A compact modular joint for collaborative robots

Abstract

The present invention discloses a modular joint of a collaborative robot with a compact structure, which is connected in sequence: a joint housing; a joint output flange; a low-speed wire protection tube connected to the joint output flange; a harmonic reducer connected to the joint output flange and the joint housing; a motor assembly, including a stator and a rotor; a motor shaft connected to the motor rotor, one end of which is connected to the input end of the harmonic reducer; a brake assembly, which is a magnetic friction type, locks when the power is off, and opens when the power is on, and is connected to the motor shaft. Compared with the latch-type brake, it is safer to stop in an emergency and will not bend the stop pin; a motor-end encoder assembly; and a joint-end encoder assembly. The encoder code disc at the motor end of the present invention is concentrically arranged with the encoder code disc at the joint end, and the encoder reading head at the motor end is integrated with the encoder reading head at the joint end, so that the axial space of the joint is compact, the integration is high, and the wiring space is large for easy operation. At the same time, the modular joint of the present invention also has the characteristics of high rigidity and large load-to-weight ratio.

Description

Technical Field

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

[0002] Against the backdrop of Germany's Industry 4.0, the country has introduced the "Made in China 2025" plan, which puts forward requirements for high-end intelligent equipment. The intelligent robot industry has ushered in a new round of development opportunities. At present, the production model of the world's manufacturing industry is facing a shift from mass production to user customization, and there is a strong demand for flexible, intelligent, and personalized manufacturing. Collaborative robots, as an important branch of robots, have achieved rapid development since their birth, with the industrialization process accelerating, the number of new manufacturers increasing, the application areas expanding, and the business model innovating.

[0003] Human-machine collaborative robots have the advantages of complementary advantages between humans and machines, strong environmental perception, large working range, dexterous operation, and high working 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, and auto parts, as well as special fields such as nuclear energy, manned spaceflight, and lunar exploration, and has broad development prospects.

[0004] 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.

[0005] The existing technology has problems such as low joint integration, large mass and volume, poor modularity, and long design cycle. Summary of the invention

[0006] Purpose of the invention: The purpose of the present invention is to overcome the disadvantages of the prior art and design a compact modular joint for a collaborative robot, which solves the problems of low joint integration, large mass and volume, poor modularity, and long design cycle.

[0007] The specific scheme is as follows: In order to achieve the above purpose, the present invention provides the following technical scheme:

[0008] A compact collaborative robot modular joint comprises a joint housing, a drive mechanism, a motor assembly and an output mechanism; the drive mechanism, the motor assembly and the output mechanism are sequentially arranged inside the joint housing, the input end of the motor assembly is connected to the drive mechanism, and the output end of the motor assembly is connected to the output mechanism.

[0009] Further,

[0010] The driving mechanism includes a motor end encoder code disc mounting seat, a joint servo driver, a joint end encoder code disc, a joint end encoder reading head, a joint end encoder code disc mounting seat, a driver bracket, a motor end encoder code disc, a motor end encoder reading head, and a brake assembly;

[0011] The motor assembly includes a motor stator, an internal motor rotor and a motor shaft;

[0012] The output mechanism includes a harmonic reducer, a low-speed wire protection tube and an output flange;

[0013] The joint housing comprises a joint shell and a joint rear cover;

[0014] The driver bracket, the joint end encoder disc mounting seat, the motor end encoder disc mounting seat, the brake assembly, the motor assembly and the harmonic reducer are fixed on the joint housing in sequence;

[0015] The driver bracket is fixedly connected to the joint housing, the joint servo driver is fixed on the driver bracket, and the joint servo driver is also connected to the joint housing through a connecting column; the motor end encoder reading head and the joint end encoder reading head are integrated on the driver bracket;

[0016] The motor end encoder reading head is set correspondingly to the motor end encoder code disk, the motor end encoder reading head reads the information of the motor end encoder code disk, the motor end encoder code disk is fixedly connected to the motor end encoder code disk mounting seat, and the motor end encoder code disk mounting seat is fixed on the outside of the motor shaft;

