A modular joint for a flexible collaborative robot

Abstract

A modular joint of a flexible collaborative robot, which relates to a modular joint. The present invention aims to solve the problems of poor design flexibility and severe cable wear in the existing modular joints of collaborative robots. The motor assembly and the harmonic reducer of the present invention are installed in the joint housing, the output flange is installed on the harmonic reducer, the wire protection tube is connected to the output flange and is passed through the motor shaft, the brake assembly is installed in the joint housing, the motor end encoder reading head is installed in the joint housing through the motor end encoder reading head mounting seat, the motor end encoder code disk is installed on the motor shaft, the joint end encoder reading head is connected to the joint housing through the joint end encoder reading head mounting seat, the joint end encoder code disk is installed on the wire protection tube, the joint servo driver is connected to the joint housing; the rear cover is connected to the joint housing; the axial distance between the joint end encoder reading head and the motor end encoder reading head is adjusted by a gasket. The present invention is used in the field of robots.

Description

Technical Field

[0001] The invention relates to a modular joint, in particular to a modular joint of a flexible collaborative robot, and belongs to the technical field of robot joints. Background Art

[0002] Under the background of German Industry 4.0, requirements are put forward for high-end intelligent equipment, and the intelligent robot industry has ushered in a new round of development opportunities. At present, the production mode of the world's manufacturing industry is facing a transformation from mass production to user customization, and there is a strong demand for flexible, intelligent and personalized manufacturing. As an important branch of robots, collaborative robots have achieved rapid development since their birth, the industrialization process has been accelerating, new manufacturers have been increasing, the application field has been continuously expanded, and the business model has been continuously innovated. Human-machine collaborative robots have outstanding advantages such as complementary advantages between humans and machines, strong environmental perception ability, large working range, dexterous operation, and high work efficiency. They will surely become an irreplaceable important equipment and automation means in future flexible manufacturing. In addition to the manufacturing industry, advanced human-machine collaborative robot technology can also be widely used in many industries such as housekeeping services, 3C electronics, automotive parts, as well as special fields such as nuclear energy, manned spaceflight, and lunar exploration, and has broad development prospects.

[0003] Modular joints used in collaborative robots are core components with the following development trends: modularization, simplified design process, shortened design cycle; high load / deadweight ratio, high integration, lightweight, high sensitivity, high precision, safe and easy assembly.

[0004] The current collaborative robot modular joints suffer from severe cable wear due to the high spindle speed during the wiring and routing process, and are not suitable for encoders of different models, resulting in poor design flexibility.

[0005] In summary, existing collaborative robot modular joints have problems such as poor design flexibility and severe cable wear. Summary of the invention

[0006] The purpose of the present invention is to solve the problems of poor design flexibility and severe cable wear of existing collaborative robot modular joints, and further provide a flexible collaborative robot modular joint.

[0007] The technical solution of the present invention is: a modular joint of a flexible collaborative robot includes a joint housing; it also includes a motor end encoder reading head mounting seat, a joint servo driver, a joint end encoder code disk, a joint end encoder reading head, a joint end encoder code disk mounting seat, a joint end encoder reading head mounting seat, a motor end encoder code disk, a motor end encoder reading head, a rear cover, a brake assembly, a motor assembly, a harmonic reducer, a wire protection tube and an output flange; the motor assembly and the harmonic reducer are sequentially installed in the joint housing from left to right, and the motor assembly is connected to the input end of the harmonic reducer, the output flange is installed on the output end of the harmonic reducer, the wire protection tube is passed through the motor shaft of the motor assembly and connected to the output flange, the brake assembly is installed in the joint housing and located The left side of the motor assembly, and the brake assembly is connected to the motor shaft, the motor-end encoder reading head is installed on the joint housing on the left side of the brake assembly through the motor-end encoder reading head mounting seat, the motor-end encoder code disc is installed on the motor shaft, the joint-end encoder reading head is connected to the joint housing through the joint-end encoder reading head mounting seat, the joint-end encoder reading head is located on the left side of the motor-end encoder code disc, the joint-end encoder code disc is installed on the wire protection tube through the joint-end encoder code disc mounting seat, the joint-end encoder code disc is located between the motor-end encoder code disc and the joint-end encoder reading head, the joint servo driver is connected to the joint housing through the connecting column; the back cover is connected to the joint housing; the axial distance between the joint-end encoder reading head and the motor-end encoder reading head is adjusted by a gasket.

