Internal and external output switching robot arm joint

Abstract

The invention discloses an internal-external output switching type mechanical arm joint, comprising a joint housing, an outer rotor motor, a reducer assembly, an internal-external output switching device, an encoder assembly, and an output end encoder switching device; the internal-external output switching device is used to fix the motor stator to the planetary frame or the upper housing to realize the switching of the joint output; the output end encoder switching device is used to control the encoder assembly to measure the output speed and position of the planetary frame or the upper housing; when the internal-external output switching device fixes the motor stator to the planetary frame, the upper housing serves as the joint output, and the output end encoder switching device controls the encoder assembly to measure the output speed and position of the upper housing; when the internal-external output switching device fixes the motor stator to the upper housing, the planetary frame serves as the joint output, and the output end encoder switching device controls the encoder assembly to measure the output speed and position of the planetary frame; the invention has the advantages of simple structure, convenient operation, low cost, wide range of use, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm joints, and in particular to an internal-external output switching mechanical arm joint. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are increasingly valued and widely used. Robotics mainly focuses on the latest research results of various technologies such as mechanical engineering, automatic control and artificial intelligence, embodies the latest achievements of optoelectronic integration, and is one of the most active areas of contemporary scientific and technological development. The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It plays an extremely important role in production and life. In practical applications, many industrial process links require robotic arms for assembly and extraction operations. The robotic arm can receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations, which can greatly improve labor efficiency.

[0003] The mechanical arm joint is the core component of the mechanical arm. The overall structure, load capacity and perception ability of the joint directly affect the overall operation level of the mechanical arm. A mechanical arm joint is disclosed in the prior art, including a joint housing, an outer rotor motor is installed in the joint housing, a reducer assembly is installed between the outer rotor motor and the joint housing, and a planetary output frame is installed on the reducer assembly as the joint output. Since the mechanical arm joint has only one output, the scope of use of the mechanical arm joint is limited. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an internal-external output switching mechanical arm joint with a simple structure and two switchable outputs.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: an internal-external output switching type mechanical arm joint, comprising:

[0006] The joint housing, serving as the mounting base of the device, comprises an upper housing and a lower housing that cooperate with each other;

[0007] An outer rotor motor is installed inside the upper housing and the lower housing, and includes a fixed motor stator, and a motor rotor serving as a joint input is mounted outside the motor stator;

[0008] A reducer assembly, comprising a reducer input end and a reducer output end, wherein the reducer input end is connected to the outside of the motor rotor, a planet carrier is installed at the reducer output end, and the upper housing is also installed at the reducer output end, and the upper housing or the planet carrier is used as a joint output;

[0009] An internal and external output switching device is arranged between the motor stator, the planet carrier, and the upper housing, and is used to fix the motor stator to the planet carrier or to fix the motor stator to the upper housing to achieve switching of joint output;

[0010] Encoder assembly, used to measure the speed and position of joint input and the speed and position of joint output;

[0011] An output end encoder switching device, correspondingly arranged on the encoder assembly, is used to control the encoder assembly to measure the output speed and position of the planet carrier or the output speed and position of the upper housing;

[0012] When the internal and external output switching device fixedly connects the motor stator and the planetary carrier, the upper housing serves as a joint output, and the output-end encoder switching device controls the encoder assembly to measure the output speed and position of the upper housing; when the internal and external output switching device fixedly connects the motor stator and the upper housing, the planetary carrier serves as a joint output, and the output-end encoder switching device controls the encoder assembly to measure the output speed and position of the planetary carrier. As a preferred technical solution, the outer rotor motor includes a fixed motor fixed shaft, a fixed shaft flange is provided on the motor fixed shaft, the internal and external output switching device is used to connect the planetary carrier or the upper housing to the fixed shaft flange, the motor stator is fixed outside the motor fixed shaft, and the motor rotor includes a rotor magnet concentrically mounted outside the motor stator, an iron ring is fixedly mounted outside the rotor magnet, and a reducer eccentric sleeve is fixedly mounted outside the iron ring.

[0013] As a preferred technical solution, the reducer assembly includes a transmission gear, the upper shell is meshed with the outer periphery of all the transmission gears, and planetary carriers are installed on both side end faces of all the transmission gears. The planetary carrier includes a coaxially matched planetary carrier upper cover and a planetary carrier lower cover, and a fixing device for installing all the transmission gears is connected between the planetary carrier upper cover and the planetary carrier lower cover. The planetary carrier upper cover is located outside the upper shell, and the upper shell or the planetary carrier upper cover serves as a joint output.

