A high-precision collaborative robot joint module

Abstract

The present invention relates to a high-precision collaborative robot joint module. The high-precision collaborative robot joint module of the present invention includes: a joint body, a motor, an input shaft, an output shaft, a harmonic reducer, an encoder assembly, and a brake. The motor and the harmonic reducer are arranged inside the joint body, and the motor is sleeved outside the input shaft; the first end of the input shaft is connected to the harmonic reducer, and the first end of the output shaft is connected to the harmonic reducer through an output flange; the encoder assembly includes an input encoder disk mounted on the input shaft by means of internal hole fine-pitch threads, and an output encoder disk mounted on the output shaft by means of internal hole fine-pitch threads; the brake is arranged outside the input shaft between the harmonic reducer and the motor, one end of the brake is fixed on the end face of the harmonic reducer, and the other end is connected to the motor rotor. The high-precision collaborative robot joint module of the present invention has the advantages of compact structure, convenient installation, and high encoder accuracy.

Description

Technical Field

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

[0002] With the increasing popularity of collaborative robots in the market, one of its important components - the joint module, has begun to attract much attention, which also makes the research on it by industry personnel more mature. However, the joint module still generally has the following problems: 1. The structure is complex and not easy to install; 2. The running vibration is large and the encoder disk is not fixed stably; 3. The brake generates wear dust during long-term operation, affecting the accuracy of the encoder. Summary of the Invention

[0003] Based on this, the purpose of the present invention is to provide a high-precision collaborative robot joint module, which has the advantages of compact structure, convenient installation, stable operation, small vibration, high precision and good heat conduction performance.

[0004] The present invention is achieved through the following solutions:

[0005] A high-precision collaborative robot joint module includes a joint body, a motor, an input shaft, an output shaft, a harmonic reducer and an encoder assembly. The motor and the harmonic reducer are arranged inside the joint body, and the motor is sleeved outside the input shaft; the first end of the input shaft is connected to the harmonic reducer, and the first end of the output shaft is connected to the harmonic reducer through an output flange;

[0006] The encoder assembly includes an input encoder stator disk, an input encoder disk, an output encoder stator disk and an output encoder disk. The input encoder stator disk and the input encoder disk are arranged at the second end of the input shaft, and the input encoder disk is installed on the input shaft by using an internal hole fine-thread; the output encoder stator disk and the output encoder disk are arranged at the second end of the output shaft, and the output encoder disk is installed on the output shaft by using an internal hole fine-thread; the input encoder stator disk and the output encoder stator disk are fixedly arranged relative to the joint body;

[0007] It further includes a brake, the brake is arranged outside the input shaft between the harmonic reducer and the motor, one end of the brake is fixed on the end face of the harmonic reducer, and the other end is connected to the motor.

[0008] The high-precision collaborative robot joint module of the present invention, by separately designing two parts of the encoder and using internal hole fine-thread for installation, and setting the brake on the end face of the harmonic reducer, has the advantages of compact structure, convenient installation and high encoder precision.

[0009] Further, the side surfaces of the input - end encoder disk and the output - end encoder disk are respectively provided with a first machine screw hole and a second machine screw hole. The input - end encoder disk is fixed to the input shaft by installing a radial machine screw in the first machine screw hole, and the output - end encoder disk is fixed to the output shaft by installing a radial machine screw in the second machine screw hole.

[0010] Further, the end face of the input - end encoder disk is provided with a first special wrench hole, which fits with a special tooling for installing the input - end encoder disk; the end face of the output - end encoder disk is provided with a second special wrench hole, which fits with a special tooling for installing the output - end encoder disk.

[0011] Further, the motor includes a motor stator, a motor rotor, and a rotor shaft. The motor stator is sleeved outside the motor rotor. The motor stator is fixed to the joint body by an adhesive method. The motor rotor is fixed to the rotor shaft by an adhesive method, and the motor rotor is connected to the brake; a key is provided between the rotor shaft and the input shaft, and the rotor shaft is also fixed to the input shaft by a locking nut.

[0012] Further, a fine - thread screw is used for installation between the locking nut and the input shaft, and a radial machine screw is provided on the outer side of the locking nut to fix it to the input shaft.

[0013] Further, the rotor shaft is made of AL6061 material.

