A high-radiation resistant robotic arm joint structure

Abstract

This invention relates to the field of nuclear industry robot technology, specifically disclosing a high-radiation-resistant robotic arm joint structure. The joint structure includes a reducer device and a brake device. The reducer device comprises a harmonic reducer steel wheel and a harmonic reducer wave generator, the wave generator being sleeved inside the harmonic reducer steel wheel and fixedly connected to the motor output shaft. The harmonic reducer steel wheel is connected to the motor stator fixed seat via a reducer mounting base, used to send power to the output device. The brake device includes a non-excitation brake, connected to the reducer device via a brake mounting base, used to generate a small braking force on the motor output shaft. By employing a non-excitation brake and integrating the braking device within the reducer device, the robot joint achieves high-radiation resistance while also making the joint structure more compact and improving its rigidity.

Description

Technical Field

[0001] This invention belongs to the field of nuclear industry robot technology, specifically relating to a high-radiation resistant robotic arm joint structure. Background Technology

[0002] With the further development of robotics technology, industrial robots and collaborative robots have been widely researched and applied in industry. For these arm-type robots, the joints are the core components of the entire robot structure, and their rational structural design directly affects the compactness and modularity of the robot structure. Generally, robot joint structures adopt a series connection of encoder-brake-motor-reducer.

[0003] In the nuclear industry, there are many processes that require robotic arms to perform, such as maintenance, decommissioning and emergency response. These operations usually need to be carried out in environments with high radiation doses, which places high demands on the radiation resistance of robotic arms. However, the common encoder-brake-motor-reducer series connection will result in excessively large axial dimensions of the joints of radiation-resistant robots, making it difficult to carry out modular joint design. Summary of the Invention

[0004] The purpose of this invention is to provide a high-radiation resistant robotic arm joint structure. This joint structure solves the problem that existing encoder-connected joint structures cannot work in high-dose radiation environments. At the same time, this joint structure has a compact structure, which reduces the problem of large axial dimensions of robot joints and facilitates modular design of the joints in the later stages.

[0005] The technical solution of the present invention is as follows: A high-radiation-resistant robotic arm joint structure, comprising a motor device, a reducer device, and a brake device. The motor device includes a motor rotor and a motor output shaft, which are fixedly connected. The motor rotor is sleeved inside a motor stator, which is fixedly connected to a stator mounting base. An output device is fixedly connected to the stator mounting base. The reducer device includes a harmonic reducer steel wheel and a harmonic reducer wave generator, which is sleeved inside the harmonic reducer steel wheel and fixedly connected to the motor output shaft. The harmonic reducer steel wheel is connected to the motor stator mounting base via the reducer mounting base, for transmitting power to the output device. The brake device includes a de-excitation brake, which is connected to the reducer device via a brake mounting base, for generating a small braking force on the motor output shaft.

[0006] The joint structure also includes a support device, which includes a front shell, a rear shell, and a hollow shaft. The front shell and the rear shell are both cylindrical, and a slot is provided at the connection between the front shell and the rear shell for connection and positioning. The front shell and the rear shell are fixedly connected and form an internal space.

[0007] The internal space has a sleeve in the middle of the horizontal direction for fixing the electric shock device and the reducer device, and a hollow shaft in the middle of the axial direction for arranging wiring; the hollow shaft is fixedly connected to the inner ring of the hollow shaft support bearing.

[0008] The joint structure also includes a rotary transformer device, which includes a rotary transformer pressure plate, a rotary transformer stator, and a rotary transformer rotor. The rotary transformer stator is fixedly connected to the motor stator mounting base via the rotary transformer pressure plate. The rotary transformer rotor is fixedly connected to the hollow shaft to realize the measurement of angular velocity and angular displacement.

[0009] The output device includes a joint output end and a support bearing seat. The side cross-section of the joint output end is "C" shaped, and the left side plane has evenly distributed circular holes along the circumference to connect to external devices. The joint output end is located at the opening of the front housing, and a front output support bearing is provided between the joint output end and the front housing. The support bearing seat is cylindrical, fitted inside the rear housing, and a rear output support bearing is provided between the joint output end and the rear housing.

[0010] The reducer device also includes a harmonic reducer flexure, which is connected to the rear housing. The harmonic reducer flexure is equipped with a non-excitation brake inside and is sleeved on the outside of the motor output shaft to transmit braking force.

[0011] The braking device also includes a brake rotor hub, which is located inside the flex wheel of the harmonic reducer and is fixedly connected to the motor output shaft.

[0012] A motor output shaft support bearing is provided between the motor stator mounting base and the motor output shaft.

[0013] The motor stator mounting base has a hollow structure around its circumference for heat dissipation and wiring.

