A robot joint module

Abstract

The present invention relates to the field of robot technology, and specifically to a robot joint module, including a module end cover, a circuit board, an encoder disc, a motor, a brake, a reducer and a reducer output shaft arranged in sequence, wherein the encoder disc includes an encoder first disc for measuring the angle of the reducer output shaft, and an encoder second disc for measuring the angle of the motor, and a motor driver circuit, a motor input end reader circuit and a reducer output end reader circuit are arranged on the circuit board, and the motor input end reader circuit and the reducer output end reader circuit correspond to the position settings of the encoder second disc and the encoder first disc, respectively. By uniformly arranging the motor input end reader circuit, the reducer output end reader motor and the motor driver circuit on the circuit board, the joint module is prevented from having chaotic routing, which is conducive to integrating the joint module structure, ensuring that its structure is simple and compact, and also convenient for subsequent maintenance.

Description

Technical Field

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

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. Among the robot-related technologies, the control of robot joints and other moving parts is the most important and critical.

[0003] The robot joint module in the prior art has a complex structure, and the corresponding reader and driver circuits are distributed on different circuit boards, resulting in confusing wiring and difficult installation. At the same time, the entire joint requires multiple parts to be assembled, and the resulting joint is large in size and heavy in weight. In addition, it is difficult to maintain due to too many parts, which greatly limits the use of the entire robot. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a robot joint module with a simple and compact structure in view of the above-mentioned defects of the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to provide a robot joint module, including a module end cover, a circuit board, an encoder code disk, a motor, a brake, a reducer and a reducer output shaft arranged in sequence, wherein the encoder code disk includes a first encoder code disk for measuring the rotation angle of the reducer output shaft, and a second encoder code disk for measuring the rotation angle of the motor; a motor driver circuit, a motor input end reader circuit and a reducer output end reader circuit are arranged on the circuit board; the motor input end reader circuit and the reducer output end reader circuit correspond to the position settings of the encoder second code disk and the encoder first code disk respectively.

[0006] A further preferred solution of the present invention is that the first encoder code disc and the second encoder code disc are concentrically arranged, the first encoder code disc is arranged in the hollow circle of the second encoder code disc, and the first encoder code disc is fixedly connected to the output shaft of the reducer.

[0007] A further preferred embodiment of the present invention is: the motor includes a motor input shaft, a bearing, a motor rotor, a motor stator and a motor housing, one end of the motor input shaft is assembled with the motor housing through a bearing, the motor rotor is arranged on the motor input shaft, the motor stator is arranged on the outside of the motor rotor, and the second code disk of the encoder is fixed to the outer end of the motor input shaft.

[0008] A further preferred embodiment of the present invention is: the motor input shaft includes a base and a hollow shaft, the base and the hollow shaft are connected via a first shoulder, a cavity for accommodating the first code disk of the encoder is provided inside the base, a limiting boss is provided on the inner side of the motor housing, the bearing includes a bearing outer ring and a bearing inner ring, the bearing inner ring is connected to the first shoulder, and the bearing outer ring is supported on the limiting boss.

[0009] A further preferred solution of the present invention is that a second shaft shoulder for supporting the motor rotor is provided on the hollow shaft.

[0010] A further preferred embodiment of the present invention is: the robot joint module also includes a sleeve, the sleeve includes an inner cylinder, an outer cylinder, and a transition shoulder connecting the inner cylinder and the outer cylinder, the inner cylinder is installed on the reducer, the motor input shaft is fixed to the inner side of the outer cylinder, and the outermost end of the motor input shaft rests on the transition shoulder.

[0011] A further preferred solution of the present invention is that the motor stator is provided with an annular groove corresponding to the limiting boss, and the motor stator and the bearing are respectively arranged on both sides of the limiting boss.

[0012] A further preferred embodiment of the present invention is that a thread is provided at one end of the reducer output shaft connected to the first encoder disc, the first encoder disc is provided with a threaded fixing seat, and the fixing seat is threadedly connected to the reducer output shaft.

[0013] A further preferred solution of the present invention is that heat dissipation holes are provided on the module end cover.

[0014] In the robot joint module provided by the present invention, the motor input end reader circuit, the reducer output end reader motor and the motor driver circuit are uniformly arranged on the circuit board to prevent the joint module from having chaotic wiring, which is conducive to integrating the joint module structure, ensuring its structure is simple and compact, and also convenient for subsequent maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0016] Figure 1 It is a schematic diagram of the decomposed structure of the robot joint module of the present invention;

[0017] Figure 2 It is a cross-sectional view of the robot joint module of the present invention without the module end cover and the circuit board;

[0018] Figure 3 It is a schematic diagram of the structure of the motor input shaft of the present invention;

[0019] Figure 4 It is a schematic diagram of the shaft sleeve structure of the present invention;

[0020] Figure 5 It is a schematic diagram of the structure of the motor housing of the present invention.

