A joint module of a collaborative robot

Abstract

The present invention discloses a joint module for a collaborative robot. The left end of the harmonic reducer is connected to the housing by a flexible pulley and a cross roller bearing through an adapter plate. The right end of the harmonic reducer is connected to the output shaft. The output shaft is axially positioned with the motor shaft. The flexible pulley and the rigid pulley are connected to the cross roller bearing. The rigid pulley is connected to the output shaft. The flexible bearing is sleeved on a cam. The cam and the motor shaft are integrated. The cam and the flexible bearing constitute a wave generator. The flexible pulley is nested on the wave generator. The joint module of the collaborative robot provided by the present invention adjusts the size of the adapter plate according to the dimensional error of the motor. When the motor shaft rotates, the wave generator rotates, forcing the flexible pulley to deform only. The rigid pulley rotates and transmits power to the output shaft. The housing is isolated from the output module by the adapter plate, reducing the space occupied by the output module and its volume. It is axially connected to other loads to increase the transmission torque. The collaborative robot joint module provided by the present invention is suitable for the logistics industry, space research, medical treatment, laser and other precision industries.

Description

Technical Field

[0001] The present invention belongs to the technical field of collaborative robots, and particularly relates to a joint module of a collaborative robot. Background Art

[0002] Collaborative robots have experienced rapid development in recent years, but the high level of integration in joint modules determines the size of the cobot itself and its adaptability to the worksite. Joint modules integrate reducers, motors, drives, encoders, controllers, and more. Improving manufacturing processes while minimizing the size of joint modules while ensuring accuracy, torque, and power remains a significant bottleneck.

[0003] Existing collaborative robots must not only meet the requirements of their load stiffness but also reduce their volume. Therefore, there is an urgent need to design a highly integrated joint module to reduce the volume of the joint module while meeting the stiffness requirements of the collaborative robot. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide a joint module of a collaborative robot.

[0005] In order to achieve the above-mentioned purpose and the above-mentioned technical effect, the technical solution adopted by the present invention is:

[0006] A joint module of a collaborative robot includes a collaborative robot control module, an adapter plate, an output shaft, a motor, a motor shaft and a harmonic reducer. The controller of the collaborative robot control module is connected to the motor. The harmonic reducer includes a flexible wheel, a cross roller bearing, a rigid wheel and a wave generator. The left end of the harmonic reducer is connected to the housing through the adapter plate by the flexible wheel and the cross roller bearing. The right end of the harmonic reducer is connected to the output shaft. The output shaft is axially positioned and concentric with the motor shaft of the motor. The right end faces of the flexible wheel and the rigid wheel are respectively connected to the cross roller bearing. The cam and the flexible bearing are threadedly connected to the output shaft through screws. The wave generator is composed of a cam and a flexible bearing. The flexible bearing is sleeved on the cam and deformed. The cam and the motor shaft are integrated. The rigid wheel is positioned with the shoulder of the cross roller bearing. The motor shaft is positioned with the shoulder of the flexible bearing. The inner wall of the right end of the flexible wheel is nested on the wave generator. The flexible wheel is in contact with the flexible bearing. The outer gear ring of the flexible wheel is meshed with the inner gear ring of the rigid wheel. When the motor rotates, the motor shaft rotates and drives the wave generator to rotate. The flexible wheel is deformed and does not rotate. The deformation of the flexible wheel prompts the rigid wheel to rotate, and transmits power to the output shaft.

[0007] Furthermore, the housing is threadedly connected to the adapter plate and the harmonic reducer through screws. The housing only plays a fixing role, reducing the space occupied by the output device, thereby ensuring the structural compactness of the entire device. The right end face of the housing is positioned with the left end shoulder of the adapter plate through a stopper, and the right end shoulder of the adapter plate is positioned and connected with the left end stop of the flexible wheel. The right end face of the flexible wheel is connected to the upper end of the cross roller bearing, and the right end face of the rigid wheel is positioned with the lower end shoulder of the cross roller bearing. The adapter plate, the flexible wheel, the cross roller bearing and the housing are threadedly connected by screws.

