CN218220306U

CN218220306U - Rotary joint module

Info

Publication number: CN218220306U
Application number: CN202220763493.4U
Authority: CN
Inventors: 李汉忠; 王根
Original assignee: Beijing Kemai Xuanji Medical Technology Co ltd
Current assignee: Beijing Kemai Xuanji Medical Technology Co ltd
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2023-01-06
Anticipated expiration: 2032-04-02

Abstract

The rotary joint module comprises a rotary joint module output end, a rotary joint module motor end and a rotary joint module position detection end. The rotary joint module of the utility model has strong external force sensing capability, high control feedback precision, high electromagnetic shielding and compact structure, and is a high-performance force control mechanical arm rotary joint; the position of the encoder of the rotary joint, the position of the torque sensor, the position of the communication line and other positions are protected by electromagnetic shielding, and the electromagnetic shielding device can be better suitable for severe electromagnetic environments. The design of rotary joint module has torque sensor for accurate force feedback. The rotary joint module is designed with a harmonic speed reducer, the harmonic speed reducer mainly comprises a flexible gear, a steel gear, a wave generator and a crossed roller bearing, and the harmonic speed reducer is mainly used for increasing the output torque of the module.

Description

Rotary joint module

Technical Field

The utility model belongs to the field of machinery. In particular to a novel rotary joint module which can be applied to a surgical robot.

Background

The joint module is a main component of the multi-joint mechanical arm and is mainly applied to a cooperative robot. Six-axis or seven-axis multi-joint cooperative mechanical arms are commonly found in the market. The cooperative mechanical arm is mostly embodied in man-machine cooperation, namely the safety embodied when the mechanical arm is actually in physical contact with a person, and typical scenes such as dragging teaching, collision detection and the like in work and production. Based on the application, the rotary joint of the cooperative mechanical arm has high-performance movement capability, and is particularly embodied in high precision of external force sensing, high compactness and light weight of the whole hardware, high precision of control feedback and strong torque output capability.

The current mainstream method of an accurate external force sensing scheme is to adopt current loop switching feedback or an integrated torque sensor for a rotary joint module. And compact lightweight design, the rotary joint on the market mostly adopts magnalium and carbon fiber material, reduces weight through modes such as metalwork finite element analysis and integrated design to promote the compactness of design. The mainstream scheme for controlling feedback high precision is that the rotary joint mostly adopts a single-circle absolute value encoder with a battery or a mode of comparing readings of a plurality of single-circle absolute value encoders to ensure the accuracy of the position information of the rotary joint. The main design scheme is that a harmonic speed reduction unit with a high speed reduction ratio is combined with a large-torque motor, and meanwhile, the self weight of the joint is strictly controlled.

SUMMERY OF THE UTILITY MODEL

As mentioned above, although the prior art proposes various solutions for improving the performance of the joint module, they are all applied in the industrial field and lack consideration for the special requirements of the medical surgery industry.

An embodiment of the utility model provides a be applied to rotary joint module of trade of medical treatment operation, this rotary joint module is strong, the control feedback precision is high, the electromagnetic shield is high, compact structure to external force perception ability, is one kind and has high performance ability control arm rotary joint.

The embodiment of the utility model provides a rotary joint module mainly is applied to surgical robot, and this kind of application scene requires to have good adaptability to abominable electromagnetic environment. The encoder position of the rotary joint, the position of the torsion sensor, the position of the communication line and other positions are protected by electromagnetic shielding, and the rotary joint can be better suitable for severe electromagnetic environments.

The embodiment of the utility model provides a rotary joint module design has torque sensor for accurate force feedback. The outer ring of the torque sensor is connected with the output end of the harmonic reducer, and the inner ring of the torque sensor is connected with the output rotary joint output flange.

The embodiment of the utility model provides a rotary joint module has independent cross roller bearing between torque sensor and the harmonic reducer casing, and cross roller bearing is used for auxiliary torque sensor to bear moment of flexure power.

The embodiment of the utility model provides a rotary joint module design has the harmonic speed reducer machine, and the harmonic speed reducer machine mainly comprises flexbile gear, steel wheel, wave generator and cross roller bearing, and the harmonic speed reducer machine mainly used increases module output torque.

The embodiment of the utility model provides a rotary joint module design has the cavity motor shaft, and cavity motor shaft one end is passed through the connecting axle sleeve and is connected with the harmonic speed reducer machine, and the cavity motor shaft is through linking firmly with the brake pads and losing electric brake and be connected, and cavity motor shaft band-type brake side is supported with deep groove ball bearing.

