A robot shoulder joint device

Abstract

The present invention discloses a robot shoulder joint device, which is installed on a back plate in a robot body and is used to connect a robot arm, including a fixed hinge support and a joint seat; the fixed hinge support is fixedly connected to the back plate, a joint seat hinge hole is provided on the fixed hinge support, the central axis of the joint seat hinge hole is perpendicular to the back plate, a joint seat hinge shaft matching the joint seat hinge hole is provided at the bottom of the joint seat, and the joint seat is hinged to the fixed hinge support; an arm connecting flange is provided on the joint seat; a meshing worm wheel and worm are provided on the fixed hinge support, the output center axis of the worm wheel is fixedly connected to the hinge shaft of the joint seat, and an arm side-swing reduction motor is connected to the input shaft of the worm; the robot shoulder joint device of the technical solution of the present invention utilizes a worm gear pair to realize the lateral swing of the robot arm, and the device utilizes a motor-built-in reduction motor, so that the robot shoulder joint has the advantages of small size, light weight and large output torque.

Description

Technical Field

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

[0002] With the continuous advancement of science and the development of artificial intelligence technology, the development of intelligent service robots has arrived. With the continuous development of service robots, they are slowly entering into human life and bringing people more convenient and comfortable services.

[0003] For service robots, the shoulder joint is crucial. The shoulder joint not only bears the weight of the entire arm, but also needs to realize lateral or forward and backward movement relative to the robot body. If existing service robots need to output large torque, they usually need a large drive device. However, humanoid robots are usually limited by their size, and the drive devices are small, which makes the robots only useful for demonstration and unable to grab loads. Summary of the invention

[0004] In order to solve the above technical problems, the main purpose of the present invention is to provide a robot shoulder joint device, which has a fixed hinge support fixedly connected to the back plate, a joint seat hinged on the fixed hinge support, and a worm gear pair to realize the rotation of the joint seat, thereby realizing the lateral swing of the robot arm.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions to solve it.

[0006] A robot shoulder joint device is installed on a back plate inside the robot body and is used to connect the robot arm, including a fixed hinge support and a joint seat; the fixed hinge support is fixedly connected to the back plate, a joint seat hinge hole is provided on the fixed hinge support, the central axis of the joint seat hinge hole is perpendicular to the back plate, a joint seat hinge shaft matching the joint seat hinge hole is provided at the bottom of the joint seat, and the joint seat is hinged to the fixed hinge support; an arm connecting flange is provided on the joint seat; a meshing worm wheel and worm are provided on the fixed hinge support, the output center axis of the worm wheel is fixedly connected to the hinge shaft of the joint seat, and an arm side swing reduction motor is connected to the input shaft of the worm; when the arm side swing reduction motor is started, the joint seat rotates around the central axis of the joint seat hinge hole.

[0007] Furthermore, an arm forward and backward swing reduction motor is fixedly connected to the joint seat, the output shaft of the arm forward and backward swing reduction motor is connected to the arm connecting flange, and the central axis of the output shaft of the arm forward and backward swing reduction motor is perpendicular to the central axis of the hinge hole of the joint seat; when the arm forward and backward swing reduction motor is started, the arm connecting flange rotates around the central axis of the output shaft of the arm forward and backward swing reduction motor.

[0008] Furthermore, two fixed hinge supports are symmetrically arranged on the back plate, a joint seat is hinged on each fixed hinge support, and each joint seat is fixedly connected to an arm forward and backward swing reduction motor; the two symmetrical arm forward and backward swing reduction motors are arranged horizontally and facing each other, and an arm connecting flange is connected to the output shaft of each arm forward and backward swing reduction motor.

[0009] Furthermore, two symmetrical fixed hinge supports are respectively connected to meshing worm wheels and worms, and the central axis of the worm wheel on each side is fixedly connected to the corresponding joint seat hinge axis; the worms on the left and right sides are arranged in an upward and downward staggered manner, and the facing ends of the two worms are respectively connected to the arm side swing reduction motor.

[0010] Furthermore, the arm side-swing reduction motor is a motor-built-in reduction motor, and the arm forward and backward swing reduction motor is a DC stepping motor.

