CN217801789U - Reconfigurable hollow modular robot joint - Google Patents
Reconfigurable hollow modular robot joint Download PDFInfo
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- CN217801789U CN217801789U CN202221507624.9U CN202221507624U CN217801789U CN 217801789 U CN217801789 U CN 217801789U CN 202221507624 U CN202221507624 U CN 202221507624U CN 217801789 U CN217801789 U CN 217801789U
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Abstract
The utility model discloses a reconfigurable cavity modularization robot joint, include: a hollow shaft motor including a hollow motor shaft; the harmonic reducer is arranged at the front end of the hollow shaft motor in a coaxial state; the power-off brake is arranged at the rear end of the hollow shaft motor in a coaxial state; an incremental encoder disposed at a rear end of the hollow shaft motor; an absolute encoder disposed at a rear end of the hollow shaft motor; and the motor driver comprises a second oil seal and a driver circuit board. The utility model discloses a mode that harmonic reducer ware and quill shaft motor are connected, quill shaft motor and the brake that loses electricity are connected, quill shaft motor and incremental encoder's being connected, harmonic reducer ware and absolute encoder all adopt directly to link, the effectual axial dimension that has controlled, the harmonic reducer ware of the invention adopts cup-shaped flexbile gear, the effectual radial dimension that has controlled, compact structure realizes the miniaturized design of robot.
Description
Technical Field
The utility model relates to a robot engineering technical field especially relates to a cavity modularization robot joint that can reconstruct.
Background
With the development of robot technology, the application field of robots is continuously subdivided, in recent years, special robots, namely various advanced robots used in non-manufacturing industries and serving human beings, are rapidly developed, a plurality of branches such as service robots, underwater robots, entertainment robots, military robots, agricultural robots and the like are derived, the requirements of various industries on the robots are higher and higher, and the core component determining the moving performance of the robots is joints.
At present, robot joint design is mostly carried out synchronously with robot design, the design cycle is longer, and robot joints relate to more technical field, and the development of special manufacturers is handed over to help the promotion of the technical level of the whole industry. In order to facilitate wiring of a robot system, most of robot joints are designed in a hollow mode, harmonic reducer assemblies in existing robot joints all adopt hat-shaped flexible wheels, but the robot joints are usually large in size, and the robot joints generally have the requirement of miniaturization.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem that the existing robot joint adopting hat-shaped flexible wheels has a large volume, and providing a reconfigurable hollow modular robot joint.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a reconfigurable hollow modular robotic joint, comprising:
a hollow shaft motor including a hollow motor shaft;
the harmonic reducer comprises a flexible gear retainer ring, and is mounted at the front end of the hollow shaft motor in a coaxial state;
the power-off brake is mounted at the rear end of the hollow shaft motor in a coaxial state;
an incremental encoder for detecting a movement state of the hollow motor shaft, disposed at a rear end of the hollow shaft motor, and mounted on the hollow motor shaft in a coaxial state;
the absolute encoder is used for detecting the motion state of the output end of the harmonic reducer, is configured at the rear end of the hollow shaft motor, and is coaxially arranged on the flexible wheel retaining ring;
and the motor driver comprises a second oil seal and a driver circuit board, the motor driver acquires the motion information acquired by the incremental encoder and the absolute encoder, controls the motion state of the hollow motor shaft according to a motion instruction provided by the controller, and further ensures that the robot joint outputs a motion track according to an expected motion rule through the harmonic reducer.
Preferably, the hollow shaft motor further comprises a motor housing and a motor core, the hollow motor shaft is rotatably supported inside the motor housing through a bearing, a winding of the motor core is fixed inside the motor housing in an interference fit manner, and magnetic steel of the motor core is fixed on the surface of the hollow motor shaft in a bonding manner.
Preferably, the harmonic speed reducer ware still includes cross roller bearing, first oil blanket, flexbile gear, rigid gear and wave generator, cross roller bearing has an outer lane and an inner circle, the flexbile gear is cup-shaped flexible external gear, the rigid gear is annular rigid internal gear of circle, the wave generator is oval-shaped fluctuation generator, cross roller bearing's outer lane passes through the rigid gear coaxial fixation in motor housing's front end, the wave generator passes through fastening screw coaxial fixation in the front end of hollow motor shaft, the flexbile gear passes through the coaxial fixation in of flexbile gear retaining ring the inner circle rear end of cross roller bearing, the flexbile gear is arranged in the rigid gear with between the wave generator.