The embodiment of the utility model provides a rotary joint module design has two pairs of encoder subassemblies, and the electromagnetic shield has been done with ferromagnetic shielding material in the encoder outside.

The embodiment of the utility model provides a rotary joint module design has zero sensor, and zero sensor realizes rotary joint feedback at zero point with the cooperation of response piece.

The embodiment of the utility model provides a rotary joint module design has the stopper, and stopper and the cooperation of arm pole of arm realize that machinery is spacing.

An embodiment of the utility model provides a rotary joint module, rotary joint module includes rotary joint module output 1, rotary joint module motor end 2 and rotary joint module position detection end 3.

According to an embodiment of the utility model, for example, rotary joint module output 1 includes output flange 101, output flange 102, torque sensor 103, torque sensor connecting plate 104, cross roller bearing 105, harmonic speed reducer 106, stopper 107, adapter sleeve 108, adapter sleeve 109, response piece 110, output cover 111 and bearing support cover 112.

According to an embodiment of the present invention, for example, the output flange of the harmonic reducer 106 is fixedly connected to the torque sensor connection plate 104, the outer ring 1032 (see fig. 6) of the torque sensor 103 is fixedly connected to the torque sensor connection plate 104, the output flange 102 is fixedly connected to the inner ring 1031 (see fig. 6) of the torque sensor 103, the output sleeve 111 is fixedly connected to the output flange 102, and the output sleeve 111 is fixedly connected to the arm lever outside the rotary joint module;

preferably, a torque sensor 103 is fixedly connected between the output flange 102 and the harmonic reducer 106, the torque sensor 103 is provided with a crossed roller bearing 105, and the crossed roller bearing 105 is configured to assist the torque sensor 103 in bearing bending moment, so that the reliability of the torque sensor 103 in the use process is improved; the outer ring of the crossed roller bearing 105 is fixedly connected with the output sleeve 111 and the output flange 102, and the inner ring of the crossed roller bearing 105 is fixedly connected with the torque sensor connecting plate 104 and the bearing support sleeve 112;

preferably, the limiting block 107 is fixedly connected with the output sleeve 111, the limiting block 107 moves in a limiting groove on the arm lever of the mechanical arm, the sensing block 110 is fixedly connected with the output sleeve 111, and the sensing block 110 is matched with the zero position sensor 207 for use.

According to an embodiment of the present invention, for example, the rotary joint module motor end 2 includes a torque motor 201, a motor shaft 202, a motor housing 203, a first deep groove ball bearing 204, a first bearing end cap 205, a power-off brake 206, a zero position sensor 207, and a sensor fixing block 208.

According to an embodiment of the present invention, for example, the stator of the torque motor 201 is fixedly connected to the motor housing 203, the rotor of the torque motor 201 is fixedly connected to the motor shaft 202, the first deep groove ball bearing 204 is fixed to the motor shaft 202, the first bearing end cap 205 is fixedly connected to the motor housing 203, and the first deep groove ball bearing 204 is installed in the bearing seat hole of the first bearing end cap 205; the power-off brake 206 is fixedly connected with the first bearing end cover 205, and the zero position sensor 207 is fixedly connected with the motor shell 203 through a sensor fixing block 208;

preferably, the motor casing 203 and the bearing support sleeve 112 are fixedly connected through screws between the motor end 2 of the rotary joint module and the output end 1 of the rotary joint module to realize connection and assembly, and the motor shaft 202 is inserted into the inner hole of the connecting sleeve 108 to realize transmission of the power of the torque motor 201 to the harmonic reducer 106.

According to an embodiment of the present invention, for example, the rotary joint module position detecting end 3 includes a support sleeve 301, a brake block 302, a motor end encoder magnetic ring 303, a motor end encoder circuit board 304, an encoder support frame 305, a second deep groove ball bearing 306, a second bearing end cap 307, a third bearing end cap 308, a support ring 309, an output end encoder magnetic ring 310, an output end encoder circuit board 311, and a wire protection plate 312.

According to an embodiment of the present invention, for example, the motor end encoder magnetic ring 303 is fixedly connected to the brake block 302, the motor end encoder circuit board 304 is fixedly connected to the support sleeve 301, the brake block 302 is fixedly connected to the motor shaft 202, and the brake block 302 is matched with the brake block of the power-off brake 206;

preferably, the output end encoder circuit board 311 is fixedly connected with the encoder support frame 305, and the output end encoder magnetic ring 310 is fixedly connected with the support ring 309; the connecting sleeve 109 is connected with the support ring 309, the connecting sleeve 109 is fixedly connected with the connecting flange 101, the connecting flange 101 is fixedly connected with the inner ring of the torque sensor 103, and the output flange 102 drives the support ring 309 and the output end encoder magnetic ring 310 to rotate together through the connecting sleeve 109.

