An intelligent integrated robot joint

Abstract

The present invention belongs to the field of robot joint transmission and control technology, and specifically discloses an intelligent integrated robot joint, including a main motor, an adjusting motor, a planetary gear transmission mechanism and an external gear, wherein the main motor is the main input of the planetary gear transmission mechanism, the external gear is rotationally connected to the planetary gear transmission mechanism, the adjusting motor serves as the adjusting input of the planetary gear transmission mechanism through the external gear, and the planetary gear transmission mechanism is the output of the robot joint. The present invention can calculate the torque applied to the joint by monitoring the current of the adjusting motor, thereby facilitating force control; and can sense dynamic collisions by monitoring the speed of the adjusting motor, thereby facilitating improved safety in robot operation. The realization of the above functions of the present invention does not rely on force and torque sensors and complex algorithms, thereby reducing the cost and complexity of the operating system.

Description

Technical Field

[0001] The present invention relates to the field of robot joint transmission and control technology, and in particular to an intelligent integrated robot joint that realizes force-position control without the need for force and torque sensors. Background Art

[0002] Industrial robots have been widely used in industrial fields such as automobiles and 3C electronics. With the improvement of their intelligence, industrial robots are becoming more and more widely used in industries such as metallurgy, mining, petroleum, and chemicals. When industrial robots move in free space, high rigidity is often required to improve the accuracy of movement. In this case, position control can meet the requirements. However, when the end effector comes into contact with an obstacle in the working environment, position control alone can no longer meet the requirements. Generally, force-position hybrid control is required to complete the task. The force and position control of existing industrial robots is generally achieved through feedback control based on force or torque sensors. This method relies on force or torque sensors and complex algorithms, which makes the operating system complex and costly. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide an intelligent integrated robot joint to solve the problems in the prior art that the robot joint needs to rely on force or torque sensors and complex algorithms when realizing force and position control, resulting in complex transmission operation system structure and high cost.

[0004] To achieve the above-mentioned objectives and other related objectives, the present invention provides an intelligent integrated robot joint, including a main motor, an adjusting motor, a planetary gear transmission mechanism and an external gear, wherein the main motor is the main input of the planetary gear transmission mechanism, the external gear is rotationally connected to the planetary gear transmission mechanism, the adjusting motor serves as the adjusting input of the planetary gear transmission mechanism through the external gear, and the planetary gear transmission mechanism is the output part of the robot joint.

[0005] Furthermore, the planetary gear transmission mechanism has two degrees of freedom.

[0006] Furthermore, the planetary gear transmission mechanism is one of a simple planetary gear transmission mechanism, an involute small tooth difference planetary gear transmission mechanism or a cycloid pinwheel planetary gear transmission mechanism.

[0007] Furthermore, the simple planetary gear transmission mechanism includes an input shaft, a sun gear, planetary gears, a planetary carrier and a ring gear, the two ends of the input shaft are respectively connected to the sun gear and the main motor, the sun gear is meshed with the planetary gears, the planetary gears are installed on the planetary carrier, the ring gear is provided with external teeth and internal teeth, the internal teeth of the ring gear are meshed with the planetary gears, the external teeth of the ring gear are meshed with the external gear, the external gear is connected to the adjusting motor, and the planetary carrier is the output part of the simple planetary gear transmission mechanism.

[0008] Furthermore, the involute small tooth difference planetary gear transmission mechanism includes an input shaft, planetary gears, an output mechanism and a ring gear. The two ends of the input shaft are respectively connected to the planetary gears and the main motor. The ring gear is provided with external teeth and internal teeth. The internal teeth of the ring gear are engaged with the planetary gears, and the external teeth of the ring gear are engaged with the external gear. The external gear is connected to the adjustment motor. The output mechanism is connected to the planetary gears. The output mechanism is the output part of the involute small tooth difference planetary gear transmission mechanism.