[0008] Furthermore, a sealing ring is provided in the groove on the right end face of the adapter plate, and a sealing ring is provided in the groove on the left end face of the cross roller bearing.

[0009] Furthermore, a sleeve is fixed on the right side of the cross roller bearing, and a protective sleeve is detachably embedded in the sleeve, and the protective sleeve is made of elastic material.

[0010] Furthermore, the output shaft has a hollow structure, which facilitates the routing of power lines, signal lines, etc. of the joint module. The output shaft is axially positioned and assembled with the motor shaft through bearings to ensure the concentricity of the output shaft and the motor shaft.

[0011] Furthermore, a plurality of first through holes and second through holes are distributed in sequence from outside to inside along the circumferential direction on the right end surface of the output shaft. The first through hole is gourd-shaped. The output shaft is threadedly connected to the rigid wheel and the cross roller bearing through the second through hole. The output shaft is connected to other loads through the first through hole to transmit power and increase the transmitted torque.

[0012] Furthermore, the motor shaft is a hollow structure, the cam is directly machined on the motor shaft, and the flexible bearing is positioned by the second shoulder at the right end of the motor shaft.

[0013] Furthermore, the cam is elliptical, and the flexible bearing is sleeved on the cam and produces elliptical deformation.

[0014] Furthermore, it also includes a motor, the motor stator is positioned by a shaft shoulder and fixed to the housing by sealant, the motor rotor is positioned by a shaft shoulder and fixed to the motor shaft by sealant, and the motor transmits power to the wave generator and the output shaft in sequence by driving the motor shaft to rotate.

[0015] Furthermore, the motor is a frameless torque motor.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention discloses a joint module of a collaborative robot, comprising: a collaborative robot control module, a harmonic reducer, an output shaft, a motor, a motor shaft, an adapter plate, a sleeve, a protective sleeve, a flexible bearing, etc. The controller of the collaborative robot control module is connected to the motor. When the motor rotates, the motor shaft rotates. The harmonic reducer mainly comprises a rigid wheel, a flexible wheel, a cross-roller bearing, and a wave generator. The left end of the harmonic reducer is threadedly connected to the outer shell by the flexible wheel and the cross-roller bearing through the adapter plate. The right end of the harmonic reducer is threadedly connected to the output shaft. The output shaft is axially positioned with the motor shaft through the bearing and the two are concentric. The right end faces of the flexible wheel and the rigid wheel are respectively connected to the cross-roller bearing. The rigid wheel is threadedly connected to the output shaft. The flexible bearing is sleeved on the cam to generate deformation. The cam is directly integrated on the motor shaft. The motor shaft is positioned with the flexible bearing shoulder. The cam and the flexible bearing constitute a wave generator. The inner wall of the right end of the flexible wheel is nested in the wave generator. The flexible wheel contacts the flexible bearing, and the flexible wheel and the rigid wheel are meshed. The joint module of the collaborative robot provided by the present invention has a sleeve fixed on the right side of the cross roller bearing, and a protective sleeve detachably embedded in the sleeve. The protective sleeve is made of elastic material, and the cross roller bearing, flexible wheel, adapter plate and housing are fixedly connected by screws. The size of the adapter plate is adjusted according to the size error of the motor to avoid problems in the entire assembly due to the size error of the motor. The harmonic reducer is fixed to the flexible wheel and outputs the rigid wheel. The wave generator consists of a cam and a flexible bearing. When the motor shaft rotates, it drives the wave generator to rotate, forcing the flexible wheel to deform. Since the flexible wheel is fixed to the housing through a threaded connection, the flexible wheel only deforms but does not rotate. The outer gear ring of the flexspline meshes with the inner gear ring of the rigid wheel. The deformation of the flexspline causes the rigid wheel to rotate. The rigid wheel is positioned with the shoulder of the cross roller bearing. The rigid wheel is threadedly connected to the output shaft through screws to transmit power to the output shaft. The housing is threadedly connected to the adapter plate and the harmonic reducer through screws. The housing only plays a fixed role. The adapter plate isolates the housing from the output module, reducing the space occupied by the output module and its volume, thereby ensuring the compact structure of the joint module. The entire device is reliable and stable, and is axially connected to other loads to increase the transmitted torque. It has a simple structure and strong practicality. It is suitable for logistics, space research, medical, laser and other precision industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention.