According to an embodiment of the present invention, for example, the support ring 309 is connected with the encoder support frame 305 through the second deep groove ball bearing 306, the second deep groove ball bearing 306 ensures the stability of the support ring 309 and the coaxiality with the encoder support frame 305, the support frame 305 is fixedly connected with the support sleeve 301, and the support sleeve 301 is fixedly connected with the motor housing 203.

According to one embodiment of the present invention, for example, the supporting sleeve 301, the brake block 302 and the encoder supporting frame 305 are made of iron shielding material, the motor housing 203 is also made of iron material,

preferably, the motor housing 203 is made of iron material, and the connection sleeve 109 is made of steel material.

Drawings

Fig. 1 is a schematic view of an appearance structure of a rotary joint module according to an embodiment of the present invention.

Fig. 2 is a sectional view of a rotary joint module according to an embodiment of the present invention.

Fig. 3 is a sectional view of an output end of a joint module according to an embodiment of the present invention.

Fig. 4 is a cross-sectional view of a motor end of a rotary joint module according to an embodiment of the present invention.

Fig. 5 is a sectional view of a position detecting end of a rotary joint module according to an embodiment of the present invention.

Fig. 6 is a schematic view of a torque sensor according to an embodiment of the present invention.

Fig. 7 is an exploded view of a rotary joint module according to an embodiment of the present invention.

Fig. 8 is a connection relationship diagram of an output sleeve and a mechanical arm rod in a rotary joint module according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following embodiments.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc. are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.

Fig. 1 shows an appearance structure of a rotary joint provided by an embodiment of the present invention. As shown in fig. 1, the rotary joint module includes a rotary joint module output terminal 1, a rotary joint module motor terminal 2, and a rotary joint module position detection terminal 3, as viewed from the outside. Fig. 2 is a sectional view of the rotary joint module according to an embodiment of the present invention, which shows the internal structure of the rotary joint module.

Fig. 3 shows a cross-sectional view of an output end of a rotary joint module according to an embodiment of the present invention, and fig. 7 is an exploded view of the rotary joint module according to an embodiment of the present invention. As shown in fig. 3 and 7, the rotary joint module output end 1 includes an output connection flange 101, an output flange 102, a torque sensor 103, a torque sensor connection plate 104, a cross roller bearing 105, a harmonic reducer 106, a limiting block 107, a connection sleeve 108, a connection sleeve 109, an induction block 110, an output sleeve 111, and a bearing support sleeve 112.

As shown in fig. 3, the output end flange of the harmonic reducer 106 is fixedly connected to the torque sensor connection plate 104, the outer ring of the torque sensor 103 is fixedly connected to the torque sensor connection plate 104, the output flange 102 is fixedly connected to the inner ring of the torque sensor 103, the output sleeve 111 is fixedly connected to the output flange 102, and the output sleeve 111 is fixedly connected to the arm lever 400 (see fig. 8). Therefore, the rotation power and the torque output by the output end 1 can drive the arm rod of the mechanical arm to rotate. A torque sensor 103 is fixedly connected between the output flange 102 and the harmonic reducer 106, and can detect the dynamic state of the arm rod of the mechanical arm in the motion process in real time. Because the torque sensor 103 is mainly used for bearing torque, and the bending moment bearing capacity applied to the torque sensor 103 is weak, the crossed roller bearing 105 is designed to assist the torque sensor 103 in bearing bending moment, so that the reliability of the torque sensor 103 in the using process is improved. The outer ring of the crossed roller bearing 105 is fixedly connected with the output sleeve 111 and the output flange 102, the inner ring of the crossed roller bearing 105 is fixedly connected with the torque sensor connecting plate 104 and the bearing support sleeve 112, and the structure is adopted to assist the torque sensor 103 to bear bending moment. The crossed roller bearing 105 has small volume, large bearable torque and high rotating speed, can reliably assist the torque sensor 103 to bear bending moment, and simultaneously reduces the volume of the rotary joint module, so that the structure of the rotary joint module is more compact. The limiting block 107 is fixedly connected with the output sleeve 111, the limiting block 107 moves in a limiting groove 401 on the arm lever 400 of the mechanical arm, the connection relationship is shown in fig. 8, and the output end of the rotary joint module stops rotating after the limiting block 107 contacts with the limiting groove 401. Response piece 110 is connected firmly with output cover 111, and response piece 110 uses with zero sensor 207 (see below) cooperation, and when response piece 110 moved the response piece 110 upper end, the rotary joint module output stopped rotating, and rotary joint gets back to the zero point position of settlement, and the arm pole of arm of the arm also gets back to the zero point position of settlement simultaneously.