[0014] As a preferred technical solution, the internal and external output switching device includes a through hole 1 arranged on the fixed shaft flange, a screw hole 1 corresponding to the through hole 1 is arranged on the planet carrier lower cover, a through hole 2 is arranged on the fixed shaft flange, a screw hole 2 corresponding to the through hole 2 is arranged on the inner periphery of the upper housing, and also includes a fixing bolt 1 and a bolt sleeve 1 sleeved outside the fixing bolt 1;

[0015] When the upper housing is used as a joint output, the bolt sleeve 1 is passed through the through hole 1 and clamped between the planet carrier lower cover and the fixed shaft flange, and then the fixing bolt 1 is passed through the through hole 1 in sequence, and the bolt sleeve 1 is threadedly connected to the screw hole 1 to fix the fixed shaft flange and the planet carrier lower cover, and the through hole 2 and the screw hole 2 are vacant;

[0016] The planetary carrier upper cover serves as a joint output, and the bolt sleeve 1 is passed through the through hole 2 and clamped between the upper shell and the fixed shaft flange. Then the fixing bolt 1 passes through the through hole 2 in sequence, and the bolt sleeve 1 is threadedly connected to the screw hole 2 to fix the fixed shaft flange to the upper shell, and the through hole 1 and the screw hole 1 are left vacant.

[0017] As a preferred technical solution, the encoder assembly includes an encoder fixed plate and an encoder moving plate, the encoder fixed plate is fixed on the fixed shaft flange, the encoder moving plate includes an input encoder moving plate and an output encoder moving plate that can rotate respectively, the output encoder moving plate is coaxially mounted outside the input encoder moving plate, the input encoder moving plate and the output encoder moving plate correspond to the encoder fixed plate respectively, the input encoder moving plate is fixed on the iron ring through a fixing block for measuring the rotational speed and position of the joint input, and the output end encoder switching device is used to control the output encoder moving plate to be fixed to the planetary carrier or the upper shell for measuring the rotational speed and position of the joint output.

[0018] As a preferred technical solution, the output end encoder switching device includes a through hole three arranged on the fixed shaft flange, a screw hole three corresponding to the through hole three is arranged on the planet carrier lower cover, a through hole four is arranged on the fixed shaft flange, a screw hole four corresponding to the through hole four is arranged on the upper shell, and also includes a fixing bolt two and a bolt sleeve two sleeved outside the fixing bolt two, and a fixing groove is arranged on the outer surface of the bolt sleeve two;

[0019] The planet carrier upper cover is used as the joint output, the bolt sleeve 2 is passed through the through hole 3 so that the fixed card slot is clamped on the inner periphery of the output encoder moving disk, and then the fixing bolt 2 is passed through the through hole 3 in sequence, and the bolt sleeve 2 is threadedly connected to the screw hole 3 to fix the output encoder moving disk and the planet carrier lower cover, and the through hole 4 and the screw hole 4 are vacant;

[0020] When the upper shell is used as a joint output, the bolt sleeve 2 is passed through the through hole 4 so that the fixed slot is clamped on the outer periphery of the output encoder moving disk, and then the fixing bolt 2 is passed through the through hole 4 in sequence, and the bolt sleeve 2 is threadedly connected to the screw hole 4 to fix the output encoder moving disk to the upper shell, and the through hole 3 and the screw hole 3 are left vacant.

[0021] As a preferred technical solution, a bolt block one that cooperates with the fixing bolt one is fixedly installed on the inner periphery of the upper shell, and the screw hole two is arranged on the bolt block one; a bolt block two that cooperates with the fixing bolt two is also fixedly installed on the inner periphery of the upper shell, and the screw hole four is arranged on the bolt block two.

[0022] As a preferred technical solution, the bolt sleeve 2 is a rubber bolt sleeve or a hard aluminum bolt sleeve.

[0023] As a preferred technical solution, the axes of the through hole 1 and the screw hole 1 do not coincide with each other, and the axes of the through hole 2 and the screw hole 2 do not coincide with each other.

[0024] As a preferred technical solution, three through holes one, three through holes two, three through holes three, and three through holes four are arranged on the surface of the fixed shaft flange, and the positions of the holes do not overlap.