[0008] Furthermore, the motor assembly includes a motor stator, a motor rotor and a motor shaft. The motor stator is fixedly mounted on the inner wall of the joint housing. The motor shaft is horizontally inserted into the joint housing. The motor rotor is located between the motor stator and the motor shaft, and the motor rotor is fixedly connected to the motor shaft.

[0009] Furthermore, the brake assembly is a magnetic friction brake.

[0010] Furthermore, a sealing ring is used to seal between the rear cover and the joint housing.

[0011] Furthermore, it also includes a sealing ring mounting seat and a sealing ring, the sealing ring is connected to the inner hole of the brake assembly through the sealing ring mounting seat, and the inner ring of the sealing ring is connected to the motor shaft.

[0012] Furthermore, it also comprises a wire protection sleeve and a wire protection sleeve bracket, and the wire protection sleeve is installed on the left end portion of the wire protection pipe through the wire protection sleeve bracket.

[0013] Furthermore, it also includes a dustproof bracket and a rubber ring. The dustproof bracket is installed between the right inner wall of the joint housing and the output flange, and the rubber ring is sleeved on the dustproof bracket.

[0014] Preferably, the diameter of the wire protection tube gradually decreases from the output flange side to the joint servo driver side.

[0015] Preferably, the wire protection tube is made of aluminum alloy.

[0016] Preferably, the wire protection tube is connected to the output flange via screws, and the joint end encoder code disc mounting seat is connected to the wire protection tube via threads.

[0017] Compared with the prior art, the present invention has the following effects:

[0018] 1. The motor shaft of the present invention is connected to the input end of the harmonic reducer by screws, and the motor shaft can be flexibly adjusted and replaced according to the requirements of the design scheme, thereby increasing the flexibility and diversity of the design and avoiding the impact of the long delivery time of the harmonic reducer on the design iteration.

[0019] 2. The wire protection tube of the present invention is connected to the output flange by screws, and the joint end encoder disc mounting seat is connected to the low-speed wire protection tube by threads; the wire protection tube and the joint end encoder disc mounting seat can be flexibly configured according to the design requirements, increasing the design flexibility and diversity without affecting the output flange. The wire protection tube is connected to the output flange separately, reducing the processing cost.

[0020] 3. The motor-end encoder reading head and the joint-end encoder reading head of the present invention both adjust the axial distance by adjusting the gasket, so as to meet the use conditions of different encoders and the influence of manufacturing errors, thereby increasing design flexibility;

[0021] 4. The brake assembly of the present invention is a magnetic friction type. When the power is off, the brake locks the friction plate through the built-in spring, and the motor shaft cannot rotate through the brake hub; when the power is on, the electromagnet sucks the friction plate and presses the spring, and the brake assembly releases the brake. Due to the friction braking principle, when the robot stops suddenly, it is safer and more reliable than the pin-type brake. There is no problem of pin bending and power-on joint shaking;

[0022] 5. The present invention adopts lightweight and ultra-hard aviation aluminum alloy material to achieve high load, light weight and high integration;

[0023] 6. The present invention adopts center hole wiring to solve the wiring difficulties and wiring entanglement problems of traditional industrial robots; the wire protection tube is connected to the output flange, the speed is low, and the cable wear is reduced;

[0024] 7. The present invention adopts a modular design, and the same joints are applied to each joint of the robot. Each component is interchangeable and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural cross-sectional view of the modular joint of the flexible collaborative robot designed by the present invention;

[0026] Figure 2The present invention is to design an output flange and a wire protection tube of a flexible collaborative robot modular joint;

[0027] Figure 3 The present invention is a harmonic reducer for a flexible collaborative robot modular joint;

[0028] Figure 4 The present invention is a brake assembly for a modular joint of a flexible collaborative robot;

[0029] Figure 5 It is the motor shaft of the modular joint of the flexible collaborative robot designed by the present invention;

[0030] Among them, 1-motor end encoder reading head mounting seat, 2-joint servo driver, 3-joint end encoder code disk, 4-joint end encoder reading head, 5-joint end encoder code disk mounting seat, 6-wire sleeve, 7-wire sleeve bracket, 8-joint end encoder reading head mounting seat, 9-sealing ring mounting seat, 10-sealing ring, 11-motor end encoder code disk, 12-motor end encoder reading head, 13-joint back cover, 14-brake assembly, 15-joint housing, 16-motor shaft, 17-motor assembly, 18-harmonic reducer, 19-dustproof bracket, 20-rubber ring, 21-wire protection tube, 22-output flange. DETAILED DESCRIPTION