Fig. 4 shows a cross-sectional view of a motor end of a rotary joint module according to an embodiment of the present invention. As shown in fig. 4 and 7, the rotary joint module motor end 2 mainly includes a torque motor 201, a motor shaft 202, a motor housing 203, a first deep groove ball bearing 204, a first bearing end cover 205, a power-off brake 206, a null sensor 207, and a sensor fixing block 208.

As shown in fig. 4, a stator of the torque motor 201 is fixedly connected with the motor casing 203, a rotor of the torque motor 201 is fixedly connected with the motor shaft 202, the first deep groove ball bearing 204 is fixed on the motor shaft 202, the first bearing end cover 205 is fixedly connected with the motor casing 203, and the first deep groove ball bearing 204 is installed in a bearing seat hole of the first bearing end cover 205, so that the coaxiality of the motor shaft 202 and the motor casing 203 is ensured while the motor shaft 202 is supported. The power-off brake 206 is fixedly connected with the first bearing end cover 205, and the zero sensor 207 is fixedly connected with the motor casing 203 through a sensor fixing block 208. The motor shell 203 and the bearing support sleeve 112 are fixedly connected through screws between the motor end of the rotary joint module and the output end of the rotary joint module to realize connection and assembly, and the motor shaft 202 is inserted into the inner hole of the connecting sleeve 108 to realize transmission of the power of the torque motor 201 to the harmonic reducer 106.

Fig. 5 shows a cross-sectional view of a position detecting end of a rotary joint module according to an embodiment of the present invention. As shown in fig. 5 and 7, the rotary joint module position detecting end 3 includes a supporting sleeve 301, a brake block 302, a motor end encoder magnetic ring 303, a motor end encoder circuit board 304, an encoder supporting frame 305, a second deep groove ball bearing 306, a second bearing end cap 307, a third bearing end cap 308, a supporting ring 309, an output end encoder magnetic ring 310, an output end encoder circuit board 311, and a wire protecting plate 312.

As shown in fig. 5, the motor end encoder magnetic ring 303 is fixedly connected with the brake block 302, the motor end encoder circuit board 304 is fixedly connected with the support sleeve 301, the brake block 302 is fixedly connected with the motor shaft 202, and meanwhile, the brake block 302 is also matched with the brake block of the electric brake 206. When the motor shaft 202 rotates, the brake block 302 and the motor end encoder magnetic ring 303 rotate together with the motor shaft 202, so that the rotation speed of the motor shaft 202 can be detected in real time. The output end encoder circuit board 311 is fixedly connected with the encoder support frame 305, and the output end encoder magnetic ring 310 is fixedly connected with the support ring 309. The connecting sleeve 109 is connected with the support ring 309, meanwhile, the connecting sleeve 109 is fixedly connected with the connecting flange 101, the connecting flange 101 is fixedly connected with the inner ring of the torque sensor 103, the output flange 102 drives the support ring 309 and the output end encoder magnetic ring 310 to rotate together through the connecting sleeve 109, and therefore the position information of the output end and the position information of the connecting arm pipe can be detected in real time. The support ring 309 is connected with the encoder support frame 305 through a second deep groove ball bearing 306, the second deep groove ball bearing 306 ensures the stability of the support ring 309 and the coaxiality of the support ring and the encoder support frame 305, the support frame 305 is fixedly connected with the support sleeve 301, and the support sleeve 301 is fixedly connected with the motor casing 203.

The supporting sleeve 301, the brake block 302, the encoder supporting frame 305 and the like are made of iron shielding materials, so that the influence of an external magnetic field on a magnetic ring can be effectively shielded. Meanwhile, the motor shell 203 is also made of iron materials, so that the magnetic field leakage of the torque motor 201 can be effectively shielded, and the influence on the magnetic ring of the encoder is further shielded. The motor casing 203 is made of iron material, the wall thickness can be made thinner, and the structure can be further compact. The connection sleeve 109 is also made of steel material, so that the magnetic field can be effectively shielded, and a good electromagnetic shielding effect is achieved on the communication cable inside the connection sleeve 109.