[0017] The joint end encoder reading head is correspondingly arranged with the joint end encoder code disc, the joint end encoder reading head reads the information of the joint end encoder code disc, the joint end encoder code disc is fixedly connected to the joint end encoder code disc mounting seat, and the joint end encoder code disc mounting seat is fixed to the outside of the low-speed wire protection tube;

[0018] The low-speed wire protection tube is arranged inside the motor shaft;

[0019] A flat key is provided at one end of the motor shaft, and the flat key is connected to the hub of the inner ring friction plate of the brake assembly, and the housing of the brake assembly is fixedly connected to the joint housing;

[0020] The outer side of the motor stator is fixedly connected to the joint housing; the internal motor rotor is arranged inside the motor stator;

[0021] The other end of the motor shaft is fixedly connected to the internal motor rotor, and the tail of the other end of the motor shaft is fixedly connected to the input end of the harmonic reducer; the output end of the harmonic reducer is fixedly connected to the input end of the output flange; the output end of the output flange is fixedly connected to the tail of the low-speed wire protection pipe;

[0022] The joint rear cover is connected to the joint housing.

[0023] Furthermore, the inner ring of the brake assembly is provided with a sealing ring mounting seat, a sealing ring 1 is provided inside the sealing ring mounting seat, and the inner ring of the sealing ring 1 is in contact with the motor shaft.

[0024] Furthermore, the low-speed wire protection tube is connected to the output flange via screws, and the joint-end encoder code disc mounting socket is connected to the low-speed wire protection tube via threads.

[0025] Furthermore, the brake assembly is of magnetic friction type. When the power is off, the brake locks the friction plate through the built-in spring, and stops the motor shaft through the brake hub; when the power is on, the electromagnet sucks the friction plate open and presses the spring, and the brake assembly releases the brake.

[0026] Preferably, a gasket 1 is provided between the motor-end encoder reading head and the motor-end encoder code disc.

[0027] Preferably, a second gasket is provided between the joint end encoder reading head and the joint end encoder code disc.

[0028] Furthermore, the joint adopts center hole routing, and the cable is set in the middle of the low-speed wire protection tube.

[0029] Preferably, a dustproof bracket is provided between the joint housing and the harmonic reducer, and a rubber ring is provided between the dustproof bracket and the joint housing.

[0030] Preferably, a sealing ring 2 is pressed between the joint rear cover and the joint housing.

[0031] Preferably, the joint housing, the low-speed wire protection tube and the motor shaft can all be made of aluminum alloy, and the joint rear cover is made of engineering plastic.

[0032] Furthermore, the cable sheath is fixed to one end of the driver bracket through the cable sheath bracket, the joint adopts the center hole for wiring, and the low-speed cable sheath isolates the cable from the motor shaft, effectively protecting the cable from wear;

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The motor end encoder disc and the joint end encoder disc of the present invention are respectively connected to the motor shaft and the low-speed wire protection tube through the motor end encoder disc mounting seat and the joint end encoder disc mounting seat, and are arranged concentrically, saving axial space, making the entire joint structure compact and more integrated;

[0035] 2. The motor end encoder reading head and the joint end encoder reading head of the present invention can adjust the axial distance by adjusting the gasket to meet the influence of different conditions and manufacturing errors, thereby increasing the design flexibility;

[0036] 3. 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 contacts and brakes. 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;

[0037] 4. The low-speed wire protection tube of the present invention is connected to the output flange by screws, and the low-speed wire protection tube and the joint end encoder code disk mounting socket can be flexibly configured according to the requirements of the design scheme, thereby increasing the design flexibility and diversity;

[0038] 5. The present invention adopts lightweight and ultra-hard aviation aluminum alloy material to achieve high load, light weight and high integration;

[0039] 6. The present invention adopts center hole wiring to solve the wiring difficulties and wiring entanglement problems of traditional industrial robots; the low-speed wire protection tube is connected to the output flange, the speed is low, and the cable wear is reduced;

[0040] 7. The present invention adopts a modular design, the same joints are applied to each joint of the robot, and each component is interchangeable and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural cross-sectional view of a compact modular joint of a collaborative robot according to the present invention;

[0042] Figure 2 The invention discloses an output flange and a low-speed wire protection tube of a modular joint of a collaborative robot with a compact structure;

