Robot joint module adopting harmonic reducer

Abstract

A robot joint module adopting a harmonic reducer comprises a torque sensor, the harmonic reducer, a motor and an encoder assembly, and the harmonic reducer comprises an output shaft, a flexible gear, a wave generator, a rigid gear seat, a cross roller bearing, a rigid gear and a flexible bearing; the motor comprises a shell, a stator, a rotor core, a rotating shaft and a rear end cover, the shell of the motor is fixedly connected with the side face of a rigid wheel seat of the harmonic reducer, a part of an outer ring of the rigid wheel seat serves as a shell of the harmonic reducer, and a part of the outer ring of the rigid wheel seat is connected with a flexible wheel through a cross roller bearing. A wave generator of the harmonic reducer is flexibly connected with a rotating shaft of the motor; the encoder assembly comprises an input end code disc, an output end code disc and a circuit board, and the rotor is connected with the input end code disc; the torque sensor is connected with one end of the output shaft and the flexible gear, and the other end of the output shaft penetrates through the rotor and is connected with the output end code disc.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a robot joint module using a harmonic reducer. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can replace or assist humans in completing various tasks. It is an important production and service equipment in the industrial and non-industrial sectors, and an indispensable automation equipment in the field of advanced manufacturing technology. The robot joint module is the core module of the robot joint part. It is a highly integrated integrated modular joint that can quickly realize various applications and functional requirements of the robot. Therefore, the control and optimization of the robot joint and other moving parts are particularly important.

[0003] In the existing robot joint module, an ordinary reducer is used, which has the characteristics of complex structure, large size, inability to directly measure the output torque and long axial distance. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned defects of the prior art and provide a robot joint module using a harmonic reducer, which has a simple structure, a small size and can measure the output torque.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a robot joint module using a harmonic reducer, including a torque sensor, a harmonic reducer, a motor and an encoder assembly, wherein the harmonic reducer includes an output shaft, a flexible wheel, a wave generator, a rigid wheel seat, a cross roller bearing, a rigid wheel, and a flexible bearing; the motor includes a casing, a stator, a rotor core, a rotating shaft, and a rear end cover, the casing of the motor is fixedly connected to the side of the rigid wheel seat of the harmonic reducer, part of the outer ring of the rigid wheel seat is used as the outer shell of the harmonic reducer, part of the outer ring of the rigid wheel seat is connected to the flexible wheel through a cross roller bearing, and the wave generator of the harmonic reducer is flexibly connected to the rotating shaft of the motor; the encoder assembly includes an input end code disk, an output end code disk, and a circuit board, and the rotor is connected to the input end code disk; the torque sensor is connected to one end of the output shaft and the flexible wheel, and the other end of the output shaft passes through the rotor and is connected to the output end code disk.

[0006] Preferably, an output flange is also provided, and the torque sensor is connected to the bottom of the flexible wheel of the harmonic reducer, the output flange, and the output shaft, and the torque sensor is used to measure its output torque.

[0007] Preferably, the wave generator of the harmonic reducer and the rotating shaft of the motor are flexibly connected, which can appropriately compensate for the accuracy and reduce the difficulty of processing.

[0008] Preferably, the rotating shaft and the rotor core of the motor are interference fit.

[0009] Preferably, the rear end cover of the motor is firmly connected to the housing, and the rear end cover of the motor is connected to the rotating shaft by a deep groove ball bearing.

[0010] Preferably, a circular hole is provided at the center of the input end code disk of the encoder assembly and an output end code disk is installed to form a dual code disk encoder, which has a more compact structure.

[0011] Preferably, the input end code disc, output end code disc and circuit board of the encoder assembly are enclosed by a rear cover to prevent dust from entering.

[0012] Preferably, the input code disc, output code disc and circuit board of the encoder assembly are all on the same side, making the structure more compact.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: a robot joint module using a harmonic reducer adopts a harmonic reducer, and the side of the rigid wheel seat of the harmonic reducer is fixed to the motor housing, and part of the outer ring of the rigid wheel seat is used as the housing of the harmonic reducer, which can reduce the volume of the cross roller bearing and directly measure the output torque through a torque sensor.

[0014] In addition, the output shaft adopts a hollow structure, which makes wiring more convenient and neat. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of a robot joint module using a harmonic reducer according to an embodiment of the present invention.

[0016] Figure 2 yes Figure 1 A-A section view.

[0017] Figure 3 It is an exploded schematic diagram of a robot joint module using a harmonic reducer according to an embodiment of the present invention.

[0018] Figure 4 It is a stereoscopic diagram of a robot joint module using a harmonic reducer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] like Figure 1-4 As shown, a robot joint module using a harmonic reducer includes a torque sensor 1, a harmonic reducer, a motor and an encoder assembly.

[0021] The harmonic reducer comprises an output flange 21 , an output shaft (hollow shaft) 22 , a flexible wheel 23 , a wave generator 24 , a rigid wheel seat 25 , a cross roller bearing 26 , a rigid wheel 27 , and a flexible bearing 28 .

[0022] The wave generator 24 of the harmonic reducer is connected to the shaft 34 of the motor 3 by a screw 222. The motor drives the shaft 34 to rotate, and the shaft 34 drives the wave generator 24 to rotate. The wave generator 24 then drives the flexible wheel 23 to mesh with the rigid wheel 27 through the flexible bearing 28 and starts to rotate.

[0023] The wave generator 24 is also supported by the output shaft 22 via a bearing 223 .