[0025] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0026] The present invention can realize the internal and external output conversion of the joint through the internal and external output switching device, so that the joint can realize two outputs, which can meet the different usage requirements of users and effectively expand the use range of the robotic arm joint; and the present invention is also provided with an output end encoder switching device corresponding to the internal and external output switching device, which can respectively measure the rotation speed and position of the internal and external output conversion; the device also has the advantages of simple structure, easy operation, low cost and wide range of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0028] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0029] Figure 2 This is a structural principle diagram of the planet carrier as a joint output in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of the upper shell as a joint output in an embodiment of the present invention;

[0031] Figure 4 is a layout diagram of holes on the fixed shaft flange in an embodiment of the present invention;

[0032] In the figure:

[0033] 11-upper housing; 12-lower housing; 21-motor stator; 22-motor fixed shaft; 23-fixed shaft flange; 24-rotor magnet; 25-iron ring; 26-reducer eccentric sleeve; 31-transmission gear; 32-planetary carrier upper cover; 33-planetary carrier lower cover; 34-output end cover; 41-input encoder fixed plate; 42-output encoder fixed plate; 43-input encoder moving plate; 44-output encoder moving plate; 45-fixed block; 51-through hole one; 52-screw hole one; 53-through hole two; 54-screw hole two; 55-fixing bolt one; 56-bolt sleeve one; 61-through hole three; 62-screw hole three; 63-through hole four; 64-screw hole four; 65-fixing bolt two; 66-bolt sleeve two; 71-bolt block one; 72-bolt block two. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described only by way of illustration. Needless to say, those of ordinary skill in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0035] like Figures 1 to 4 As shown, the internal-external output switching type mechanical arm joint includes a joint housing, an external rotor motor, a reducer assembly, an encoder assembly, an internal-external output switching device and an output end encoder switching device.

[0036] The joint housing includes an upper housing 11 and a lower housing 12 that fit together. A seal is provided at the fitting end faces between the upper housing 11 and the lower housing 12. In the present embodiment, the lower housing 12 is fixedly installed and is used as a mounting base for the present device. When in use, the lower housing 12 is installed on other equipment. When the planetary carrier is used as a joint output, the upper housing 11 is fixed and does not rotate, and can also be used as a mounting base for installation on other equipment. When the upper housing 11 is used as a joint output, the planetary carrier is fixed and does not rotate, and can also be used as a mounting base for installation on other equipment.

[0037] The outer rotor motor is installed inside the upper shell 11 and the lower shell 12, and includes a motor stator 21 fixed on the lower shell 12. The motor stator 21 is equipped with a motor rotor as a joint input. The motor stator 21 and the motor rotor are prior arts and are well known to ordinary engineering and technical personnel in the field, and will not be described in detail here.

[0038] The reducer assembly includes a reducer input end and a reducer output end, the reducer input end is connected to the outside of the motor rotor, the reducer output end is equipped with a planet carrier, and the upper shell 11 is also installed at the reducer output end. The upper shell 11 or the planet carrier is used as a joint output.

[0039] The internal and external output switching device is arranged between the motor stator 21, the planetary carrier, and the upper housing 11, and is used to fix the motor stator 21 to the planetary carrier or to fix the motor stator 21 to the upper housing 11 to achieve switching of joint output.

[0040] The encoder assembly is used to measure the rotation speed and position of the joint input and the rotation speed and position of the joint output; the output end encoder switching device is correspondingly arranged on the encoder assembly, and is used to control the encoder assembly to measure the output rotation speed and position of the planetary carrier or the output rotation speed and position of the upper shell 11.

[0041] When the internal and external output switching device fixedly connects the motor stator 21 with the planetary carrier, the upper shell 11 acts as a joint output, and the output-end encoder switching device controls the encoder component to measure the output speed and position of the upper shell 11; when the internal and external output switching device fixedly connects the motor stator 21 with the upper shell 11, the planetary carrier acts as a joint output, and the output-end encoder switching device controls the encoder component to measure the output speed and position of the planetary carrier.