Preferably, the front end of the inner ring of the crossed roller bearing is provided with a spigot, the flexible gear retainer ring is provided with a central hole, the flexible gear retainer ring is provided with a rear side extending shaft section, and the flexible gear retainer ring is supported inside the second oil seal through the rear side extending shaft section.
Preferably, the power-off brake comprises a brake electromagnet, a brake friction plate and a brake rotor hub, the brake rotor hub is coaxially fixed at the rear end of the hollow motor shaft through a fastening screw, the brake electromagnet is coaxially fixed at the rear end of the motor shell through a fastening screw, and the brake friction plate is supported in the brake electromagnet in a floating manner and is connected with the brake rotor hub through tooth profiles or formed connection to transmit torque in the circumferential direction.
Preferably, the incremental encoder comprises an incremental code disc and an encoder circuit board, the incremental code disc is coaxially fixed at the rear end of the hollow motor shaft through fastening screws, the incremental code disc is arranged on one side, close to the hollow shaft motor, of the encoder circuit board, the encoder circuit board is supported and fixed at the rear end of the power-off brake through a hexagonal copper column, the encoder circuit board is provided with a data line, and the data line is electrically connected with the driver circuit board.
Preferably, the absolute encoder comprises an absolute code disc, the absolute code disc is coaxially fixed at the rear end of the flexible wheel retainer ring through a fastening screw, and the absolute code disc is arranged on one side of the encoder circuit board, which is far away from the hollow shaft motor.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a mode that harmonic reducer ware and quill shaft motor are connected, quill shaft motor and the brake that loses electricity are connected, quill shaft motor and incremental encoder's being connected, harmonic reducer ware and absolute encoder all adopt directly to link, the effectual axial dimension that has controlled, the harmonic reducer ware of the invention adopts cup-shaped flexbile gear, the effectual radial dimension that has controlled, compact structure realizes the miniaturized design of robot.
2. The utility model discloses a setting of losing electric brake can provide effectual protection for robot system, robot operation object and operator when the system falls the electricity, still through the setting of increment encoder and absolute encoder, can be applied to the higher occasion of robot joint motion control accuracy requirement, still through motor drive's setting, and the system integration degree is higher, and the robot joint can relatively independent use, embodies this application robot joint's multiple functional.
3. The utility model discloses a joint configuration of robot, can adjust according to the practical application occasion, if robot system adopts external motor drive ware, robot joint's motor drive ware module can omit, if robot system is not high to the motion accuracy requirement of output, and the system goes up the electricity again after falling the electricity and allows the operation of returning to zero, robot joint's absolute encoder module can omit, if robot system does not have the phenomenon that the joint falls after falling the electricity, robot joint's power failure stopper module can omit, the adaptation is in the use under the different scenes, can carry out nimble application according to the actual scene.
4. The utility model discloses the use is verified through industrial production, the technical maturity spare part combines the required use of robot joint to design and system integration, does not need special spare part, when guaranteeing the steady quality, helps the control cost.
Drawings
Fig. 1 is a schematic cross-sectional structural view of a reconfigurable hollow modular robot joint according to the present invention.
In the figure:
1. a harmonic reducer; 11. a crossed roller bearing; 11a, a spigot; 12. a first oil seal; 13. a flexible gear; 14. a flexible gear retainer ring; 14a, a central hole; 14b, extending the shaft section at the back side; 15. a rigid wheel; 16. a wave generator;
2. a hollow shaft motor; 21. a motor housing; 22. a bearing; 23. a motor core; 24. a hollow motor shaft;
3. a power-off brake; 31. a brake electromagnet; 32. a brake friction plate; 33. a brake rotor hub;
4. an incremental encoder; 41. an incremental code wheel; 42. an encoder circuit board; 42a, a data line;
5. an absolute encoder; 51. absolute code disc;
6. a motor driver; 61. a second oil seal; 62. a driver circuit board.
Detailed Description
The technical solution 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 some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
Referring to fig. 1, a reconfigurable hollow modular robotic joint, comprising:
a hollow shaft motor 2, the hollow shaft motor 2 including a hollow motor shaft 24;
the harmonic reducer 1 comprises a flexible gear retainer ring 14, and the harmonic reducer 1 is coaxially mounted at the front end of a hollow shaft motor 2;
the power-off brake 3 is arranged at the rear end of the hollow shaft motor 2 in a coaxial state;
an incremental encoder 4, configured to detect a movement state of the hollow motor shaft 24, disposed at a rear end of the hollow shaft motor 2, and mounted on the hollow motor shaft 24 in a coaxial state;
the absolute encoder 5 is used for detecting the motion state of the output end of the harmonic reducer 1, is arranged at the rear end of the hollow shaft motor 2, and is coaxially arranged on the flexible gear retainer ring 14;
and the motor driver 6 comprise a second oil seal 61 and a driver circuit board 62, the motor driver 6 acquires the motion information acquired by the incremental encoder 4 and the absolute encoder 5, the motion state of the hollow motor shaft 24 is controlled according to the motion instruction provided by the controller, and the robot joint is ensured to output a motion track according to an expected motion rule through the harmonic reducer 1.
