Robot finger motor module

Abstract

The invention belongs to the technical field of robot parts, and particularly relates to a robot finger motor module which comprises a direct current motor, one end of the direct current motor is fixedly connected with a planetary reducer, and an output shaft of the planetary reducer is connected with a first radial magnetizing annular magnet; a second radial magnetizing annular magnet is fixedly connected to a direct current motor tail shaft at the other end of the direct current motor, the outer wall of the planetary reducer is connected with a motor driving plate through a connecting piece, and a first off-axis absolute value magnetic encoder, a temperature sensor and a second off-axis absolute value magnetic encoder are installed on one side wall of the motor driving plate. Through the integrated design, the number of circuit boards and connecting cables are reduced, so that the structure of the whole robot finger motor module is simpler and more compact, and the robot finger motor module can better adapt to the limited mounting space requirement of robot fingers.

Description

Technical Field

[0001] The invention relates to the technical field of robot parts, and in particular to a robot finger motor module. Background Art

[0002] In the current design of robot finger motor modules, independent motor tail shaft absolute position detection encoders, planetary reducer output shaft absolute position encoders, and motor temperature sensors are usually used. The circuit boards where these components are located are connected to the motor driver board through connecting cables. For example, in the motor module of a common industrial robot finger, the various sensor modules are distributed on different circuit boards, and then the signals are transmitted to the motor driver board through numerous cables to achieve corresponding position detection and temperature monitoring functions;

[0003] Problems:

[0004] Complex structure: Multiple independent circuit boards and a large number of connecting cables make the structure of the entire robot finger motor module complex, occupying a large space, which is not conducive to compact installation in the robot finger area with limited space.

[0005] Large size: Since the components are scattered and there are many connecting parts, it is difficult to reduce the size of the overall module. For robot finger application scenarios that have strict requirements on volume, it is difficult to meet the needs.

[0006] Inconvenient installation: The numerous cable connections and the installation and fixation of multiple circuit boards increase the complexity of the installation process and the difficulty of installation. In addition, problems such as poor cable connection are prone to occur during the installation process, affecting the reliability of the module.

[0007] Limited reliability: The large number of connecting cables and scattered circuit board layouts increase the risk of failure (such as cable aging, poor contact, etc.), and are not conducive to overall heat dissipation and protection, thus affecting the reliability and service life of the entire motor module.

[0008] Therefore, it is necessary to design a new technical solution. Summary of the invention

[0009] The purpose of the present invention is to provide a robot finger motor module with a more compact structure, smaller size, easier installation and higher reliability. By integrating the motor tail shaft absolute position detection encoder, the planetary reducer output shaft absolute position encoder and the motor temperature sensor into one motor drive board, the overall structure is optimized, the number of circuit boards and connecting cables is reduced, and the comprehensive performance of the module is improved.

[0010] To achieve the above object, the present invention provides the following technical solution: a robot finger motor module, comprising a DC motor, one end of which is fixedly connected to a planetary reducer, and an output shaft of the planetary reducer is connected to a first radially magnetized annular magnet;

[0011] A second radially magnetized annular magnet is fixedly connected to the tail shaft of the DC motor at the other end of the DC motor, the outer wall of the planetary reducer is connected to a motor drive board through a connecting piece, and a first off-axis absolute magnetic encoder, a temperature sensor and a second off-axis absolute magnetic encoder are installed on one side wall of the motor drive board, the first off-axis absolute magnetic encoder and the second off-axis absolute magnetic encoder are arranged opposite to the first radially magnetized annular magnet and the second radially magnetized annular magnet, and the temperature sensor is arranged opposite to the DC motor.

[0012] By adopting the above technical solution, the first radially magnetized annular magnet and the second radially magnetized annular magnet are respectively opposite to the first off-axis absolute magnetic encoder and the second off-axis absolute magnetic encoder on the bottom surface of the motor drive plate. When the tail shaft of the DC motor rotates, the second radially magnetized annular magnet installed thereon will be driven to rotate synchronously. At this time, the corresponding second off-axis absolute magnetic encoder can detect and output the absolute position information of the tail shaft of the DC motor in real time; similarly, when the output shaft of the planetary reducer rotates, the first radially magnetized annular magnet driven by it rotates, and the corresponding first off-axis absolute magnetic encoder can also detect and output the absolute position information of the output shaft of the planetary reducer in real time, thereby realizing accurate position monitoring of key parts of the motor. The temperature sensor is opposite to the DC motor, which is convenient for detecting the temperature of the DC motor, thereby facilitating real-time monitoring and regulation of the temperature state of the DC motor.

[0013] As a preferred embodiment of the present invention, thermally conductive silica gel is arranged between the temperature sensor and the DC motor.

[0014] By adopting the above technical solution and utilizing the good thermal conductivity of thermal conductive silicone, the heat generated by the DC motor can be effectively transferred to the temperature sensor, thereby achieving the purpose of accurately and reliably collecting the temperature of the DC motor.

[0015] As a preferred implementation manner of the present invention, the distance between the temperature sensor and the DC motor is 0.5 mm.