[0019] Figure 2 It is a right side view of the output shaft of the present invention;

[0020] Figure 3 Schematic diagram of the structure of the harmonic reducer of the present invention;

[0021] Figure 4 For the present invention Figure 1 Schematic diagram of the motor;

[0022] Among them, 1. collaborative robot control module; 2. adapter plate; 3. flexible wheel; 4. cross roller bearing; 5. sleeve; 6. protective cover; 7. output shaft; 8. flexible bearing; 9. motor shaft; 10. bearing; 11. rigid wheel; 12. housing; 13. motor; 14. first through hole; 15. second through hole; 16. harmonic reducer; 17. motor stator; 18. motor rotor. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0024] like Figure 1-3 As shown, a joint module of a collaborative robot includes an input module, a collaborative robot control module 1 and an output module. The input module is a motor 13. The collaborative robot control module 1 includes an encoder, a driver, a controller, a brake, etc. The controller is connected to the motor 13, the encoder, the driver, and the brake. The encoder converts the received signal or data into a signal recognizable by the controller. The controller drives the motor 13 to decelerate to stop or start by controlling the brake or the driver. While the motor 13 rotates, the motor shaft 9 rotates, driving the wave generator to rotate. This can be achieved using existing technology and is common knowledge among those skilled in the art, so it will not be elaborated here. The output module includes an adapter plate 2, a sleeve 5, a protective sleeve 6, an output shaft 7, a motor shaft 9, a harmonic reducer 16, etc. The harmonic reducer 16 mainly includes a flexible wheel 3, a cross roller bearing 4, a rigid wheel 11 and a wave generator. The left end of the harmonic reducer 16 is composed of a flexible wheel 3 and a cross roller shaft The bearing 4 is threadedly connected to the housing 12 through the adapter plate 2, and its right end is threadedly connected to the output shaft 7. The output shaft 7 is axially positioned with the motor shaft 9 through the bearing 10. The output shaft 7 is concentric with the motor shaft 9. The cam and the flexible bearing 8 constitute a wave generator. The cam of the wave generator is directly integrated on the motor shaft 9. The sleeve 5 is fixed to the right side of the cross roller bearing 4. The protective sleeve 6 is detachably embedded in the sleeve 5. The protective sleeve 6 is made of elastic material and can be directly removed from the sleeve 5. It mainly plays the role of protecting the output device of the joint module. The adapter plate 2 is matched with the housing 12 through the left shoulder, and the adapter plate 2 is matched with the flexible wheel 3 through the right shoulder. A groove is provided on the side of the adapter plate 2 that contacts the flexible wheel 3 and there is a sealing ring in the groove. The cross roller bearing 4 is fixed to the right side of the flexible wheel 3 and there is also a sealing ring in its groove. The size of the adapter plate 2 is adjusted according to the size error of the motor 13 to avoid problems in the entire assembly due to the size error of the motor 13.

[0025] The shell 12 is threadedly connected to the adapter plate 2 and the harmonic reducer 16 through screws. The shell 12 only plays a fixing role. The adapter plate 2 isolates the shell 12 from the output module, reducing the space occupied by the output module, thereby ensuring the structural compactness of the overall joint module device.

[0026] Specifically, the right end face of the housing 12 is positioned with the left end shoulder of the adapter plate 2 through a stopper, the right end shoulder of the adapter plate 2 is positioned and connected with the left end stop of the flexible wheel 3, a sealing ring is sealed in the groove opened on the right end face of the adapter plate 2, the right end face of the flexible wheel 3 is connected to the upper end of the cross roller bearing 4, and a sealing ring is also sealed in the groove on the left end face of the cross roller bearing 4, and the adapter plate 2, the flexible wheel 3, the cross roller bearing 4 and the housing 12 are fixedly connected by screws.