[0011] Furthermore, the motor-built-in reduction motor comprises a harmonic reducer, a permanent magnet rotor, a winding stator and a motor housing; the harmonic reducer has a reducer input shaft, a reducer housing and a reducer end cover, the reducer housing is fixedly connected to the reducer end cover, the reducer input shaft is arranged in the reducer housing and extends out of the reducer end cover; the permanent magnet rotor is fixedly connected to the reducer input shaft; the winding stator is fixedly connected in the motor housing, and the motor housing is fixedly connected to the reducer housing; the arm connecting flange is fixedly connected to the output end of the harmonic reducer.

[0012] Furthermore, a ratio of a height to a diameter of the permanent magnet rotor is less than or equal to 1, and a ratio of a height to a diameter of the winding stator is less than or equal to 1.

[0013] Furthermore, a screw hole is provided on the end face of the reducer input shaft close to the permanent magnet rotor; the rotor core is a hollow cylinder, and an inverted inner flange is provided at one end of the hollow cylinder close to the reducer input shaft, and a mounting hole is provided on the inner flange, and the permanent magnet rotor is mounted on the input shaft by bolts.

[0014] Compared with the shoulder joint device in the prior art, the technical solution of the present invention utilizes a worm gear pair to realize the lateral swing of the robot arm. The device utilizes a motor with a built-in reduction motor, so that the robot shoulder joint has the advantages of small size, light weight and large output torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 A three-dimensional schematic diagram of an embodiment of a robot shoulder joint device of the present invention;

[0017] Figure 2 A three-dimensional schematic diagram of an embodiment of a fixed hinge support of the present invention;

[0018] Figure 3 A three-dimensional schematic diagram of an embodiment of a joint seat of the present invention;

[0019] Figure 4 A longitudinal sectional schematic diagram of an embodiment of a motor-built-in reduction motor of the present invention;

[0020] Figure 5 It is a schematic diagram of an exploded view of an embodiment of a motor-integrated reduction motor of the present invention.

[0021] In the above picture:

[0022] 1 back panel;

[0023] 2 Fixed hinge support; 201 joint seat hinge hole

[0024] 3 joint seat; 301 joint seat articulated shaft;

[0025] 4 Arm connecting flange;

[0026] 5. Worm gear;

[0027] 6 worm;

[0028] 7 Arm side swing reduction motor;

[0029] 8. Gear motor for arm to swing forward and backward;

[0030] 9 harmonic reducer; 901 reducer input shaft; 902 reducer housing; 903 screw hole; 904 flexible wheel; 905 wave generator; 906 steel wheel; 907 output flange; 908 first bearing; 909 second bearing; 9010 reducer end cover;

[0031] 10 permanent magnet rotor; 1001 rotor core, 1002 tile-shaped magnet; 1003 mounting hole; 1004 rotor convex ring;

[0032] 11 winding stator;

[0033] 12 motor housing; 1201 motor housing convex ring;

[0034] 13 bolts. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] refer to Figure 1 , Figure 2 and Figure 3 , a robot shoulder joint device, installed on a back plate 1 inside a robot body, for connecting a robot arm, comprising a fixed hinge support 2 and a joint seat 3; the fixed hinge support 2 is fixedly connected to the back plate 1, a joint seat hinge hole 201 is provided on the fixed hinge support 2, the central axis of the joint seat hinge hole 201 is perpendicular to the back plate 1, a joint seat hinge shaft 301 matching the joint seat hinge hole 201 is provided at the bottom of the joint seat 3, and the joint seat 3 is hinged to the fixed hinge support 2; an arm connecting flange 4 is provided on the joint seat 3; a meshing worm wheel 5 and a worm 6 are provided on the fixed hinge support 2, the output center axis of the worm wheel 5 is fixedly connected to the joint seat hinge shaft 301, and an arm side swing reduction motor 7 is connected to the input shaft of the worm 6; the arm side swing reduction motor 7 is started, and the joint seat 3 rotates around the central axis of the joint seat hinge hole 201.

[0038] In the above embodiments, the fixed hinge support 2 is vertically connected to the back plate 1, the joint seat 3 is hinged to the fixed hinge support 2, a worm gear 5 and a worm 6 are installed on the fixed hinge support 2, and the output center axis of the worm gear 5 is fixedly connected to the joint seat hinge axis 301, and one end of the worm 6 is connected to the output shaft of the arm side swing reduction motor 7.

[0039] By starting the arm side-swing reduction motor 7, the joint seat 3 can be rotated and swung. Since the joint seat 3 is connected with an arm connecting flange 4 for connecting the robot arm, the lateral swing of the robot arm can be realized.