Further, hollow shaft motor 2 still includes motor housing 21 and motor core 23, and hollow motor shaft 24 passes through bearing 22 rotation support in motor housing 21's inside, and the winding of motor core 23 adopts interference fit to be fixed in motor housing 21's inside, and the magnet steel of motor core 23 adopts the bonding mode to be fixed in hollow motor shaft 24's surface.
Further, the harmonic reducer 1 further includes a crossed roller bearing 11, a first oil seal 12, a flexible gear 13, a rigid gear 15 and a wave generator 16, the crossed roller bearing 11 has an outer ring and an inner ring, the flexible gear 13 is a cup-shaped flexible external gear, the rigid gear 15 is a circular rigid internal gear, the wave generator 16 is an elliptical wave generator, the outer ring of the crossed roller bearing 11 is coaxially fixed at the front end of the motor housing 21 through the rigid gear 15, the wave generator 16 is coaxially fixed at the front end of the hollow motor shaft 24 through a fastening screw, the flexible gear 13 is coaxially fixed at the rear end of the inner ring of the crossed roller bearing 11 through a flexible gear retaining ring 14, and the flexible gear 13 is disposed between the rigid gear 15 and the wave generator 16.
The flexible gear 13 is used as an output component of the harmonic reducer 1, the motion of the flexible gear 13 is transmitted to the inner ring of the crossed roller bearing 11 through the wave generator 16, in the use process, the outer ring of the crossed roller bearing 11 is connected with the frame of the robot and used as a fixed end of a robot joint, and the inner ring of the crossed roller bearing 11 is connected with a moving part and used as an output end of the robot shutdown.
Further, a spigot 11a is disposed at the front end of the inner race of the cross roller bearing 11, a center hole 14a is disposed in the flexible gear retainer 14, a rear-side extending shaft section 14b is disposed in the flexible gear retainer 14, and the flexible gear retainer 14 is supported inside the second oil seal 61 by the rear-side extending shaft section 14 b.
Wherein, the spigot 11a is arranged as the positioning of the moving part connected with the inner ring of the crossed roller bearing 11;
the central hole 14a is used for wiring of a robot system, and the flexible gear retainer ring 14 is fixedly connected with the flexible gear 13, so that the rotating speed is low, and the internal wiring can be protected;
due to the arrangement of the rear side extension shaft section 14, as the flexible gear retainer ring 14 is fixedly connected with the flexible gear 13, the motion information of the robot joint output end can be obtained by detecting the rotation motion information of the rear side extension shaft section 14b of the flexible gear retainer ring 14;
in addition, the flexible gear retainer 14 is supported inside the oil seal 61 through the rear side extension shaft section 14b, so that the motion deflection caused by the cantilever support state of the rear side extension shaft section 14b of the flexible gear retainer 14 can be eliminated, and further, the inaccuracy of the rotary motion detection result caused by the motion deflection is eliminated.
Further, the power-off brake 3 includes a brake electromagnet 31, a brake friction plate 32 and a brake rotor hub 33, the brake rotor hub 33 is coaxially fixed to the rear end of the hollow motor shaft 24 by fastening screws, the brake electromagnet 31 is coaxially fixed to the rear end of the motor housing 21 by fastening screws, the brake friction plate 32 is floatingly supported inside the brake electromagnet 31 and transmits a circumferential torque to the brake rotor hub 33 by a tooth connection or a form connection.
Under the condition that the brake electromagnet 31 is powered off, the movement of the brake friction plate 32 is limited, the movement is limited and transmitted to the hollow motor shaft 24 through the brake rotor hub 33 and then transmitted to the output end of the robot joint, the movement of the output end of the robot joint is limited, the robot joint can be ensured not to suddenly drop when the power is off, and the robot system, the robot operation object and an operator are protected;
when the brake electromagnet 31 is electrified, the brake friction plate 32 is in a floating state, and the motion of the output end of the robot joint is not influenced.
