Robot joint module adopting cantilever type rotating shaft

Abstract

A robot joint module adopting a cantilever type rotating shaft comprises a torque sensor, a speed reducer, a motor and an encoder assembly, the speed reducer comprises an input part and an output part, the output part of the speed reducer is hollow, one end of the output part of the speed reducer is connected with the torque sensor, and the input part of the speed reducer is fixed to a rotor of the motor; the motor comprises a machine shell, a stator and a rotor, a supporting frame is arranged on the machine shell, the rotor is connected to the supporting frame through a bearing, the encoder assembly comprises an input end coded disc, an output end coded disc and a circuit board, the rotor is connected with the input end coded disc, and the other end of the output part of the speed reducer penetrates through the rotor to be connected with the output end coded disc. According to the invention, only one end of the motor rotating shaft is fixed on the motor shell, and a cantilever mechanism is adopted, so that the axial distance can be shortened, and the process cost is saved. And a torque sensor is integrated at the output flange, so that the output torque can be directly measured.

Description

Technical Field

[0001] The invention relates to a robot joint module, and in particular to a robot joint module adopting a cantilever type rotating shaft. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and 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 is also an indispensable automation equipment in the field of advanced manufacturing technology. Among them, 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, so the control and optimization of the robot joints and other moving parts are particularly important.

[0003] In the existing robot joint module, the motor shaft adopts a two-end bearing support method, which has a complex structure, is heavy, cannot directly measure the output torque, and has a long axial distance. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies of the prior art and provide a robot joint module using a cantilevered rotating shaft so as to simplify its structure.

[0005] The technical solution adopted by the present invention to solve the above problems is: A robot joint module using a cantilevered rotating shaft includes a torque sensor, a reducer, a motor and an encoder assembly, wherein the reducer includes an input portion and an output portion, the output portion of the reducer is hollow, one end of which is connected to the torque sensor, the input portion of the reducer is fixed to the rotor of the motor, the motor includes a housing, a stator and a rotor, a support frame is arranged on the housing, the rotor is connected to the support frame through a bearing, the encoder assembly includes an input end code disk, an output end code disk and a circuit board, the rotor is connected to the input end code disk, and the other end of the output portion of the reducer passes through the rotor and is connected to the output end code disk.

[0006] Preferably, the reducer is a harmonic reducer, which includes a cross roller bearing, a flexwheel, a hollow shaft, a wave generator, a bearing, a flexible bearing, a rigid wheel, and a rigid wheel seat; the rigid wheel seat is fixed on the casing, the wave generator is connected to the rotating shaft of the motor, the gear of the flexwheel is meshed with the rigid wheel, the rigid wheel is fixed to the rigid wheel seat, the rigid wheel seat is connected to the casing, the bearing is connected to the rigid wheel seat, the outer ring of the torque sensor is fixed to the inner ring of the cross roller bearing, the inner ring of the torque sensor is connected to the bottom of the flexible bearing and one end of the hollow shaft, and the other end of the hollow shaft is connected to the output end code disk.

[0007] Preferably, the wave generator of the harmonic reducer is flexibly connected to the rotating shaft of the motor, which can appropriately compensate for the accuracy, reduce the difficulty of processing, effectively reduce the overall weight, and make assembly easier.

[0008] Preferably, the outer ring of the cross roller bearing of the harmonic reducer is fixed to the casing of the motor.

[0009] 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.

[0010] Preferably, the input end code disk, output end code disk and circuit board of the encoder assembly are enclosed by a rear cover plate to prevent dust from entering.

[0011] 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.

[0012] Compared with the prior art, the advantages of the present invention are: the motor shaft of the robot joint module using a cantilever shaft of the present invention is fixed to the motor housing by only one end using a cantilever mechanism, which can shorten the axial distance and save process costs.

[0013] The present invention also integrates a torque sensor at the output flange to facilitate direct measurement of the output torque.

[0014] In addition, the output part adopts a hollow structure, and the input code disc and the output code disc are installed at the end of the output part and combined with the encoder, which reduces the size of the encoder, improves the space utilization of the entire joint module, and 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 cantilevered rotating shaft 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 cantilevered rotating shaft according to an embodiment of the present invention.

[0018] Figure 4 It is a stereoscopic diagram of a robot joint module using a cantilevered rotating shaft 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 1-4As shown, a robot joint module using a cantilevered rotating shaft includes a torque sensor 1, a harmonic reducer, a motor and an encoder assembly.

[0021] The harmonic reducer includes a cross roller bearing 21, a flexible wheel 22, a hollow shaft 23, a wave generator 24, a deep groove ball bearing 25, a flexible bearing 26, a rigid wheel 27, and a rigid wheel seat 28.