[0031] Specific implementation method 1: Combination Figures 1 to 5Describe this embodiment. A modular joint of a flexible collaborative robot in this embodiment includes a joint housing 15; it also includes a motor end encoder reading head mounting seat 1, a joint servo driver 2, a joint end encoder code disk 3, a joint end encoder reading head 4, a joint end encoder code disk mounting seat 5, a joint end encoder reading head mounting seat 8, a motor end encoder code disk 11, a motor end encoder reading head 12, a rear cover 13, a brake assembly 14, a motor assembly 17, a harmonic reducer 18, a wire protection tube 21 and an output flange 22; the motor assembly 17 and the harmonic reducer 18 are installed in the joint housing 15 from left to right, and the motor assembly 17 is connected to the input end of the harmonic reducer 18, the output flange 22 is installed on the output end of the harmonic reducer 18, the wire protection tube 21 is passed through the motor shaft 16 of the motor assembly 17 and is connected to the output flange 22, and the brake assembly 14 is installed in the joint housing 1 5 and is located on the left side of the motor assembly 17, and the brake assembly 14 is connected to the motor shaft 16, the motor-end encoder reading head 12 is installed on the joint housing 15 on the left side of the brake assembly 14 through the motor-end encoder reading head mounting seat 1, the motor-end encoder code disc 11 is installed on the motor shaft 16, the joint-end encoder reading head 4 is connected to the joint housing 15 through the joint-end encoder reading head mounting seat 8, the joint-end encoder reading head 4 is located on the left side of the motor-end encoder code disc 11, the joint-end encoder code disc 3 is installed on the wire protection tube 21 through the joint-end encoder code disc mounting seat 5, the joint-end encoder code disc 3 is located between the motor-end encoder code disc 11 and the joint-end encoder reading head 4, the joint servo driver 2 is connected to the joint housing 15 through the connecting column; the back cover 13 is connected to the joint housing 15; the axial distance between the joint-end encoder reading head 4 and the motor-end encoder reading head 12 is adjusted by a gasket.

[0032] The harmonic reducer of this embodiment is installed in the joint housing by screws, and the output flange is fixed to the output end of the harmonic reducer by connecting screws; the outer ring of the brake assembly is connected to the joint housing by screws, and the inner ring friction plate of the brake assembly is connected to the motor shaft by a wheel hub flat key;

[0033] The joint housing of this embodiment is made of aviation hard aluminum alloy material to reduce weight;

[0034] In this embodiment, a motor end encoder is installed near the motor end to detect the motor position and speed; a joint end encoder is installed near the drive board to detect the harmonic output end position and speed;

[0035] In this embodiment, the motor shaft is connected to the input end of the harmonic reducer by screws, and the motor shaft can be flexibly adjusted and replaced according to the requirements of the design scheme, thereby increasing the flexibility and diversity of the design;

[0036] The cable sheath in this embodiment is fixed to one end of the cable protection tube through the cable sheath bracket, the joint adopts the center hole for routing, and the cable protection tube isolates the cable from the motor shaft, effectively protecting the cable from wear;

[0037] The wire protection tube 21 and the joint end encoder code disc mounting socket 5 of this embodiment can be flexibly configured according to the design requirements, increasing the design flexibility and diversity without affecting the output flange 22. The low-speed wire protection tube 21 is connected to the output flange 22 separately, reducing the processing cost.

[0038] In this embodiment, the axial distance between the motor-end encoder reading head 12 and the motor-end encoder code disk 11 can be adjusted by adjusting the gasket to meet the use conditions of different encoders and the influence of manufacturing errors, thereby increasing design flexibility.

[0039] In this embodiment, the axial distance between the joint end encoder reading head 4 and the joint end encoder code disc 3 can be adjusted by adjusting the gasket to meet the use conditions of different encoders and the influence of manufacturing errors, thereby increasing design flexibility.