[0014] Further, a first input - shaft bearing, a second input - shaft bearing, and a third input - shaft bearing are also arranged in the joint body. The input shaft is respectively installed in the first input - shaft bearing, the second input - shaft bearing, and the third input - shaft bearing; among them, the first input - shaft bearing is arranged between the first end of the input shaft and the output - end flange, the second input - shaft bearing is arranged between the input shaft and the harmonic reducer, the third input - shaft bearing is installed on a bearing mounting seat fixedly connected to the joint body, and a first copper column is installed on the bearing mounting seat, and the first copper column is fixedly connected to the input - end encoder static disk.

[0015] Further, a driver assembly is also included. The driver assembly includes a drive mounting seat and a driver. The drive mounting seat is fixedly connected to the bearing mounting seat by a second copper column;

[0016] On one side of the driving mounting seat close to the second copper column, the static disk of the output encoder is fixedly connected, and on the other side, the driver is fixedly connected; there are also a boss and a hole position on the driving mounting seat, and the driver and the static disk of the output encoder are fixedly connected to both end faces of the driving mounting seat through fasteners and positioning pins.

[0017] Further, the second end of the output shaft is installed on the output shaft bearing, and the output shaft bearing is arranged between the second end of the output shaft and the driving mounting seat.

[0018] Further, it further includes a joint cover. The joint cover is installed on the joint body close to the driver side. The joint cover is fixedly connected to the driving mounting seat through the third copper column, and foam copper is pasted between the joint cover and the driver.

[0019] In the high-precision collaborative robot joint module of the present invention, by respectively installing the input encoder code disk and the output encoder code disk on the input shaft and the output shaft by using internal hole fine thread, the internal hole fine thread installation can ensure that the code disk is in a horizontal plane after installation, with small vibration during operation and high detection accuracy of the encoder; a special tooling can be used to conveniently install the code disk and adjust the distance between the code disk and the static disk; the code disk is also fixed by machine screws to prevent the code disk from loosening during long-term operation and maintain stable operation. By setting the brake between the harmonic reducer and the motor, the space is fully utilized, the structure is more compact, and the designed length of the input shaft is greatly shortened, thus improving the rigidity of the input shaft. The brake is far from the code disk, avoiding the dust generated by the brake from affecting the encoder assembly and improving the accuracy of the encoder. The motor rotor is connected to the brake, the brake is connected to the end face of the harmonic reducer, and the motor stator is connected to the joint body. The generated heat can be conducted through the brake and the joint body. The heat generated by the brake can be directly conducted to the joint body through the harmonic reducer, thereby avoiding the heat from affecting the encoder assembly, making the encoder more accurate and the operation more stable.

[0020] For better understanding and implementation, the present invention will be described in detail below with reference to the accompanying drawings. Brief Description of the Drawings

[0021] Figure 1 It is an exploded view of a high-precision collaborative robot joint module according to an embodiment of the present invention;

[0022] Figure 2 It is a cross-sectional view of a high-precision collaborative robot joint module according to an embodiment of the present invention;

[0023] Figure 3 It is a three-dimensional view of the output encoder code disk of a high-precision collaborative robot joint module according to an embodiment of the present invention;

[0024] Figure 4 A perspective view of the encoder disk at the input end of a high-precision collaborative robot joint module according to an embodiment of the present invention;

[0025] Figure 5 A sectional view of the encoder disk at the input end of a high-precision collaborative robot joint module according to an embodiment of the present invention;

[0026] Figure 6 A perspective view of the drive mounting base of a high-precision collaborative robot joint module according to an embodiment of the present invention.

[0027] Reference numerals: joint body 100, joint cover 110, third copper post 111, harmonic reducer 200, input shaft 300, first input shaft bearing 310, second input shaft bearing 320, third input shaft bearing 330, bearing mounting seat 340, output shaft 400, output shaft bearing 410, brake 500, encoder assembly 600, input end encoder static disk 610, first copper post 611, input end encoder disk 620, first machine screw hole 621, first special wrench hole 622, output end encoder static disk 630, output end encoder disk 640, second machine screw hole 641, second special wrench hole 642, motor 700, motor rotor 710, motor stator 720, rotor shaft 730, lock nut 731, driver assembly 800, driver 810, drive mounting seat 820, second copper post 821. Detailed implementation manners

