CN217776973U - Driving module of manipulator and manipulator - Google Patents

Abstract

The application relates to a driving module of a manipulator and the manipulator. Wherein, the drive module of manipulator includes: a motor and a motor housing; the motor comprises a stator and a rotor; the motor is accommodated in the motor shell; the inner wall of the motor shell forms a motor butt joint part; the motor butt joint part is fixedly connected with a stator or a rotor positioned on the outer side; a first interface is formed on the motor shell; the motor shell is also provided with a first opening end; the first opening end corresponds to the second interface; the second interface is fixedly connected with the stator or the rotor positioned on the inner side. By adopting the technical scheme, the component parts of the driving module can be reduced, the assembly of the driving module is facilitated, and the mechanical strength of the driving module is increased.

Description

Driving module of manipulator and manipulator

Technical Field

The application relates to the technical field of robots, in particular to a driving module of a manipulator and the manipulator.

Background

With the rapid development of industrial automation, manipulators are also rapidly developed and widely used. The existing manipulator often has the problems of complex structure, complex assembly and the like.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a drive module of a manipulator and the manipulator.

In a first aspect, an embodiment of the present application provides a driving module of a manipulator, where the driving module includes: a motor and a motor housing; the motor comprises a stator and a rotor;

the motor is accommodated in the motor housing;

the inner wall of the motor shell forms a motor butt joint part; the motor butt joint part is fixedly connected with the stator or the rotor positioned on the outer side;

a first interface is formed on the motor shell;

the motor shell is also provided with a first opening end; the first opening end corresponds to a second interface; the second interface is fixedly connected with the stator or the rotor which is positioned at the inner side.

Further, in one embodiment, the stator or the mover located inside forms a hollow portion in an axial direction; the connecting shaft penetrates through the hollow part and is fixedly connected with the hollow part;

the second interface is fixedly connected with the stator or the rotor which is positioned at the inner side through the connecting shaft.

Further, in one embodiment, the motor includes a bearing; the inner wall of the motor shell forms a first bearing butt joint part;

the outer wall of the connecting shaft forms a second bearing butt joint part matched with the first bearing butt joint part;

the bearing is adapted between the first bearing interface and the second bearing interface.

Further, in one embodiment, the motor interface includes a first contact surface; the outer wall of the connecting shaft comprises a second contact surface; the stator and the rotor are limited in the radial direction through the matching of the first contact surface and the second contact surface;

the first contact surface corresponds to the outer side wall of the stator or the rotor which is positioned at the outer side;

the second contact surface corresponds to an inner side wall of the stator or the mover located at the inner side.

Further, in one embodiment, the motor interface includes a first boss; the outer wall of the connecting shaft comprises a second boss; the stator and the rotor are limited in the axial direction through the matching of the first boss and the second boss;

the first boss corresponds to the end part of the stator or the rotor positioned on the outer side;

the second boss corresponds to an end of the stator or the mover located inside.

Further, in one embodiment, an outer side wall of the motor housing extends outward to form the first interface.

Further, in one embodiment, one end of the motor housing in the axial direction forms the first open end.

Further, in one embodiment, the motor housing includes a housing body and an end cap; the shell body forms a first opening end and a second opening end along the two sides of the axial direction respectively; the second opening end is fixedly connected with the end cover.

Further, in one embodiment, the motor is a direct drive motor and/or a rotary motor.

In a second aspect, embodiments of the present application provide a robot including at least one drive module of the robot according to any one of the above embodiments;

the driving modules are connected into a whole through the first interface and/or the second interface;

the motor housing serves as both the housing for the motor and at least a portion of the exterior wall of the robot.

The motor is accommodated in the motor shell; the inner wall of the motor shell forms a motor butt joint part; the motor butt joint part is fixedly connected with the stator or the rotor positioned on the outer side; a first interface is formed on the motor shell; the motor shell is also provided with a first opening end; the first opening end corresponds to the second interface; the second interface is fixedly connected with the stator or the rotor which is positioned on the inner side, so that the number of components of the driving module can be reduced, the assembly of the driving module is facilitated, and the mechanical strength of the driving module is increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a first schematic view of an overall structure of a robot provided in an embodiment of the present application;

fig. 2 is a first schematic view of an explosive structure of a robot provided in an embodiment of the present application;

fig. 3 is a first schematic view, partially in cross section, of a first driving module of a robot provided in an embodiment of the present application;

fig. 4 is a first schematic view, partially in cross section, of a drive module of a robot provided in an embodiment of the present application;

fig. 5 is a second schematic view, partially in cross section, of a driving module of a robot according to an embodiment of the present disclosure.