[0042] The outer rotor motor includes a motor fixed shaft 22, on which a fixed shaft flange 23 fixedly connected to the lower housing 12 is provided, and the fixed shaft flange 23 is fixedly connected to the lower housing 12 by bolts, and the internal and external output switching device is used to connect the planetary carrier or the upper housing 11 with the fixed shaft flange 23, and when the internal and external output switching device connects the planetary carrier with the fixed shaft flange 23, the planetary carrier does not rotate, and the upper housing 11 is used as a joint output, and when the internal and external output switching device connects the upper housing 11 with the fixed shaft flange 23, the upper housing 11 does not rotate, and the planetary carrier is used as a joint output; the motor stator 21 is fixed at Outside the motor fixed shaft 22, the motor rotor includes a rotor magnet 24 concentrically mounted outside the motor stator 21, an iron ring 25 is fixedly mounted outside the rotor magnet 24, and a reducer eccentric sleeve 26 is fixedly mounted outside the iron ring 25, and an eccentric mounting position for mounting the reducer assembly is arranged on the outer periphery of the reducer eccentric sleeve 26; in the present embodiment, the reducer eccentric sleeve 26, the iron ring 25, and the rotor magnet 24 constitute the motor rotor as a whole, and in order to prevent the reducer eccentric sleeve 26 from being magnetic, the iron ring 25 is clamped between the reducer eccentric sleeve 26 and the rotor magnet 24, and the iron ring 25 can realize the magnetic conductivity of the rotor magnet 24, and can also realize the magnetic isolation of the reducer eccentric sleeve 26.

[0043] The reducer assembly includes balls rotatably mounted on the eccentric mounting positions, and transmission gears 31 are correspondingly mounted outside the balls. The upper housing 11 is meshed with the outer periphery of all the transmission gears 31. Both side end faces of all the transmission gears 31 are mounted with planet carriers. The planet carrier includes a coaxially matched planet carrier upper cover 32 and a planet carrier lower cover 33. A fixing device for mounting all the transmission gears 31 is connected between the planet carrier upper cover 32 and the planet carrier lower cover 33. The planet carrier upper cover 32 is located outside the upper housing 11 and is mounted with an output end cover 34. The upper housing 11 or the planet carrier upper cover 32 serves as a joint output. The fixing device includes a fixing bolt for threading the planet carrier upper cover 32 and the planet carrier lower cover 33. The fixing bolt passes through all the transmission gears 31 and is threadedly connected to the planet carrier upper cover 32 from the planet carrier lower cover 33. The fixing bolt is not shown in the figure. A pin is also connected between the planet carrier upper cover 32 and the planet carrier lower cover 33. The pin passes through all the transmission gears 31 and the two ends are respectively positioned on the planet carrier upper cover 32 and the planet carrier lower cover 33. There are three eccentric mounting positions, so there are three corresponding transmission gears 31 and the phase angle is arranged at 120°. The structure of the reducer assembly is basically the same as that in the prior art, and the speed and position output principles are basically the same. The difference is that the upper housing 11 and the planet carrier in this embodiment are controlled by the internal and external output switching device to be fixed to the fixed shaft flange 23. A bearing is installed between the planet carrier and the upper housing, and a bearing is installed between the planet carrier and the reducer eccentric sleeve.

[0044] The upper housing 11 is located on the periphery of the reducer assembly to realize the external rotation output of the mechanical arm joint, and the planetary carrier is located inside the reducer assembly to realize the internal rotation output of the mechanical arm joint. This device has both internal rotation output and external rotation output. When the user uses and installs it, different output modes can be selected according to different usage requirements, which can effectively expand the scope of use of the mechanical arm joint.

[0045] The internal and external output switching device includes a through hole 51 arranged on the fixed shaft flange 23, a screw hole 52 corresponding to the through hole 51 is arranged on the planetary carrier lower cover 33, a through hole 53 is arranged on the fixed shaft flange 23, a screw hole 54 corresponding to the through hole 53 is arranged on the inner periphery of the upper shell 11, and also includes a fixing bolt 55 and a bolt sleeve 56 sleeved outside the fixing bolt 55.

[0046] By changing the installation positions of the fixing bolt 55 and the bolt sleeve 56, the output of the upper housing 11 or the output of the planetary carrier upper cover 32 can be achieved. When the upper housing 11 is used as a joint output, see Figure 2, the bolt sleeve 56 is passed through the through hole 51 and clamped between the planetary carrier lower cover 33 and the fixed shaft flange 23, and then the fixing bolt 55 is passed through the through hole 51 and the bolt sleeve 56 is threadedly connected to the screw hole 52 in sequence to fix the fixed shaft flange 23 to the planetary carrier lower cover 33, and the through hole 2 53 and the screw hole 2 54 are vacant and no bolts are installed; during installation, the fixing bolt 55 is tightened so that the head of the fixing bolt 55 abuts against the fixed shaft flange 23, and the planetary carrier lower cover 33 is fixedly connected to the fixed shaft flange 23 through the fixing bolt 55, so that when the joint is working, the planetary carrier lower cover 33 does not rotate, and can only be output through the upper shell 11, thereby realizing the joint external rotation effect.