[0040] Specific implementation method 2: Combination Figure 1 To explain this embodiment, the motor assembly 17 of this embodiment includes a motor stator, a motor rotor and a motor shaft 16. The motor stator is fixedly mounted on the inner wall of the joint housing 15, the motor shaft 16 is horizontally inserted into the joint housing 15, the motor rotor is located between the motor stator and the motor shaft 16, and the motor rotor is fixedly connected to the motor shaft 16. This arrangement facilitates providing sufficient power for the joint. Other components and connection relationships are the same as those of the first embodiment.

[0041] The motor shaft 16 in this embodiment is a hollow stepped shaft.

[0042] Specific implementation method three: Combination Figure 1 To explain this embodiment, the brake assembly 14 of this embodiment is a magnetic friction brake. With such a configuration, the brake assembly of this embodiment is a magnetic friction type. When the power is off, the brake locks the friction plate through the built-in spring, and the motor shaft cannot rotate through the brake hub; when the power is on, the electromagnet sucks the friction plate open and presses the spring, and the brake assembly contacts the brake; due to the friction braking principle, when the robot stops suddenly, it is safer and more reliable than the latch brake. There is no problem of bent latches and shaking joints when the power is on. Other components and connection relationships are the same as those of the first or second specific embodiments.

[0043] Specific implementation method four: Combination Figure 1 To explain this embodiment, a sealing ring is used to seal between the rear cover 13 and the joint housing 15. This arrangement is dustproof and waterproof. Other components and connection relationships are the same as those of the first, second or third embodiments.

[0044] Specific implementation method five: Combination Figure 1 This embodiment further includes a sealing ring mounting seat 9 and a sealing ring 10. The sealing ring 10 is connected to the inner hole of the brake assembly 14 through the sealing ring mounting seat 9, and the inner ring of the sealing ring 10 is connected to the motor shaft 16. This arrangement has a good sealing effect. Other components and connection relationships are the same as those of the specific embodiments 1, 2, 3 or 4.

[0045] Specific implementation method six: Combination Figure 1 This embodiment further includes a cable sheath 6 and a cable sheath bracket 7. The cable sheath 6 is mounted on the left end of the cable sheath tube 21 through the cable sheath bracket 7. This arrangement protects the cable from wear. Other components and connection relationships are the same as those of the first, second, third, fourth or fifth embodiments.

[0046] Specific implementation method seven: Combination Figure 1 This embodiment further includes a dustproof bracket 19 and a rubber ring 20. The dustproof bracket 19 is installed between the right inner wall of the joint housing 15 and the output flange 22, and the rubber ring 20 is sleeved on the dustproof bracket 19. This arrangement has a good dustproof effect. Other components and connection relationships are the same as those of the specific embodiments 1, 2, 3, 4, 5 or 6.

[0047] Specific implementation method eight: Combination Figure 1 To explain this embodiment, the diameter of the wire protection tube 21 of this embodiment gradually decreases from the output flange 22 side to the joint servo driver 2 side. In this way, the wire protection sleeve is fixed to one end of the low-speed wire protection tube through the wire protection sleeve bracket, the joint adopts the center hole routing, and the low-speed wire protection tube isolates the cable from the motor shaft, effectively protecting the cable from wear. The other components and connection relationships are the same as any one of the specific embodiments one to seven.

[0048] Specific implementation method nine: Combination Figure 1 To explain this embodiment, the wire protection tube 21 of this embodiment is made of aluminum alloy. With such a configuration, it has a large load and a light weight, and a high degree of integration. The other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0049] Specific implementation method ten: Combination Figure 1 To explain this embodiment, the wire protection tube 21 of this embodiment is made of aluminum alloy. With such a configuration, it has a large load and a light weight, and a high degree of integration. The other components and connection relationships are the same as any one of the specific embodiments 1 to 8.

[0050] The working process of the present invention is:

[0051] After the joint servo driver 2 receives the start command from the control system, the brake assembly 14 is energized, the electromagnet attracts the compression spring, the brake assembly 14 is opened, and the joint servo driver 2 drives the motor assembly 17 to drive the motor shaft 16 to rotate, thereby driving the input end of the harmonic reducer 18 to rotate. After the harmonic reducer 18 is decelerated, the output end of the harmonic reducer 18 drives the output flange 22 to rotate, thereby realizing the output torque and speed of the joint. The motor end encoder reads the rotation angle and speed of the motor shaft 16, and the joint end encoder reads the rotation angle and speed of the output flange 22. When the joint servo driver 2 receives the stop command from the control system, it controls the motor assembly 17 to decelerate. The brake assembly 14 is deenergized, the spring resets and presses the friction plate, and the joint stops.

