A hollow robot joint module with adjustable output mode

Abstract

The application discloses a hollow robot joint module with adjustable output mode, which comprises an output flange shaft, a harmonic reducer, a double-torque motor, a brake, an angle encoder and a drive controller are sequentially installed on the output flange shaft from front to back, the drive controller can acquire data of the angle encoder and the double-torque motor in real time and control the brake to open and close, so as to switch the output mode; the harmonic reducer, the double-torque motor and the brake are installed on the output flange shaft through a wave generator, and the output flange shaft is coaxially installed with the wave generator. Through the integrated application of the double-rigid-wheel harmonic reducer, the double-torque motor, the friction brake and the angle encoder, two different types of output modes, i.e. a low-rotation-speed high-load mode and a high-rotation-speed low-load mode, are realized on the basis of guaranteeing compact structure, and an effective solution is provided for the multi-working-condition application of the robot joint.

Description

Technical Field

[0001] This invention relates to a robot joint module, and more particularly to a hollow robot joint module with adjustable output mode. Background Technology

[0002] Robot joints are key components enabling movement in industrial robots, collaborative robots, and humanoid robots. Currently, in robot joint designs, the power source is typically a servo motor, and the reduction gear is generally a harmonic reducer, with the servo motor driving the reducer for power transmission. Robot applications are diverse, demanding not only high precision and high load capacity from robot joints but also high rotational speeds. However, simply increasing the servo motor's speed in high-speed applications significantly increases product size and cost, and reduces the servo motor's lifespan. Harmonic reducers offer advantages such as compact structure and large reduction ratios, but standard cup-shaped and top-hat-shaped products have limited reduction ratios, making them unsuitable for multi-condition applications. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to propose a hollow robot joint module with adjustable output mode, which integrates two modes of robot joint: low speed and high load, and high speed and low load.

[0004] Technical solution: The present invention includes an output flange shaft, on which a harmonic reducer, a dual torque motor, a brake, an angle encoder and a drive controller are installed sequentially from front to back. The drive controller can acquire data from the angle encoder and the dual torque motor in real time and control the opening and closing of the brake to switch the output mode.

[0005] The harmonic reducer, dual-torque motor, and brake are mounted on the output flange shaft via a wave generator, and the output flange shaft is coaxially mounted with the wave generator.

[0006] The harmonic reducer includes an annular flexible wheel, a multi-tooth rigid wheel, and a constant-tooth rigid wheel. The annular flexible wheel is installed on the outside of the wave generator, and the multi-tooth rigid wheel and the constant-tooth rigid wheel mesh with the annular flexible wheel.

[0007] The dual-torque motor includes a front motor and a rear motor. The front motor includes a front motor stator and a front motor rotor. The front motor stator is installed inside the front housing, and the front motor rotor is installed outside the wave generator.

[0008] The multi-tooth rigid wheel is bolted to the output flange shaft, and the equal-tooth rigid wheel is bolted to the rotor of the front motor, and the equal-tooth rigid wheel is driven to rotate by the front motor.

[0009] The rear motor includes a rear motor stator and a rear motor rotor. The rear motor stator is installed in the rear housing, and the rear motor rotor is fixed to the wave generator. The rear motor drives the wave generator to rotate.

[0010] The brake includes a brake rotor and a brake stator. The brake rotor is mounted on a wave generator, and the brake stator is mounted on the inner wall of the rear housing.

[0011] The angle encoder includes an angle encoder reading head and an angle encoder code disk. The angle encoder reading head is mounted on the rear housing, and the angle encoder code disk is mounted on the output flange shaft via a transition connecting ring.