[0047] When the planet carrier upper cover 32 is used as a joint output, see Figure 3 , the bolt sleeve 156 is passed through the through hole 253 and clamped between the upper shell 11 and the fixed shaft flange 23, and then the fixing bolt 155 is passed through the through hole 253 in sequence, and the bolt sleeve 156 is threadedly connected to the screw hole 254 to fix the fixed shaft flange 23 to the upper shell 11, and the through hole 151 and the screw hole 152 are vacant and no bolts are installed; during installation, the fixing bolt 155 is tightened so that the head of the fixing bolt 155 is against the fixed shaft flange 23, and the upper shell 11 is fixedly connected to the fixed shaft flange 23 through the fixing bolt 155, so that when the joint is working, the upper shell 11 does not rotate, and can only be output through the planetary frame upper cover 32 to achieve the joint internal rotation effect. This device realizes the switching of the internal and external rotation of the robot arm joint by changing the installation position of the fixing bolt 155.

[0048] The encoder assembly includes an encoder fixed plate and an encoder moving plate. The encoder fixed plate includes an input encoder fixed plate 41 and an output encoder fixed plate 42. The output encoder fixed plate 42 is coaxially sleeved outside the input encoder fixed plate 41. The input encoder fixed plate 41 and the output encoder fixed plate 42 are respectively fixed on the fixed shaft flange 23; the encoder moving plate includes an input encoder moving plate 43 and an output encoder moving plate 44 that can rotate respectively. The output encoder moving plate 44 is coaxially sleeved outside the input encoder moving plate 43. The input encoder moving plate 43 corresponds to the input encoder fixed plate 41, and the output encoder moving plate 44 corresponds to the output encoder fixed plate 42. The input encoder moving plate 43 is fixed to the iron ring 25 through a fixing block 45 for measuring the rotation speed and position of the joint input. The output end encoder switching device is used to control the output encoder moving plate 44 to be fixed to the planetary frame or the upper housing 11 for measuring the rotation speed and position of the joint output. The rotation speed and position of the joint input are measured by the cooperation of the input encoder fixed plate 41 and the input encoder moving plate 43, and no switching is required; and the rotation speed and position of the joint output are measured by the cooperation of the output encoder fixed plate 42 and the output encoder moving plate 44. Since the output encoder moving plate 44 is fixed to the planetary carrier or the upper shell 11 through the output end encoder switching device, the rotation speed and position of the joint output are controlled and switched by the output end encoder switching device.

[0049] The input encoder fixed disk 41 may be a detection circuit board or a position sensor, which is used to detect the rotation speed and position of the input encoder moving disk 43. The output encoder fixed disk 42 may be a detection circuit board or a position sensor, which is used to detect the rotation speed and position of the output encoder moving disk 44. The detection circuit boards or position sensors are both prior art, which are well known to ordinary engineers and technicians in the field and will not be described in detail here. In this embodiment, the input encoder fixed disk 41 and the output encoder fixed disk 42 are two sets of disks. Of course, the input encoder fixed disk 41 and the output encoder fixed disk 42 can also be set on the same disk, and are used to correspond to the input encoder moving disk 43 and the output encoder moving disk 44 respectively on two different annular areas.

[0050] A drive component corresponding to the encoder component can also be installed in the lower shell 12. The drive component serves as a drive controller. The data information generated by the input encoder fixed disk 41 and the output encoder fixed disk 42 can be transmitted to the drive controller, which is used to transmit the position signal of the motor rotor, the planetary carrier cover 32 or the upper shell 11 to the drive controller.

[0051] The output end encoder switching device includes a through hole three 61 arranged on the fixed shaft flange 23, a screw hole three 62 corresponding to the through hole three 61 is arranged on the planetary carrier lower cover 33, a through hole four 63 is arranged on the fixed shaft flange 23, a screw hole four 64 corresponding to the through hole four 63 is arranged on the upper shell 11, and also includes a fixing bolt two 65 and a bolt sleeve two 66 sleeved outside the fixing bolt two 65, and the outer surface of the bolt sleeve two 66 is provided with a fixing groove.

