Linear joint module of irradiation-resistant large-stroke heavy-load robot

Abstract

The invention belongs to the technical field of specialized robots in the nuclear industry, and aims at solving the technical problem that an existing linear joint module cannot achieve integration, large stroke, heavy load output and high-reliability internal wiring at the same time. The irradiation-resistant large-stroke heavy-load robot linear joint module comprises a barrel, a lead screw fixing seat and an end face sealing locking nut, the lead screw fixing seat and the end face sealing locking nut are arranged at the two ends of the barrel respectively, a telescopic rod is arranged in the barrel, a lead screw penetrates through the telescopic rod, a nut is arranged on the lead screw, one end of the nut abuts against a bearing, and the bearing abuts against the telescopic rod. A motor is arranged on the left side of the nut and used for driving the nut to move on the lead screw to push the telescopic rod to move. The device can be applied to irradiation, large-stroke heavy-load and precise operation occasions in a narrow space, and high integration is achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of special robots for the nuclear industry, and in particular relates to a linear joint module of a radiation-resistant, large-stroke, heavy-load robot. Background Art

[0002] Linear joint modules are widely used in the field of robotic equipment that requires stroke adjustment, especially for situations that require large stroke adjustment operations. As a way to achieve linear motion output, lead screw transmission is typically used in the field of robotics due to its unique advantages of easy to achieve precise linear motion control and easy integration. The principle of using lead screws to achieve linear motion is generally to use the lead screw as an active rotating body to drive the nut that matches it to move linearly forward and backward along the axis of the lead screw.

[0003] In the nuclear industry, robots are often faced with high radiation, heavy loads, and long-stroke precision operations in confined spaces. In order to avoid physical interference as much as possible, the robot's cables must not be exposed, that is, internal routing must be achieved. At the same time, the equipment must be highly integrated to improve the reliability of the operation.

[0004] At present, the most commonly used technical means to achieve the internal routing of the robot linear joint cable is to make the screw into a hollow structure. At this time, if the method of screw rotation and nut linear output is adopted, in order to achieve large stroke adjustment in the occasion of large stroke operation, because the screw lead is constant, the screw is required to rotate multiple turns, which can easily cause the cable in the inner hole of the hollow screw to contact the inner wall of the screw and rotate with the screw, causing the cable to be entangled until it breaks. In addition to requiring internal routing, the equipment is also required to be radiation-resistant, highly integrated, and have a large output stroke and output load. Therefore, for radiation-resistant, large stroke (stroke exceeds 0.6m), heavy-load, and precise operation occasions in narrow spaces, it is necessary to provide a radiation-resistant, large output stroke, high-load output, high-reliability internal routing, integrated heavy-load linear joint structure.

[0005] Chinese patent CN117621134A provides a linear joint module with the characteristics of integration, but it cannot realize hollow internal wiring, large linear motion stroke and heavy-load output, and is not resistant to radiation. Chinese patent CN113381556B provides a linear joint module with the characteristics of heavy-load output and integration, but it cannot realize hollow internal wiring, large linear motion stroke and is not resistant to radiation. At present, there is no robot linear joint module with large stroke, high integration, heavy load and internal wiring. Summary of the invention

[0006] The purpose of this application is to provide a radiation-resistant, long-stroke, heavy-load robot linear joint module to solve the technical problem that existing linear joint modules cannot simultaneously achieve integration, long stroke, heavy-load output and high-reliability internal routing.

[0007] In order to achieve the above objectives, this application provides the following technical solutions:

[0008] A radiation-resistant, long-stroke, heavy-load robot linear joint module comprises a cylinder and a lead screw fixing seat and an end face sealing locking nut respectively arranged at both ends thereof, a telescopic rod is arranged inside the cylinder, a lead screw is passed through the telescopic rod, a nut is arranged on the lead screw, one end of the nut abuts against a bearing, the bearing abuts against the telescopic rod, and a motor is arranged on the left side of the nut to drive the nut to move on the lead screw and thereby promote the movement of the telescopic rod.

[0009] In some embodiments, an output end position encoder is provided between the inner wall of the cylinder and the telescopic rod.

[0010] In some embodiments, the output end position encoder includes a grating scale and a grating reading head, the grating scale is bonded to the grating scale mounting groove of the cylinder, and the grating reading head is bonded to the grating reading head mounting groove of the telescopic rod.

[0011] In some embodiments, the bearing includes an inner bearing and an outer bearing; one end face of the outer ring of the inner bearing abuts against the inner bearing pressure cover, and one end face of the inner ring of the inner bearing abuts against the nut; the outer ring of the outer bearing abuts against the motor fixing seat, and one end face of the inner ring of the outer bearing abuts against the outer bearing pressure cover.