[0012] The output modes include low speed high load and high speed low load. When the operating condition is low speed high load, the output mode is as follows: the drive controller sends a drive signal, the rear motor rotor rotates, and the front motor rotor is locked. At this time, the rear motor rotor drives the wave generator to rotate, causing the annular flexible wheel to mesh with the multi-tooth rigid wheel, driving the output flange shaft to output power. At this time, the transmission ratio i1 is:

[0013]

[0014] In the formula, N D The number of teeth on a rigid gear with equal teeth;

[0015] Rated output torque is T out1 for:

[0016]

[0017] In the formula, T1 is the rated input torque of the rear motor;

[0018] When the operating condition is high speed and low load, the output mode is as follows: the drive controller sends a drive signal, the front motor rotor rotates, and the rear motor rotor is locked. At this time, the front motor rotor drives the equal-tooth rigid wheel to rotate, and the equal-tooth rigid wheel drives the multi-tooth rigid wheel to rotate through the annular flexible wheel, which in turn drives the output flange shaft to output power. At this time, the transmission ratio i2 is:

[0019]

[0020] In the formula, N S N represents the number of teeth on a rigid gear with equal teeth. S =N D +2;

[0021] Rated output torque is T out2 for:

[0022]

[0023] In the formula, T2 is the rated input torque of the rear motor.

[0024] Beneficial effects: By integrating a dual rigid wheel harmonic reducer, a dual torque motor, a friction brake, and an angle encoder, this invention achieves two different types of output modes—low speed high load mode and high speed low load mode—while ensuring a compact structure, providing an effective solution for multi-condition applications of robot joints. Attached Figure Description

[0025] Figure 1 This is an overall structural diagram of the present invention;

[0026] Figure 2 This is a cross-sectional view of the structure of the present invention;

[0027] Figure 3 This is a structural diagram of the output flange shaft of the present invention;

[0028] Figure 4 This is a structural diagram of the wave generator of the present invention;

[0029] Figure 5 This is a structural diagram of the annular flexible wheel of the present invention;

[0030] Figure 6 This is a structural diagram of the multi-tooth rigid wheel of the present invention;

[0031] Figure 7 This is a structural diagram of the equal-tooth rigid wheel of the present invention;

[0032] Figure 8 This is a structural diagram of the rear housing of the present invention. Detailed Implementation

[0033] The invention will now be further described with reference to the accompanying drawings.

[0034] like Figures 1 to 8As shown, the present invention includes an output flange shaft 1. A harmonic reducer, a dual-torque motor, a brake, an angle encoder, and a rear end cover 18 are sequentially mounted on the output flange shaft 1 from front to back. The harmonic reducer, dual-torque motor, and brake are mounted on the output flange shaft 1 via a wave generator 4, and the output flange shaft 1 and the wave generator 4 are coaxially mounted. The harmonic reducer includes an annular flexible wheel 2, a multi-tooth rigid wheel 6, and a constant-tooth rigid wheel 7. The annular flexible wheel 2 is mounted on the outside of the wave generator 4 via a flexible bearing 5. The outer ring of the flexible bearing 5 contacts and engages with the inner wall of the annular flexible wheel 2. The multi-tooth rigid wheel 6 and the constant-tooth rigid wheel 7 mesh with the annular flexible wheel 2. The multi-tooth rigid wheel 6 is bolted to the output flange shaft 1. The dual-torque motor includes a front motor and a rear motor. The front motor includes a front motor stator 8 and a front motor rotor 9, and the rear motor includes a rear motor stator 10 and a rear motor rotor 11. The front motor stator 8 is installed inside the front housing 27 and positioned by a front motor positioning retaining ring 28. The front motor rotor 9 is installed on the outside of the wave generator 4 via multiple deep groove ball bearings 26 and is bolted to the equal-tooth rigid wheel 7. The rear motor stator 10 is installed inside the rear housing 21 and positioned by a rear motor positioning retaining ring 23. The rear motor rotor 11 is fixed to the wave generator 4. The brake is a friction brake, including a brake rotor 12 and a brake stator 13. The brake rotor 12 is installed on the wave generator 4, and the brake stator 13 is installed on the inner wall of the rear housing 21. The angle encoder includes an angle encoder reading head 14 and an angle encoder code disk 15. The angle encoder reading head 14 is mounted on the rear housing 21, and the angle encoder code disk 15 is mounted on the output flange shaft 1 via a transition connecting ring 16. A drive controller 19 is installed on the inner wall of the rear end cover 18.