[0043] Figure 3 The present invention is a harmonic reducer of a modular joint of a collaborative robot with a compact structure;

[0044] Figure 4 A brake assembly for a modular joint of a collaborative robot with a compact structure according to the present invention;

[0045] Among them, 1-motor end encoder code disk 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-driver bracket; 7-sealing ring mounting seat; 8-sealing ring; 9-motor end encoder code disk; 10-motor end encoder reading head; 11-joint rear cover; 12-brake assembly; 13-joint housing; 14-motor shaft; 15-motor assembly; 16-harmonic reducer; 17-dustproof bracket; 18-rubber ring; 19-low-speed wire protection tube; 20-output flange. DETAILED DESCRIPTION

[0046] The present invention is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in an illustrative manner, but this should not be understood as the scope of the above-mentioned subject of the present invention being limited to the following description. Therefore, the following specific implementation methods are not adopted in a restrictive sense, and the scope of the subject to be protected is only limited by the claims and their equivalents.

[0047] like Figure 1 As shown, a compact collaborative robot modular joint of the present invention:

[0048] Specific implementation method 1: It includes a joint housing, a driving mechanism, a motor assembly and an output mechanism; the driving mechanism, the motor assembly 15 and the output mechanism are arranged in sequence inside the joint housing, the input end of the motor assembly is connected to the driving mechanism, and the output end of the motor assembly 15 is connected to the output mechanism. Specific implementation method 2:

[0050] The driving mechanism includes a motor end encoder code disc 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 driver bracket 6, a motor end encoder code disc 9, a motor end encoder reading head 10, and a brake assembly 12;

[0051] The motor assembly 15 includes a motor stator, an internal motor rotor and a motor shaft 14;

[0052] The output mechanism includes a harmonic reducer 16, a low-speed wire protection tube 19 and an output flange;

[0053] The joint housing includes a joint housing 13 and a joint rear cover 11;

[0054] The driver bracket 6, the joint end encoder disc mounting seat 5, the motor end encoder disc mounting seat 1, the brake assembly 12, the motor assembly 15 and the harmonic reducer 16 are fixed on the joint housing 13 in sequence;

[0055] The driver bracket 6 is fixedly connected to the joint housing 13, the joint servo driver 2 is fixed on the driver bracket 6, and the joint servo driver 2 is also connected to the joint housing 13 through a connecting column; the motor end encoder reading head 10 and the joint end encoder reading head 4 are integrated on the driver bracket 6;

[0056] The motor-end encoder reading head 10 is arranged correspondingly to the motor-end encoder code disc 9, and the motor-end encoder reading head 10 reads the information of the motor-end encoder code disc 9, and the motor-end encoder code disc 9 is fixedly connected to the motor-end encoder code disc mounting seat 1, and the motor-end encoder code disc mounting seat 1 is fixed to the outside of the motor shaft 14;

[0057] The joint end encoder reading head 4 is arranged correspondingly to the joint end encoder code disc 3, the joint end encoder reading head 4 reads the information of the joint end encoder code disc 3, the joint end encoder code disc 3 is fixedly connected to the joint end encoder code disc mounting seat 5, and the joint end encoder code disc mounting seat 5 is fixed to the outside of the low-speed wire protection tube 19;

[0058] The low-speed wire protection tube 19 is arranged inside the motor shaft 14;

[0059] A flat key is provided at one end of the motor shaft 14, and the flat key is connected to the hub of the inner friction plate of the brake assembly 12, and the housing of the brake assembly 12 is fixedly connected to the joint housing 13;

[0060] The outer side of the motor stator is fixedly connected to the joint housing 13; the internal motor rotor is arranged inside the motor stator;

[0061] The other end of the motor shaft 14 is fixedly connected to the internal motor rotor, and the tail of the other end of the motor shaft 14 is fixedly connected to the input end of the harmonic reducer 16; the output end of the harmonic reducer 16 is fixedly connected to the input end of the output flange 20; the output end of the output flange 20 is fixedly connected to the tail of the low-speed wire protection tube 19;

[0062] The joint rear cover 11 is connected to the joint housing 13 .

