DE202020106717U1 - Modular robot joint and associated shielding structure for a motor magnetic field - Google Patents

Abstract

Modular robot joint comprising a motor, a reduction gear, a hollow shaft (18), an output flange (1), a brake (14) and an encoder, the hollow shaft being attached to the output flange, and the motor applying a torque via a reduction gear outputs the output flange, and the encoder comprises a high-speed encoder and a low-speed encoder, the high-speed encoder serving to detect the rotational speed of the motor input and the low-speed encoder being used to determine the speed of the hollow shaft, characterized in that that the high-speed encoder and the low-speed encoder are both arranged on one side of the motor, the high-speed encoder comprises a read head (12) of the high-speed side and a magnetic ring (13) of the high-speed side, the read head (12) the high-speed side on one side of the reading head holder (11) of the H is located high speed side away from the engine. and the magnetic ring (13) of the high-speed side and the reading head (12) of the high-speed side are arranged opposite one another, and that the modular robot joint has a magnetic field shielding plate (29) which is mounted on the side of the reading head holder (11) in the Is located near the engine.

Description

Technical part

The invention relates to the technical field of robots and in particular to joints of modular robots and a structure inside them.

Background of the invention

The compactness and miniaturization of the joints of modular robots form a development area for work robots and are directly related to the parameters of the entire machine. The stability and accuracy of the operation of the joints of modular robots is important for the operation of the robot arms. In the prior art, frameless motors are used in most of the joints of modular robots in a compact structural space, and high-speed shaft encoders and low-speed shaft encoders are used to detect the rotational speed of the motor and the joint output shaft, thereby this information can be used to control the joint. Optoelectronic or magnetic encoders are usually used as high-speed shaft encoders, and magnetic encoders are usually used as low-speed shaft encoders for precise measurement.

The Chinese patent publication CN 207548790 U describes a drive device and a robot, while the document CN 109715348 A describes a drive unit for a manipulator whose modular robot joints a device 18th with a drive-side sensor and a device 22nd with an output-side sensor, both on one side of the engine 7th arranged and by a certain distance from the engine 7th are separated. The disadvantage of this prior art is that the magnetic field of the motor 7th the device 18th with the drive-side sensor and the device 22nd with the output-side sensor, resulting in inaccurate readings by the sensor devices 18th and 22nd can lead. In order to keep this effect as small as possible, it is necessary to have a certain safety distance between the sensor devices 18th and 22nd and the engine 7th to be observed, making it difficult to design the modular robot joint so that miniaturization in the axial direction is achieved.

Summary of the invention

It is an object of the invention to solve at least one of the technical problems present in the prior art and to provide a modular robotic joint comprising a motor, a reduction gear, a hollow shaft, an output flange, a brake and an encoder; The hollow shaft is attached to the output flange and the motor outputs torque to the output flange via a reduction gear; the encoder comprises a high-speed encoder and a low-speed encoder; the high-speed encoder is used to sense the rotational speed of the motor input, while the low-speed encoder is used to determine the rotational speed of the hollow shaft, and the invention is characterized in that the high-speed encoder and the low-speed encoder both have arranged on one side of the motor, the high-speed encoder comprising a read head for the high-speed side and a magnetic ring for the high-speed side; the reading head for the high-speed side is disposed on one side of the holder for the reading head of the high-speed side away from the motor; the magnetic ring for the high-speed side and the reading head for the high-speed side are opposed to each other; the joint for a modular robot also has a magnetic field shielding plate disposed on the reading head holder side of the high-speed side near the motor.

Furthermore, the magnetic field shielding plate is made of a material with high magnetic permeability.

Furthermore, the material with high magnetic permeability is Permalloy.

Furthermore, the magnetic field shielding plate is attached to the holder for the reading head of the high-speed side by means of a connecting member.

Furthermore, the magnetic field shielding plate is circular or has another shape suitable for the cross section of the joint.

The invention also provides a shielding structure suitable for a modular robot joint for the magnetic field of the motor, the shielding structure being in particular a magnetic field shielding plate which is arranged on one side of the reading head holder for the high-speed side in the vicinity of the motor and with the reading head Bracket for the high-speed side is connected by a connecting element, wherein the magnetic field shielding plate can be used to shield the electromagnetic field generated by the motor, so as to avoid interference with the encoder, which is on the bracket for the read head on the High speed side is located away from the engine.

Furthermore, the magnetic field shielding plate is made of a material with high magnetic permeability.

Furthermore, the material with high magnetic permeability is Permalloy.

Furthermore, the magnetic field shielding plate is circular or has another shape suitable for the cross section of the joint.

Furthermore, the connecting element is in particular a screw or a bolt.

