing inner pressing ring, a bearing outer pressing ring, an encoder static disc flange, a pressing bearing, an encoder movable disc, an encoder static disc, a magnetic ring shaft and a magnetic ring, wherein the encoder movable disc flange and the bearing inner pressing ring are arranged on an inner ring of the pressing bearing and are connected with the harmonic reducer through the encoder movable disc flange; the outer pressing ring of the bearing and the static disc flange of the encoder are arranged on the outer ring of the pressing bearing and are connected with the shell through the static disc flange of the encoder; the encoder static disc is provided with a plurality of magnetic sensors and is fixed on the encoder static disc flange; the magnetic ring shaft is fixedly connected with the end cover of the harmonic speed reducer, a magnetic ring is arranged outside the magnetic ring shaft, and the rotation of the magnetic ring is fed back through a plurality of magnetic sensors.

2. The joint of claim 1, wherein a frameless torque motor stator and a frameless torque motor rotor are further disposed in the housing, the frameless torque motor stator is fixed to the housing, and the frameless torque motor rotor is fixed to the harmonic reducer and the encoder moving disk flange.

3. The joint of claim 2, further comprising an ultra-thin servo electromagnetic brake, wherein the ultra-thin servo electromagnetic brake is sleeved outside the frameless torque motor rotor and fixed to the housing.

4. A dual encoder cooperative robotic joint as claimed in claim 3, wherein a friction plate is provided within the ultra-thin servo electromagnetic brake to mate with a frameless torque motor rotor.

5. The joint of claim 2, wherein the shell is bonded to the frameless torque motor stator, the harmonic reducer is bonded to the frameless torque motor rotor, and the magnetic ring shaft is bonded to the magnetic ring by anaerobic adhesive.

6. A dual encoder cooperative robotic joint as claimed in claim 1, wherein the encoder further comprises an encoder module bracket secured to the encoder static plate flange and the housing.

7. The joint of claim 1, further comprising a driver and a cable mount, wherein the housing is provided with a stainless steel stud to which the driver and the cable mount are secured.

8. A joint as claimed in claim 1, wherein the number of magnetic sensors is four, and the magnetic sensors are uniformly distributed outside the magnetic ring.

9. The dual encoder cooperative robotic joint of claim 1, wherein the harmonic reducer end cap is T-shaped.

10. An industrial robot, characterized in that a dual encoder cooperative robot joint according to any of claims 1-9 is used.

Images