[0021] In the figure: module end cover 1, heat dissipation holes 11, wiring holes 12; circuit board 2; encoder first code disk 3, fixing seat 31; encoder second code disk 4; motor housing 51, limiting boss 511; motor input shaft 52, base 521, first shoulder 522, cavity 523, hollow shaft 524, second shoulder 525; bearing 53; motor stator 54, annular groove 541; motor rotor 55; brake 6; bushing 7, outer cylinder 71, inner cylinder 72, transition shoulder 73; reducer 8; reducer output shaft 9. DETAILED DESCRIPTION

[0022] Now, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0023] like Figure 1-5 As shown, the present invention provides a robot joint module, including a module end cover 1, a circuit board 2, an encoder disc, a motor, a brake 6, a reducer 8 and a reducer output shaft 9, wherein the encoder disc includes an encoder first disc 3 for measuring the angle of the reducer output shaft 9, and an encoder second disc 4 for measuring the motor angle, and the circuit board 2 is provided with a motor driver circuit, a motor input end reader circuit and a reducer output end reader circuit, and the motor input end reader circuit and the reducer output end reader circuit are respectively arranged corresponding to the positions of the encoder second disc 4 and the encoder first disc 3. The encoder first disc 3 is arranged to measure the angle of the reducer output shaft 9, and the encoder second disc 4 measures the motor angle. By uniformly arranging the motor input end reader circuit, the reducer output end reader motor and the motor driver circuit on a circuit board 2, the joint module can be prevented from having chaotic wiring, which is conducive to integrating the joint module structure, ensuring that its structure is simple and compact, and also convenient for subsequent maintenance, while also reducing the production cost.

[0024] Specifically, the second encoder disc 4 is used to measure the rotation angle of the motor, and the first encoder disc 3 is used to measure the rotation angle of the output shaft 9 of the reducer. The first encoder disc 3 and the second encoder disc 4 are concentrically arranged, and the inner diameter of the second encoder disc 4 is larger than the outer diameter of the first encoder disc 3. The first encoder disc 3 is nested in the hollow circle of the second encoder disc 4, and the first encoder disc 3 is fixed to the output shaft 9 of the reducer. The concentrically arranged first encoder disc 3 and the second encoder disc 4 are conducive to the reading of the reader on the circuit board 2, and improve the measurement accuracy of the corresponding rotation angle. The encoder of the present invention can adopt a magnetic encoder or a photoelectric encoder, and preferably adopts a magnetic encoder, which has better corresponding thermal stability and can ensure accuracy.

[0025] The motor comprises a motor input shaft 52, a bearing 53, a motor rotor 55, a motor stator 54 and a motor housing 51. A hollow cavity is formed inside the motor housing 51. The motor input shaft 52, the motor stator 54 and the motor rotor 55 are all arranged in the hollow cavity of the motor housing 51. One end of the motor input shaft 52 is assembled with the motor housing 51 through the bearing 53. The motor rotor 55 is arranged on the motor input shaft 52. The motor stator 54 is arranged outside the motor rotor 55. The second encoder disc 4 is fixed to the outer end of the motor input shaft 52. The circuit board 2 is embedded in the module end cover 1. The module end cover 1 is fixed to one end of the motor housing 51 and can be locked by screws. The module end cover 1 is provided with a wiring hole 12 and a heat dissipation hole 11 for heat dissipation of the circuit board 2. The other end of the motor housing 51 is connected to the reducer 8.

[0026] Combination Figure 1-3 and Figure 5 The motor input shaft 52 of the present invention includes a base 521 and a hollow shaft 524, wherein the base 521 and the hollow shaft 524 are connected via a first shoulder 522, a limiting boss 511 is provided on the inner side of the motor housing 51, and the bearing 53 includes a bearing outer ring and a bearing inner ring, wherein the bearing outer ring is supported on the limiting boss 511 of the motor housing 51, and the bearing inner ring is connected to one end of the first shoulder 522 close to the base. The hollow shaft 524 is provided with a second shoulder 525 for supporting the motor rotor 55, and an annular groove 541 is provided at the outer end of the motor stator 54 to cooperate with the limiting boss 511 of the motor housing 51, and the inner end of the motor stator 54 is supported on the first shoulder 522 of the hollow shaft close to one end of the hollow shaft. The inner end of the base 521 is provided with a cavity 523 for accommodating the first code disc 3 of the encoder. The cavity 523 can also be used to accommodate the mounting seat of the encoder code disc. The reducer output shaft 9 passes through the motor input shaft 52 and is fixedly connected to the first code disc 3 of the encoder.

[0027] Further integration Figure 4 One end of the reducer 8 is connected to the motor housing 51, and the other end is fixed to the reducer output shaft 9. The robot joint module also includes a sleeve 7, and the sleeve 7 includes an inner cylinder 72, an outer cylinder 71 and a transition shoulder 73. The inner cylinder 72 is fixedly installed on the reducer 8 to form the input part of the reducer 8. The outer side of the hollow shaft 524 of the motor input shaft 52 is away from the base 521 and is fixed to the inner side of the outer cylinder 71. The outermost end of the hollow shaft 524 rests on the transition shoulder 73, and the inner diameter of the transition shoulder 73 is the same as the inner diameter of the hollow shaft 524.