The magnetic field of the motor stator and the motor rotor changes when the magnetic field hits the magnetic field shielding plate made of a material with high magnetic permeability by adding a magnetic field shielding plate between the motor and the encoder of the modular robot joint ; the magnetic field of the motor stator and the motor rotor cannot reach the other side of the magnetic field shielding plate, so that the encoder for the high-speed side and the encoder for the low-speed side are not affected. The accuracy of the transducers of the modular robot joint is improved and the length of the modular robot joint can be reduced.

Figure list

• 1 zeigt einen schematischen axialen Schnitt durch ein Modularroboter-Gelenk gemäß der ersten Ausführungsform der vorliegenden Erfindung.
• 2 zeigt eine auseinandergezogene Darstellung eines Modularroboter-Gelenks gemäß der ersten Ausführungsform der vorliegenden Erfindung.
• 3 zeigt eine schematische Darstellung einer Magnetfeld-Abschirmplatte eines Modularroboter-Gelenks gemäß einer ersten Ausführungsform der vorliegenden Erfindung.

The above-mentioned and / or additional aspects and advantages of the present invention are evident and easy to understand from the description of the exemplary embodiments using the following drawings.

• 1 shows a schematic axial section through a modular robot joint according to the first embodiment of the present invention.
• 2 Fig. 13 shows an exploded view of a modular robotic joint according to the first embodiment of the present invention.
• 3 shows a schematic illustration of a magnetic field shielding plate of a modular robot joint according to a first embodiment of the present invention.

1

Ausgangsflansch,

2

Druckplatte für das Lager des Innenrings,

3

Druckplatte für das Lager des Außenrings,

4

Kreuzrollenlager,

5

Ausgangsende des Gehäuses,

6

Drehmomentsensor,

7

Motorgehäuse,

8

Motor-Stator,

9

Motor-Rotor,

10

Motorwelle,

11

Lesekopf-Halterung der Hochgeschwindigkeitsseite,

12

Lesekopf der Hochgeschwindigkeitsseite,

13

Magnetring der Hochgeschwindigkeitsseite,

14

Bremse,

15

Bremsgehäuse,

16

Lesekopf-Halterung der Niedergeschwindigkeitsseite,

17

Magnetring der Niedergeschwindigkeitsseite,

18

Hohlwelle,

19

Ring,

20

Lesekopf der Niedergeschwindigkeitsseite,

21

flexibles Rad,

22

Wellengenerator,

23

starres Rad,

24

Eingangswelle,

25

Montageplatte für das flexible Rad,

26

Dichtungsring,

27

Rotornabe,

28

Reibungsstrukturelement,

29

Magnetfeld-Abschirmplatte.

The reference symbols mean:

1

Outlet flange,

2

Pressure plate for the bearing of the inner ring,

3

Pressure plate for the bearing of the outer ring,

4th

Cross roller bearings,

5

Output end of the housing,

6th

Torque sensor,

7th

Motor housing,

8th

Motor stator,

9

Motor rotor,

10

Motor shaft,

11

Read head holder on the high-speed side,

12

High-speed side read head,

13

High speed side magnetic ring,

14th

Brake,

15th

Brake housing,

16

Read head holder on the low-speed side,

17th

Magnetic ring of the low speed side,

18th

Hollow shaft,

19th

Ring,

20th

Low-speed side read head,

21st

flexible wheel,

22nd

Wave generator,

23

rigid wheel,

24

Input shaft,

25th

Mounting plate for the flexible wheel,

26th

Sealing ring,

27

Rotor hub,

28

Friction structure element,

29

Magnetic field shielding plate.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference symbols are assigned to the same or similar elements which have the same or similar functions throughout. The embodiments described here with reference to the drawing are exemplary and only serve to explain the present invention; however, they are not to be understood as restricting the present invention.

In the description of the present invention, expressions such as "vertical", " side ”,“ up ”,“ down ”,“ front ”,“ back ”,“ left ”,“ right ”,“ vertical ”“ horizontal ”,“ top ”,“ bottom ”and the like, which have an orientation or position-related relation indicate the orientations or positional relationships shown in the figures, and these terms are used only to facilitate the description of the invention; however, they do not require that the present invention be designed and operated with any particular orientation. They cannot be construed as limitations on the present invention.

In addition, it should be noted that, in describing the present invention, terms such as “mounted”, “connected” and “concentrated” are to be understood in the broadest sense, except that the meanings of these terms are clear; for example, the above mentioned terms can mean a mechanical connection or an electrical connection, as well as a direct connection or an indirect connection achieved by means of an intermediate medium, or an internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms relating to the present invention in accordance with specific conditions.