Description of the figures the symbols: the mechanical arm is 10 mechanical arms, 11 first driving modules, 21 second driving modules, 31 third driving modules, 41 fourth driving modules, 51 fifth driving modules, 61 sixth driving modules, 71 first connecting pieces, 81 second connecting pieces, 91 third connecting pieces, 101 control units, 111 motor shells, 112 movers, 113 stators, 120 connecting shafts, 121 second interfaces, 122 switching pieces, 123 connecting plates, 124 rivets, 1111 shell bodies, 1112 end covers, 1113 first interfaces, 1114 first open ends, M motors, F1 motor butting parts, F2 first bearing butting parts, F2' second bearing butting parts, F3 encoder butting parts, F4 brake butting parts, F11 first contact surfaces, F12 first bosses, F11' second contact surfaces and F12' second bosses.

Detailed Description

In order to make the technical solutions of the embodiments of the present application better understood, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, and not all 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 application.

The drive module and the manipulator of manipulator that this application embodiment provided can be applied to manipulator technical field. By housing the motor within the motor housing; the inner wall of the motor shell forms a motor butt joint part; the motor butt joint part is fixedly connected with a stator or a rotor positioned on the outer side; a first interface is formed on the motor shell; the motor shell is also provided with a first opening end; the first opening end corresponds to the second interface; the second interface is fixedly connected with the stator or the rotor positioned on the inner side, so that the number of components of the driving module can be reduced, the assembly of the driving module is facilitated, and the mechanical strength of the driving module is increased.

As shown in fig. 1 or 2, the present embodiment provides a robot 10 including a driving module. The robot 10 includes at least one drive module.

The driving modules are connected into a whole through the first interface and/or the second interface.

The motor housing serves both as a housing for the motor and as at least a portion of the exterior wall of the robot arm.

Specifically, the robot 10 may be: parallel manipulators or series manipulators, etc. Taking the tandem robot as an example, the robot may be any number of axes, such as a three-axis robot, a four-axis robot, or a six-axis robot. Typically in a tandem robot, the robot including several drive modules may be referred to as a multi-axis robot. In one embodiment, an end effector (omitted from the figures) may be provided on the output interface of the endmost drive module of the robot, such as: a gripper or suction cup, through which the object can be grasped by the end effector.

For convenience of understanding, the embodiment of the present application will be described in detail by taking a six-axis robot 10, as shown in fig. 1 or 2, in which six drive modules and three connecting members are connected in series. The six-axis robot 10 includes: the driving device comprises a first driving module 11, a second driving module 21, a third driving module 31, a fourth driving module 41, a fifth driving module 51, a sixth driving module 61, and a first connecting piece (also called a base) 71, a second connecting piece 81 and a third connecting piece 91.

In one embodiment, as shown in fig. 1 or 2, the robot 10 may be formed by connecting a plurality of driving modules in series and/or in parallel via a first interface and/or a second interface, where the connection may refer to direct connection or indirect connection between adjacent driving modules, where the indirect connection refers to connection between adjacent driving modules via some connecting members, for example, the second driving module 21 and the third driving module 31 are connected in series via a second connecting member 81, and specifically, the connecting members may be designed in any shape as required, so that the robot model may meet the requirement of a preset movement range. By directly connected is meant that the two drive modules are directly connected, e.g. directly connected in series between the first drive module 11 and the second drive module 21. In one embodiment, when the manipulator 10 includes only one drive module, the drive module may be integrated with the base and the end effector via the first interface and the second interface, respectively (the drawings are omitted).

It should be noted that, for the first interface and the second interface, different connection manners may be defined as an output interface and an input interface of the driving module, respectively, for example, as shown in fig. 1, in the robot, starting from the base 71, an interface for connecting with a next driving module is defined as an output interface; and an interface for connecting with the previous driving module or base 71 is defined as an input interface.

In one embodiment, since the motor housing serves as both the housing of the motor and at least a portion of the outer wall of the robot arm, the outer surface of the motor housing is directly exposed to the outside, so that the outer surface of the motor housing 111 can be subjected to various beautification treatments as required, such as: polishing and painting.

It should be noted that the manipulator 10 may further include a control unit and the like, and the control unit may be integrated with the manipulator or located outside the manipulator 10 (as shown in fig. 1) based on the instruction of the control unit to perform corresponding actions and/or output torques/forces, and further detailed description of the control unit and the like is omitted here.