[0040] Since the worm gear has reverse self-locking property, the brake can be self-locked when power is lost. The worm gear mechanism is used in the embodiment of the present invention, so that the arm side swing mechanism has the advantages of small volume and high output torque, and has self-locking property when power is lost, which can save energy to the maximum extent.

[0041] Furthermore, an arm forward and backward swing reduction motor 8 is fixedly connected to the joint seat 3, and the output shaft of the arm forward and backward swing reduction motor 8 is connected to the arm connecting flange 4, and the central axis of the output shaft of the arm forward and backward swing reduction motor 8 is perpendicular to the central axis of the joint seat hinge hole 201; when the arm forward and backward swing reduction motor 8 is started, the arm connecting flange 4 rotates around the central axis of the output shaft of the arm forward and backward swing reduction motor 8.

[0042] In the above embodiment, the arm forward and backward swing reduction motor 8 is installed on the joint seat 3, because the central axis of the output shaft of the arm forward and backward swing reduction motor 8 is perpendicular to the central axis of the joint seat hinge hole 201. Therefore, the robot arm has two degrees of freedom. The arm side swing reduction motor 7 can realize the lateral swing of the robot arm, and the arm forward and backward swing reduction motor 8 can realize the forward and backward swing of the robot arm, making the function of the robot arm more comprehensive, complete and flexible.

[0043] Further, refer to Figure 1 Two fixed hinge supports 2 are symmetrically arranged on the back plate 1, each fixed hinge support 2 is hinged with a joint seat 3, and each joint seat 3 is fixedly connected to an arm forward and backward swing reduction motor 8; the two symmetrical arm forward and backward swing reduction motors 8 are arranged horizontally and facing each other, and an arm connecting flange 4 is connected to the output shaft of each arm forward and backward swing reduction motor 8.

[0044] In the above embodiments, the fixed hinge support 2, the joint seat 3 and the arm forward and backward swing reduction motor 8 are symmetrically arranged on the left and right, so as to realize the forward and backward swing of the arms of the dual-arm robot.

[0045] Furthermore, refer to Figure 1 A meshing worm wheel 5 and a worm 6 are respectively arranged on two symmetrical fixed hinge supports 2 on the left and right. The central axis of the worm wheel 5 on each side is fixedly connected to the corresponding joint seat hinge shaft 301; the worm 6 on the left and right sides are arranged in an up-and-down staggered manner, and the facing ends of the two worm 6 are respectively connected to the arm side swing reduction motor 7.

[0046] In order to avoid mutual interference between the arm side-swing reduction motors 7 connected to each worm 6, the two arm side-swing reduction motors 7 are arranged in an up-and-down staggered manner in space.

[0047] Furthermore, the arm side-swing reduction motor 7 is a motor-built-in reduction motor, and the arm forward and backward swing reduction motor 8 is a DC stepping motor.

[0048] In the above embodiments, in order to reduce the deadweight of the robot and save space, the arm side swing reduction motor 7 adopts a motor built-in reduction motor that integrates a reducer and a motor.

[0049] Further, refer to Figure 4 and Figure 5 The motor-built-in reduction motor comprises a harmonic reducer 9, a permanent magnet rotor 10, a winding stator 11 and a motor housing 12; the harmonic reducer 9 has a reducer input shaft 901, a reducer housing 902 and a reducer end cover 9010, the reducer housing 902 is fixedly connected to the reducer end cover 9010, the reducer input shaft 901 is arranged in the reducer housing 902 and extends out of the reducer end cover 9010; the permanent magnet rotor 10 is fixedly connected to the reducer input shaft 901; the winding stator 11 is fixedly connected in the motor housing 12, and the motor housing 12 is fixedly connected to the reducer housing 902; the arm connecting flange 4 is fixedly connected to the output end of the harmonic reducer 9.

[0050] In the above embodiment, the DC permanent magnet motor and the harmonic reducer 9 are combined into one, the permanent magnet rotor 10 of the DC permanent magnet motor is directly connected to the reducer input shaft 901 of the harmonic reducer 9, the reducer housing 902 is connected to the motor housing 12, and the winding stator 11 is fixedly connected inside the motor housing 12. The motor does not use bearings, and the coaxiality of the winding stator 11 and the permanent magnet rotor 10 is guaranteed by the reducer housing 902 and the reducer input shaft 901, which simplifies the motor structure in structure, reduces the overall size and weight of the reduction device with a built-in motor.