[0028] The following are specific embodiments of the present invention in combination with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0030] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0031] To solve the technical problems in the background art, the present invention provides a high-precision collaborative robot joint module, which includes a joint body 100, a harmonic reducer 200, an input shaft 300, an output shaft 400, an encoder assembly 600, a brake 500, a motor 700, and a driver assembly 800. The harmonic reducer 200, the input shaft 300, the output shaft 400, the brake 500, the motor 700, the encoder assembly 600, and the driver assembly 800 are arranged inside the joint body 100. One end of the input shaft 300 facing the output opening of the joint body 100 is the first end of the input shaft 300, and the opposite end is the second end of the input shaft 300; one end of the output shaft 400 facing the output opening of the joint body 100 is the first end of the output shaft 400, and the opposite end is the second end of the output shaft 400; the input shaft 300 is sleeved outside the output shaft 400, and the harmonic reducer 200, the brake 500, and the motor 700 are sequentially arranged on the input shaft 300 along the axis direction of the input shaft 300, and the encoder assembly 600 and the driver 810 are sequentially arranged on the output shaft 400 along the axis direction of the output shaft 400.

[0032] The input shaft 300 is sleeved outside the output shaft 400, and the first end of the input shaft 300 is flush with the first end of the output shaft 400. The harmonic reducer 200 is sleeved on the first end of the input shaft 300 and is fixedly connected to the first end of the input shaft 300. The center of the output shaft 400 is a hollow wire passing hole, and the wire of the joint module is arranged in the wire passing hole. The first end of the output shaft 400 is provided with an output flange, and the output flange is connected to the front end face of the harmonic reducer 200 through fasteners. The second end of the output shaft 400 extends beyond the second end of the input shaft 300.

[0033] The joint body 100 is also provided with a first input shaft bearing 310, a second input shaft bearing 320, and a third input shaft bearing 330. The input shaft 300 is respectively installed on the first input shaft bearing 310, the second input shaft bearing 320, and the third input shaft bearing 330; wherein, the first input shaft bearing 310 is arranged between the first end of the input shaft 300 and the output flange, the second input shaft bearing 320 is arranged between the input shaft 300 and the harmonic reducer 200, and the third input shaft bearing 330 is installed on a bearing mounting seat 340 fixedly connected to the joint body 100. By arranging the first input shaft bearing 310, the second input shaft bearing 320, and the third input shaft bearing 330, the input shaft 300 is positioned and supported, ensuring the stable operation of the input shaft 300. The second end of the output shaft 400 is installed on the output shaft bearing 410, and the output shaft bearing 410 is arranged between the second end of the output shaft 400 and the driver assembly 800. By arranging the output shaft bearing 410, the second end of the output shaft 400 is positioned and supported, ensuring the stable operation of the output shaft 400.

[0034] The encoder assembly 600 includes an input - end encoder stationary disk 610, an input - end encoder code disk 620, an output - end encoder stationary disk 630, and an output - end encoder code disk 640. The input - end encoder stationary disk 610 and the input - end encoder code disk 620 are arranged at the second end of the input shaft 300. The input - end encoder is installed on the input shaft 300 by using a fine - thread internal hole. The input - end encoder stationary disk 610 is fixedly connected to the bearing mounting seat 340 through the first copper column 611. The output - end encoder stationary disk 630 and the output - end encoder code disk 640 are arranged at the second end of the output shaft 400. The output - end encoder code disk 640 is installed on the output shaft 400 by using a fine - thread internal hole. The output - end encoder stationary disk 630 is fixedly connected to the driver assembly 800.

[0035] Specifically, first Jiemi screw holes 621 and second Jiemi screw holes 641 are respectively arranged on the sides of the input - end encoder code disk 620 and the output - end encoder code disk 640. The input - end encoder code disk 620 is fixed on the input shaft 300 by installing radial Jiemi screws in the first Jiemi screw holes 621, and the output - end encoder code disk 640 is fixed on the output shaft 400 by installing radial Jiemi screws in the second Jiemi screw holes 641. By setting the radial Jiemi screws to fix the input - end encoder code disk 620 on the input shaft 300 and the output - end encoder code disk 640 on the output shaft 400, it is ensured that the input - end encoder code disk 620 and the output - end encoder code disk 640 will not become loose during long - term operation. First special wrench holes 622 and second special wrench holes 642 are respectively arranged on the end faces of the input - end encoder code disk 620 and the output - end encoder code disk 640. The special tooling used to install the input - end encoder code disk 620 and the output - end encoder code disk 640 can respectively fit with the first special wrench hole 622 and the second special wrench hole 642. By using the special tooling, it is more convenient to install and adjust the distance between the code disk and the stationary disk.