[0009] Furthermore, the cycloid pinwheel planetary gear transmission mechanism includes an input shaft, an eccentric arm bearing, a cycloid wheel, pin teeth, an output mechanism and a pin gear ring. The input shaft is connected to the main motor, and the cycloid wheel is supported on the input shaft through an eccentric arm bearing. The cycloid wheel is eccentrically arranged relative to the pin gear ring, and the cycloid wheel is meshed with the pin teeth. The pin gear ring is provided with external teeth and internal teeth. The internal teeth of the pin gear ring are meshed with the pin teeth, and the external teeth of the pin gear ring are meshed with the external gear. The external gear is connected to the adjusting motor, and the output mechanism is the output part of the cycloid pinwheel planetary gear transmission mechanism.

[0010] Furthermore, the planetary gear transmission mechanism is a transmission device with a large transmission ratio, which is greater than 11, to ensure the accuracy of position control.

[0011] Furthermore, the transmission mechanism composed of the planetary gear transmission mechanism and the external gear has a small transmission ratio device, with a transmission ratio of 1 to 11, so as to perform force control.

[0012] Furthermore, the output mechanism is a pin-type output mechanism or a floating disc-type output mechanism.

[0013] A second aspect of the present invention provides a robot comprising the intelligent integrated robot joint described in the first aspect.

[0014] Furthermore, the output part of the planetary gear transmission mechanism is connected to a connecting rod, and the connecting rod is connected to the robot articulated arm to control the movement of the robot.

[0015] As described above, the intelligent integrated robot joint of the present invention has the following beneficial effects:

[0016] The robot joints in the present invention can calculate the torque applied to the robot joints by monitoring and adjusting the motor current, thereby facilitating force control; and by monitoring and adjusting the motor speed, dynamic collisions of the robot joints can be sensed, thereby facilitating improving the safety of the robot operation.

[0017] The planetary transmission device in the present invention can realize position control and force control simultaneously, has high safety, and the realization of the above functions does not rely on force and torque sensors and complex algorithms, thereby reducing equipment costs and the complexity of the operating system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of an intelligent integrated robot joint in an embodiment of the present invention;

[0019] Figure 2 Schematic diagram of the structure of the involute small tooth difference planetary gear transmission mechanism in Example 1 of the present invention;

[0020] Figure 3 Schematic diagram of the structure of a simple planetary gear transmission mechanism in Example 2 of the present invention;

[0021] Figure 4 Schematic diagram of the structure of the cycloid pinwheel planetary gear transmission mechanism in Example 3 of the present invention. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention.

[0023] It should be noted that the diagrams provided in the present embodiment are only schematic illustrations of the basic concept of the present invention. The diagrams only show the components related to the present invention and are not drawn according to the number, shape and size of the components during actual implementation. The type, quantity and ratio of each component during actual implementation can be changed at will, and the component layout type may also be more complex. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose of the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of the present invention without substantially changing the technical content.

[0024] Description of reference numerals:

[0025] Main motor 1, regulating motor 2, planetary gear transmission mechanism 3, input shaft 31, planetary gear 32, output mechanism 33, ring gear 34, external gear 4, connecting rod 5, sun gear 6, planet carrier 7, pin gear 8, cycloid gear 9, pin gear ring 10.

[0026] The present invention provides an intelligent integrated robot joint that can achieve force-position control without the need for force and torque sensors, comprising a main motor, an adjustment motor, a planetary gear transmission mechanism, and an external gear. The planetary gear transmission mechanism has two degrees of freedom, the main motor serves as the main input of the planetary gear transmission mechanism, the adjustment motor serves as the adjustment input of the planetary gear transmission mechanism through the external gear, and the output of the planetary gear transmission mechanism serves as the output of the intelligent integrated joint. The planetary gear transmission mechanism can be a simple planetary gear transmission mechanism with two degrees of freedom, an involute small tooth difference planetary gear transmission mechanism, or a cycloid pinwheel planetary gear transmission mechanism, but is not limited thereto. Specifically, the planetary gear transmission mechanism is a transmission device with a large transmission ratio, with a transmission ratio of 11 or more, to ensure the accuracy of position control; the transmission mechanism composed of the planetary gear transmission mechanism and the external gear has a small transmission ratio device, with a transmission ratio of 1 to 11, so as to perform force control.