[0016] As a preferred embodiment of the present invention, the distances between the first off-axis absolute magnetic encoder and the second off-axis absolute magnetic encoder and the corresponding first radially magnetized annular magnet and second radially magnetized annular magnet are both 2 mm.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention reduces the number of circuit boards and connecting cables through integrated design, making the structure of the entire robot finger motor module more concise and compact, and can better adapt to the limited installation space requirements of the robot finger;

[0019] After removing redundant components and cable layout, the overall size of the module can be effectively reduced, which helps the robot fingers to be more delicate and compact in appearance and size, and improves the overall aesthetics and flexibility of the robot;

[0020] The simplified structure and reduced connection links greatly reduce the complexity of installation, shorten the installation time, and reduce the possibility of failure due to improper installation, thus improving production efficiency and product quality;

[0021] On the one hand, it reduces the risk of failures such as aging of connecting cables and poor contact. On the other hand, the optimized heat dissipation channel (temperature is collected through thermal conductive silicone auxiliary temperature sensor) helps to better monitor and protect the temperature of the motor, thereby improving the reliability and service life of the module as a whole and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of a robot finger motor module of the present invention;

[0024] Figure 2 The present invention is a schematic diagram of a horizontal front view structure of a robot finger motor module.

[0025] In the figure:

[0026] 1. A first radially magnetized annular magnet; 2. A planetary reducer; 3. A DC motor; 4. A second radially magnetized annular magnet; 5. A DC motor tail shaft; 6. A first off-axis absolute magnetic encoder; 7. A connector; 8. A motor drive board; 9. A temperature sensor; 10. A second off-axis absolute magnetic encoder. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The models of electrical appliances provided in the present invention are only for reference, and different models of electrical appliances with the same functions can be replaced according to actual usage.

[0030] See also Figure 1-2 , the present invention provides a technical solution: a robot finger motor module, including a DC motor 3, one end of the DC motor 3 is fixedly connected to a planetary reducer 2, and the output shaft of the planetary reducer 2 is connected to a first radially magnetized annular magnet 1;

[0031] A second radially magnetized annular magnet 4 is fixedly connected to the DC motor tail shaft 5 at the other end of the DC motor 3, and the outer wall of the planetary reducer 2 is connected to the motor drive board 8 through a connecting piece 7. A first off-axis absolute magnetic encoder 6, a temperature sensor 9 and a second off-axis absolute magnetic encoder 10 are installed on one side wall of the motor drive board 8. The first off-axis absolute magnetic encoder 6 and the second off-axis absolute magnetic encoder 10 are arranged opposite to the first radially magnetized annular magnet 1 and the second radially magnetized annular magnet 4, and the temperature sensor 9 is arranged opposite to the DC motor 3;

[0032] In actual use, the first radially magnetized annular magnet 1 and the second radially magnetized annular magnet 4 are respectively opposite to the first off-axis absolute magnetic encoder 6 and the second off-axis absolute magnetic encoder 10 on the bottom surface of the motor drive plate 8. When the tail shaft of the DC motor 3 rotates, the second radially magnetized annular magnet 4 installed thereon will be driven to rotate synchronously. At this time, the corresponding second off-axis absolute magnetic encoder 10 can detect and output the absolute position information of the DC motor tail shaft 5 in real time; similarly, when the output shaft of the planetary reducer 2 rotates, the first radially magnetized annular magnet 1 driven by it rotates, and the corresponding first off-axis absolute magnetic encoder 6 can also detect and output the absolute position information of the output shaft of the planetary reducer 2 in real time, thereby realizing accurate position monitoring of key parts of the motor;

[0033] The temperature sensor 9 is directly facing the DC motor 3 , so as to detect the temperature of the DC motor 3 , thereby facilitating real-time monitoring and regulation of the temperature state of the DC motor 3 .

[0034] like Figure 1 and 2 As shown; the distance between the first off-axis absolute magnetic encoder 6 and the second off-axis absolute magnetic encoder 10 and the corresponding first radially magnetized annular magnet 1 and second radially magnetized annular magnet 4 is 2mm;

[0035] like Figure 1 and 2 As shown; the distance between the temperature sensor 9 and the DC motor 3 is 0.5mm;

[0036] like Figure 1 and 2 As shown; thermal conductive silicone is arranged between the temperature sensor 9 and the DC motor 3. By utilizing the good thermal conductivity of the thermal conductive silicone, the heat generated by the operation of the DC motor 3 can be effectively conducted to the temperature sensor 9, thereby achieving the purpose of accurately and reliably collecting the temperature of the DC motor 3.

[0037] It needs further explanation:

[0038] DC planetary reduction motor: According to the torque, speed and other power parameters required by the robot fingers, select a DC planetary reduction motor of appropriate specifications to ensure that it can meet the movement requirements of the robot fingers. During the manufacturing process of the motor, the machining accuracy of the motor tail shaft and the planetary reducer output shaft must be guaranteed to facilitate the subsequent accurate installation of the annular magnet and stable rotation.