[0022] The wave generator 24 is flexibly connected to the rotating shaft 32 of the motor 3 and is fastened by screws 241 . The gear of the flexible wheel 22 is meshed with the rigid wheel 27 . The rigid wheel 27 is fixed to the rigid wheel seat 28 by screws 271 . The rigid wheel seat 28 is fixedly connected to the housing 33 .

[0023] The outer ring of the cross roller bearing 21 is laterally fixed to the housing 33 of the motor 3 , and the outer ring of the cross roller bearing 21 is fixed to the outer ring of the torque sensor 1 , and the output torque thereof is measured by the torque sensor 1 .

[0024] One end of the hollow shaft 23 is fixed on the rear cover plate 43 , and the other end is fixed to the inner ring of the torque sensor 1 and the bottom of the flexible wheel 22 by a first screw 231 .

[0025] The rotating shaft 32 is fixed to the hollow shaft 23, and the output shaft 23 and the rotating shaft 32 adopt a hollow structure, which makes threading more convenient, the encoder wiring is more convenient and neat, and can effectively reduce the overall weight and make assembly simpler.

[0026] The motor drives the rotating shaft 32 to rotate, and the rotating shaft 32 drives the wave generator 24 to rotate. The wave generator 24 then drives the flexible wheel 22 to mesh with the rigid wheel 27 through the flexible bearing 26 and starts to rotate.

[0027] The motor 3 includes a deep groove ball bearing 31 , a rotating shaft 32 , a housing 33 , and a stator 34 .

[0028] The stator 34 is fixed in the housing 33, the rotating shaft 32 is designed in the stator 34, and the rotating shaft 32 is connected to the support frame 331 of the housing 33 through the deep groove ball bearing 31. Since only one end of the rotating shaft 32 is connected to the support frame 331, that is, a cantilever structure is adopted, and the bearing support on the other side is omitted, so that the axial length can be shortened, the structure is simplified, and the number of parts is reduced, thereby saving costs.

[0029] The encoder assembly includes an input end code disc 41 , an output end code disc 42 , a circuit board 44 and a rear cover plate 43 .

[0030] The center of the rear cover plate 43 is fixed on the hollow shaft 23, and the outer ring of the rear cover plate 43 is fixed on the housing 33 of the motor 3 to prevent dust from entering.

[0031] The output end code disc 42 is fixed to the other side of the hollow shaft 23 of the harmonic reducer 2 , and the input end code disc 41 is fixed to the rotating shaft 32 .

[0032] The output end code disk 42 is nested in the center of the input end code disk 41. The input end code disk 41 and the output end code disk 42 are on the same plane, and the circuit board 44 receives the signal and performs detection. In this way, the output data of the input end code disk 41 and the output end code disk 42 can be measured at the same time. Therefore, the structure is also simplified.

Claims

1. A robot joint module using a cantilevered rotating shaft, characterized in that: It includes a torque sensor, a reducer, a motor and an encoder assembly. The reducer includes an input part and an output part. The output part of the reducer is hollow, and one end of the output part is connected to the torque sensor. The input part of the reducer is fixed to the rotor of the motor. The motor includes a casing, a stator and a rotor. A support frame is arranged on the casing. The rotor is connected to the support frame through a bearing. The encoder assembly includes an input end code disk, an output end code disk and a circuit board. The rotor is connected to the input end code disk. The other end of the output part of the reducer passes through the rotor and is connected to the output end code disk.

2. The robot joint module using a cantilevered rotating shaft according to claim 1, characterized in that: The reducer is a harmonic reducer, which includes a cross roller bearing, a flexible wheel, a hollow shaft, a wave generator, a bearing, a flexible bearing, a rigid wheel, and a rigid wheel seat; the rigid wheel seat is fixed on the casing, the wave generator is connected to the rotating shaft of the motor, the gear of the flexible wheel is meshed with the rigid wheel, the rigid wheel is fixed to the rigid wheel seat, the rigid wheel seat is connected to the casing, the bearing is connected to the rigid wheel seat, the outer ring of the torque sensor is fixed to the inner ring of the cross roller bearing, the inner ring of the torque sensor is connected to the bottom of the flexible bearing and one end of the hollow shaft, and the other end of the hollow shaft is connected to the output end code disk.

3. The robot joint module using a cantilevered rotating shaft 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 cantilevered shaft according to claim 1, characterized in that: The outer ring of the cross roller bearing of the harmonic reducer is fixed to the casing of the motor.

5. The robot joint module using a cantilevered rotating shaft 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.

6. The robot joint module using a cantilevered rotating shaft according to claim 1, characterized in that: The encoder component input end code disc, output end code disc and circuit board are enclosed by a rear cover plate.

7. The robot joint module using a cantilevered rotating shaft according to claim 1, 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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