[0052] By changing the installation positions of the second fixing bolt 65 and the second bolt sleeve 66, the output speed and position of the upper housing 11 or the output speed and position of the planetary carrier upper cover 32 can be measured; when the planetary carrier upper cover 32 is used as a joint output, see Figure 3 , pass the bolt sleeve 2 66 through the through hole 3 61 so that the fixing slot is stuck on the inner circumference of the output encoder moving disk 44, and then the fixing bolt 2 65 passes through the through hole 3 61 and the bolt sleeve 2 66 in sequence and is threadedly connected to the screw hole 3 62 to fix the output encoder moving disk 44 to the planetary carrier lower cover 33, and the through hole 4 63 and the screw hole 4 64 are vacant and no bolts are installed; during installation, the fixing bolt 2 65 is tightened so that the head of the fixing bolt 2 65 abuts against the bolt sleeve 2 66, and the fixing slot is stuck on the inner circumference of the output encoder moving disk 44, and the output encoder moving disk 44 is fixedly connected to the planetary carrier lower cover 33 through the fixing bolt 2 65 and the bolt sleeve 2 66, so that when the joint is working, the output encoder moving disk 44 can rotate with the planetary carrier lower cover 33, so that the output encoder fixed disk 42 can read the output speed and position of the planetary carrier.

[0053] When the upper housing 11 is used as a joint output, see Figure 2 , pass the bolt sleeve 2 66 through the through hole 4 63 so that the fixing slot is stuck on the outer periphery of the output encoder moving disk 44, and then the fixing bolt 2 65 passes through the through hole 4 63 and the bolt sleeve 2 66 in sequence and is threadedly connected to the screw hole 4 64 to fix the output encoder moving disk 44 to the upper shell 11, and the through hole 3 61 and the screw hole 3 62 are vacant and no bolts are installed; during installation, the fixing bolt 2 65 is tightened so that the head of the fixing bolt 2 65 abuts against the bolt sleeve 2 66, and the fixing slot is stuck on the outer periphery of the output encoder moving disk 44, and the output encoder moving disk 44 is fixedly connected to the upper shell 11 through the fixing bolt 2 65 and the bolt sleeve 2 66, so that when the joint is working, the output encoder moving disk 44 can rotate with the upper shell 11, so that the output encoder fixed disk 42 can read the output speed and position of the upper shell 11.

[0054] In this embodiment, the screw hole 1 52 and the screw hole 3 62 may be holes of the same structure, and they are defined separately here only to distinguish their setting positions.

[0055] In this embodiment, the second screw hole 54 and the fourth screw hole 64 may be holes of the same structure, and are defined separately here only to distinguish their setting positions.

[0056] The inner periphery of the upper shell 11 is fixedly mounted with a bolt block 71 that matches the fixing bolt 55, and the screw hole 54 is disposed on the bolt block 71; the inner periphery of the upper shell 11 is also fixedly mounted with a bolt block 72 that matches the fixing bolt 65, and the screw hole 64 is disposed on the bolt block 72. In this embodiment, the bolt block 71 and the bolt block 72 may have the same structure, and are defined separately here only to distinguish their setting positions.

[0057] Since the outer periphery of the bolt sleeve 66 is provided with the fixing groove for cooperating with the inner periphery and the outer periphery of the output encoder moving disk 44, and the bolt sleeve 66 needs to be disassembled and installed, the bolt sleeve 66 is configured as a rubber bolt sleeve or a hard aluminum bolt sleeve with a certain deformation, which can not only conveniently pass through the through hole on the fixed shaft flange 23 to cooperate with the output encoder moving disk 44 for installation, but also when the fixing bolt 65 presses the bolt sleeve 66, the bolt sleeve 66 can have a certain compression deformation, forcing the output encoder moving disk 44 to be fixed.

[0058] The fixed slot can be a ring groove, so that there is no need for directional restrictions when installing the bolt sleeve 66, which is convenient for installation. Of course, the fixed slot can also be set only on one side of the outer periphery. At this time, when installing the bolt sleeve 66, it is necessary to rotate the bolt sleeve 66 to ensure that the fixed slot is stuck in the outer periphery or inner periphery of the output encoder moving disk 44.