Claims

1. A modular joint of a flexible collaborative robot, comprising a joint housing (15); characterized in that: It also includes a motor end encoder reading head mounting seat (1), a joint servo driver (2), a joint end encoder code disc (3), a joint end encoder reading head (4), a joint end encoder code disc mounting seat (5), a joint end encoder reading head mounting seat (8), a motor end encoder code disc (11), a motor end encoder reading head (12), a rear cover (13), a brake assembly (14), a motor assembly (17), a harmonic reducer (18), a wire protection tube (21) and an output flange (22); The motor assembly (17) and the harmonic reducer (18) are sequentially installed in the joint housing (15) from left to right, and the motor assembly (17) is connected to the input end of the harmonic reducer (18), the output flange (22) is installed on the output end of the harmonic reducer (18), the wire protection tube (21) is inserted into the motor shaft (16) of the motor assembly (17) and connected to the output flange (22), the brake assembly (14) is installed in the joint housing (15) and is located on the left side of the motor assembly (17), and the brake assembly (14) is connected to the motor shaft (16), the motor end encoder reading head (12) is installed on the joint housing (15) on the left side of the brake assembly (14) through the motor end encoder reading head mounting seat (1), and the motor end encoder code disk (11) is installed on the motor shaft (16), the joint end encoder reading head (4) is connected to the joint housing (15) through the joint end encoder reading head mounting seat (8), the joint end encoder reading head (4) is located on the left side of the motor end encoder code disk (11), the joint end encoder code disk (3) is installed on the wire protection tube (21) through the joint end encoder code disk mounting seat (5), the joint end encoder code disk (3) is located between the motor end encoder code disk (11) and the joint end encoder reading head (4), the joint servo driver (2) is connected to the joint housing (15) through a connecting column; the back cover (13) is connected to the joint housing (15); the axial distance between the joint end encoder reading head (4) and the motor end encoder reading head (12) is adjusted by a gasket.

2. A modular joint of a flexible collaborative robot according to claim 1, characterized in that: The motor assembly (17) comprises a motor stator, a motor rotor and a motor shaft (16); the motor stator is fixedly mounted on the inner wall of the joint housing (15); the motor shaft (16) is horizontally inserted into the joint housing (15); the motor rotor is located between the motor stator and the motor shaft (16), and the motor rotor is fixedly connected to the motor shaft (16).

3. The modular joint of a flexible collaborative robot according to claim 2, characterized in that: The brake assembly (14) is a magnetic friction brake.

4. The modular joint of a flexible collaborative robot according to claim 3, characterized in that: A sealing ring is used to seal between the rear cover (13) and the joint housing (15).

5. The modular joint of a flexible collaborative robot according to claim 4, characterized in that: It also includes a sealing ring mounting seat (9) and a sealing ring (10). The sealing ring (10) is connected to the inner hole of the brake assembly (14) through the sealing ring mounting seat (9), and the inner ring of the sealing ring (10) is connected to the motor shaft (16).

6. The modular joint of a flexible collaborative robot according to claim 5, characterized in that: It also comprises a wire protection sleeve (6) and a wire protection sleeve bracket (7), wherein the wire protection sleeve (6) is installed on the left end of the wire protection tube (21) via the wire protection sleeve bracket (7).

7. The modular joint of a flexible collaborative robot according to claim 6, characterized in that: It also includes a dustproof bracket (19) and a rubber ring (20). The dustproof bracket (19) is installed between the right inner wall of the joint housing (15) and the output flange (22), and the rubber ring (20) is sleeved on the dustproof bracket (19).

8. A modular joint of a flexible collaborative robot according to claim 1 or 7, characterized in that: The diameter of the wire protection tube (21) gradually decreases from the output flange (22) side to the joint servo driver (2) side.

9. The modular joint of a flexible collaborative robot according to claim 8, characterized in that: The wire protection tube (21) is a wire protection tube made of aluminum alloy.

10. A modular joint of a flexible collaborative robot according to claim 1 or 9, characterized in that: The wire protection tube (21) and the output flange (22) are connected via screws, and the joint end encoder code disc mounting seat (5) and the wire protection tube (21) are connected via threads.

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