[0012] In some embodiments, the nut is fixedly connected to the motor rotor via a rotor fixing screw, a stepped shaft is provided on the right side of the nut, and the bearing is mounted on the stepped shaft.

[0013] In some embodiments, the motor is mounted on a motor fixing seat assembly, and the motor fixing seat assembly includes a motor fixing seat and a guide slider. The motor fixing seat is provided with a groove for accommodating the guide slider.

[0014] In some embodiments, a seal is provided between the end face sealing locking nut and the telescopic rod, and the seal includes an inner sealing ring and an outer sealing ring.

[0015] In some embodiments, the input end position encoder is a hollow structure mounted to one side of the motor for detecting the angular displacement of the input end.

[0016] In some embodiments, the stepped shaft end of the screw rod is provided with an external thread, and the screw rod fixing round nut is provided with an internal thread that matches the external thread.

[0017] In some embodiments, a telescopic rod guide piece is provided on the outer side of the telescopic rod, and the telescopic rod guide piece is fixedly connected to the end face sealing locking nut via a guide piece fastening screw.

[0018] Compared with the prior art, the radiation-resistant, long-stroke, heavy-load robot linear joint module provided by the present application has the following beneficial effects:

[0019] This application can simultaneously achieve integration, large travel, heavy-load output and high-reliability internal wiring. Specifically including:

[0020] This application achieves high integration. This application integrates components such as motors, drivers, input encoders, output encoders, lead screws and nuts into an independent functional module, and achieves precise control of the output linear displacement of the linear joint module through closed-loop control of dual encoders. This application can be used in irradiation, large stroke (stroke exceeds 0.6m), heavy load, and precise operation in narrow spaces.

[0021] The present application realizes a large output stroke. The present application adopts a screw for fixing, the motor rotor and the nut synchronously rotate around the screw and move axially, the rotational motion of the nut is transmitted by the inner ring of the bearing, and the outer ring of the bearing and the motor stator only perform synchronous linear motion, that is, the transmission and output technical route of the linear motion is realized by the outer ring of the bearing. By adopting this unique motion transmission method, the rotational motion of the nut will not affect the final linear output motion, that is, only the required pure linear telescopic motion is output in the end. At the same time, because the stator and the output end of the motor synchronously move linearly along the long screw, the width dimension of the motor assembly is small, and the length part of the axial direction of the screw is small, so that most of the length direction of the screw is used as an effective linear output stroke, that is, a large output stroke is achieved.

[0022] The present application achieves a large output load. The present application adopts a frameless torque motor with a large diameter and high torque output density, and the lead screw adopts a trapezoidal thread for transmission, so that the module obtains a large output linear load (more than 500kg) thrust.

[0023] The present application realizes stable and reliable internal wiring. The present application adopts a method of fixing a hollow screw rod. Since the screw rod is stationary, the cables in the hollow hole of the screw rod will not be entangled or twisted off, thus realizing reliable internal wiring.

[0024] The present application achieves radiation resistance. The present application uses radiation-resistant encoders and drivers, which enable them to operate reliably in high-radiation environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the technical description.

[0026] Figure 1 Axonometric diagram of the linear joint module of the radiation-resistant, large-stroke, heavy-load robot provided for this application;

[0027] Figure 2 A cross-sectional view of the radiation-resistant, large-stroke, heavy-load linear joint module provided for this application;

[0028] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0029] Figure 4 for Figure 2 The enlarged view of point B in the middle;

[0030] Figure 5 A partial schematic diagram of the cylinder end of the radiation-resistant, large-stroke, heavy-load linear joint module provided in this application;

[0031] Figure 6 An axonometric view of the motor mounting assembly of the radiation-resistant, large-stroke, heavy-load linear joint module provided in this application.

[0032] Description of reference numerals:

[0033] 1—Cylinder; 2—Screw fixing seat; 3—End face sealing locking nut; 4—Output end position encoder; 5—Telescopic rod; 6—Screw rod; 7—Screw rod fixing round nut; 8—Stop washer; 9—Driver; 10—Fixer seat fastening screw; 11—Input end position encoder; 12—Motor fixing seat assembly; 13—Bearing; 14—Motor; 15—Motor gland; 16—Support column; 17—Inner bearing gland; 18—Gland fastening screw; 19—Telescopic rod fastening screw; 20—Telescopic rod guide piece; 21—Guide piece fastening screw; 22—Seal; 23—Nut; 24—Rotor fixing screw; 25—Outer bearing gland;

[0034] 1.1—Guide spline groove; 1.2—Grating scale installation groove; 1.3—External thread;

[0035] 11.1—Encoder stator component; 11.2—Encoder rotor component;

[0036] 12.1—Motor fixing seat; 12.2—Guide slider; 12.3—Slider fastening screw;

[0037] 13.1—Inner bearing; 13.2—Outer bearing;

[0038] 14.1—Motor stator; 14.2—Motor rotor;

[0039] 22.1—Inner sealing ring; 22.2—Outer sealing ring. DETAILED DESCRIPTION

[0040] The following is further explained in detail through specific implementation methods.