As shown in fig. 3, in one embodiment, each of the driving modules includes: motor M and motor housing 111; the motor M includes a stator 113 and a mover 112;

the motor M is housed in the motor case 111;

the inner wall of the motor housing 111 forms a motor docking portion F1; the motor butt joint part F1 is fixedly connected with a stator 113 or a rotor 112 positioned at the outer side;

the motor housing 111 also has a first open end 1114 formed thereon; the first open end corresponds to the second port 121; the second port 121 is fixedly connected to the stator 113 or the mover 112 located inside.

By adopting the driving module of the embodiment of the application, the number of the components of the driving module can be reduced, the assembly of the driving module is convenient, and the mechanical strength of the driving module is increased; in addition, in some cases, the volume of the driving module can be reduced and the weight of the driving module can be reduced by simplifying the design of the driving module. For the manipulator adopting the driving module, the number of components of the manipulator can be reduced, the assembly of the manipulator is convenient, and the mechanical strength of the manipulator is increased; in addition, in some cases, the size of the manipulator can be reduced and the weight of the manipulator itself can be reduced by simplifying the design of the manipulator.

In addition, each drive module of the manipulator provided by the embodiment of the application is connected into a whole through the first interface and/or the second interface, and the motor shell is used as the shell of the motor and at least one part of the outer wall of the manipulator, so that the design of the manipulator can be further simplified, the volume of the manipulator is reduced, and the weight of the manipulator is reduced.

It should be noted that the respective drive modules may be slightly different from the basic structure based on the difference in the axes of the robot where the respective drive modules are located. For example, as shown in fig. 1 or 2, the first driving module 11, the second driving module 21, and the third driving module 31 of the six-axis robot have substantially the same structure, while the fourth driving module 41, the fifth driving module 51, and the sixth driving module 61 have substantially the same structure, and only some parts have slightly different shapes, sizes, and the like. For convenience of understanding, the first driving module 11 of the six-axis robot 10 will be mainly described in further detail below as an example. It should be noted that, in addition to the six-axis robot described in the embodiments of the present application, any robot that is formed by directly or indirectly combining one or more driving modules having similar structures in any serial and/or parallel manner is included in the protection scope of the present application.

As shown in fig. 2 and 3, in one embodiment, the first driving module 11 is a driving module fixedly connected directly to the base in the robot 10. The first driving module 11 includes: motor M and motor housing 111; the motor M includes a stator 113 and a mover 112.

In one embodiment, the motor is a direct drive motor. The direct drive motor is a motor capable of directly outputting high torque/force through improvement of a magnetic circuit, a structure and the like, and a speed reducer capable of outputting large torque/force through speed change of a tooth structure and the like can be omitted by adopting the motor capable of directly outputting high torque/force, and the speed reducer has the defects of high cost, easiness in damage of the tooth structure, impact resistance, high noise and the like, so that a drive module adopting the direct drive motor is lower in cost, more durable, impact resistance and lower in noise.

The motor is divided into a plurality of types by the movement of the mover of the motor, and the motor is usually a rotary motor, but may be a motor of another movement type, for example, a linear motor moving linearly. Specifically, the motor M is a rotary motor M in the first driving module 11, and the mover 112 is located outside the stator 113.

The first drive module 11 includes a motor M and a motor housing 111; the motor includes a stator 113, a mover 112, and a bearing 117. Among other things, the bearings 117 serve to define a uniform gap during relative movement between the stator 113 and the mover 112 to form a magnetic gap.

The motor M is accommodated in the motor housing 111.

The motor housing 111 has a first port 1113 formed thereon.

In one embodiment, the sidewall of the motor housing 111 extends outward to form a first interface 1113, and the first interface 1113 is configured to be fixedly connected to other drive modules of the robot directly or indirectly. Specifically, the number of the first interfaces may be one or multiple, and this embodiment is not limited to this. Illustratively, as shown in fig. 2, the first interface 1113 of the first driving module 11 is used as an output interface 1113 and is used for being fixedly connected with the second interface 121 (input interface) of the second driving module 21.

The first port 1113 may or may not penetrate through or partially penetrate through the inner space of the motor housing 111 (as shown in fig. 3); the first interface may be preformed integrally with the motor housing (as shown in fig. 3) or fixedly attached in some manner.

In one embodiment, the end of the first port 1113 is annular, and a plurality of mounting holes may be distributed along the sidewall at the end; in addition, the second interface 12 of the second driving module 21 also has an annular end portion adapted to the end portion of the first interface, and a plurality of mounting holes may be distributed along the side wall at the end portion to butt the annular end portions of the two structural members and ensure that the mounting holes are aligned, and the two structural members may be fixedly connected together by rivets passing through the mounting holes.