[0063] Other implementations are the same as the first specific implementation.

[0064] Specific implementation method three: the inner ring of the brake assembly 12 is provided with a sealing ring mounting seat 7, and a sealing ring 8 is provided inside the sealing ring mounting seat 7, and the inner ring of the sealing ring 8 is in contact with the motor shaft 14.

[0065] Other implementations are the same as the second specific implementation.

[0066] Specific implementation method four: the low-speed wire protection tube 19 is connected to the output flange 20 by screws, and the joint end encoder code disc mounting socket 5 is connected to the low-speed wire protection tube 19 by threads.

[0067] Other implementations are the same as the second specific implementation.

[0068] Specific implementation method five: the brake assembly 12 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 14 stops rotating through the brake hub; when the power is on, the electromagnet attracts the friction plate and presses the spring, and the brake assembly 12 releases the brake.

[0069] 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 the latch bending and the joint shaking when powered on.

[0070] Other implementations are the same as the second specific implementation.

[0071] Specific implementation method six: a gasket 1 is provided between the motor end encoder reading head 10 and the motor end encoder code disc 9;

[0072] A gasket 2 is provided between the joint end encoder reading head 4 and the joint end encoder code disc 3 .

[0073] The thickness or quantity of gasket 1 and gasket 2 is adjusted to meet the influence of different use conditions and manufacturing errors, thereby increasing design flexibility.

[0074] Other implementations are the same as the second specific implementation.

[0075] Specific implementation method seven: the joint adopts a central hole for wiring, and the cable is arranged in the middle of the low-speed wire protection tube 19.

[0076] The joint adopts a center hole for wiring, and the low-speed wire protection tube 19 isolates the cable from the motor shaft 14, effectively protecting the cable from wear.

[0077] Other implementations are the same as the second specific implementation.

[0078] Specific implementation example eight: a dustproof bracket 17 is provided between the joint housing 13 and the harmonic reducer 16 , and a rubber ring 18 is provided between the dustproof bracket 17 and the joint housing 13 .

[0079] Other implementations are the same as the second specific implementation.

[0080] Specific implementation method 9: A sealing ring 2 is pressed between the joint rear cover 11 and the joint housing 13 .

[0081] Other implementations are the same as the second specific implementation.

[0082] Specific implementation method ten: the joint housing 13, the low-speed wire protection tube 19 and the motor shaft 14 can all be made of aluminum alloy, and the joint rear cover 11 is made of engineering plastic.

[0083] Other implementations are the same as the second specific implementation.

[0084] Working principle: The working process of a compact collaborative robot modular joint of the present invention is as follows: after the joint servo driver 2 receives the start command from the control system, the brake assembly 12 is energized, the electromagnet attracts the compression spring, the brake assembly 12 opens, and the joint servo driver 2 drives the motor assembly 15 to drive the motor shaft 14 to rotate, thereby driving the input end of the harmonic reducer 16 to rotate. After the harmonic reducer 16 is decelerated, the output end of the harmonic reducer 16 drives the output flange 20 to rotate, thereby realizing the output torque and speed of the joint. The motor end encoder reading head 10 reads the rotation angle and speed of the motor shaft 14, and the joint end encoder reading head 4 reads the rotation angle and speed of the output flange 20. When the joint servo driver 2 receives the stop command from the control system, it controls the motor assembly 15 to decelerate. The brake assembly 12 is powered off, the spring resets and presses the friction plate, and the joint stops.

