High-integration-level joint module

Abstract

The invention relates to a high-integration-level joint module which comprises a shell, a driving motor, an input rotating shaft, a speed reducer, a permanent magnet power-off brake, a high-precision torque sensor, a hollow center shaft, an electric slip ring and a signal processing module. Wherein the driving motor drives the input rotating shaft, and the input rotating shaft is supported by a bearing and is linked with the speed reducer; the output end of the speed reducer is supported by a crossed roller bearing; the permanent magnet power-off brake is used for power-off braking; the torque sensor and the output flange are integrally designed to detect the output torque; the combination of the hollow central shaft and the electric slip ring realizes wire arrangement and avoids winding; the signal processing module is integrated on the output flange and used for processing sensor signals. The joint module solves the technical problems of complex structure, high energy consumption, wire winding and insufficient precision of the joint module in the prior art.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment and humanoid robots, and specifically relates to a highly integrated joint module. Background Art

[0002] The joint module is the core component of the robot to achieve high-precision motion control, and its performance directly affects the application effect of the robot in the fields of industrial automation, medical services and mobile robots. In the existing technology, the joint module is composed of torque sensors, reducers, motors, brakes and encoders, but this traditional design has significant limitations.

[0003] 1. Complex structure and high energy consumption: The existing joint modules lack an integrated design, and the splicing of components results in large size and heavy weight, which significantly increases energy consumption and shortens battery life, especially in mobile robots, limiting their application in long-term, high-mobility tasks.

[0004] 2. Insufficient accuracy and functionality: Some joint modules do not integrate high-precision torque detection functions, which makes it difficult to meet the needs of industrial and collaborative robots for precise control, reducing their execution capabilities in complex tasks.

[0005] 3. Wire entanglement problem: Joint modules with torque detection function usually require sensor wires for signal transmission in applications. However, in existing designs, wires are easily entangled due to limited rotation angles. This not only affects the rotation ability of the joint module, but may also cause wire damage or signal distortion, thereby reducing the reliability and stability of the module. This problem is particularly evident in multi-degree-of-freedom robot systems.

[0006] In summary, the joint modules in the existing technology have significant defects in structural optimization, functional integration and reliability, and it is difficult to meet the growing demand for robot applications. In particular, the energy consumption problem in mobile robots seriously restricts the endurance, and there is an urgent need to improve the integrated design and functional performance. Summary of the invention

[0007] In a possible embodiment, a highly integrated joint module is provided, comprising: a housing; a drive motor installed inside the housing and used to drive an input shaft; the input shaft is supported by a bearing and linked to the drive motor; a reducer, the input end of which is connected to the input shaft and the output end is supported by a cross roller bearing; a permanent magnet power-off brake is connected to the input shaft and used to provide braking when the power is off; a high-precision torque sensor is integrated with the output flange and used to detect the output torque of the joint module; a central shaft is connected to the output flange and used for wire arrangement to avoid winding; an electric slip ring cooperates with the central shaft to provide signal transmission; a signal processing module is integrated in the output flange and used to process data from the torque sensor; the joint module adopts an integrated design of a drive motor, a reducer, a permanent magnet power-off brake, a torque sensor and a signal processing module, and solves the problem of wire winding through the combination of the central shaft and the electric slip ring, while improving the compactness, reliability and control accuracy of the module.

[0008] In a possible implementation manner, the motor stator of the drive motor is fixedly connected to the housing to ensure the structural stability of the module operation.

[0009] In a possible implementation, the central axis is used to arrange the wires of the torque sensor, and an independent channel is provided to prevent the wires from being entangled; in addition, the central hole of the central axis 21 can also be used to arrange the wires of the external module.

[0010] In a possible implementation, the permanent magnet power-off brake includes a coil winding and a permanent magnet. When the coil winding is powered off, the permanent magnet attracts the moving friction plate to fit tightly with the fixed friction plate, thereby achieving braking of the input shaft.

[0011] In a possible implementation manner, the contact surfaces of the dynamic friction plate and the fixed friction plate are coated with a wear-resistant material to increase the service life and braking effect of the components.

[0012] In a possible implementation, the signal processing module is sealed with epoxy resin to protect the internal circuit from environmental interference and isolate the lubricating oil.

[0013] In a possible implementation manner, the input end of the reducer is fixedly connected to the input rotating shaft, the output end is connected to the flange plate via a flexible spline, and the reduction ratio is achieved by a wave generator. In a possible implementation, the wave generator is supported by a cross roller bearing to improve the stability of module operation.