[0027] Among the three components of a common planetary gear transmission mechanism, such as a simple planetary gear transmission mechanism, the three components refer to the sun gear, the planet carrier and the ring gear. Generally, one of them (the planet carrier) needs to be fixed first, and then one is used as the input (sun gear) and the other as the output (ring gear). The feature of the present invention is that the three components in the planetary gear transmission mechanism are not fixed, two are used as input (sun gear and ring gear), and one is used as output (planet carrier), to construct an integrated joint. Based on the structural characteristics, the algorithm is used to achieve the purpose of force control without relying on sensors.

[0028] The intelligent integrated robot joint of the present invention has the following beneficial effects:

[0029] (1) This joint can calculate the torque applied to the joint by monitoring and adjusting the motor current, which facilitates force control.

[0030] (2) This joint senses dynamic collisions by monitoring and adjusting the speed of the motor, thereby improving the safety of the robot's operation.

[0031] (3) This joint can achieve position control and force control at the same time, while improving safety.

[0032] (4) The realization of the above functions of this joint does not rely on force and torque sensors and complex algorithms, which reduces the cost and complexity of the operating system.

[0033] The specific implementation process is as follows:

[0034] Example 1

[0035] like Figure 1 and Figure 2As shown, the intelligent integrated robot joint of this embodiment includes a main motor 1, an adjustment motor 2, a planetary gear transmission mechanism 3, and an external gear 4. The planetary gear transmission mechanism 3 is an involute small-tooth-difference planetary gear transmission mechanism. The involute small-tooth-difference planetary gear transmission mechanism includes an input shaft 31, planetary gears 32, an output mechanism 33, and a ring gear 34. The ring gear 34 has both external and internal teeth. The internal teeth of the ring gear 34 mesh with the planetary gears 32, and the external teeth of the ring gear 34 mesh with the external gear 4. The external gear 4 is connected to the adjustment motor 2, and the output mechanism 33 is connected to the planetary gears 32. The two ends of the input shaft 31 are respectively connected to the planetary gears 32 and the main motor 1. The main motor 1 serves as the main input of the planetary gear transmission mechanism 3. The adjustment motor 2 serves as the adjustment input of the planetary gear transmission mechanism 3 through the external gear 4. The output mechanism 33 is the output portion of the involute small-tooth-difference planetary gear transmission. It can be a commonly used pin-type output mechanism 33 or a floating disc-type output mechanism 33. The output mechanism 33 is connected to a connecting rod 5, which is connected to the robot's articulated arm to control the robot's motion. When the joint is in free space and needs to drive the connecting rod 5 to a desired position, the main motor 1 provides the driving control, while the regulating motor 2 remains locked. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the regulating motor 2 is locked, the external gear 4 is stationary, and the ring gear 34 meshing with it is also stationary. When the planetary gear 32 revolves clockwise, it meshes with the ring gear 34 to generate counterclockwise rotation. The output mechanism 33 outputs the planetary gear 32's rotational motion at a 1:1 ratio, generating counterclockwise rotational motion. This controls the connecting rod 5 to rotate counterclockwise to the desired position, thus achieving the position control function of the joint.

[0036] When the joint driving link 5 moves to the specified position and encounters an obstacle in the environment, it is driven and controlled by the main motor 1 and the regulating motor 2. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the link 5 will not be able to generate rotational motion when encountering an obstacle at this time, the output mechanism 33 will remain stationary and the planetary gear 32 will not generate self-rotational motion. While the planetary gear 32 revolves clockwise, it meshes with the inner teeth of the ring gear 34, causing the ring gear 34 to rotate counterclockwise. Through the meshing of the ring gear 34 with the outer gear 4, the outer gear 4 rotates clockwise, thereby transmitting the torque to the regulating motor 2. When the joint encounters an obstacle, by monitoring the current of the regulating motor 2, the torque applied to the joint can be calculated, which facilitates force control; by monitoring the rotation speed of the regulating motor 2, dynamic collisions can be sensed, which facilitates improving the safety of the robot operation.