Claims

1. A compact collaborative robot modular joint, characterized by: It comprises a joint housing, a driving mechanism, a motor assembly (15) and an output mechanism; the driving mechanism, the motor assembly (15) and the output mechanism are sequentially arranged inside the joint housing, the input end of the motor assembly (15) is connected to the driving mechanism, and the output end of the motor assembly (15) is connected to the output mechanism; The driving mechanism comprises a motor-end encoder code disc 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 driver bracket (6), a motor-end encoder code disc (9), a motor-end encoder reading head (10), and a brake assembly (12); The motor assembly (15) comprises a motor stator, an internal motor rotor and a motor shaft (14); The output mechanism comprises a harmonic reducer (16), a low-speed wire protection tube (19) and an output flange; The joint housing comprises a joint housing (13) and a joint rear cover (11); The driver bracket (6), the joint end encoder disc mounting seat (5), the motor end encoder disc mounting seat (1), the brake assembly (12), the motor assembly (15) and the harmonic reducer (16) are fixed on the joint housing (13) in sequence; The driver bracket (6) is fixedly connected to the joint housing (13), the joint servo driver (2) is fixed on the driver bracket (6), and the joint servo driver (2) is also connected to the joint housing (13) via a connecting column; the motor end encoder reading head (10) and the joint end encoder reading head (4) are integrated on the driver bracket (6); The motor-end encoder reading head (10) is arranged correspondingly to the motor-end encoder code disc (9), the motor-end encoder reading head (10) reads information of the motor-end encoder code disc (9), the motor-end encoder code disc (9) is fixedly connected to the motor-end encoder code disc mounting seat (1), and the motor-end encoder code disc mounting seat (1) is fixed to the outside of the motor shaft (14); The joint end encoder reading head (4) is arranged corresponding to the joint end encoder code disc (3), the joint end encoder reading head (4) reads the information of the joint end encoder code disc (3), the joint end encoder code disc (3) is fixedly connected to the joint end encoder code disc mounting seat (5), and the joint end encoder code disc mounting seat (5) is fixed to the outside of the low-speed wire protection tube (19); The low-speed wire protection tube (19) is arranged inside the motor shaft (14); A flat key is provided at one end of the motor shaft (14), and the flat key is connected to the hub of the inner ring friction plate of the brake assembly (12), and the housing of the brake assembly (12) is fixedly connected to the joint housing (13); The outer side of the motor stator is fixedly connected to the joint housing (13); the internal motor rotor is arranged inside the motor stator; The other end of the motor shaft (14) is fixedly connected to the internal motor rotor, and the tail of the other end of the motor shaft (14) is fixedly connected to the input end of the harmonic reducer (16); the output end of the harmonic reducer (16) is fixedly connected to the input end of the output flange (20); the output end of the output flange (20) is fixedly connected to the tail of the low-speed wire protection tube (19); The joint rear cover (11) is connected to the joint housing (13).

2. A compact collaborative robot modular joint according to claim 1, characterized in that: The inner ring of the brake assembly (12) is provided with a sealing ring mounting seat (7), a sealing ring 1 (8) is provided inside the sealing ring mounting seat (7), and the inner ring of the sealing ring 1 (8) is in contact with the motor shaft (14).

3. A compact collaborative robot modular joint according to claim 1, characterized in that: The low-speed wire protection tube (19) is connected to the output flange (20) via screws, and the joint end encoder code disc mounting seat (5) is connected to the low-speed wire protection tube (19) via threads.

4. A compact collaborative robot modular joint according to claim 1, characterized in that: The brake assembly (12) is of magnetic friction type. When the power is off, the brake locks the friction plate through the built-in spring, and the motor shaft (14) stops rotating through the brake hub; when the power is on, the electromagnet attracts the friction plate and presses the spring, and the brake assembly (12) releases the brake.

5. The compact collaborative robot modular joint according to claim 1, characterized in that: A gasket 1 is provided between the motor end encoder reading head (10) and the motor end encoder code disc (9); A second gasket is provided between the joint end encoder reading head (4) and the joint end encoder code disc (3).

6. The compact collaborative robot modular joint according to claim 1, characterized in that: The joint adopts a center hole for wiring, and the cable is arranged in the middle of the low-speed wire protection tube (19).

7. The compact collaborative robot modular joint according to claim 1, characterized in that: A dustproof bracket (17) is provided between the joint housing (13) and the harmonic reducer (16), and a rubber ring (18) is provided between the dustproof bracket (17) and the joint housing (13).

8. The compact collaborative robot modular joint according to claim 1, characterized in that: A sealing ring 2 is pressed between the joint rear cover (11) and the joint housing (13).

9. The compact collaborative robot modular joint according to claim 1, characterized in that: The joint housing (13), the low-speed wire protection tube (19) and the motor shaft (14) are all made of aluminum alloy, and the joint rear cover (11) is made of engineering plastic.

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