[0014] In a possible implementation, the electric slip ring supports rotation at any angle, eliminating the rotation angle limitation of the joint module.

[0015] In a possible implementation manner, the output flange is connected to the inner ring and the outer ring via a connecting bridge, and the connecting bridge is provided with a sensing sheet for real-time detection of the stress condition of the output flange.

[0016] In a possible implementation manner, the inner cavity of the output flange is filled with sealing epoxy resin to protect the sensor sheet and improve signal transmission accuracy.

[0017] Based on the above technical scheme, the highly integrated joint module of the present invention, through the integrated design of the drive motor, reducer, permanent magnet power-off brake, torque sensor and signal processing module, combined with the use of a hollow center shaft and an electric slip ring, simplifies the wire layout and avoids entanglement, while improving the compactness and reliability of the module and enhancing the control accuracy. Beneficial Effects

[0018] Compact structure, reduced size and weight: By integrating the drive motor, reducer, permanent magnet power-off brake, torque sensor and signal processing module into an integrated design, the joint module achieves a significant reduction in size and weight, improves installation convenience and applicability, and is particularly suitable for industrial and mobile robots with limited space.

[0019] High-precision motion control: The integrated high-precision torque sensor combined with the signal processing module can monitor the output torque in real time and provide accurate data support, laying the foundation for high-precision motion control in complex tasks.

[0020] Reliable signal transmission: The combined design of the hollow center shaft and the electric slip ring effectively solves the problem of wire winding, provides stable signal and power transmission, and ensures the reliability of the joint module in high rotation angle applications.

[0021] Low energy consumption design: The compactness of the module reduces the transmission loss between components. At the same time, the permanent magnet power-off brake does not require additional power support, which reduces energy consumption requirements and is suitable for mobile robots with higher endurance requirements.

[0022] Enhanced durability and environmental adaptability: By sealing the inner cavity of the signal processing module and the output flange with epoxy resin, the joint module has excellent dust, moisture and electromagnetic interference resistance, suitable for complex industrial environments. In addition, the wear-resistant coating of the dynamic friction plate and the fixed friction plate significantly extends the service life of the components.

[0023] Real-time force monitoring: By embedding the sensor in the output flange connecting bridge and combining it with the signal processing module, the joint module can achieve real-time force detection and provide accurate data support for complex motion control.

[0024] Modular design: The electric slip ring and permanent magnet power-off brake adopt modular structure, which is easy to replace and maintain, further improving the reliability and economy of the system.

[0025] In summary, the present invention significantly optimizes the structural design, functional integration and performance of the joint module, providing strong support for the application of robots in the fields of industrial automation, medical services and mobile robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the joint module.

[0027] Figure 2 It is a schematic diagram of the cross section of the joint mold.

[0028] Figure 3 This is a schematic diagram of the joint module explosion.

[0029] Figure 4 Schematic diagram of the torque sensor.

[0030] Figure 5 Schematic diagram of electric slip ring.

[0031] In the figure: 1. housing; 2. motor stator; 3. multi-stage magnetic ring; 4. input shaft; 5. spring sheet; 6. dynamic friction sheet; 7. fixed friction sheet; 8. coil winding; 9. permanent magnet; 10. rear end cover; 11. bearing 1; 12. wire 1; 13. encoder seat; 14. fixed conductive brush fixing seat; 15. insulating sheet; 16. fixed conductive brush; 17. dynamic conductive brush; 18. insulating ring; 19. insulating seat; 20. wire 2; 21. center shaft; 22. bearing 2; 23. wave spring; 24. encoder reader; 25. encoder code disk; 26. skeleton oil seal 1; 27. skeleton oil seal 2; 28. Wave generator; 29. ​​Steel wheel; 30. Flexspline; 31. Sealing ring 1; 32. Cross roller bearing seat; 33. Cross roller bearing; 34. Flange plate; 35. Output flange; 36. Bearing end cover; 37. Skeleton oil seal 3; 38. Epoxy resin sealing ring; 39. Sealing ring 2; 40. Signal processing module; 41. Sealing ring 3; 42. Bearing; 45. Drive motor; 46. Reducer; 47. Permanent magnet power-off brake; 48. Torque sensor; 49. Electric slip ring; 50. Encoder; 51. Connecting bridge; 52. Inner ring; 53. Outer ring; 54. Inner cavity; 55. Induction sheet DETAILED DESCRIPTION