The motor housing 111 also has a first open end 1114 formed thereon; the first open end 1114 corresponds to the second port 121 of the motor M, i.e., the second port is led out from the first open end 1114 of the motor housing 111 to connect with other structural members (e.g., the base 71); the second port 121 is fixedly connected to the stator 113 of the motor M.

In one embodiment, one end of the motor housing 111 in the axial direction X forms a first open end 1114. Further, in one embodiment, the stator 113 forms a hollow portion along the axial direction, and the connection shaft 120 passes through the hollow portion of the stator 113 and is fixedly connected to the stator 113, such as: the connection can be fixed based on modes of expansion with heat and contraction with cold, clamping connection or through a centering piece and the like; the second interface 121 may be fixedly connected to the stator 113 through the connecting shaft 120, for example, one end of the connecting shaft 120 corresponding to the first open end 1114 may be fixedly connected to the second interface 121. It should be noted that the second interface 121 may be various structural members, such as a flange, capable of fixedly connecting with the outside.

In one embodiment, the motor housing 111 includes a housing body 1111 and an end cap 1112; both ends of the housing body 1111 in the axial direction X form the first open end 1114 and the second open end, respectively. Specifically, the housing body may have a cylindrical structure.

The second open end of the housing body 1111 is fixedly connected to the end cap 1112.

Specifically, the motor M can be assembled in the housing 1111 first, and then the end cap 1112 is fixed to the housing 1111, so that the motor M can be installed in the motor housing 111 at an appropriate position more conveniently and accurately.

The inner wall of the motor housing 111 forms a motor docking portion F1; the motor docking portion F1 is fixedly connected to the mover 112 located at the outer side, so that the motor housing 111 can follow the movement of the mover 112.

Further, in one embodiment, a motor abutting portion F1 engaged with an outer wall of the mover 112 may be formed to extend toward the center O of the motor M at a position corresponding to the mover 112 in the circumferential direction on an inner sidewall of the motor housing 111, and the outer wall of the mover 112 may be attached to the motor abutting portion F1 to limit the mover. It should be noted that the casing body 1111 may be made of any non-magnetic material as required to prevent interference with the magnetic path of the motor.

Specifically, the motor housing 111 may be fixedly connected to the mover 112 through a center member, for example, as shown in fig. 4, the motor butt portion F1 may be fixedly connected to one end of the mover 112 through a rivet 124; alternatively, as shown in fig. 5, the motor docking portion F1 may be fixedly connected to the mover 112 in a manner of expanding with heat and contracting with cold. Specifically, the motor housing may be heated to expand and then placed into the motor housing, and after the motor housing is cooled to contract, the mover 112 is locked in the motor abutting portion F1, so as to fixedly connect the motor abutting portion F1 and the mover 112.

Further, in one embodiment, the motor docking portion F1 includes a first contact surface F11 corresponding to an outer sidewall of the mover 112 and a first boss F12 corresponding to an end portion of the mover 112, and the mover may be limited in the axial direction by the first boss F12, so that when the motor is fed into the motor housing from the second opening end, the axial direction of the mover may be limited by the first boss to facilitate accurate installation of the mover to a predetermined position in the motor housing; in one embodiment, the outer wall of the connecting shaft 120 also includes a second contact surface F11' corresponding to the inner sidewall of the stator 113 and a second boss F12' corresponding to the end of the stator 113, and the stator may be limited in the axial direction by the second boss F12 '. The rotor and the stator of the motor M can be limited in the axial direction X and the radial direction Y by the cooperation of the connecting shaft 120 and the motor housing 111.

As further shown in fig. 3, in one embodiment, the inner wall of the motor housing 111 forms a first bearing interface F2 of the bearing 117; the outer wall of the connecting shaft 120 forms a second bearing butt-joint part F2' which is matched with the first bearing butt-joint part F2; the bearing 117 is fitted between the first bearing interfacing part F2 and the second bearing interfacing part F2' such that an outer race of the bearing 117 is rotatable with the case body 1111 and an inner race of the bearing 117 is relatively fixedly disposed following the connecting shaft 120, thereby defining a gap formed between the stator and the mover during the movement.

Further, in one embodiment, a first bearing coupling portion F2 may be formed to extend toward the center O of the motor at a position of the inner sidewall of the housing body 1111 corresponding to the bearing in the circumferential direction.

It should be noted that, for other driving modules of the manipulator 10, the structure is basically the same as that of the first driving module, and only the specific shapes, sizes, and the like of some components may be slightly different, and are not repeated herein.