[0037] The current and rotation speed of the regulating motor 2 are parameters that are easy to obtain directly. Therefore, the present invention can achieve force position control to improve safety without relying on expensive force and torque sensors and complex algorithms, thereby reducing the cost and complexity of the robot operation system.

[0038] Example 2

[0039] like Figure 1 and Figure 3 As shown, the intelligent integrated robot joint of this embodiment includes a main motor 1, an adjustment motor 2, a planetary gear transmission mechanism 3, and an external gear 4. The planetary gear transmission mechanism 3 is a simple planetary gear transmission mechanism. The simple planetary gear transmission mechanism includes an input shaft 31, a sun gear 6, planetary gears 32, a planet carrier 7, and a ring gear 34. The sun gear 6 meshes with the planetary gears 32, which are mounted on the planet carrier 7. The ring gear 34 has both external and internal teeth. The internal teeth of the ring gear 34 mesh with the planetary gears 32, and the external teeth of the ring gear 34 mesh with the external gear 4, which is connected to the adjustment motor 2. The two ends of the input shaft 31 are connected to the sun gear 6 and the main motor 1, respectively. The main motor 1 serves as the main input of the planetary gear transmission mechanism 3. The adjustment motor 2 serves as the adjustment input of the planetary gear transmission mechanism 3 through the external gear 4. The planet carrier 7 is the output of the simple planetary gear transmission mechanism. The planet carrier 7 is connected to a connecting rod 5, which is connected to the robot articulated arm to control the robot's movements.

[0040] When the joint is in free space and needs to drive connecting rod 5 to a specified position, main motor 1 provides the driving control, while regulating motor 2 remains locked and stationary. When main motor 1 rotates clockwise, input shaft 31 rotates clockwise. Since regulating motor 2 is locked and stationary at this time, external gear 4 is stationary, and the ring gear 34 meshing with external gear 4 is also stationary. When sun gear 6 rotates clockwise, it drives the meshing planet gears 32 to rotate counterclockwise. Planet gears 32 mesh with the internal teeth of ring gear 34, but since ring gear 34 is stationary, planet gears 32 will revolve counterclockwise along the internal teeth of ring gear 34. Planet carrier 7 outputs the rotational motion of planet gears 32 at a 1:1 ratio, generating counterclockwise rotational motion, thereby controlling connecting rod 5 to rotate counterclockwise to the specified position, thus achieving the position control function of the joint.

[0041] When the joint drive link 5 moves to a designated position and encounters an obstacle in the environment, it is driven and controlled by the main motor 1 and the regulating motor 2. When the main motor 1 rotates clockwise, the input shaft 31 rotates clockwise. Since the link 5 cannot rotate upon encountering an obstacle, the planetary carrier 7 remains stationary, and the planetary gears 32 cannot revolve. The sun gear 6 rotates clockwise, simultaneously driving the meshing planetary gears 32 counterclockwise. The planetary gears 32 mesh with the internal teeth of the ring gear 34, causing the ring gear 34 to rotate clockwise. Through the meshing of the ring gear 34 with the external gear 4, the external gear 4 rotates counterclockwise, thereby transmitting torque to the regulating motor 2. When the joint encounters an obstacle, the torque applied to the joint can be calculated by monitoring the current of the regulating motor 2, facilitating force control. By monitoring the rotational speed of the regulating motor 2, dynamic collisions can be detected, thereby improving the safety of the robot's operation.

[0042] The current and rotation speed of the regulating motor 2 are parameters that are easy to obtain directly. Therefore, the present invention can achieve force position control to improve safety without relying on expensive force and torque sensors and complex algorithms, thereby reducing the cost and complexity of the robot operation system.