[0059] Since the through hole 1 51 and the through hole 2 53 need to pass through the bolt sleeve 1 56, the size of the through hole 1 51 and the through hole 2 53 is larger than the bolt sleeve 1 56, but at the same time the size of the through hole 1 51 and the through hole 2 53 is smaller than the head diameter of the fixing bolt 1 55. Therefore, the axis of the through hole 1 51 and the screw hole 1 52 are not overlapped, and the axis of the through hole 2 53 and the screw hole 2 54 are not overlapped. This design of non-overlapping axis can ensure the smooth passage of the bolt sleeve 1 56 without affecting the fastening between the fixing bolt 1 55 and the fixed shaft flange 23.

[0060] The size of the through hole 3 61 and the through hole 4 63 is larger than the size of the bolt sleeve 2 66 and the fixing bolt 2 65 to ensure smooth passage. At the same time, when the fixing bolt 2 65 is installed, it does not interfere with the fixing shaft flange 23.

[0061] In this embodiment, three through holes 1 51 , three through holes 2 53 , three through holes 3 61 , and three through holes 4 63 are arranged on the surface of the fixed shaft flange 23 , and the positions of the holes do not overlap.

[0062] The via hole 1 51 and the via hole 3 61 can be a group, and the via hole 2 53 and the via hole 4 63 can be a group, and the two groups of via holes are arranged alternately, so as to ensure that when the via hole 1 51 is installed, the via hole 2 53 is not installed, the via hole 3 61 is installed, and the via hole 4 63 is not installed.

[0063] During installation, the lower shell 12 can be removed, and then the fixing bolt 1 55, bolt sleeve 1 56, fixing bolt 2 65, and bolt sleeve 2 66 can be installed. For ease of operation, marks can be made on the surface of the fixed shaft flange 23 to distinguish multiple holes.

[0064] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Internal-external output switching type robot arm joint, characterized in that: include: The joint housing, serving as the mounting base of the device, comprises an upper housing and a lower housing that cooperate with each other; An outer rotor motor is installed inside the upper housing and the lower housing, and includes a fixed motor stator, and a motor rotor serving as a joint input is mounted outside the motor stator; A reducer assembly, comprising a reducer input end and a reducer output end, wherein the reducer input end is connected to the outside of the motor rotor, a planet carrier is installed at the reducer output end, and the upper housing is also installed at the reducer output end, and the upper housing or the planet carrier is used as a joint output; An internal and external output switching device is arranged between the motor stator, the planet carrier, and the upper housing, and is used to fix the motor stator to the planet carrier or to fix the motor stator to the upper housing to achieve switching of joint output; Encoder assembly, used to measure the speed and position of joint input and the speed and position of joint output; An output end encoder switching device, correspondingly arranged on the encoder assembly, is used to control the encoder assembly to measure the output speed and position of the planet carrier or the output speed and position of the upper housing; When the internal and external output switching device fixedly connects the motor stator to the planet carrier, the upper housing serves as a joint output, and the output end encoder switching device controls the encoder assembly to measure the output speed and position of the upper housing; When the internal and external output switching device fixedly connects the motor stator to the upper housing, the planet carrier acts as a joint output, and the output end encoder switching device controls the encoder assembly to measure the output speed and position of the planet carrier; The outer rotor motor comprises a fixed motor fixed shaft, a fixed shaft flange is arranged on the motor fixed shaft, the internal and external output switching device is used to connect the planet carrier or the upper housing with the fixed shaft flange, the motor stator is fixed outside the motor fixed shaft, the motor rotor comprises a rotor magnet concentrically mounted outside the motor stator, an iron ring is fixedly mounted outside the rotor magnet, and a reducer eccentric sleeve is fixedly mounted outside the iron ring; The reducer assembly includes transmission gears, the upper housing is meshed with the outer periphery of all the transmission gears, and planet carriers are installed on both side end faces of all the transmission gears. The planet carriers include a coaxially matched planet carrier upper cover and a planet carrier lower cover, and a fixing device for mounting all the transmission gears therein is connected between the planet carrier upper cover and the planet carrier lower cover. The planet carrier upper cover is located outside the upper housing, and the upper housing or the planet carrier upper cover serves as a joint output; The internal and external output switching device includes a through hole 1 arranged on the fixed shaft flange, a screw hole 1 corresponding to the through hole 1 is arranged on the planet carrier lower cover, a through hole 2 is arranged on the fixed shaft flange, a screw hole 2 corresponding to the through hole 2 is arranged on the inner periphery of the upper housing, and also includes a fixing bolt 1 and a bolt sleeve 1 sleeved outside the fixing bolt 1; When the upper housing is used as a joint output, the bolt sleeve 1 is passed through the through hole 1 and clamped between the planet carrier lower cover and the fixed shaft flange, and then the fixing bolt 1 is passed through the through hole 1 in sequence, and the bolt sleeve 1 is threadedly connected to the screw hole 1 to fix the fixed shaft flange and the planet carrier lower cover, and the through hole 2 and the screw hole 2 are vacant; The planetary carrier upper cover serves as a joint output, and the bolt sleeve 1 is passed through the through hole 2 and clamped between the upper shell and the fixed shaft flange. Then the fixing bolt 1 passes through the through hole 2 in sequence, and the bolt sleeve 1 is threadedly connected to the screw hole 2 to fix the fixed shaft flange to the upper shell, and the through hole 1 and the screw hole 1 are left vacant.