[0051] The permanent magnet rotor 10 comprises a rotor core 1001 and a plurality of tile-shaped magnets 1002 embedded in the rotor core 1001. The rotor core 1001 is fixedly connected to the reducer input shaft 901 by bolts 13.

[0052] The transmission principle of the harmonic reducer: The harmonic reducer is mainly composed of three basic components: a rigid wheel with an inner gear ring, a flexible wheel with an outer gear ring, and a wave generator. The wave generator is a rod-shaped component with rolling bearings installed at both ends to form rollers, which are pressed against the inner wall of the flexible wheel. The flexible wheel is a thin-walled gear that can produce large elastic deformation, and its inner hole diameter is slightly smaller than the total length of the wave generator. The wave generator is a component that causes the flexible wheel to produce controllable elastic deformation. When the wave generator is installed in the flexible wheel, the cross-section of the flexible wheel is forced to change from the original circle to an ellipse, and the teeth near the two ends of its long axis are completely meshed with the teeth of the rigid wheel, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel. The teeth in other sections of the circumference are in a transitional state of meshing and disengagement. When the wave generator rotates continuously, the deformation of the flexible wheel keeps changing, so that the meshing state of the flexible wheel and the rigid wheel also keeps changing, from meshing in, meshing in, meshing out, disengaging, and meshing in again..., repeating over and over again, thereby realizing the slow rotation of the flexible wheel relative to the rigid wheel in the opposite direction of the wave generator.

[0053] Normally, the rigid wheel is fixed, the wave generator rotates, and the flexible wheel acts as a driven wheel, outputs rotation, and drives the load to move. It can also be reversed, that is, the flexible wheel is fixed and the steel wheel outputs.

[0054] In this embodiment, the harmonic reducer 9 includes a reducer housing 902, a reducer input shaft 901, a flexible wheel 904, a wave generator 905, a steel wheel 906, and an output flange 907. A first bearing 908 and a second bearing 909 are installed between the two ends of the wave generator 905 and the reducer housing 902, respectively.

[0055] The harmonic reducer 9 of this embodiment is installed in a manner that the flexible wheel 904 is fixed, and the steel wheel 906 rotates relative to the flexible wheel 904. The flexible wheel is the output end of the harmonic reducer 9, so the arm connecting flange 4 is fixedly connected to the steel wheel 906.

[0056] Furthermore, a ratio of a height to a diameter of the permanent magnet rotor 10 is less than or equal to 1, and a ratio of a height to a diameter of the winding stator 11 is less than or equal to 1.

[0057] Since the coaxiality of the permanent magnet rotor 10 and the wound stator 11 needs to be ensured by the reducer input shaft 901 and the reducer housing 902, the permanent magnet rotor 10 connected to the reducer input shaft 901 needs to be as short as possible, and a motor with a relatively large height and diameter is not suitable for this combination. In the above embodiment, preferably, the ratio of the height to the diameter of the permanent magnet rotor 10 is less than or equal to 1, and correspondingly, the ratio of the height to the diameter of the wound stator 11 is less than or equal to 1, that is, the motor with a smaller height to diameter ratio is more suitable for integration with the reducer.

[0058] Furthermore, a screw hole 903 is provided on the end face of the reducer input shaft 901 close to the permanent magnet rotor 10; the rotor core 1001 is a hollow cylinder, and an inward-turned inner flange is provided at one end of the hollow cylinder close to the reducer input shaft 901, and a mounting hole 1003 is provided on the inner flange, and the permanent magnet rotor 10 is mounted on the reducer input shaft 901 by bolts 13.

[0059] In the above embodiment, a screw hole 903 is provided on the end surface of the reducer input shaft 901 close to the permanent magnet rotor 10, and the rotor core 1001 is a hollow cylinder with an inverted inner flange, and the rotor core 1001 is installed on the reducer input shaft 901 through the mounting hole 1003 provided on the inner flange. The hollow structure can reduce the overall weight of the reduction device with a built-in motor.

[0060] refer to Figure 4 and Figure 5In order to further improve the coaxiality between the permanent magnet rotor 10 and the wound stator 11, a rotor collar 1004 is provided at one end of the rotor core 1001 close to the reducer input shaft 901, and the inner diameter of the rotor collar 1004 is clearance matched with the outer diameter of the reducer input shaft 901, and the clearance meets the precision requirement. Similarly, a motor housing collar 1201 is provided at one end of the motor housing 12 close to the reducer housing 902, and the inner diameter of the motor housing collar 1201 is clearance matched with the outer diameter of the reducer end cover 9010, and the clearance meets the precision requirement.