Further, the incremental encoder 4 comprises an incremental encoder 41 and an encoder circuit board 42, the incremental encoder 41 is coaxially fixed at the rear end of the hollow motor shaft 24 through a fastening screw, the incremental encoder 41 is arranged at one side of the encoder circuit board 42 close to the hollow shaft motor 2, the encoder circuit board 42 is supported and fixed at the rear end of the power-off brake 3 through a hexagonal copper column, the encoder circuit board 42 is provided with a data line 42a, and the data line 42a is electrically connected with the driver circuit board 62.
Specifically, the detection chip at the position corresponding to the incremental encoder 41 is arranged on one side of the encoder circuit board 42 close to the hollow shaft motor 2;
the incremental encoder 4 is used for reading the rotation motion information of the hollow motor shaft 24, the read information is transmitted to a driver circuit board 62 of the motor driver 6 through a data line 42a connected with the encoder circuit board 42, the driver circuit board 62 can calculate the target rotation state of the hollow motor shaft 24 according to a motion instruction preset by a user for the robot joint through a controller, the current output to each winding of the hollow shaft motor 2 by the motor driver 6 is adjusted according to the difference between the target rotation state and the feedback rotation state of the hollow motor shaft 24, the motion state of the hollow motor shaft 24 is adjusted, and the robot joint is ensured to output a motion track according to an expected motion rule;
in addition, the rotation state information obtained by the incremental encoder 4 can be used for conveniently converting the information such as the angular displacement, the angular velocity and the like of the hollow motor shaft 24, can be used for position loop control, speed loop control and feedforward control of the hollow shaft motor 2 by the motor driver 6, and improves the motion control instruction response speed of the system.
Further, the absolute encoder 5 includes an absolute code wheel 51, the absolute code wheel 51 is coaxially fixed to the rear end of the flexspline 14 by a fastening screw, and the absolute code wheel 51 is disposed on the side of the encoder circuit board 42 away from the hollow shaft motor 2.
Specifically, the detection chip at the position corresponding to the absolute code wheel 51 is arranged on the side of the encoder circuit board 42 away from the hollow shaft motor 2;
the absolute encoder 5 is used for directly reading the rotary motion information of the output end of the robot joint, the information acquired by the incremental encoder 4 is transmitted to a driver circuit board 62 of the motor driver 6 through a data line 42a connected with the encoder circuit board 42, the driver circuit board 62 can adjust the current output by the motor driver 6 to each winding of the hollow shaft motor 2 according to the difference between the target rotary state and the feedback rotary state preset by a user for the robot joint through a controller, adjust the motion state of the hollow motor shaft 24 and ensure that the robot joint outputs a motion track according to an expected motion rule;
in comparison, the absolute encoder 5 can directly acquire the rotation motion information of the robot joint output end without an intermediate transmission link, namely the harmonic reducer 1 in the utility model directly performs position closed-loop control on the rotation motion of the robot joint output end, and can improve the rotation motion precision of the robot joint output end;
meanwhile, the absolute encoder 5 cannot lose position information when the power is off, the incremental encoder 4 can normally operate by directly taking the current position as a starting point after being electrified again, the incremental encoder 4 can lose the position information when the power is off, the incremental encoder needs to perform zero returning operation before normally operating after being electrified again, and if the robot system does not allow zero returning action when the power is restored, the robot joint is not provided with the absolute encoder 5 and the incremental encoder 4 is used alone, the problem is encountered;
if the robot system allows the zero returning action during the power restoration, the robot joint can be not provided with the absolute encoder 5, and the system can also normally run by singly using the incremental encoder 4;
in addition, the motor driver 6 may be externally connected to the robot joint via a data line 42 a.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (7)
1. A reconfigurable hollow modular robotic joint, comprising:
a hollow shaft motor (2), the hollow shaft motor (2) comprising a hollow motor shaft (24);
the harmonic reducer (1) comprises a flexible gear retainer ring (14), and the harmonic reducer (1) is mounted at the front end of the hollow shaft motor (2) in a coaxial state;
the power-off brake (3), the power-off brake (3) is mounted at the rear end of the hollow shaft motor (2) in a coaxial state;
an incremental encoder (4) for detecting a movement state of the hollow motor shaft (24), the incremental encoder (4) being disposed at a rear end of the hollow shaft motor (2) and being mounted on the hollow motor shaft (24) in a coaxial state;
the absolute encoder (5) is used for detecting the motion state of the output end of the harmonic reducer (1), is configured at the rear end of the hollow shaft motor (2), and is coaxially mounted on the flexible gear retainer ring (14);
the motor driver (6) comprises a second oil seal (61) and a driver circuit board (62), the motor driver (6) obtains motion information collected by the incremental encoder (4) and the absolute encoder (5), the motion state of the hollow motor shaft (24) is controlled according to a motion instruction provided by a controller, and then the robot joint is ensured to output a motion track according to an expected motion rule through the harmonic reducer (1).