[0032] This implementation is open to the public Figure 1-2A highly integrated joint module shown includes a housing 1, a drive motor 45 installed inside the housing 1, driving the input shaft 4; the input shaft 4 is supported by bearings 11 and bearings 42 and linked to the drive motor 45; the input end of the reducer 46 is connected to the input shaft 4, and the output end is supported by a cross roller bearing 33; the permanent magnet power-off brake 47 is connected to the input shaft 4 to provide a braking function when the power is off; the high-precision torque sensor 48 is integrated with the output flange 35 to detect the output torque; the hollow center shaft 21 is connected to the output flange 35 to provide a channel for the wire arrangement to avoid entanglement; the electric slip ring 49 cooperates with the hollow center shaft 21 to provide signal transmission; the signal processing module 40 is integrated in the output flange 35 to process the data from the torque sensor 48.

[0033] The joint module is designed to integrate the drive motor 45, the reducer 46, the permanent magnet power-off brake 47, the torque sensor 48 and the signal processing module 40 into a compact structure. The drive motor 45 provides power, which is transmitted to the reducer 46 through the input shaft 4 for deceleration. The decelerated output is supported by the cross roller bearing 33 and output by the output flange 35. The torque sensor 48 detects the output torque and transmits the signal to the signal processing module 40. The combination of the hollow central shaft 21 and the electric slip ring 49 allows the wires to be safely arranged to avoid entanglement caused by rotation, thereby improving the reliability and control accuracy of the module.

[0034] Through integrated design, the volume and weight of the joint module are greatly reduced, which improves the convenience and reliability of installation; the combination of the central axis 21 and the electric slip ring 49 solves the problem of wire winding and enhances the stability of signal transmission; the overall design achieves higher control accuracy and is suitable for high-precision application scenarios such as industrial robots.

[0035] This implementation is open to the public Figure 2-3 The motor stator 2 of the driving motor 45 shown is fixedly connected to the housing 1 to ensure the structural stability of the module operation.

[0036] The stator of the driving motor is fixed to the inner side of the housing 1. The fixing points are reasonably distributed according to the force analysis during the operation of the motor to ensure that the vibration is minimized during the operation of the motor and the operation stability of the module is maintained.

[0037] In one possible implementation, Figure 2-3 As shown, the central axis 21 is used to arrange the wires of the torque sensor 48, and an independent channel is provided to prevent the wires from being entangled; in addition, the central hole of the central axis 21 can also be used to arrange the wires of the external module.

[0038] The central axis 21 is designed as an axial structure that runs through the entire joint module, and multiple independent channels are arranged inside, each channel is used to accommodate a specific type of wire 12, such as a torque sensor 48 wire, a power line or a signal line. The channels are separated by isolation materials to prevent the wires from being entangled with each other or being affected by electromagnetic interference. The wires 12 are arranged through independent channels of the hollow central shaft 21, extending from the torque sensor 48 to the external control system. When the joint module rotates continuously, the wires 12 remain fixed and arranged in an orderly manner. This design significantly improves the operational reliability of the module at high rotation angles and improves the stability of signal transmission.

[0039] In one possible implementation, Figure 2-3 As shown, the permanent magnet power-off brake 49 includes a coil winding 8 and a permanent magnet 9. When the coil winding 8 is powered off, the permanent magnet 9 attracts the moving friction plate 6 and the fixed friction plate 7 to fit tightly together, thereby achieving braking of the input shaft.

[0040] The permanent magnet power-off brake 47 is composed of a coil winding 8, a permanent magnet 9, a dynamic friction plate 6 and a fixed friction plate 7. When the coil winding 8 is energized, the magnetic field generated offsets the magnetic force of the permanent magnet 9, so that the dynamic friction plate 6 is separated from the fixed friction plate 7, and the input shaft 4 can rotate freely; when the coil winding 8 is de-energized, the permanent magnet 9 attracts the dynamic friction plate 6 and the fixed friction plate 7 to fit closely, so that the input shaft 4 can be quickly braked. The dynamic friction plate 6 and the fixed friction plate 7 are made of high-strength wear-resistant materials to ensure durability for long-term use. The entire brake 47 is embedded in the module, and the volume is reduced through structural optimization to maintain the compactness and efficiency of the module. This design can brake quickly and reliably in the event of a power outage, improving the safety of the joint module. No additional power support is required, which reduces energy consumption. At the same time, the compact design is suitable for a variety of industrial application scenarios.