Furthermore, it should be noted that the following description of any methods, as well as a flowchart or description of any process or method, which are described in other ways here, indicate that they comprise a module, a fragment or a part which an instruction including a or multiple steps to implement a particular logic function or operation, and that the scope of a preferred embodiment of the present invention includes additional implementations that do not occur in the order shown or explained; this should be understood by those skilled in the art to which the embodiments of the present invention pertain.

For example, logical steps and / or steps described in a flowchart or otherwise herein may be a sequential list of executable instructions that can be assumed to implement a logical function and that are contained on any computer-readable medium, that is suitable for use by an instruction-executing system, device, or equivalent installation (such as a computer-based system, a system comprising a processor, or any other system that receives instructions from an instruction execution system, a corresponding Equipment or device to obtain and execute) for use with an instruction execution system, an instruction execution equipment or an instruction execution device. A "computer-readable medium" can be any device that can contain, store, transmit, distribute or transmit a program for use with an instruction execution system, an instruction execution device or an instruction execution device according to the Invention can be used. More specifically, computer readable media includes items from the following non-limiting list: electrical connections (electronic devices) with one or more wirings, portable computer disk cases (magnetic devices), random access memories (RAM), Read Only Memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices and portable optical disk read only memory (CDROM). In addition, the computer-readable medium can also be paper or some other suitable medium on which the program can be printed out because, for example, the program is created by optically scanning the paper or the other medium followed by processing, interpretation or other suitable processing can be read out and then stored in a computer memory.

It should be understood that any part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the embodiments, multiple steps or processes can be implemented by software or firmware stored in a memory, and can be executed by a suitable instruction execution system.

First embodiment

As in 1 to 3 illustrated, this embodiment relates to a joint of a modular robot including a motor, a reduction gear, a hollow shaft 18th , an output flange 1 , a brake 14th , a giver and the like. The hollow shaft is attached to the output flange. The motor delivers torque to the output flange via a reduction gear. The encoder includes a high-speed encoder and a low-speed encoder. The high-speed encoder is used to detect the rotational speed or rotational speed of the motor input. The low-speed encoder is used to determine the speed or rotational speed of the hollow shaft; there are the high-speed encoder and the Low-speed transducers both located on one side of the engine.

The high-speed encoder includes a read head 12 for the high speed side and a magnetic ring 13 for the high speed side. The read head 12 for the high speed side is on one side of the bracket 11 for the high-speed side reading head, located away from the motor; the magnetic ring 13 for the high speed side and the read head 12 for the high-speed side are arranged opposite one another.

The modular robot joint also has a magnetic field shielding plate 29 that are on the side of the holder 11 for the high-speed read head is located near the motor.

The magnetic field shielding plate 29 consists of a material with high magnetic permeability, which is in particular Permalloy.

The magnetic field shielding plate 29 is on the bracket 11 for the high-speed reading head attached by means of a connecting element. The connecting element can be a screw or a bolt.

The magnetic field shielding plate 29 is circular or other shape suitable for the cross-section of the joint.

It should be noted that the motor is a motor stator 8th , a motor rotor 9 and a motor shaft 10 includes. The the motor stator 8th is with the motor housing 7th connected and the motor rotor 9 is with the motor shaft 10 connected. The motor shaft 10 is with the input shaft 24 connected and the motor shaft 10 and the input shaft 24 are supported by two bearings. A harmonic reduction gear includes a flexible wheel 21st , a rigid wheel 23 and a wave generator 22nd . The input shaft 24 is with the wave generator 22nd connected. A frictional structural element 28 is between the flexible wheel 21st and the torque sensor 6th provided and the mating surface of the flexible wheel 21st and the mating surface of the torque sensor 6th are at the same time firmly against the frictional structural element by a pressure prevailing between them using a connecting element 28 pressed. The torque sensor 6th is with the output housing 5 and the motor housing 7th connected. That rigid wheel 23 is with the output flange 1 connected. The output flange 1 and the printing plate 2 of the bearing inner ring are firmly pressed against each other against the inner ring of the cross roller bearing by the pressure between them, and the output housing 5 and the printing plate 3 of the bearing outer ring are firmly against the outer ring of the cross roller bearing due to the pressure between them 4th pressed.

The reading head holder 11 for the high speed side is with the motor housing 7th connected. The magnetic ring 13 the high speed side is on the motor shaft 10 attached. The rotor hub 27 is on the motor shaft 10 attached. The braking housing 15th is attached to the read head holder on the high-speed side. The brake 14th is on the brake housing 15th attached. The magnetic ring 17th the low speed side and the ring 19th are with the reading head holder 16 connected to the low speed side and the ring 19th is with the hollow shaft 18th connected. The left side of the hollow shaft is with the output flange 1 connected. The reading head holder 16 the low-speed side is via a bearing with the braking housing 15th connected. The read head on the low-speed side is with the braking housing 15th connected.