[0036] The motor 700 includes a motor stator 720, a motor rotor 710, a rotor shaft 730, and a lock nut 731. The motor stator 720 is sleeved outside the motor rotor 710. The motor stator 720 is fixed to the joint body 100 by an adhesive method. The motor rotor 710 is fixed to the rotor shaft 730 by an adhesive method. A key is provided between the rotor shaft 730 and the input shaft 300 to drive the input shaft 300 to rotate. Further, the rotor shaft 730 is also fixed to the input shaft 300 by the lock nut 731.

[0037] In a preferred embodiment, the lock nut 731 is installed on the input shaft 300 by using a fine - thread method, and a radial Jiemi screw is provided on the outside of the lock nut 731 to fix it on the input shaft 300. Using the lock nut 731 to fix the rotor shaft 730 makes full use of the internal structure space, greatly reducing the overall volume of the joint module.

[0038] In a preferred embodiment, the rotor shaft 730 is made of AL6061 material, which can effectively reduce the weight of the rotor and the size of the rotor, thereby reducing the moment of inertia of the motor 700 and improving the response speed of the motor 700.

[0039] The brake 500 is arranged outside the input shaft 300 between the harmonic reducer 200 and the motor 700. One end of the brake 500 is fixed to the end face of the harmonic reducer 200, and the other end is connected to the motor rotor 710. By fixedly connecting the brake 500 to the end face of the harmonic reducer 200, the space between the motor stator 720 and the harmonic reducer 200 is fully utilized, making the structure more compact.

[0040] The driver assembly 800 is arranged at the second end of the output shaft 400. The driver assembly 800 includes a driver mounting base 820 and a driver 810. The driver mounting base 820 is fixedly connected to the bearing mounting base 340 through a second copper post 821, and the outer ring of the output shaft bearing 410 is mounted on the driver mounting base 820; the output end encoder static disk 630 is fixedly connected to one side of the driver mounting base 820 close to the second copper post 821, and the driver 810 is fixedly connected to the other side.

[0041] In a preferred embodiment, the driver mounting base 820 is also provided with a boss and a hole position. The boss and the hole position fixedly connect the driver 810 and the output end encoder static disk 630 to both end faces of the driver mounting base 820 through fasteners and positioning pins. It can not only achieve the precise positioning of the two but also support each other, and at the same time play a protective role for the encoder mounted on the driver 810 mounting base.

[0042] The joint body 100 is also provided with a joint cover 110 at one end close to the driver assembly 800. The joint cover 110 is mounted on the joint body 100 on the side close to the driver 810, and the joint cover 110 is fixedly connected to the driver mounting base 820 through a third copper post 111. Specifically, foam copper is pasted between the joint cover 110 and the driver 810 to effectively reduce the temperature of the driver 810, thereby increasing the running time of the joint module.

[0043] A high-precision collaborative robot joint module according to an embodiment of the present invention installs the input end encoder disk 620 and the output end encoder disk 640 on the input shaft 300 and the output shaft 400 respectively by using internal hole fine thread. The internal hole fine thread installation can ensure that the disk is in a horizontal plane after installation, with small vibration during operation. A special tooling can also be used to conveniently install the disk and adjust the distance between the disk and the static disk, effectively improving the detection accuracy of the encoder assembly 600. The disk is fixed by machine screws to prevent the disk from loosening during long-term operation and maintain stable operation. By arranging the brake 500 between the harmonic reducer 200 and the motor 700, the space is fully utilized, the structure is more compact, and the designed length of the input shaft 300 is greatly shortened, improving the rigidity of the input shaft 300. The brake 500 is far from the disk, avoiding the dust generated by the brake 500 from affecting the encoder assembly 600 and improving the accuracy of the encoder. The motor rotor 710 is connected to the brake 500, the brake 500 is connected to the end face of the harmonic reducer 200, and the motor stator 720 is connected to the joint body 100. The generated heat can be conducted through the brake 500 and the joint body 100. The heat generated by the brake 500 can be directly conducted to the joint body 100 through the harmonic reducer 200, thus avoiding the heat from affecting the encoder assembly 600, making the encoder more accurate and the operation more stable.

[0044] A high-precision collaborative robot joint module according to an embodiment of the present invention has the advantages of compact structure, convenient installation, stable operation, small vibration, high precision, and good heat conduction performance.

[0045] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and the present invention also intends to include these modifications and improvements.