[0041] In one possible implementation, Figure 2-3 As shown, the contact surfaces of the moving friction plate 6 and the fixed friction plate 7 are coated with wear-resistant material to increase the service life and braking effect of the components.

[0042] The contact surface of the moving friction plate 6 and the fixed friction plate 7 is coated with a ceramic coating or a high-performance composite material to achieve enhanced wear resistance. This coating provides high hardness and high friction coefficient characteristics, effectively reducing the wear of the brake 47 during operation and extending the service life of the brake assembly. In addition, the coating can also significantly improve the contact force during braking, further enhancing the braking effect and the operational safety of the module.

[0043] In one possible implementation, Figure 2-3 As shown, the signal processing module 40 is sealed by epoxy resin 38 to protect the internal circuit from environmental interference and isolate lubricating oil.

[0044] The signal processing module 40 is integrally sealed in the inner cavity 54 of the output flange 35 by epoxy resin. The epoxy resin material has good anti-electromagnetic interference capability and can effectively shield the interference of the external environment on the internal circuit. In addition, the sealing design also plays a role in isolating lubricating oil, preventing grease from penetrating into the module and avoiding damage to the circuit.

[0045] After sealing, the module 40 has higher environmental adaptability and can operate reliably even in high humidity or high dust environments. The mechanical strength and corrosion resistance of epoxy resin further improve the durability and stability of the module, ensuring that the signal processing module 40 can work efficiently and long-term in complex environments.

[0046] In one possible implementation, Figure 2-3 As shown, the input end of the reducer 46 is fixedly connected to the input shaft 4 , and the output end is connected to the flange plate 34 through the flexible wheel 30 , and the reduction ratio is achieved by the wave generator 28 .

[0047] The input end of the reducer 46 is rigidly fixedly connected to the input shaft 4 to ensure efficient power transmission. The output end is tightly matched with the flange plate 34 through the flexible wheel 30. The flexible wheel 30 is flexibly deformed under the drive of the wave generator 28, thereby realizing the reduction transmission.

[0048] The wave generator 28 is supported by a high-precision bearing, and its curvature design is optimized according to the reduction ratio requirements to provide a stable reduction effect. The flexible wheel 30 is made of fatigue-resistant materials and can withstand the deformation requirements during high-frequency operation, ensuring the reliability and reduction accuracy of the module during long-term operation.

[0049] In one possible implementation, Figure 2-3 As shown, the wave generator 28 is supported by a cross roller bearing 33 to improve the stability of module operation.

[0050] The rotating shaft of the wave generator 28 is supported by a cross roller bearing 33, which has a high load-bearing capacity and excellent positioning accuracy. The inner ring of the bearing is fixedly connected to the wave generator 28, and the outer ring is fixed to the module housing 1 to achieve stable rotation support. This design effectively reduces the vibration of the reducer 46 during operation, further improves the stability and operating efficiency of the module, and is particularly suitable for high-precision motion control scenarios.

[0051] In one possible implementation, Figure 2-5 As shown, the electric slip ring 49 supports rotation at any angle, eliminating the rotation angle limitation of the joint module.

[0052] The electric slip ring 49 is designed as a modular structure, including two parts: a fixed conductive brush 16 and a dynamic conductive brush 17. The fixed conductive brush 16 is fixed to the encoder seat 13, and the dynamic conductive brush 17 is installed on the central shaft 21. Through the stable contact between the conductive brushes 16, 17 and the slip ring, continuous transmission of signals and power during rotation is achieved.

[0053] This design allows the joint module to perform unlimited rotation operations without worrying about the entanglement of the wire 12. The electric slip ring 49 uses low-friction materials and high-precision conductive coatings to ensure the reliability and durability of signal transmission, and is suitable for application scenarios with high dynamic rotation requirements such as industrial robots.

[0054] In one possible implementation, Figure 2-4 As shown, the output flange 35 is connected to the inner ring 52 and the outer ring 53 via a connecting bridge 51 , and the connecting bridge 51 is provided with a sensing sheet 55 for real-time detection of the stress condition of the output flange 35 .