[0014] The significant advantage of this invention is that the high-radiation resistant robotic arm joint structure described in this invention uses a non-excitation brake and integrates the braking device into the reducer, thereby achieving high-radiation resistant characteristics of the robot joint, while making the joint structure more compact and improving the rigidity of the joint structure. Attached Figure Description

[0015] Figure 1This is a schematic diagram of the appearance of a high-radiation resistant robotic arm joint structure according to the present invention;

[0016] Figure 2 for Figure 1 An exploded view of the joint structure of a high-radiation resistant robotic arm;

[0017] Figure 3 for Figure 1 A cross-sectional view of a high-radiation-resistant robotic arm joint structure;

[0018] In the diagram: 1. Front housing; 2. Rear housing; 3. Joint output end; 4. Output front support bearing; 5. Sleeve; 6. Output rear support bearing; 7. Hollow shaft; 8. Motor stator mounting base; 9. Reducer mounting base; 10. Support bearing seat; 11. Harmonic reducer flexspline; 12. Harmonic reducer steel wheel; 13. Harmonic reducer wave generator; 14. Brake rotor hub; 15. Non-excitation brake; 16. Brake mounting base; 17. Motor stator; 18. Motor rotor; 19. Rotary transformer pressure plate; 20. Rotary transformer stator; 21. Rotary transformer rotor; 22. Motor output shaft; 23. Hollow shaft support bearing; 24. Motor output shaft support bearing. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figures 1-3 As shown, a high-radiation-resistant robotic arm joint structure includes a support device, an output device, a motor device, a reducer device, a brake device, and a rotary transformer device.

[0021] The support device includes a front housing 1, a rear housing 2, and a hollow shaft 7. Both the front housing 1 and the rear housing 2 are cylindrical and have internal shoulders. The front housing 1 and the rear housing 2 are fixedly connected, and a slot is provided between them for connection and positioning. The fixed connection between the front housing 1 and the rear housing 2 forms an internal space. A sleeve 5 is provided in the middle of the horizontal direction of the internal space, and a hollow shaft 7 is provided in the middle of the axial direction of the internal space. The hollow shaft 7 is fixedly connected to the inner ring of the hollow shaft support bearing 23.

[0022] The output device includes a joint output end 3 and a support bearing seat 10. The joint output end 3 has a "C"-shaped side cross-section, a shoulder at the right edge, and circular holes evenly distributed circumferentially on the left side plane. The joint output end 3 is located at the opening of the front housing 1, and a front output support bearing 4 is provided between the joint output end 3 and the front housing 1. The support bearing seat 10 is cylindrical, with a shoulder at the left edge. The support bearing seat 10 is fitted inside the rear housing 2, and a rear output support bearing 6 is provided between the support bearing seat 10 and the rear housing 2. The sleeve 5 is located between the shoulder of the joint output end 3 and the shoulder of the support bearing seat 10. The motor device includes a motor stator fixing seat 8, a motor stator 17, and a motor rotor 18. The stator mounting base 8 has a "mountain" shaped side profile. The protruding edge is provided with a first inner shoulder and a second inner shoulder. A motor stator 17 is fitted inside the first inner shoulder of the stator mounting base 8. The stator mounting base 8 is fixedly connected to the joint output end 3. A motor rotor 18 is provided inside the motor stator 17. The motor rotor 18 is fixedly connected to the motor output shaft 22, enabling the motor output shaft 22 to rotate. The motor rotor 18 and the motor output shaft 22 are fixedly connected by adhesive bonding. A motor output shaft support bearing 24 is provided between the second inner shoulder of the stator mounting base 8 and the motor output shaft 22. The stator mounting base 8 has a circumferentially perforated structure for heat dissipation and wiring.

[0023] The reducer device includes a reducer mounting base 9, a harmonic reducer flexible wheel 11, a harmonic reducer steel wheel 12, and a harmonic reducer wave generator 13. The reducer mounting base 9 is fixedly connected to the motor stator mounting base 8. The harmonic reducer steel wheel 12 is fixedly connected to the reducer mounting base 9 and to the support bearing seat 10. The harmonic reducer wave generator 13 is sleeved inside the harmonic reducer steel wheel 12 and fixedly connected to the motor output shaft 22, enabling the harmonic reducer wave generator 13 to rotate at high speed. The harmonic reducer flexible wheel 11 is connected to the rear housing 2. The harmonic reducer steel wheel 12 is driven by the harmonic reducer wave generator 13 and achieves low-speed movement under the action of the harmonic reducer flexible wheel 11. The harmonic reducer steel wheel 12 outputs power to the joint output end 3 through the reducer mounting base 9 and the motor stator mounting base 8 in sequence.