[0041] like Figures 1 to 6As shown, the present application provides a radiation-resistant large-stroke heavy-load robot linear joint module, including a cylinder 1, a screw fixing seat 2, an end face sealing locking nut 3, an output end position encoder 4, a telescopic rod 5, a screw 6, a screw fixing round nut 7, a stop washer 8, a driver 9, a fixing seat fastening screw 10, an input end position encoder 11, a motor fixing seat assembly 12, a bearing 13, a motor 14, a motor cover 15, a support column 16, a bearing cover 17, a cover fastening screw 18, a telescopic rod fastening screw 19, a telescopic rod guide plate 20, a guide plate fastening screw 21, a seal 22, a nut 23, a rotor fixing screw 24, and an outer bearing cover 25.

[0042] The screw fixing seat 2 and the end face sealing locking nut 3 are respectively arranged at the two ends of the cylinder 1. The telescopic rod 5 is arranged inside the cylinder 1; the output end position encoder 4 is arranged on the inner side of the cylinder 1, between the inner side of the cylinder 1 and the outer side of the telescopic rod 5. The screw 6 is inserted into the inside of the telescopic rod 5, and the stepped shaft end of the screw 6 is connected to the screw fixing round nut 7, and the other end of the screw 6 is connected to the next level connecting rod of the working robot arm. The screw fixing round nut 7 is arranged on the outer side of the screw fixing seat 2, and the screw fixing round nut 7 is tightened to abut against the outer surface of the screw fixing seat 2.

[0043] The driver 9 is fixedly connected to the motor gland 15 through the support column 16, and the driver 9 is arranged inside the cylinder 1. The left end of the cylinder 1 (the end of the screw fixing seat 2) is provided with a motor fixing seat assembly 12, and the motor 14 is installed in the motor fixing seat assembly 12 and axially pressed to the end surface of the motor fixing seat assembly 12 through the motor gland 15. The motor gland 15 is installed to the outside of one end of the motor 14, and the function of the motor gland 15 is to axially press the stator of the motor.

[0044] The nut 23 is rotatably mounted on the screw rod 6, and the nut 23 is fixedly connected to the motor rotor 14.2 through the rotor fixing screw 24. A stepped shaft is provided on the right side of the nut 23, and the bearing 13 is mounted on the stepped shaft. When the motor rotor 14.2 rotates, the nut 23 is driven to rotate, thereby pushing the bearing 13, so that the telescopic rod 5 moves forward or backward.

[0045] The input position encoder 11 is mounted on one side of the motor 14 to detect the angular displacement of the motor input.

[0046] like Figure 5 As shown, the inner hole of the cylinder 1 is uniformly distributed with spline grooves 1.1 and grating ruler installation grooves 1.2 in the circumferential direction, the spline grooves 1.1 are adapted to the guide slider 12.2, and the grating ruler installation grooves 1.2 are used to bond the grating reading head 4.2; the tail end of the cylinder 1 is provided with an external thread 1.3 for threaded connection with the end face sealing locking nut 3. The screw fixing seat 2 is fixedly connected to the cylinder 1 by the fixing seat fastening screws 10.

[0047] The end face sealing locking nut 3 is provided with an internal thread and a sealing member installation groove. The end face sealing locking nut 3 is screwed to the tail end of the cylinder 1 through its internal thread and the external thread 1.3 of the cylinder 1.

[0048] like Figure 4 As shown, a seal 22 is provided between the end face sealing lock nut 3 and the telescopic rod 5. The seal 22 includes an inner sealing ring 22.1 and an outer sealing ring 22.2. The sealing rings are arranged in pairs to prevent internal lubricating grease leakage and dust. The seal 22 is installed in the seal installation groove of the end face sealing lock nut 3.