[0043] Example 3

[0044] like Figure 1 and Figure 4 As shown, the intelligent integrated robot joint of this embodiment includes a main motor 1, an adjustment motor 2, a planetary gear transmission mechanism 3, and an external gear 4. The planetary gear transmission mechanism 3 is a cycloid pinwheel planetary gear transmission mechanism. The cycloid planetary gear transmission mechanism includes an input shaft 31, an eccentric arm bearing, a cycloid wheel 9, pin teeth 8, an output mechanism 33, and a pinion gear ring 10. The output mechanism 33 is a commonly used pin-type output mechanism 33 or a floating disc-type output mechanism 33. The input shaft 31 is connected to the main motor 1, which serves as the main input of the planetary gear transmission mechanism 3. The cycloid wheel 9 is supported on the input shaft 31 via an eccentric arm bearing. The cycloid wheel 9 is eccentrically positioned relative to the pinion gear ring 10 and meshes with the pin teeth 8. The pinion gear ring 10 has external and internal teeth. The internal teeth of the pinion gear ring 10 mesh with the pin teeth 8, and the external teeth of the pinion gear ring 10 mesh with the external gear 4. The external gear 4 is connected to the adjustment motor 2, which, through the external gear 4, serves as the adjustment input of the planetary gear transmission mechanism 3. The output mechanism 33 is the output portion of the cycloid planetary gear transmission mechanism. The output mechanism 33 is connected to a connecting rod 5, which is connected to the articulated arm of the intelligent integrated robot to control the robot's movements.

[0045] When the joint is in free space and needs to drive the connecting rod 5 to a specified position, the main motor 1 provides driving control, while the regulating motor 2 remains locked and stationary. When the main motor 1 rotates clockwise, the input shaft 31 also rotates clockwise, driving the cycloid wheel 9 to rotate clockwise. Since the regulating motor 2 is in a locked and stationary state, the external gear 4 is stationary, and the pinion gear 10 meshing with it is also stationary. Because the pinion teeth 8 mesh with the cycloid wheel 9, when the cycloid wheel 9 rotates clockwise, the pinion teeth 8 rotate counterclockwise. Since the pinion teeth 8 mesh with the internal teeth of the pinion gear 10, this rotation simultaneously drives the cycloid wheel 9 to orbit clockwise. The output mechanism 33 outputs the orbital motion of the cycloid wheel 9 at a 1:1 ratio, generating clockwise rotational motion. This controls the clockwise rotation of the connecting rod 5 to the specified position, thus achieving the position control function of the joint.

[0046] When the joint drive link 5 moves to a designated position and encounters an obstacle in the environment, it is driven and controlled by the main motor 1 and the regulating motor 2. When the main motor 1 rotates clockwise, the input shaft 31 also rotates clockwise. Since the link 5 cannot generate rotational motion upon encountering an obstacle, the output mechanism 33 remains stationary, and the cycloid wheel 9 cannot generate self-rotational motion. While the cycloid wheel 9 orbits clockwise, it meshes with the pin teeth 8, causing the pin teeth 8 to rotate counterclockwise. As the pin teeth 8 mesh with the internal teeth of the pin gear ring 10, the pin gear ring 10 rotates clockwise. Through the meshing of the pin gear ring 10 with the external gear 4, the external gear 4 rotates counterclockwise, thereby transmitting torque to the regulating motor 2. When the joint encounters an obstacle, by monitoring the current of the regulating motor 2, the torque applied to the joint can be calculated, facilitating force control. By monitoring the rotational speed of the regulating motor 2, dynamic collisions can be detected, thereby improving the safety of the robot's operation.