Second embodiment

As in 1 to 3 As shown, this embodiment relates to a structure shielding the magnetic field of a motor for a modular robot joint, which is in particular a magnetic field shielding plate 29 acts. The magnetic field shielding plate 29 is on the side of the reading head holder 11 for the high speed side located near the motor and is with the read head bracket 11 for the high speed side connected by a connector. The magnetic field shielding plate 29 is made of a material with high magnetic permeability, which is in particular Permalloy.

The magnetic field shielding plate 29 is circular or some other shape suitable for the cross-section of the joint.

The connecting element is in particular a screw or a bolt.

The magnetic field of the motor stator 8th and the motor rotor 9 changes when the magnetic field on the magnetic field shielding plate made of a high magnetic permeability material 29 that is added between the motor and the encoder of the modular robot joint, and the magnetic field of the motor stator 8th and the motor rotor 9 cannot reach the other side of the magnetic field shielding plate, so that the encoder on the high-speed side and the encoder on the low-speed side are not affected. The reading accuracy of the encoder of the modular robot Joint is improved and the length of the modular robot joint is reduced.

In the present specification, the terms “one embodiment,” “some embodiments,” “examples,” “specific examples” or “some examples” and the like mean specific features that may be used in connection with the embodiments or examples, structures, materials or Features are described in at least one embodiment or at least one example of the present invention. In this description, the schematic meanings of the above expressions do not necessarily relate to one and the same embodiment or one and the same example. In addition, the specific features, structures, materials, or properties described can be combined in any suitable manner in any one or more examples or embodiments. While particular embodiments of the present invention have been shown and described, those of ordinary skill in the art can recognize that various changes, modifications, substitutions, and substitutions can be made in these embodiments without departing from the principles and purposes of the present invention. The scope of the invention is defined by the claims and their equivalents.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• CN 207548790 U [0003]
• CN 109715348 A [0003]

Claims (10)

Modular robot joint comprising a motor, a reduction gear, a hollow shaft (18), an output flange (1), a brake (14) and an encoder, the hollow shaft being attached to the output flange, and the motor applying a torque via a reduction gear outputs the output flange, and the encoder comprises a high-speed encoder and a low-speed encoder, the high-speed encoder serving to detect the rotational speed of the motor input and the low-speed encoder being used to determine the speed of the hollow shaft, characterized in that that the high-speed encoder and the low-speed encoder are both arranged on one side of the motor, the high-speed encoder comprises a read head (12) of the high-speed side and a magnetic ring (13) of the high-speed side, the read head (12 ) the high-speed side on one side of the reading head holder (11) de The high-speed side is located away from the engine. and the magnetic ring (13) of the high-speed side and the reading head (12) of the high-speed side are arranged opposite one another, and that the modular robot joint has a magnetic field shielding plate (29) which is mounted on the side of the reading head holder (11) in located near the engine. Modular robot joint according to Claim 1 , characterized in that the magnetic field shielding plate (29) is made of a material with high magnetic permeability. Modular robot joint according to Claim 2 , characterized in that the material with high magnetic permeability is Permalloy Modular robot joint according to Claim 1 , characterized in that the magnetic field shielding plate (29) is attached to the reading head holder (11) on the high-speed side by means of a connecting element. Modular robot joint according to Claim 1 , characterized in that the magnetic field shielding plate (29) is circular or has another shape suitable for the cross-section of the joint. Motor magnetic field shielding structure for a modular robot joint, characterized in that the magnetic field shielding structure for modular robot joint is in particular a magnetic field shielding plate (29), the magnetic field shielding plate (29) on one side of a reading head -High-speed side bracket (11) is arranged in the vicinity of the motor and is attached to the reading head bracket (11) for high-speed side by means of a connecting element, so that the magnetic field shielding plate (29) is used for the generated by the motor Shield the magnetic field in such a way that interference with a transmitter is avoided, which is arranged on the side of the reading head holder (11) on the high-speed side remote from the motor. Motor magnetic field shielding structure according to Claim 6 , characterized in that the magnetic field shielding plate (29) is made of a material with high magnetic permeability. Motor magnetic field shielding structure according to Claim 7 , characterized in that the material with high magnetic permeability is permalloy. Motor magnetic field shielding structure according to Claim 6 , characterized in that the magnetic field shielding plate (29) is circular or has another shape suitable for the cross-section of the joint. Motor magnetic field shielding structure according to Claim 6 , characterized in that the connecting element is in particular a screw or a bolt.

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