[0049] like Figure 6 As shown, the motor fixing seat assembly 12 includes a motor fixing seat 12.1, a guide slider 12.2 and a slider fastening screw 12.3. A groove for accommodating the guide slider 12.2 is provided on the outer periphery of the motor fixing seat 12.1, and the guide slider 12.2 is embedded in the groove and fixedly connected to the motor fixing seat 12.1 by the slider fastening screw 12.3. The guide sliders 12.2 are evenly distributed on the outer periphery of the motor fixing seat 12.1, and their number is consistent with the number of the spline grooves 1.1 of the cylinder 1, so that a sliding fit is formed between the guide slider 12.2 and the groove 1.1.

[0050] like Figure 2 and Figure 5 As shown, the output end position encoder 4 is installed to the inner side of the cylinder 1, and is used to detect the linear displacement of the output end, i.e., the telescopic rod 5. The output end position encoder 4 includes a grating ruler 4.1 and a grating reading head 4.2. The grating ruler 4.1 is bonded to the grating ruler mounting groove 1.2 of the cylinder 1. The outer periphery of the telescopic rod 5 is provided with a grating reading head mounting groove, and the grating reading head 4.2 is bonded to the grating reading head mounting groove. The motor stator 14.1 is installed on the motor fixing seat 12.1 and is axially compressed by the motor pressure cover 15. The motor pressure cover 15 is fixedly connected to the end face of the motor fixing seat 12.1 by screws.

[0051] The motor 14 comprises a motor stator 14.1 and a motor rotor 14.2. The motor rotor 14.2 is fixedly connected to the nut 23 via a rotor fixing screw 24.

[0052] The bearing 13 includes an inner bearing 13.1 and an outer bearing 13.2. One end face of the outer ring of the inner bearing 13.1 abuts against the step protrusion of the inner bearing cover 17, the inner hole of the inner ring of the inner bearing 13.1 is installed on the step shaft of the nut 23, and one end face of the inner ring of the inner bearing 13.1 abuts against the step protrusion of the nut 23. The outer ring of the outer bearing 13.2 abuts against the corresponding step protrusion of the motor fixing seat 12.1, the inner hole of the inner ring of the outer bearing 13.2 is installed on the step shaft of the nut 23, and one end face of the inner ring of the outer bearing 13.2 abuts against the outer bearing cover 25.

[0053] The input position encoder 11 is a hollow structure, and is used to detect the angular displacement of the input end, i.e., the motor rotor 14.2. The input position encoder 11 includes an encoder stator component 11.1 and an encoder rotor component 11.2. The encoder stator component 11.1 is bonded to the motor stator 14.1, and the encoder rotor component 11.2 is bonded to the motor rotor 14.2; the driver 9 is fixedly connected to the motor gland 15 through the support column 16.

[0054] The motor 14, input position encoder 11 and output position encoder 4 provided in the present application are all connected to the driver 9 via cables, thereby forming a dual-encoder closed-loop control, thereby improving the linear motion position accuracy of the joint module output.

[0055] The screw rod 6 is a screw rod with a hollow structure, and the stepped shaft end of the screw rod 6 is provided with an external thread, and the screw rod fixing round nut 7 is provided with an internal thread, and the internal thread is adapted to the external thread, so that the screw rod fixing round nut 7 is screwed and tightened with the stepped shaft end of the screw rod 6. Since the driver 9 and the input end position encoder 11 are both hollow structures, the screw rod 6 is passed through the hollow hole there.

[0056] Preferably, a stop washer 8 is provided between the screw rod fixing round nut 7 and the stepped shaft end of the screw rod 6 to prevent the screw rod fixing round nut 7 from loosening after being screwed and tightened.

[0057] The inner hole of the telescopic rod guide piece 20 is slidably matched with the outer periphery of the telescopic rod 5. The telescopic rod guide piece 20 is fixedly connected to the end face sealing locking nut 3 by the guide piece fastening screw 21, so that the telescopic rod guide piece 20 guides and supports the telescopic rod 5 during telescopic movement.

[0058] Optionally, the motor 14 is a frameless torque motor.

[0059] Optionally, the bearing 13 adopts an angular contact ball bearing to withstand the axial reciprocating thrust load during the linear telescopic motion of the linear joint module.

[0060] The implementation process of the linear joint module forward movement of the present invention is as follows:

[0061] The driver 9 drives the motor rotor 14.2 to rotate forward, thereby driving the nut 23 to rotate forward and the inner rings of the inner bearing 13.1 and the outer bearing 13.2 to rotate synchronously. Since the screw 6 is stationary, under the action of the threaded transmission, the nut 23 rotates while extending forward along the axis of the screw 6 and applying a forward thrust to the bearing 13, causing the outer ring end face of the outer bearing 13.2 to push the motor fixing seat 12.1. Under the guidance of the guide spline groove 1.1 of the cylinder 1 and the guide slider 12.2, the motor fixing seat 12.1 extends forward and drives the motor stator 14.1 and the telescopic rod 5 fixed thereto to extend forward, thus realizing the linear extension movement of the linear joint module of the present application. During the movement, the output end position encoder 4 obtains the position of the linear motion of the output end, i.e., the telescopic rod 5, in real time, and the input end position encoder 11 obtains the rotation angle position of the input end, i.e., the motor rotor 14.2, in real time. In cooperation with the driver 9, a dual-position closed-loop control is realized, resulting in the linear joint module having a higher linear position output accuracy.