[0024] The braking device includes a brake rotor hub 14, a non-excitation brake 15, and a brake mounting base 16. The brake mounting base 16 is fixedly connected to the flexure wheel 11 of the harmonic reducer, and the brake mounting base 16 has a hollow structure to facilitate the passage of wiring. The non-excitation brake 15 is located inside the flexure wheel 11 of the harmonic reducer, and the non-excitation brake 15 is fixedly connected to the brake mounting base 16. The brake rotor hub 14 is located inside the flexure wheel 11 of the harmonic reducer, and the brake rotor hub 14 is fixedly connected to the motor output shaft 22, so as to generate a small braking force on the motor output shaft 22 through the non-excitation brake 15.

[0025] The rotary transformer device includes a rotary transformer pressure plate 19, a rotary transformer stator 20, and a rotary transformer rotor 21. The rotary transformer stator 20 is fixedly connected to the motor stator mounting base 8 via the pressure plate 19. The rotary transformer rotor 21 is fixedly connected to the hollow shaft 7 to realize the measurement of angular velocity and angular displacement.

Claims

1. A high-radiation-resistant robotic arm joint structure, characterized in that: The joint structure includes a motor unit, a reducer unit, and a brake unit. The motor unit includes a motor rotor (18) and a motor output shaft (22), which are fixedly connected. The motor rotor (18) is sleeved inside a motor stator (17), which is fixedly connected to a motor stator mounting base (8). An output device is fixedly connected to the motor stator mounting base (8). The reducer unit includes a harmonic reducer steel wheel (12) and a harmonic reducer wave generator (13). The harmonic reducer wave generator (13) is sleeved inside the harmonic reducer steel wheel (12), and the harmonic reducer wave generator (13) is fixedly connected to the motor output shaft (22); the harmonic reducer steel wheel (12) is connected to the motor stator fixing seat (8) through the reducer fixing seat (9) to send power to the output device; the braking device includes a non-excitation brake (15), which is connected to the reducer device through the brake mounting seat (16) to generate a small braking force on the motor output shaft (22); The output device includes a joint output end (3) and a support bearing seat (10). The side profile of the joint output end (3) is "C" shaped, and the left side plane has evenly distributed circular holes along the circumference to connect to external devices. The joint output end (3) is located at the opening of the front housing (1), and a front output support bearing (4) is provided between the joint output end (3) and the front housing (1). The support bearing seat (10) is cylindrical and is fitted inside the rear housing (2), and a rear output support bearing (6) is provided between the support bearing seat (10) and the rear housing (2). The reducer device also includes a harmonic reducer flexure (11), which is connected to the rear housing (2). The harmonic reducer flexure (11) is equipped with a non-excitation brake (15) inside. The harmonic reducer flexure (11) is sleeved on the outside of the motor output shaft (22) for transmitting braking force.

2. The high-radiation-resistant robotic arm joint structure according to claim 1, characterized in that: The joint structure also includes a support device, which includes a front shell (1), a rear shell (2) and a hollow shaft (7). The front shell (1) and the rear shell (2) are both cylindrical. The front shell (1) and the rear shell (2) are connected by a slot for connection and positioning. The front shell (1) and the rear shell (2) are fixedly connected and form an internal space.

3. The high-radiation-resistant robotic arm joint structure according to claim 2, characterized in that: The internal space is provided with a sleeve (5) in the middle of the horizontal direction for fixing the electric shock device and the reducer device. The internal space is provided with a hollow shaft (7) in the middle of the axial direction for arranging wiring. The hollow shaft (7) is fixedly connected to the inner ring of the hollow shaft support bearing (23).

4. The high-radiation-resistant robotic arm joint structure according to claim 3, characterized in that: The joint structure also includes a rotary transformer device, which includes a rotary transformer pressure plate (19), a rotary transformer stator (20), and a rotary transformer rotor (21). The rotary transformer stator (20) is fixedly connected to the motor stator mounting base (8) through the rotary transformer pressure plate (19). The rotary transformer rotor (21) is fixedly connected to the hollow shaft (7) to realize the measurement of angular velocity and angular displacement.

5. The high-radiation-resistant robotic arm joint structure according to claim 4, characterized in that: The braking device also includes a brake rotor hub (14), which is located inside the harmonic reducer flex wheel (11) and is fixedly connected to the motor output shaft (22).

6. The high-radiation-resistant robotic arm joint structure according to claim 1, characterized in that: A motor output shaft support bearing (24) is provided between the motor stator fixing seat (8) and the motor output shaft (22).

7. The high-radiation-resistant robotic arm joint structure according to claim 1, characterized in that: The motor stator mounting base (8) has a hollow structure around its circumference for heat dissipation and wiring.

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