2. The internal-external output switching type mechanical arm joint according to claim 1, characterized in that: The encoder assembly includes an encoder fixed plate and an encoder moving plate, the encoder fixed plate is fixed on the fixed shaft flange, the encoder moving plate includes an input encoder moving plate and an output encoder moving plate which can rotate respectively, the output encoder moving plate is coaxially sleeved outside the input encoder moving plate, the input encoder moving plate and the output encoder moving plate correspond to the encoder fixed plate respectively, the input encoder moving plate is fixed on the iron ring through a fixing block for measuring the rotation speed and position of the joint input, and the output end encoder switching device is used to control the output encoder moving plate to be fixed to the planetary frame or the upper shell for measuring the rotation speed and position of the joint output.

3. The internal-external output switching type mechanical arm joint according to claim 2, characterized in that: The output end encoder switching device includes a through hole three arranged on the fixed shaft flange, a screw hole three corresponding to the through hole three is arranged on the planet carrier lower cover, a through hole four is arranged on the fixed shaft flange, a screw hole four corresponding to the through hole four is arranged on the upper shell, and also includes a fixing bolt two and a bolt sleeve two sleeved outside the fixing bolt two, and a fixing groove is arranged on the outer surface of the bolt sleeve two; The planet carrier upper cover is used as the joint output, the bolt sleeve 2 is passed through the through hole 3 so that the fixed card slot is clamped on the inner periphery of the output encoder moving disk, and then the fixing bolt 2 is passed through the through hole 3 in sequence, and the bolt sleeve 2 is threadedly connected to the screw hole 3 to fix the output encoder moving disk and the planet carrier lower cover, and the through hole 4 and the screw hole 4 are vacant; When the upper shell is used as a joint output, the planetary carrier upper cover is used as a joint output, and the bolt sleeve 2 is passed through the through hole 4 so that the fixed slot is clamped on the outer periphery of the output encoder moving disk, and then the fixing bolt 2 is passed through the through hole 4 in sequence, and the bolt sleeve 2 is threadedly connected to the screw hole 4 to fix the output encoder moving disk to the upper shell, and the through hole 3 and the screw hole 3 are left vacant.

4. The internal-external output switching mechanical arm joint according to claim 3, characterized in that: The inner circumference of the upper shell is fixedly installed with a bolt block 1 that cooperates with the fixing bolt 1, and the screw hole 2 is arranged on the bolt block 1; the inner circumference of the upper shell is also fixedly installed with a bolt block 2 that cooperates with the fixing bolt 2, and the screw hole 4 is arranged on the bolt block 2.

5. The internal-external output switching mechanical arm joint according to claim 3, characterized in that: The bolt sleeve 2 is a rubber bolt sleeve or a hard aluminum bolt sleeve.

6. The internal-external output switching mechanical arm joint according to claim 3, characterized in that: The axes of the through hole 1 and the screw hole 1 do not coincide with each other, and the axes of the through hole 2 and the screw hole 2 do not coincide with each other.

7. The internal-external output switching mechanical arm joint according to claim 3, characterized in that: Three through holes one, three through holes two, three through holes three and three through holes four are arranged on the surface of the fixed shaft flange, and the positions of the holes do not overlap.

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