[0039] Ring magnet: Choose a radially magnetized ring magnet, and customize the appropriate inner diameter, outer diameter, thickness and other parameters according to the size specifications of the motor tail shaft and the planetary reducer output shaft to ensure that it can be firmly installed on the corresponding shaft and the magnetic strength meets the detection requirements of the off-axis absolute magnetic encoder.

[0040] Motor drive board: It is manufactured with suitable printed circuit board PCB material, and the wiring and component layout are carried out according to the long strip design requirements. During the design, the installation positions of two off-axis absolute magnetic encoders and a temperature sensor 9 should be accurately planned to ensure that the annular magnet and the motor body on the DC planetary reduction motor below are in a suitable relative position after assembly to achieve accurate detection function. At the same time, the fixed position of the connector and the rationality of the electrical connection line should be considered to ensure the electrical performance and mechanical stability of the motor drive board.

[0041] Connectors: Choose connectors with appropriate strength and easy installation and removal, such as special screws and clips, to ensure that the motor drive board can be firmly fixed to the DC planetary reduction motor and will not loosen during long-term use.

[0042] Thermal conductive silicone: Choose a thermal conductive silicone sheet with good thermal conductivity, certain flexibility and stability. The size should be able to cover the contact area between the motor and the temperature sensor to ensure that heat can be efficiently conducted.

[0043] When the device needs to be assembled:

[0044] In the first step, the first radially magnetized annular magnet 1 and the second radially magnetized annular magnet 4 are respectively installed on the output shaft of the planetary reducer 2 and the tail shaft 5 of the motor. During the installation process, appropriate installation tools should be used to ensure that the magnets are firmly installed and concentric with the shaft to avoid eccentricity during rotation and other situations that affect the detection accuracy.

[0045] The second step is to fix the motor drive board 8 on top of the planetary reducer 2 through the connector 7. During the fixing process, use tools such as measuring tools to ensure that the distance between the bottom surface of the motor drive board and the DC planetary reducer motor is maintained at 1.5 mm. Ensure that the motor drive board is installed firmly by tightening the connector and other operations.

[0046] The third step is to place the thermally conductive silicone sheet at the corresponding position between the temperature sensor 9 and the DC motor 3 to ensure that the two are in close contact through the thermally conductive silicone sheet, thereby establishing a good channel for subsequent heat conduction.

[0047] The fourth step is to conduct a preliminary appearance inspection of the entire assembled robot finger motor module to check whether each component is firmly installed and accurately positioned, and whether there is any looseness or interference in the connection parts; then conduct a conductivity test of the electrical connection and a functional test of each sensor to ensure that the module can work normally. If any problems are found, adjust and repair them in time.

[0048] The implementation principle of a robot finger motor module of the present application is: by integrating the above-mentioned key first off-axis absolute magnetic encoder 6 and the second off-axis absolute magnetic encoder 10 and the temperature sensor 9 on the same motor drive board 8, the connection cables between the two absolute encoders and the motor drive board 8 in the traditional design are eliminated, so that the internal structure of the robot finger motor module is more concise, avoiding the problems of space occupation, complex installation and reduced reliability caused by a large number of cable connections, so that the entire module is significantly improved in terms of compact structure, small size, installation convenience and working reliability.

[0049] In addition, the components included in the robot finger motor module of the present invention are all universal standard parts or components known to technical personnel in this field. The structure and principle thereof can be known to technical personnel through technical manuals or through conventional experimental methods. In the idle part of the device, all the above-mentioned electrical components, which refer to power elements, electrical components, and adapted monitoring computers and power supplies are connected through wires. The specific connection means should refer to the following working principle. The electrical connection is completed in the working order of each electrical component. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and no longer explains the electrical control.

[0050] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0051] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot finger motor module, comprising a DC motor (3), characterized in that: One end of the DC motor (3) is fixedly connected to a planetary reducer (2), and a first radially magnetized annular magnet (1) is connected to the output shaft of the planetary reducer (2); A second radially magnetized annular magnet (4) is fixedly connected to a DC motor tail shaft (5) at the other end of the DC motor (3); an outer wall of the planetary reducer (2) is connected to a motor drive board (8) via a connecting piece (7); a first off-axis absolute magnetic encoder (6), a temperature sensor (9) and a second off-axis absolute magnetic encoder (10) are installed on one side wall of the motor drive board (8); the first off-axis absolute magnetic encoder (6) and the second off-axis absolute magnetic encoder (10) are arranged opposite to the first radially magnetized annular magnet (1) and the second radially magnetized annular magnet (4); and the temperature sensor (9) is arranged opposite to the DC motor (3).

2. A robot finger motor module according to claim 1, characterized in that: Heat-conductive silica gel is arranged between the temperature sensor (9) and the DC motor (3).

3. A robot finger motor module according to claim 1, characterized in that: The distance between the temperature sensor (9) and the DC motor (3) is 0.5 mm.

4. A robot finger motor module according to claim 1, characterized in that: The distance between the first off-axis absolute value magnetic encoder (6) and the second off-axis absolute value magnetic encoder (10) and the corresponding first radially magnetized annular magnet (1) and the second radially magnetized annular magnet (4) is 2 mm.

Images