[0024] The inner ring of the torque sensor 1 is fixedly connected to the output flange 21 at the bottom of the harmonic reducer, the bottom of the flexible wheel 23 of the harmonic reducer, and the output shaft (hollow shaft) 22 by screws 221, and the torque sensor 1 is used to measure the output torque. The output flange 21 can also be omitted, and the inner ring of the torque sensor 1 is fixedly connected to the bottom of the flexible wheel 23 of the harmonic reducer and the output shaft 22.

[0025] The rigid wheel 27 is fixed to the rigid wheel seat 25 via a rigid wheel screw 271 , and the side surface of the rigid wheel seat 25 is fixedly connected to the side surface of the housing 31 .

[0026] The motor housing 31 is fixedly connected to the side of the rigid wheel seat 25 of the harmonic reducer by screws 251 , and part of the outer ring of the rigid wheel seat 25 is used as the outer shell of the harmonic reducer, which can reduce the volume of the cross roller bearing 26 .

[0027] The rigid wheel seat 28 and the flexible wheel 23 of the harmonic reducer are connected through two cross roller bearings 26 with equal cross sections, which can increase the rigidity and reduce the overall weight.

[0028] The wave generator 24 of the harmonic reducer and the rotating shaft 34 of the motor 3 are flexibly connected to appropriately compensate for the accuracy and reduce the difficulty of processing.

[0029] The motor 3 includes a housing 31 , a stator 32 , a rotor core 33 , a rotating shaft 34 , and a rear end cover 35 .

[0030] The stator 32 is fixed in the housing 33 , and the rotor core 33 and the rotating shaft 34 are designed in the stator 32 .

[0031] The rotating shaft 34 of the motor and the rotor core 33 are interference fit.

[0032] The output flange 21 , the rigid wheel seat 25 and the housing 31 are fixed together by screws 251 .

[0033] The rear end cover 35 is fixed to the housing 31 , and the rear end cover 35 of the motor is connected to the rotating shaft 34 by a deep groove ball bearing.

[0034] The encoder assembly includes a circuit board 41 , an output end code disc 43 , an input end code disc 42 and a rear cover 44 .

[0035] The circuit board 41 is fixed to the rear end cover 35 using copper pillars.

[0036] The output end code disc 43 of the encoder assembly is fixed to the other side of the hollow shaft (output shaft) 22 of the harmonic reducer, and the input end code disc 42 is fixed to the rotating shaft 34 .

[0037] The output end code disk 43 is nested in the center of the input end code disk 42. The input end code disk 42 and the output end code disk 43 are on the same plane, and the circuit board 41 receives the signal and performs detection. In this way, the output data of the input end code disk 42 and the output end code disk 43 can be measured simultaneously when the joint module is running, thereby reducing the volume of the encoder and improving the space utilization rate of the entire joint module. Therefore, the structure is also simpler.

[0038] The center of the rear cover 44 is fixed on the hollow shaft 22, and the outer ring of the rear cover 44 is fixed on the rear end cover 35 of the motor 3 to prevent dust from entering.

[0039] The output shaft 23 adopts a hollow structure, which makes threading more convenient and encoder routing more convenient and neat, and has some improvements in process, effectively reducing the overall weight and making assembly simpler.

Claims

1. A robot joint module using a harmonic reducer, characterized in that: It includes a torque sensor, a harmonic reducer, a motor and an encoder assembly. The harmonic reducer includes an output shaft, a flexible wheel, a wave generator, a rigid wheel seat, a cross roller bearing, a rigid wheel and a flexible bearing; the motor includes a housing, a stator, a rotor core, a rotating shaft and a rear end cover. The housing of the motor is fixedly connected to the side of the rigid wheel seat of the harmonic reducer, and part of the outer ring of the rigid wheel seat is used as the outer shell of the harmonic reducer. Part of the outer ring of the rigid wheel seat is connected to the flexible wheel through a cross roller bearing. The wave generator of the harmonic reducer is flexibly connected to the rotating shaft of the motor; the encoder assembly includes an input end code disk, an output end code disk and a circuit board, and the rotor is connected to the input end code disk; the torque sensor is connected to one end of the output shaft and the flexible wheel, and the other end of the output shaft passes through the rotor and is connected to the output end code disk.

2. The robot joint module using a harmonic reducer according to claim 1, characterized in that: An output flange is also provided, and the torque sensor is connected with the bottom of the flexible wheel of the harmonic reducer, the output flange, and the output shaft.

3. The robot joint module using a harmonic reducer according to claim 1, characterized in that: The wave generator of the harmonic reducer is flexibly connected to the rotating shaft of the motor.

4. The robot joint module using a harmonic reducer according to claim 1, characterized in that: The rotating shaft of the motor and the rotor core are interference fit.

5. The robot joint module using a harmonic reducer according to claim 1, characterized in that: The rear end cover of the motor is tightly connected to the casing, and the rear end cover of the motor is connected to the rotating shaft by using a deep groove ball bearing.

6. The robot joint module using a harmonic reducer according to claim 1, characterized in that: A circular hole is arranged at the center of the input end code disk of the encoder assembly and an output end code disk is installed to form a double code disk encoder.

7. The robot joint module using a harmonic reducer according to claim 3, characterized in that: The encoder component input end code disc, output end code disc and circuit board are enclosed by a rear cover.

8. The robot joint module using a harmonic reducer according to claim 4, characterized in that: The input end code disc, output end code disc and circuit board of the encoder assembly are all on the same side.

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