[0027] The cam has an elliptical structure, and the flexible bearing 8 is sleeved on the cam, causing deformation. The inner wall of the right end of the flexible wheel 3 is nested on the wave generator, forcing the flexible wheel 3 to deform. The flexible wheel 3 contacts the flexible bearing 8 to form an elliptical structure matching the shape of the cam. The outer gear ring of the flexible wheel 3 is engaged with the inner gear ring of the rigid wheel 11. The number of teeth of the rigid wheel 11 is two more than that of the flexible wheel 3. The speed reduction transmission is achieved by the difference in the number of teeth. The right end face of the rigid wheel 11 is positioned with the lower end shoulder of the cross roller bearing 4. There is a sealing ring between the rigid wheel 11 and the cross roller bearing 4. The right side of the rigid wheel 11 is threadedly connected to the output shaft 7. There is a sealing ring in the groove opened on the rigid wheel 11. The cross roller bearing 4, the output shaft 7 and the rigid wheel 11 are threadedly connected by screws.

[0028] like Figure 2 As shown, the motor 13 is a frameless torque motor, whose motor stator 17 is fixed to the housing 12 by shaft shoulder positioning and sealant, and its motor rotor 18 is fixed to the motor shaft 9 by shaft shoulder positioning and sealant. The motor shaft 9 is a hollow structure, and an inner stop is provided at the right end of the motor shaft 9 for installing a bearing 10. The motor shaft 9 is axially positioned with the output shaft 7 through the bearing 10 to maintain its concentricity with the output shaft 7 and increase the stability and rigidity of the structure. Two shaft shoulders are provided on the motor shaft 9, one for installing the bearing 10, and the other. The elliptical cam is directly machined on the motor shaft 9 and is an integrated design with the motor shaft 9. The flexible bearing 8 is sleeved on the cam and the positioning cooperation with the flexible bearing 8 is achieved through the second section of the shaft shoulder at the right end of the motor shaft 9. The flexible bearing 8 is in contact with the flexible wheel 3, and can directly transmit power to the flexible wheel 3, and the flexible wheel 3 is deformed when rotating.

[0029] The output shaft 7 is a hollow structure, which is convenient for routing the power lines, signal lines, etc. of the joint module. The output shaft 7 is axially positioned and assembled with the motor shaft 9 through the bearing 10 to ensure the concentricity of the output shaft 7 and the motor shaft 9. The right end face of the output shaft 7 is provided with a number of first through holes 14 in a gourd-shaped structure and a number of circular second through holes 15 in sequence from the outside to the inside along the circumferential direction. The second through holes 15 are adapted to the cross roller bearing 4 and the rigid wheel 11. The output shaft 7 is threadedly connected to the cross roller bearing 4 and the rigid wheel 11 through the second through holes 15, and is threadedly connected to other load modules through the first through holes 14. Axial positioning connection is adopted to transmit power and increase the transmission torque.

[0030] The harmonic reducer is secured by flexspline 3 and outputs power through rigid pulley 11. When motor shaft 9 rotates, it drives the wave generator, forcing flexspline 3 to deform. Because flexspline 3 is secured to the housing via a threaded connection, it deforms without rotating. The outer ring gear of flexspline 3 meshes with the inner ring gear of rigid pulley 11, causing deformation of flexspline 3 to rotate. Rigid pulley 11 is positioned against the shoulder of cross-roller bearing 4 and threadedly connected to output shaft 7 via screws, transmitting power to the output shaft.

[0031] The parts of the present invention not described include products and methods not described in detail, which can be implemented using existing technologies and will not be described in detail here.