2. A reconfigurable hollow modular robot joint according to claim 1, wherein the hollow shaft motor (2) further comprises a motor housing (21) and a motor core (23), the hollow motor shaft (24) is rotatably supported inside the motor housing (21) through a bearing (22), a winding of the motor core (23) is fixed inside the motor housing (21) by interference fit, and magnetic steel of the motor core (23) is fixed on the surface of the hollow motor shaft (24) by bonding.
3. A reconfigurable hollow modular robot joint according to claim 2, wherein the harmonic reducer (1) further comprises a crossed roller bearing (11), a first oil seal (12), a flexspline (13), a circular spline (15) and a wave generator (16), the crossed roller bearing (11) has an outer ring and an inner ring, the flexspline (13) is a cup-shaped flexible outer gear, the circular spline (15) is a circular rigid inner gear, the wave generator (16) is an elliptical wave generator, the outer ring of the crossed roller bearing (11) is coaxially fixed to the front end of the motor housing (21) through the circular spline (15), the wave generator (16) is coaxially fixed to the front end of the hollow motor shaft (24) through fastening screws, the flexspline (13) is coaxially fixed to the rear end of the inner ring of the crossed roller bearing (11) through the flexspline (14), and the flexspline (13) is placed between the circular spline (15) and the wave generator (16).
4. A reconfigurable hollow modular robotic joint according to claim 3, wherein the crossed roller bearing (11) inner race forward end is configured with a spigot (11 a), the flexspline (14) is configured with a central bore (14 a), the flexspline (14) is configured with a rear extended shaft section (14 b), and the flexspline (14) is supported inside the second oil seal (61) by the rear extended shaft section (14 b).
5. A reconfigurable hollow modular robotic joint as claimed in claim 2, wherein the electric loss brake (3) comprises a brake electromagnet (31), a brake friction disc (32) and a brake rotor hub (33), the brake rotor hub (33) is coaxially fixed to the rear end of the hollow motor shaft (24) by fastening screws, the brake electromagnet (31) is coaxially fixed to the rear end of the motor housing (21) by fastening screws, the brake friction disc (32) is floatingly supported inside the brake electromagnet (31) and transmits a circumferential torque to the brake rotor hub (33) by a toothed or profiled connection.
6. A reconfigurable hollow modular robot joint according to claim 1, characterized in that the incremental encoder (4) includes an incremental encoder disk (41) and an encoder circuit board (42), the incremental encoder disk (41) is coaxially fixed to the rear end of the hollow motor shaft (24) by fastening screws, the incremental encoder disk (41) is arranged on the side of the encoder circuit board (42) close to the hollow shaft motor (2), the encoder circuit board (42) is supported and fixed to the rear end of the power-off brake (3) by hexagonal copper posts, the encoder circuit board (42) has data lines (42 a), and the data lines (42 a) are electrically connected with the driver circuit board (62).
7. A reconfigurable hollow modular robotic joint according to claim 6, characterized in that the absolute encoder (5) comprises an absolute encoder disc (51), the absolute encoder disc (51) being coaxially fixed to the rear end of the flexspline (14) by means of a fastening screw, the absolute encoder disc (51) being arranged on the side of the encoder circuit board (42) remote from the hollow shaft motor (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221507624.9U CN217801789U (en) | 2022-06-16 | 2022-06-16 | Reconfigurable hollow modular robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221507624.9U CN217801789U (en) | 2022-06-16 | 2022-06-16 | Reconfigurable hollow modular robot joint |
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| Publication Number | Publication Date |
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| CN217801789U true CN217801789U (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221507624.9U Active CN217801789U (en) | 2022-06-16 | 2022-06-16 | Reconfigurable hollow modular robot joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139056A1 (en) * | 2022-12-26 | 2024-07-04 | 睿尔曼智能科技（北京）有限公司 | Small robot arm joint, and robot using same |
-
2022
- 2022-06-16 CN CN202221507624.9U patent/CN217801789U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139056A1 (en) * | 2022-12-26 | 2024-07-04 | 睿尔曼智能科技（北京）有限公司 | Small robot arm joint, and robot using same |
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