[0055] The connecting bridge 51 of the output flange 35 is designed to be symmetrical to balance the force. The induction sheet 55 is embedded in the connecting bridge 51, and the deformation of the connecting bridge 51 is detected in real time through strain sensing technology. When the external force acts on the output flange 35, the connecting bridge 51 produces a slight deformation, and the induction sheet 55 captures this change and converts it into an electrical signal. The signal is then transmitted to the built-in signal processing module 40 for analysis, thereby achieving high-precision real-time force monitoring and providing accurate data support for complex motion control.

[0056] In one possible implementation, Figure 2-4 As shown, the inner cavity 55 of the output flange 35 is filled with sealing epoxy resin to protect the sensor sheet 51 and improve the signal transmission accuracy.

[0057] The inner cavity 55 of the output flange 35 is filled with epoxy resin to ensure that the sensor 55 and its related circuits are not interfered with by the external environment. Epoxy resin has good sealing properties and can effectively isolate moisture, dust and lubricating oil from erosion, while providing mechanical support to protect the sensor from vibration and impact. Through the application of epoxy resin, the signal output of the sensor is more stable and the signal transmission accuracy is significantly improved. This design is particularly suitable for industrial and robotic scenarios that have strict requirements on environmental adaptability and signal accuracy.

Claims

1. A highly integrated joint module, comprising: Housing (1); A driving motor (45) is installed inside the housing (1) and is used to drive the input shaft (4); An input shaft (4) is supported by a bearing (11) and a bearing (42) and is linked to a drive motor (2); A reducer (46), the input end of which is connected to the input shaft (4), and the output end of which is supported by a cross roller bearing (33); A permanent magnet power-off brake (47), connected to the input shaft (4), for providing braking when power is off; A high-precision torque sensor (48) is integrated with the output flange (35) and is used to detect the output torque of the joint module; A hollow central shaft (21) connected to the output flange (35) for arranging the wires to avoid entanglement; An electric slip ring (49) cooperates with the central shaft (21) to provide signal transmission; A signal processing module (40), integrated in the output flange (35), for processing data from the torque sensor (48); The invention is characterized in that the joint module adopts an integrated design of a drive motor (45), a reducer (46), a permanent magnet power-off brake (47), a torque sensor (48) and a signal processing module (40), and solves the wire winding problem through the combination of a hollow central shaft (21) and an electric slip ring (49), while improving the compactness, reliability and control accuracy of the module.

2. The highly integrated joint module according to claim 1, characterized in that: The motor stator (2) of the driving motor (45) is fixedly connected to the housing (1) to ensure the structural stability of the module operation.

3. The highly integrated joint module according to claim 1 or 2, characterized in that: The central axis (21) is used to arrange the wires of the torque sensor (48), and an independent channel is provided to prevent the wires from being entangled; in addition, the central hole of the central axis 21 can also be used to arrange the wires of the external module.

4. The highly integrated joint module according to claim 1, characterized in that: The permanent magnet power-off brake (49) comprises a coil winding (8) and a permanent magnet (9). When the coil winding (8) is powered off, the permanent magnet (9) attracts the moving friction plate (6) and the fixed friction plate (7) to fit tightly together, thereby achieving braking of the input shaft.

5. The highly integrated joint module according to claim 4, characterized in that: The contact surfaces of the dynamic friction plate (6) and the fixed friction plate (7) are coated with wear-resistant material to increase the service life and braking effect of the components.

6. The highly integrated joint module according to claim 1, characterized in that: The signal processing module (40) is sealed with epoxy resin (38) to protect the internal circuit from environmental interference and isolate lubricating oil.

7. The highly integrated joint module according to claim 1, characterized in that: The input end of the reducer (46) is fixedly connected to the input rotating shaft (4), and the output end is connected to the flange plate (34) via a flexible wheel (30), and the reduction ratio is achieved via a wave generator (28).

8. The highly integrated joint module according to claim 7, characterized in that: The wave generator (28) is supported by a cross roller bearing (33), thereby improving the stability of module operation.

9. The highly integrated joint module according to claim 1, characterized in that: The electric slip ring (49) supports rotation at any angle, eliminating the rotation angle restriction of the joint module.

10. The highly integrated joint module according to claim 1, characterized in that: The output flange (35) is connected to the inner ring and the outer ring via a connecting bridge, and the connecting bridge is provided with a sensing sheet for real-time detection of the stress condition of the output flange (35).

11. The highly integrated joint module according to claim 10, characterized in that: The inner cavity of the output flange (35) is filled with sealing epoxy resin, which is used to protect the sensor sheet and improve the signal transmission accuracy.

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