[0035] like Figure 3 As shown, the output flange shaft 1 includes a flange 1.1, a hollow hole 1.2, an output threaded hole 1.3, a hollow shaft 1.4, an angle encoder mounting surface 1.5, an angle encoder threaded hole 1.6, and a rear end cover bearing mounting surface 1.7. The flange 1.1 is the output end of the output flange shaft 1, and multiple output threaded holes 1.3 are arranged in a ring on the flange 1.1. The hollow hole 1.2 and the hollow shaft 1.4 are used for the wiring of the robot joints. An angle encoder code disk 15 is mounted on the angle encoder mounting surface 1.5. The angle encoder code disk 15 forms an interference fit with the angle encoder mounting surface 1.5 through a transition connecting ring 16 and is locked through the angle encoder threaded hole 1.6. When the output flange shaft 1 rotates, it drives the angle encoder code disk 15 to rotate, and the angle encoder reading head 14 obtains the precise output angle with an absolute accuracy of 2 arcseconds. A rear end cover 18 is installed on the rear end cover bearing mounting surface 1.7. The rear end cover 18 is mounted on the rear end cover bearing mounting surface 1.7 via a rear end cover bearing 17. The rear end cover bearing mounting surface 1.7 and the inner ring of the rear end cover bearing 17 form a small clearance fit to ensure the rotational coaxiality of the output flange shaft 1.

[0036] Wave generator 4 adopts a stepped shaft structure, such as Figure 4 As shown, the wave generator includes a bearing mating surface 4.1, an outer contour surface 4.2, a motor deep groove ball bearing mounting surface 4.3, a motor stator mounting surface 4.4, a brake mounting surface 4.5, and a wave generator inner hole 4.6. The bearing mating surface 4.1 is the mounting surface for the output deep groove ball bearing 3. The wave generator 4 is coaxially mounted with the output flange shaft 1 via the output deep groove ball bearing 3, and coaxiality is ensured by the output deep groove ball bearing 3. The outer contour surface 4.2 is an elliptical contour surface, on which a flexible bearing 5 is mounted, and it is positioned by a flexible bearing positioning circlip 29. The flexible bearing 5 supports the annular flexible wheel 2 in an elliptical shape, enabling the annular flexible wheel 2 to form a differential gear transmission with the multi-tooth rigid wheel 6 and the equal-tooth rigid wheel 7. Two deep groove ball bearings 26 are installed on the left and right sides of the motor deep groove ball bearing mounting surface 4.3. The inner and outer rings of the bearings are pressed together by the bearing inner ring sleeve 24 and the bearing outer ring sleeve 25, respectively. The left bearing is positioned by the left shoulder, and the right bearing is positioned by the motor bearing retaining ring 22. The motor stator mounting surface 4.4 is the mounting position for the rear-mounted motor rotor 11, which is positioned by the shoulder on one side. The brake mounting surface 4.5 is used to install the brake rotor 12. The wave generator 4 is interference-fitted with the inner wall of the brake rotor 12. The brake positioning snap ring 20 is installed in the slot of the brake mounting surface 4.5 to axially position the brake rotor 12. The minimum clearance between the inner hole 4.6 of the wave generator and the outer surface of the hollow shaft 1.4 is 10mm.

[0037] like Figure 5 As shown, the annular flexible wheel 2 includes an outer gear ring 2.1 and an inner wall 2.2. The inner wall 2.2 engages with the outer ring of the flexible bearing 5 and undergoes elastic deformation under the action of the elliptical outer contour surface, so that the outer gear ring 2.1 of the flexible wheel forms a differential gear transmission with the multi-tooth rigid wheel 6 and the equal-tooth rigid wheel 7.