Claims

1. A rotary joint module is characterized by comprising a rotary joint module output end (1), a rotary joint module motor end (2) and a rotary joint module position detection end (3);

the rotary joint module output end (1) comprises an output connecting flange (101), an output flange (102), a torque sensor (103), a torque sensor connecting plate (104), a crossed roller bearing (105), a harmonic reducer (106), a limiting block (107), a connecting sleeve (108), a connecting sleeve (109), an induction block (110), an output sleeve (111) and a bearing supporting sleeve (112);

an output end flange of the harmonic reducer (106) is fixedly connected with a torque sensor connecting plate (104), an outer ring of a torque sensor (103) is fixedly connected with the torque sensor connecting plate (104), an output flange (102) is fixedly connected with an inner ring of the torque sensor (103), an output sleeve (111) is fixedly connected with the output flange (102), and the output sleeve (111) is fixedly connected with a mechanical arm rod outside the rotary joint module;

a torque sensor (103) is fixedly connected between the output flange (102) and the harmonic reducer (106), the torque sensor (103) is provided with a crossed roller bearing (105), the crossed roller bearing (105) is configured to assist the torque sensor (103) to bear bending moment, and the reliability of the torque sensor (103) in the using process is improved; the outer ring of the crossed roller bearing (105) is fixedly connected with the output sleeve (111) and the output flange (102), and the inner ring of the crossed roller bearing (105) is fixedly connected with the torque sensor connecting plate (104) and the bearing support sleeve (112);

the limiting block (107) is fixedly connected with the output sleeve (111), the limiting block (107) moves in a limiting groove on the arm lever of the mechanical arm, the sensing block (110) is fixedly connected with the output sleeve (111), and the sensing block (110) is matched with the zero position sensor (207) for use.

2. The rotary joint module according to claim 1, wherein the rotary joint module motor end (2) comprises a torque motor (201), a motor shaft (202), a motor housing (203), a first deep groove ball bearing (204), a first bearing end cap (205), a power-off brake (206), a null sensor (207) and a sensor fixing block (208).

3. The rotary joint module as claimed in claim 2, wherein the stator of the torque motor (201) is fixedly connected with the motor housing (203), the rotor of the torque motor (201) is fixedly connected with the motor shaft (202), the first deep groove ball bearing (204) is fixed on the motor shaft (202), the first bearing end cap (205) is fixedly connected with the motor housing (203), and the first deep groove ball bearing (204) is installed in a bearing seat hole of the first bearing end cap (205); the power-off brake (206) is fixedly connected with the first bearing end cover (205), and the zero position sensor (207) is fixedly connected with the motor shell (203) through a sensor fixing block (208).

4. The rotary joint module according to claim 3, wherein the motor casing (203) and the bearing support sleeve (112) are fixedly connected to each other through screws between the motor end (2) of the rotary joint module and the output end (1) of the rotary joint module to realize connection and assembly, and the motor shaft (202) is inserted into the inner hole of the connecting sleeve (108) to realize transmission of the power of the torque motor (201) to the harmonic reducer (106).

5. The rotary joint module according to any one of claims 1 to 4, wherein the rotary joint module position detection end (3) comprises a support sleeve (301), a brake block (302), a motor end encoder magnetic ring (303), a motor end encoder circuit board (304), an encoder support frame (305), a second deep groove ball bearing (306), a second bearing end cover (307), a third bearing end cover (308), a support ring (309), an output end encoder magnetic ring (310), an output end encoder circuit board (311) and a wire protection plate (312).

6. The rotary joint module according to claim 5, wherein the motor end encoder magnetic ring (303) is fixedly connected with a brake block (302), the motor end encoder circuit board (304) is fixedly connected with the support sleeve (301), the brake block (302) is fixedly connected with the motor shaft (202), and the brake block (302) is matched with a brake block of the electric loss brake (206).

7. The rotary joint module according to claim 6, wherein the output end encoder circuit board (311) is fixedly connected with the encoder support frame (305), and the output end encoder magnetic ring (310) is fixedly connected with the support ring (309); the connecting sleeve (109) is connected with the support ring (309), the connecting sleeve (109) is fixedly connected with the connecting flange (101), the connecting flange (101) is fixedly connected with the inner ring of the torque sensor (103), and the output flange (102) drives the support ring (309) and the output end encoder magnetic ring (310) to rotate together through the connecting sleeve (109).

8. The rotary joint module according to claim 7, wherein the support ring (309) is connected with the encoder support frame (305) through a second deep groove ball bearing (306), the second deep groove ball bearing (306) ensures stability of the support ring (309) and coaxiality with the encoder support frame (305), the support frame (305) is fixedly connected with the support sleeve (301), and the support sleeve (301) is fixedly connected with the motor housing (203).

9. The rotary joint module according to claim 8, wherein the support sleeve (301), the brake block (302) and the encoder support frame (305) are made of iron shielding material, and the motor housing (203) is also made of iron material.