Shafting structure of integrated joint of collaborative robot

Abstract

The invention discloses a shafting structure of an integrated joint of a collaborative robot. The two ends of an input long shaft are respectively a motor rear end and a flexible gear end, and a harmonic reducer is installed on the flexible gear end; the motor rear end is provided with a motor rear end bearing pack, a motor rear end inner ring pressing ring, a motor rear end outer ring pressing ring, a motor rear end outer ring base and a motor rear end angle encoder mounting base which are coaxially arranged; and the flexible gear end is provided with a flexible gear end bearing pack, a flexible gear end inner ring pressing ring and the harmonic reducer which are coaxially arranged. The shafting structure of the integrated joint of the collaborative robot provided by the invention can assist in realizing high-precision position feedback and control, so that both an input end and a circular spline output end of the harmonic reducer rely on the shafting structure to obtain high coaxialaccuracy under loads and various working environment temperature conditions, so as to assist the angle encoder of the motor rear end and the angle encoder of the circular spline output end of the harmonic reducer to obtain high-accuracy position information feedback, and achieve high-accuracy position feedback and control of the integrated joint of the collaborative robot.

Description

technical field [0001] The invention relates to the technical field of collaborative robots, in particular to a shaft system structure of an integrated joint of a collaborative robot that can assist in realizing high-precision position feedback. Background technique [0002] At present, industrial robots have replaced a large number of people to do repetitive and heavy-duty work. However, since its design does not consider the safety measures for cooperating with people, it can only be isolated during work to prevent personnel from being injured. In recent years, a class of collaborative robots that can safely cooperate with humans and jointly complete specific tasks has gradually emerged, especially in fields such as precision assembly, mold and product inspection, and medical surgery that require high precision control. prospect. However, when man-machine collaboration is performed, the requirement for high-precision control is all-round in the working space, rather than...

AI Technical Summary

Problems solved by technology

[0004] However, in the mainstream integrated joint structure of collaborative robots, the input shaft of the harmonic reducer, the direct drive motor and the brake are connected in series in sequence, and there is no corresponding mechanism between the input end of the harmonic reducer and the output end of the rigid wheel to ensure Coaxial precision between the two, only internal flex spline connection and lack of rigidity

This will also lead to the problem of insufficient overall rigidity of the joint shafting structure

When the output end of the rigid wheel is affected by its own weight and load, the displacement perpendicular to the axis of the shafting may occur, and it is difficult to ensure the coaxial accuracy between the output end and the input end of the harmonic reducer

And when the direct drive motor starts to run for a period of time, it will heat up, which will often make the series structure in the joint extend and cause greater deformation perpendicular to the axis of the shaft system, which is not conducive to obtaining high-precision position signal feedback

At the same time, the extension of the joint parts after the temperature rises may cause the relative position of the rotating part and the fixed part of the angle encoder to move, which may cause the signal obtained by the angle encoder to change and affect the measurement results

These will make it difficult to achieve the goal of high-precision control of the integrated joints of collaborative robots

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