[0038] like Figure 6 As shown, the multi-tooth rigid wheel 6 includes a multi-tooth rigid wheel threaded hole 6.1, a multi-tooth rigid wheel end face 6.2, and a multi-tooth rigid wheel internal gear ring 6.3. The multi-tooth rigid wheel 6 is bolted to the inner end face of the flange 1.1 through the multi-tooth rigid wheel threaded hole 6.1. The multi-tooth rigid wheel end face 6.2 is perpendicular to the axis of the hollow shaft 1.4. The number of teeth of the multi-tooth rigid wheel 6 is more than the number of teeth of the annular flexible wheel 2. In this embodiment, the difference in the number of teeth is two. When the wave generator 4 is used as the input and the equal-tooth rigid wheel 7 is fixed, the multi-tooth rigid wheel internal gear ring 6.3 and the flexible wheel external gear ring 2.1 form a small-tooth difference meshing transmission.

[0039] like Figure 7As shown, the equal-tooth rigid wheel 7 includes an equal-tooth rigid wheel threaded hole 7.1, an equal-tooth rigid wheel end face 7.2, and an equal-tooth rigid wheel internal gear ring 7.3. The equal-tooth rigid wheel 7 is bolted to the front motor rotor 9 through the equal-tooth rigid wheel threaded hole 7.1. The equal-tooth rigid wheel end face 7.2 is perpendicular to the axis of the hollow shaft 1.4. The number of teeth of the equal-tooth rigid wheel 7 is equal to the number of teeth of the annular flexible wheel 2, and the pitch circle diameters of the equal-tooth rigid wheel 7, the multi-tooth rigid wheel 6, and the annular flexible wheel 2 are equal. When the wave generator 4 is fixed and the front motor rotor 9 is used as input, the equal-tooth rigid wheel internal gear ring 7.3 drives the multi-tooth rigid wheel 6 to rotate through the annular flexible wheel 2.

[0040] like Figure 8 As shown, the rear housing 21 includes a rear housing end face 21.1 and a housing threaded hole 21.2. The rear housing end face 21.1 is fixedly connected to the front housing 27 by bolts. The inner wall of the rear housing 21 has a mounting surface and threaded holes, which are used to fix the rear motor stator 10, the brake stator 13, and the angle encoder reading head 14, respectively. Several housing threaded holes 21.2 are evenly distributed on the outer circumference of the rear housing 21 for connecting the robot body.

[0041] The drive controller 19 can acquire the angle data of the angle encoder reading head 14, the current data of the front motor and the rear motor in real time, and can control the opening and closing of the brake. Based on the acquired data and operating conditions, the drive controller 19 can freely switch between output mode one and output mode two.

[0042] When the operating condition is low speed and high load, in output mode one: the drive controller 19 fixed on the rear cover 18 sends a drive signal, the rear motor rotor 11 rotates, and the front motor rotor 9 is locked. At this time, the rear motor rotor 11 drives the wave generator 4 to rotate, thereby causing the annular flexible wheel 2 to mesh with the multi-tooth rigid wheel 6, driving the output flange shaft 1 to output power. The transmission ratio i1 of output mode one is:

[0043]

[0044] In the formula, N D N is the number of teeth of a rigid gear with equal teeth. D ≥100.

[0045] The rated output torque for output mode one is T out1 for:

[0046]

[0047] In the formula, T1 is the rated input torque of the rear motor.

[0048] When the operating condition is high speed and low load, in output mode two: the drive controller 19 sends a drive signal, the front motor rotor 9 rotates, and the rear motor rotor 11 is locked. At this time, the front motor rotor 9 drives the equal-toothed rigid wheel 7 to rotate, and the equal-toothed rigid wheel 7 drives the multi-toothed rigid wheel 6 to rotate through the annular flexible wheel 2, which in turn drives the output flange shaft 1 to output power. The transmission ratio i2 of output mode two is:

[0049]

[0050] In the formula, N S N represents the number of teeth on a rigid gear with equal teeth. S =N D +2.