[0028] In the present invention, a thread is provided at one end of the reducer output shaft 9 connected to the first encoder disc 3, and the first encoder disc 3 is provided with a threaded fixing seat 31, and the fixing seat 31 is threadedly connected to the reducer output shaft 9, and the height formed by the connection between the reducer output shaft 9 and the fixing seat 31 should keep the first encoder disc 3 and the second encoder disc 4 in the same plane. In other embodiments, the first encoder disc 3 and the reducer output shaft 9 can be fixed by screws or the like. The reducer output shaft 9 of the present invention is directly connected to the first encoder disc 3, without other fixed structures in the middle, and the angle of rotation of the reducer output shaft 9 can be directly measured without unnecessary parts, and the structure is simple. Furthermore, the robot joint module of the present invention includes a brake 6, and the brake 6 is arranged in the inner cavity of the motor housing 51. Furthermore, in this embodiment, the brake 6 is a tooth clutch, which is used for braking the joint module, and the motor rotor 55 is braked by controlling the power supply of the brake 6. When the power is turned on, the motor rotor 55 rotates freely; when the brake 6 is not powered, the motor rotor is pressed by the brake 55 and cannot rotate, thereby achieving braking. Compared with the use of ejector brakes, which are prone to instability and short ejector life, and the use of friction brakes, which may fail due to lubricant infiltration, the tooth clutch used in this embodiment is more stable and has a longer life, and is more convenient for maintenance.

[0029] The joint module of the present invention utilizes a bearing 53 to assemble the motor assembly and the reducer 8, and at the same time integrates the motor driver circuit, the motor input end reader circuit and the reducer output end reader circuit onto a circuit board 2, and sets the first encoder code disk 3 and the second encoder code disk 4 concentrically, which greatly reduces the use and assembly costs of parts, and saves manpower and time.

[0030] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A robot joint module, characterized in that: The invention comprises a module end cover, a circuit board, an encoder disc, a motor, a brake, a reducer and a reducer output shaft which are arranged in sequence, wherein the encoder disc comprises a first encoder disc for measuring the rotation angle of the reducer output shaft, and a second encoder disc for measuring the rotation angle of the motor, and a motor driver circuit, a motor input end reader circuit and a reducer output end reader circuit are arranged on the circuit board, and the motor input end reader circuit and the reducer output end reader circuit correspond to the positions of the second encoder disc and the first encoder disc respectively; The circuit board is embedded in the module end cover; a thread is provided at one end of the reducer output shaft connected to the first encoder disc, the first encoder disc is provided with a threaded fixing seat, and the fixing seat is threadedly connected to the reducer output shaft; the height formed by the connection between the reducer output shaft and the fixing seat should keep the first encoder disc and the second encoder disc in the same plane; The motor comprises a motor input shaft, a bearing, a motor rotor, a motor stator and a motor housing, and the motor input shaft is assembled with the motor housing through the bearing; The motor input shaft includes a base and a hollow shaft, the base and the hollow shaft are connected via a first shoulder, a cavity for accommodating a first code disk of an encoder is provided inside the base, a limiting boss is provided on the inner side of the motor housing, the bearing includes a bearing outer ring and a bearing inner ring, the bearing inner ring is connected to the first shoulder, and the bearing outer ring is supported on the limiting boss.

2. The robot joint module according to claim 1, characterized in that: The first code disc of the encoder and the second code disc of the encoder are arranged concentrically, the first code disc of the encoder is arranged in the hollow circle of the second code disc of the encoder, and the first code disc of the encoder is fixedly connected to the output shaft of the reducer; The brake is a tooth clutch.

3. The robot joint module according to claim 2, characterized in that: The motor rotor is arranged on the motor input shaft, the motor stator is arranged outside the motor rotor, and the second code disk of the encoder is fixed to the outer end of the motor input shaft.

4. The robot joint module according to claim 3, characterized in that: The hollow shaft is provided with a second shaft shoulder for supporting the motor rotor.

5. The robot joint module according to claim 4, characterized in that: The robot joint module also includes a sleeve, which includes an inner cylinder, an outer cylinder, and a transition shoulder connecting the inner cylinder and the outer cylinder. The inner cylinder is installed on the reducer, the motor input shaft is fixed to the inner side of the outer cylinder, and the outermost end of the motor input shaft rests on the transition shoulder.

6. The robot joint module according to claim 5, characterized in that: The motor stator is correspondingly provided with an annular groove matched with the limiting boss, and the motor stator and the bearing are respectively arranged on both sides of the limiting boss.

7. The robot joint module according to claim 1, characterized in that: The module end cover is provided with heat dissipation holes.

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