[0061] Although the present invention has been described in detail in this specification by means of general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto on the basis of the present invention. Therefore, these modifications or improvements made without departing from the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A robot shoulder joint device, mounted on a back plate (1) in a robot body, for connecting a robot arm, characterized in that: It comprises a fixed hinge support (2) and a joint seat (3); The fixed hinge support (2) is fixedly connected to the back plate (1), a joint seat hinge hole (201) is provided on the fixed hinge support (2), the central axis of the joint seat hinge hole (201) is perpendicular to the back plate (1), a joint seat hinge shaft (301) matching the joint seat hinge hole (201) is provided at the bottom of the joint seat (3), and the joint seat (3) is hinged to the fixed hinge support (2); The joint seat (3) is provided with an arm connection flange (4); The fixed hinge support (2) is provided with a meshing worm wheel (5) and a worm (6); the output center axis of the worm wheel (5) is fixedly connected to the articulated axis (301) of the joint seat; and the input axis of the worm (6) is connected to an arm side swing reduction motor (7); The arm side-swing reduction motor (7) is started, and the joint seat (3) rotates around the central axis of the joint seat hinge hole (201); An arm forward and backward swing reduction motor (8) is fixedly connected to the joint seat (3), the output shaft of the arm forward and backward swing reduction motor (8) is connected to the arm connection flange (4), and the central axis of the output shaft of the arm forward and backward swing reduction motor (8) is perpendicular to the central axis of the joint seat hinge hole (201); The arm forward and backward swing reduction motor (8) is started, and the arm connection flange (4) rotates around the central axis of the output shaft of the arm forward and backward swing reduction motor (8); The back plate (1) is symmetrically provided with two fixed hinge supports (2), each fixed hinge support (2) is hinged with a joint seat (3), and each joint seat (3) is fixedly connected with an arm forward and backward swing reduction motor (8); Two left-right symmetrical arm forward and backward swing reduction motors (8) are arranged horizontally and facing each other, and an arm connection flange (4) is connected to the output shaft of each arm forward and backward swing reduction motor (8); The arm side-swing reduction motor (7) is a motor-built-in reduction motor, and the arm forward and backward swing reduction motor (8) is a DC stepping motor.

2. The robot shoulder joint device according to claim 1, characterized in that: The two fixed hinge supports (2) are symmetrically connected to meshing worm wheels (5) and worm shafts (6), respectively, and the central axis of the worm wheel (5) on each side is fixedly connected to the corresponding joint seat hinge axis (301); The worm gears (6) on the left and right sides are arranged in an up-down staggered manner, and the ends of the two worm gears (6) facing each other are respectively connected to the arm side swing reduction motors (7).

3. The robot shoulder joint device according to claim 1, characterized in that: The motor-mounted reduction motor comprises a harmonic reducer (9), a permanent magnet rotor (10), a winding stator (11) and a motor housing (12); The harmonic reducer (9) comprises a reducer input shaft (901), a reducer housing (902) and a reducer end cover (9010); the reducer housing (902) is fixedly connected to the reducer end cover (9010); the reducer input shaft (901) is arranged in the reducer housing (902) and extends out of the reducer end cover (9010); the permanent magnet rotor (10) is fixedly connected to the reducer input shaft (901); The winding stator (11) is fixedly connected in the motor housing (12), and the motor housing (12) is fixedly connected to the reducer housing (902); The arm connection flange (4) is fixedly connected to the output end of the harmonic reducer (9).

4. The robot shoulder joint device according to claim 3, characterized in that: The ratio of the height to the diameter of the permanent magnet rotor (10) is less than or equal to 1, and the ratio of the height to the diameter of the winding stator (11) is less than or equal to 1.

5. The robot shoulder joint device according to claim 3, characterized in that: A screw hole (903) is provided on the end surface of the reducer input shaft (901) close to the permanent magnet rotor (10); the permanent magnet rotor (10) comprises a rotor core (1001) and a plurality of tile-shaped magnets (1002) embedded in the rotor core (1001); the rotor core (1001) is a hollow cylinder; an inverted inner flange is provided at one end of the hollow cylinder close to the reducer input shaft (901); a mounting hole (1003) is provided on the inner flange; the permanent magnet rotor (10) is mounted on the reducer input shaft (901) by means of bolts (13).

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