[0051] The rated output torque of output mode two is T out2 for:

[0052]

[0053] In the formula, T2 is the rated input torque of the rear motor.

[0054] The implementation effect of the invention is further illustrated through application examples, specifically the number of teeth N of the equal-tooth rigid wheel. D =100, the number of teeth N of a multi-toothed rigid gear S =102, the rated input torque of the front motor and the rear motor is T1=T2=0.1Nm, and the rated input speed of both the front motor and the rear motor is 3000r / min. The transmission ratio of output mode one. Output mode 2 gear ratio The rated output speed of output mode one is The rated output torque is 5.1 Nm; the rated output speed for output mode two is... The rated output torque is 0.102 Nm.

Claims

1. A hollow robot joint module with adjustable output mode, characterized in that, The device includes an output flange shaft on which a harmonic reducer, a dual torque motor, a brake, an angle encoder, and a drive controller are installed sequentially from front to back. The drive controller can acquire data from the angle encoder and the dual torque motor in real time and control the opening and closing of the brake to switch the output mode. The harmonic reducer includes an annular flexible wheel, a multi-tooth rigid wheel, and a constant-tooth rigid wheel. The annular flexible wheel is installed outside the wave generator, and the multi-tooth rigid wheel and the constant-tooth rigid wheel mesh with the annular flexible wheel. The dual-torque motor includes a front motor and a rear motor. The front motor includes a front motor stator and a front motor rotor. The front motor stator is installed inside the front housing, and the front motor rotor is installed outside the wave generator. The rear motor includes a rear motor stator and a rear motor rotor. The rear motor stator is installed inside the rear housing, and the rear motor rotor is fixed to the wave generator. The output modes include low speed high load and high speed low load. When the operating condition is low speed high load, the output mode is as follows: the drive controller sends a drive signal, the rear motor rotor rotates, and the front motor rotor is locked. At this time, the rear motor rotor drives the wave generator to rotate, causing the annular flexible wheel to mesh with the multi-tooth rigid wheel, driving the output flange shaft to output power. At this time, the transmission ratio i1 is: In the formula, N D The number of teeth on a rigid gear with equal teeth; Rated output torque is T out1 for: In the formula, T1 is the rated input torque of the rear motor; When the operating condition is high speed and low load, the output mode is as follows: the drive controller sends a drive signal, the front motor rotor rotates, and the rear motor rotor is locked. At this time, the front motor rotor drives the equal-tooth rigid wheel to rotate, and the equal-tooth rigid wheel drives the multi-tooth rigid wheel to rotate through the annular flexible wheel, which in turn drives the output flange shaft to output power. At this time, the transmission ratio i2 is: In the formula, N S N represents the number of teeth on a rigid gear with equal teeth. S =N D +2; Rated output torque is T out2 for: In the formula, T2 is the rated input torque of the rear motor.

2. The hollow robot joint module with adjustable output mode according to claim 1, characterized in that, The harmonic reducer, dual-torque motor, and brake are mounted on the output flange shaft via a wave generator, and the output flange shaft is coaxially mounted with the wave generator.

3. The hollow robot joint module with adjustable output mode according to claim 1, characterized in that, The multi-tooth rigid wheel is bolted to the output flange shaft, and the equal-tooth rigid wheel is bolted to the front motor rotor.

4. A hollow robot joint module with adjustable output mode according to claim 1, characterized in that, The brake includes a brake rotor and a brake stator. The brake rotor is mounted on a wave generator, and the brake stator is mounted on the inner wall of the rear housing.

5. A hollow robot joint module with adjustable output mode according to claim 1, characterized in that, The angle encoder includes an angle encoder reading head and an angle encoder code disk. The angle encoder reading head is mounted on the rear housing, and the angle encoder code disk is mounted on the output flange shaft via a transition connecting ring.

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