[0047] The current and rotation speed of the regulating motor 2 are parameters that are easy to obtain directly. Therefore, the present invention can achieve force position control to improve safety without relying on expensive force and torque sensors and complex algorithms, thereby reducing the cost and complexity of the robot operation system.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An intelligent integrated robot joint, characterized in that: It includes a main motor, an adjustment motor, a planetary gear transmission mechanism and an external gear, wherein the main motor is the main input of the planetary gear transmission mechanism, the external gear is rotationally connected to the planetary gear transmission mechanism, the adjustment motor serves as the adjustment input of the planetary gear transmission mechanism through the external gear, and the planetary gear transmission mechanism is the output of the robot joint; The output part of the planetary gear transmission mechanism is connected to a connecting rod, which is connected to the robot joint arm to control the robot movement; The planetary gear transmission mechanism has two degrees of freedom; The planetary gear transmission mechanism is one of a simple planetary gear transmission mechanism, an involute small tooth difference planetary gear transmission mechanism or a cycloid pinwheel planetary gear transmission mechanism; When the joint is in free space and is about to drive the connecting rod to move to a specified position, the main motor is used to drive and control it, and the regulating motor is kept in a stationary locked state; When the joint driving link moves to the specified position and encounters an obstacle in the environment, the main motor and the regulating motor jointly perform driving control; When a joint encounters an obstacle, the torque applied to the joint can be calculated by monitoring and adjusting the current of the motor, which facilitates force control; by monitoring and adjusting the rotation speed of the motor, dynamic collisions can be sensed.

2. The intelligent integrated robot joint according to claim 1, characterized in that: The simple planetary gear transmission mechanism includes an input shaft, a sun gear, planetary gears, a planetary carrier and a ring gear. The two ends of the input shaft are respectively connected to the sun gear and the main motor. The sun gear is meshed with the planetary gears. The planetary gears are installed on the planetary carrier. The ring gear is provided with external teeth and internal teeth. The internal teeth of the ring gear are meshed with the planetary gears. The external teeth of the ring gear are meshed with the external gear. The external gear is connected to the adjustment motor. The planetary carrier is the output part of the simple planetary gear transmission mechanism.

3. The intelligent integrated robot joint according to claim 1, characterized in that: The involute small tooth difference planetary gear transmission mechanism includes an input shaft, planetary gears, an output mechanism and a ring gear. The two ends of the input shaft are respectively connected to the planetary gears and the main motor. The ring gear is provided with external teeth and internal teeth. The internal teeth of the ring gear are engaged with the planetary gears, and the external teeth of the ring gear are engaged with the external gear. The external gear is connected to the adjustment motor. The output mechanism is connected to the planetary gears. The output mechanism is the output part of the involute small tooth difference planetary gear transmission mechanism.

4. The intelligent integrated robot joint according to claim 1, characterized in that: The cycloid pinwheel planetary gear transmission mechanism includes an input shaft, an eccentric arm bearing, a cycloid wheel, pin teeth, an output mechanism and a pin gear ring. The input shaft is connected to the main motor, and the cycloid wheel is supported on the input shaft through the eccentric arm bearing. The cycloid wheel is eccentrically arranged relative to the pin gear ring. The cycloid wheel is meshed with the pin teeth. The pin gear ring is provided with external teeth and internal teeth. The internal teeth of the pin gear ring are meshed with the pin teeth. The external teeth of the pin gear ring are meshed with the external gear. The external gear is connected to the adjusting motor. The output mechanism is the output part of the cycloid pinwheel planetary gear transmission mechanism.

5. The intelligent integrated robot joint according to claim 1, characterized in that: The planetary gear transmission mechanism is a transmission device with a transmission ratio of 11 or more, and the transmission ratio is 11 or more.

6. The intelligent integrated robot joint according to claim 1, characterized in that: The transmission ratio of the transmission mechanism composed of the planetary gear transmission mechanism and the external gear is 1-11.

7. The intelligent integrated robot joint according to claim 3 or 4, characterized in that: The output mechanism is a pin-type output mechanism or a floating disc-type output mechanism.

8. Application of the intelligent integrated robot joint according to any one of claims 1 to 7 in a robot.

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