[0032] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structures or equivalent process changes made using the contents of the present invention's description and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A joint module of a collaborative robot, characterized in that: The invention comprises a collaborative robot control module (1), a motor (13) and an output module, wherein the output module comprises an adapter plate (2), a sleeve (5), a protective sleeve (6), an output shaft (7), a motor shaft (9), and a harmonic reducer (16). The controller of the collaborative robot control module (1) is connected to the motor (13). The harmonic reducer (16) comprises a flexible wheel (3), a cross roller bearing (4), a rigid wheel (11) and a wave generator. The left end of the harmonic reducer (16) is connected to the housing (12) by the flexible wheel (3) and the cross roller bearing (4) through the adapter plate (2). The right end of the harmonic reducer (16) is connected to the output shaft (7). The output shaft (7) is connected to the motor shaft (9) of the motor (13). ) are axially positioned and concentric, the left end faces of the flexible wheel (3) and the rigid wheel (11) are respectively connected to the cross roller bearing (4), the rigid wheel (11) is threadedly connected to the output shaft (7), the cam and the flexible bearing (8) constitute a wave generator, the flexible bearing (8) is sleeved on the cam, and deformation occurs, the cam and the motor shaft (9) are integrated, the motor shaft (9) and the flexible bearing (8) are positioned at the shoulder, the inner wall of the right end of the flexible wheel (3) is nested on the wave generator, the flexible wheel (3) contacts the flexible bearing (8), the flexible wheel (3) and the rigid wheel (11) are engaged, the motor shaft (9) rotates and drives the wave generator to rotate, the flexible wheel (3) is deformed and does not rotate, prompting the rigid wheel (11) to rotate, output power and transmit it to the output shaft (7); A sleeve (5) is fixed to the right side of the cross roller bearing (4), and a protective sleeve (6) is detachably embedded in the sleeve (5), and the protective sleeve (6) is made of elastic material; The housing (12) is threadedly connected to the adapter plate (2) and the harmonic reducer (16) through screws, the right end face of the housing (12) is positioned with the left end shoulder of the adapter plate (2) through a stopper, the right end shoulder of the adapter plate (2) is positioned with the left end stopper of the flexible wheel (3), the right end face of the flexible wheel (3) is connected with the upper end of the cross roller bearing (4), the left end face of the rigid wheel (11) is positioned with the lower end shoulder of the cross roller bearing (4), and the adapter plate (2), the flexible wheel (3), the cross roller bearing (4) and the housing (12) are threadedly connected through screws; The cam is elliptical in shape, and the flexible bearing (8) is sleeved on the cam to produce deformation. The inner wall of the right end of the flexible wheel (3) is nested on the wave generator, forcing the flexible wheel (3) to deform. The flexible wheel (3) contacts the flexible bearing (8) to form an elliptical structure matching the shape of the cam. The outer gear ring of the flexible wheel (3) is meshed with the inner gear ring of the rigid wheel (11). The number of teeth of the rigid wheel (11) is two more than the number of teeth of the flexible wheel (3). The speed reduction transmission is achieved by the difference in the number of teeth. There is a sealing ring between the rigid wheel (11) and the cross roller bearing (4). There is a sealing ring in the groove opened on the rigid wheel (11). The cross roller bearing (4), the output shaft (7) and the rigid wheel (11) are threadedly connected by screws. The size of the adapter plate (2) is adjusted according to the size error of the motor (13).

2. The joint module of a collaborative robot according to claim 1, characterized in that: The right end surface groove of the adapter plate (2) is sealed with a sealing ring, and the left end surface groove of the cross roller bearing (4) is sealed with a sealing ring.

3. The joint module output device of a collaborative robot according to claim 1, characterized in that: The output shaft (7) is a hollow structure, and the output shaft (7) is axially positioned and assembled with the motor shaft (9) via a bearing (10).

4. The joint module output device of a collaborative robot according to claim 1, characterized in that: The right end surface of the output shaft (7) is provided with a plurality of first through holes (14) and second through holes (15) distributed in sequence from outside to inside along the circumferential direction. The first through hole (14) is gourd-shaped. The output shaft (7) is threadedly connected to the cross roller bearing (4) and the rigid wheel (11) through the second through hole (15). The output shaft (7) is connected to other loads through the first through hole (14).

5. The joint module output device of a collaborative robot according to claim 1, characterized in that: The motor shaft (9) is a hollow structure, and the flexible bearing (8) is positioned via the second shoulder section at the right end of the motor shaft (9).

6. The joint module of a collaborative robot according to claim 1, characterized in that: The motor stator (17) of the motor (13) is fixed to the housing (12) by means of shaft shoulder positioning and sealant, and the motor rotor (18) is fixed to the motor shaft (9) by means of shaft shoulder positioning and sealant. The motor (13) transmits power to the wave generator and the output shaft (7) in sequence by driving the motor shaft (9) to rotate.

7. The joint module of a collaborative robot according to claim 6, characterized in that: The motor (13) is a frameless torque motor.

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