Claims

1. A high-precision collaborative robot joint module, characterized in that: It includes a joint body, a motor, an input shaft, an output shaft, a harmonic reducer and an encoder assembly. The motor and the harmonic reducer are arranged inside the joint body, and the motor is sleeved outside the input shaft; the first end of the input shaft is connected to the harmonic reducer, and the first end of the output shaft is connected to the harmonic reducer through an output flange; The encoder assembly includes an input encoder static disk, an input encoder code disk, an output encoder static disk and an output encoder code disk. The input encoder static disk and the input encoder code disk are arranged at the second end of the input shaft, and the input encoder code disk is installed on the input shaft by using a fine-threaded hole in the inner hole; the output encoder static disk and the output encoder code disk are arranged at the second end of the output shaft, and the output encoder code disk is installed on the output shaft by using a fine-threaded hole in the inner hole; the input encoder static disk and the output encoder static disk are fixedly arranged relative to the joint body; It further includes a brake, and the brake is arranged outside the input shaft between the harmonic reducer and the motor. One end of the brake is fixed on the end face of the harmonic reducer, and the other end is connected to the motor and is separated from the encoder assembly by the motor.

2. The high-precision collaborative robot joint module according to claim 1, characterized in that: The side surfaces of the input encoder code disk and the output encoder code disk are respectively provided with a first Jiemi screw hole and a second Jiemi screw hole. The input encoder code disk is fixed on the input shaft by installing a radial Jiemi screw in the first Jiemi screw hole, and the output encoder code disk is fixed on the output shaft by installing a radial Jiemi screw in the second Jiemi screw hole.

3. The high-precision collaborative robot joint module according to claim 2, characterized in that: The end face of the input encoder code disk is provided with a first special wrench hole, and the first special wrench hole fits with a special tool for installing the input encoder code disk; the end face of the output encoder code disk is provided with a second special wrench hole, and the second special wrench hole fits with a special tool for installing the output encoder code disk.

4. The high-precision collaborative robot joint module according to claim 1, characterized in that: The motor includes a motor stator, a motor rotor and a rotor shaft. The motor stator is sleeved outside the motor rotor, the motor stator is fixed to the joint body by an adhesive method, the motor rotor is fixed to the rotor shaft by an adhesive method, and the motor rotor is connected to the brake; a key is provided between the rotor shaft and the input shaft, and the rotor shaft is also fixed to the input shaft by a locking nut.

5. The high-precision collaborative robot joint module according to claim 4, characterized in that: The locking nut is installed on the input shaft by using a fine thread, and a radial Jiemi screw is provided outside the locking nut to fix it on the input shaft.

6. A high-precision collaborative robot joint module according to claim 5, characterized in that: The rotor shaft is made of AL6061 material.

7. A high-precision collaborative robot joint module according to any one of claims 1 to 6, characterized in that: A first input shaft bearing, a second input shaft bearing and a third input shaft bearing are further arranged in the joint body, and the input shafts are respectively installed in the first input shaft bearing, the second input shaft bearing and the third input shaft bearing; wherein, the first input shaft bearing is arranged between the first end of the input shaft and the output flange, the second input shaft bearing is arranged between the input shaft and the harmonic reducer, the third input shaft bearing is installed on a bearing mounting seat fixedly connected to the joint body, a first copper column is installed on the bearing mounting seat, and the first copper column is fixedly connected to the static disk of the input end encoder.

8. A high-precision collaborative robot joint module according to claim 7, characterized in that: It further includes a driver assembly, the driver assembly is arranged at the second end of the output shaft, and the driver assembly includes a driver mounting seat and a driver, and the driver mounting seat is fixedly connected to the bearing mounting seat through a second copper column; A static disk of the output end encoder is fixedly connected to one side of the driver mounting seat close to the second copper column, and the driver is fixedly connected to the other side; a boss and a hole are further provided on the driver mounting seat, and the driver and the static disk of the output end encoder are fixedly connected to both end faces of the driver mounting seat through fasteners and positioning pins.

9. A high-precision collaborative robot joint module according to claim 8, characterized in that: The second end of the output shaft is installed on an output shaft bearing, and the output shaft bearing is arranged between the second end of the output shaft and the driver mounting seat.

10. A high-precision collaborative robot joint module according to claim 9, characterized in that: It further includes a joint cover, the joint cover is installed on the joint body close to the driver side, the joint cover is fixedly connected to the driver mounting seat through a third copper column, and foam copper is pasted between the joint cover and the driver.

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