It should be noted that, in the embodiment of the present application, the stator and the mover are relative, and because the stator and the mover generate relative motion based on the change of the magnetic field, the first interface and the second interface, which are fixedly connected to each other, may be interchanged according to the difference that the first interface and the second interface are respectively used as the input interface and the output interface, that is, the same structure is used as the mover in some driving modules, and is used as the stator in other driving modules.

Exemplarily, as shown in fig. 2 and 3, in the first driving module 11, the first interface 1113 is an output interface, and thus the outside of the motor M is the mover 112, and the second interface 121 is an input interface, and thus the inside is the stator 113; as shown in fig. 2 and 4, in the third driving module 31, the first interface 1113 is an input interface, and therefore the stator 113 is located at the outer side, and the second interface 121 is an output interface, and therefore the mover 112 is located at the inner side, and therefore, in the third driving module 31, the motor housing 111 is fixedly connected to the stator 113.

It should be noted that, in addition to the above structure, the motor in the embodiment of the present application may further include other components such as a brake, a motor controller, and an encoder, and the related descriptions of the other components are omitted in the present application.

When an element is referred to as being "disposed on" another element, it can be secured to the other element or movably coupled to the other element. When an element is referred to as being "secured to" or "fixedly coupled to" another element, it can be directly secured to the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

It will be understood by those skilled in the art that the configurations shown in the drawings are merely schematic representations of portions of configurations relevant to the present application and are not intended to limit the robots, drive modules, etc. to which the present application may be applied, and that a particular robot, drive module, etc. may include more or less components than shown, or may combine certain components, or have a different arrangement of components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the claims and in the description and in the drawings above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or apparatus.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the application, as those skilled in the art will recognize.

The driving module of the robot and the robot provided in the embodiments of the present application are described in detail above, but the above description of the embodiments is only for assisting understanding of the method and the core idea of the present application, and should not be construed as limiting the present application. Those skilled in the art should also appreciate that other modifications and substitutions can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. A driving module of a robot hand, characterized in that the driving module comprises: a motor and a motor housing; the motor comprises a stator and a rotor;

the motor is accommodated in the motor housing;

the inner wall of the motor shell forms a motor butt joint part; the motor butt joint part is fixedly connected with the stator or the rotor positioned on the outer side;

a first interface is formed on the motor shell;

the motor shell is also provided with a first opening end; the first opening end corresponds to a second interface; the second interface is fixedly connected with the stator or the rotor which is positioned at the inner side.

2. The drive module of the robot hand according to claim 1, wherein the stator or the mover located inside forms a hollow in an axial direction; the connecting shaft penetrates through the hollow part and is fixedly connected with the hollow part;

the second interface is fixedly connected with the stator or the rotor which is positioned at the inner side through the connecting shaft.

3. The drive module of the robot of claim 2, wherein the motor comprises a bearing; the inner wall of the motor shell forms a first bearing butt joint part;

the outer wall of the connecting shaft forms a second bearing butt joint part matched with the first bearing butt joint part;

the bearing is fitted between the first bearing butting portion and the second bearing butting portion.

4. The drive module of the robot hand of claim 2 or 3, wherein the motor interface comprises a first contact surface; the outer wall of the connecting shaft comprises a second contact surface; the stator and the rotor are limited in the radial direction through the matching of the first contact surface and the second contact surface;

the first contact surface corresponds to the outer side wall of the stator or the rotor which is positioned at the outer side;

the second contact surface corresponds to an inner side wall of the stator or the mover located at the inner side.

5. The drive module of the robot hand according to claim 2 or 3, wherein the motor interfacing part includes a first boss; the outer wall of the connecting shaft comprises a second boss; the stator and the rotor are limited in the axial direction through the matching of the first boss and the second boss;

the first boss corresponds to the end part of the stator or the rotor positioned on the outer side;

the second boss corresponds to an end of the stator or the mover located inside.

6. The manipulator drive module according to any one of claims 1 to 3, wherein an outer side wall of the motor housing extends outward to form the first interface.

7. The drive module of the robot hand according to any one of claims 1 to 3, wherein one end of the motor housing in the axial direction forms the first open end.

8. The drive module of the robot of any one of claims 1 to 3, wherein the motor housing includes a housing body and an end cap; the two sides of the shell body along the axial direction form the first opening end and the second opening end respectively; the second opening end is fixedly connected with the end cover.

9. The drive module of the robot of any of claims 1 to 3, wherein the motor is a direct drive motor and/or a rotary motor.

10. A robot comprising at least one drive module of the robot according to any of claims 1-9;

the driving modules are connected into a whole through the first interface and/or the second interface;

the motor housing serves as both the housing for the motor and at least a portion of the exterior wall of the robot.

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