[0062] The implementation process of the linear joint module retraction movement of the present invention is as follows:

[0063] The driver 9 drives the motor rotor 14.2 to rotate in the opposite direction, thereby driving the nut 23 to rotate in the opposite direction and the inner rings of the inner bearing 13.1 and the outer bearing 13.2 to rotate synchronously. Since the screw 6 is stationary, under the action of the threaded transmission, the nut 23 rotates while retracting along the axis direction of the screw 6, and at the same time applies a backward thrust to the bearing 13, causing the outer ring end face of the inner bearing 13.1 to push the inner bearing cover 17 backward, thereby driving the motor fixing seat 12.1 to retract, and finally driving the motor stator 14.1 and the telescopic rod 5 fixedly connected to the motor fixing seat 12.1 to retract synchronously, that is, realizing the linear retraction movement of the linear joint module of the present application. During the movement, the output end position encoder 4 obtains the position of the linear motion of the output end, i.e., the telescopic rod 5, in real time, and the input end position encoder 11 obtains the rotation angle position of the input end, i.e., the motor rotor 14.2, in real time. In cooperation with the driver 9, a dual-position closed-loop control is realized, so that the linear joint module has a higher linear position output accuracy.

[0064] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A radiation-resistant, long-travel, heavy-load robot linear joint module, characterized in that: The invention comprises a cylinder (1) and a screw fixing seat (2) and an end face sealing locking nut (3) respectively arranged at two ends thereof. A telescopic rod (5) is arranged inside the cylinder (1). A screw (6) is passed through the telescopic rod (5). A nut (23) is arranged on the screw (6). One end of the nut (23) abuts against a bearing (13). The bearing (13) abuts against the telescopic rod (5). A motor (14) is arranged on the left side of the nut (23) for driving the nut (23) to move on the screw (6) and thereby driving the telescopic rod (5) to move.

2. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: An output end position encoder (4) is provided between the inner wall of the cylinder (1) and the telescopic rod (5).

3. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 2, characterized in that: The output end position encoder (4) comprises a grating ruler (4.1) and a grating reading head (4.2), wherein the grating ruler (4.1) is bonded to the grating ruler mounting groove (1.2) of the cylinder (1), and the grating reading head (4.2) is bonded to the grating reading head mounting groove of the telescopic rod (5).

4. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: The bearing (13) comprises an inner bearing (13.1) and an outer bearing (13.2); one end face of the outer ring of the inner bearing (13.1) abuts against the inner bearing cover (17), and one end face of the inner ring of the inner bearing (13.1) abuts against the nut (23); the outer ring of the outer bearing (13.2) abuts against the motor fixing seat (12.1), and one end face of the inner ring of the outer bearing (13.2) abuts against the outer bearing cover (25).

5. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: The nut (23) is fixedly connected to the motor rotor (14.2) via a rotor fixing screw (24); a stepped shaft is provided on the right side of the nut (23), and the bearing (13) is mounted on the stepped shaft.

6. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: The motor (14) is mounted on a motor fixing seat assembly (12); the motor fixing seat assembly (12) comprises a motor fixing seat (12.1) and a guide slider (12.2); the motor fixing seat (12.1) is provided with a groove for accommodating the guide slider (12.2).

7. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: A sealing member (22) is provided between the end face sealing locking nut (3) and the telescopic rod (5), and the sealing member (22) comprises an inner sealing ring (22.1) and an outer sealing ring (22.2).

8. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: The input end position encoder (11) is a hollow structure, mounted on one side of the motor (14), and used to detect the angular displacement of the input end.

9. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: The stepped shaft end of the screw rod (6) is provided with an external thread, and the screw rod fixing round nut (7) is provided with an internal thread matching the external thread.

10. The radiation-resistant, long-travel, heavy-load robot linear joint module according to claim 1, characterized in that: A telescopic rod guide piece (20) is provided on the outer side of the telescopic rod (5), and the telescopic rod guide piece (20) is fixedly connected to the end face sealing locking nut (3) via a guide piece fastening screw (21).

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