Slip ring electric signal transmission device based on rotating shaft driven by robot mechanical arm motor

Abstract

The invention discloses a slip ring electric signal transmission device based on a robot mechanical arm motor driving rotating shaft, which comprises a female plate (MH01) and a male plate (GH01) which are coaxially arranged, concentric copper rings with the same number and specification are respectively mounted on opposite surfaces of the female plate (MH01) and the male plate (GH01), two opposite copper rings form a group, each group of copper rings are in contact through a metal probe (TZ01), and the metal probe (TZ01) is in contact with the female plate (MH01) and the male plate (GH01). Each group of copper rings is used for transmitting one kind of electric signals. According to the device, by optimizing the connecting structure between the mechanical arm rotating shaft and the sliding ring, efficient and stable electric signal transmission is achieved, the abnormal problem in traditional signal transmission is avoided, the signal transmission quality is improved, and accurate control over a robot system is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a motor-driven rotating shaft slip ring electrical signal transmission device for a robot mechanical arm. Background Art

[0002] With the advancement of industrial automation and robotics, the accuracy and stability of power and signal transmission systems are higher when the robot performs tasks. However, traditional electrical signal transmission systems are difficult to provide efficient and interference-free transmission during the rotation of the robot. Although the existing slip ring technology can solve the problem of power and signal transmission between rotating and fixed parts (at a specific angle), there are still the following problems in terms of joint freedom, signal quality, anti-interference ability, life and efficiency:

[0003] 1. Poor signal transmission stability: The existing slip ring electrical signal transmission device will cause friction, wear and poor contact during long-term use, which will affect the stability and transmission quality of the signal, seriously affecting the control accuracy and system reliability of the robot arm.

[0004] 2. Complex installation and maintenance: Existing signal transmission devices usually require complex wiring and installation structures. Especially when the robot arm rotates significantly, cables, slip rings and contactors are easily damaged, which increases the maintenance cost of the system and is inconvenient to replace or repair.

[0005] 3. Poor adaptability: Existing electrical signal transmission devices cannot provide sufficient transmission stability in high-load and high-precision application scenarios, which limits the application of robotic arms in high-speed and high-precision operations.

[0006] 4. Low signal transmission efficiency: Existing devices are insufficient in high-frequency signal transmission, and have problems such as transmission delay and distortion, which leads to bottlenecks in real-time control and precise feedback of the robotic arm and cannot meet high performance requirements.

[0007] 5. Constraints on the movement of robot arm joints: Existing joint devices use a mechanical structure to connect the joint motors to achieve rotational movement, and use wired methods to transmit electrical signals. Taking a common serial robot as an example, the possible angle range of a rotating joint is -180° to 180°. After the angle rotation command is completed, it must return to the origin coordinate 0°, otherwise the wires transmitting power and electrical signals will be in a twisted and deformed state for a long time, thereby reducing the transmission rate of power and electrical signals, reducing the service life, and increasing maintenance costs. Existing serial joint devices cannot meet the requirements of 360° uninterrupted free movement and synchronous transmission of high-speed electrical signals.

[0008] Therefore, there is an urgent need for a new type of slip ring electrical signal transmission device to solve the above problems and provide an efficient, stable and long-life electrical signal transmission solution, which is particularly suitable for high-precision automation systems. Summary of the invention

[0009] The purpose of the present invention is to provide a transmission device for electrical signals based on the slip ring of the motor-driven rotating shaft of the robot manipulator arm. The device optimizes the slip ring structure, material and contact design to achieve efficient and stable transmission of power and signals, and solve the problems of signal attenuation, abnormal signal transmission and friction and wear in the prior art.

[0010] The technical solution of the present invention:

[0011] A slip ring electrical signal transmission device based on a motor-driven shaft of a robot manipulator comprises a coaxially arranged motherboard MH01 and a male board GH01, characterized in that: concentric copper rings of equal quantity and specification are respectively installed on the opposite surfaces of the motherboard MH01 and the male board GH01, two opposite copper rings form a group, each group of copper rings is in contact with each other through a metal probe TZ01, and each group of copper rings is used to transmit an electrical signal.

[0012] The metal probe TZ01 is fixedly mounted on the copper ring of the motherboard MH01. The metal probe TZ01 comprises a mounting seat, a spring and a contact. The contact is mounted in the mounting seat through the spring, and the mounting seat is fixed on the copper ring.

[0013] The back of the motherboard MH01 and the male board GH01 is provided with a signal lead-out slot, in which the signal bus MS21 is installed, and a conductive through hole is provided at the bottom of the slot corresponding to the position of each copper ring.

[0014] There are 4 groups of copper rings in total, and each group of copper rings is equipped with 8 evenly distributed metal probes TZ01.

[0015] The back of the motherboard MH01 and the male board GH01 are both provided with three signal lead-out slots, which are spaced 120 degrees apart from each other; an insulating bakelite cover MG20 is installed in the signal lead-out slots to make the surface flush.

[0016] Each copper ring has insulating isolation platforms on both sides.

[0017] The male board GH01 and the female board MH01 are made of high-density bakelite material. There is a raised shaft GI12 in the center of the male board GH01, and the mother board MH01 has a hole in the center and is mounted on the shaft GI12.

[0018] The end surface of the rotating shaft GI12 is provided with a circle of countersunk holes.

[0019] There is a circle of fixing countersunk holes on the back of the motherboard MH01.

[0020] Compared with the prior art, the advantages of the present invention are as follows:

[0021] 1. Efficient and stable electrical signal transmission: The device achieves efficient and stable electrical signal transmission by optimizing the connection structure between the robot arm shaft and the slip ring, avoiding abnormal problems in traditional signal transmission, improving the signal transmission quality, and ensuring precise control of the robot system.

[0022] 2. Improve the motion accuracy of the robotic arm: Since the transmission of electrical signals is more stable and efficient, the motion control accuracy of the robotic arm is significantly improved, especially during fine operations, which can provide more precise feedback, thereby enhancing the application performance of the robotic arm in complex tasks.

[0023] 3. Improve the freedom of the robot arm joint structure: realize 360° uninterrupted free rotation of the joints between the robot arms, and can synchronously transmit high-speed power and electrical signals, thereby improving the flexibility, linkage freedom and accuracy of the robot arm joints.

[0024] 4. Reduce failure rate and maintenance cost: The design of this device reduces the failure rate of traditional electrical signal transmission devices caused by poor contact or wear, improves the long-term operation reliability of the robotic arm, and reduces maintenance frequency and repair costs.

[0025] 5. Enhanced durability of the device: By optimizing the material selection and structural design of the slip ring and the shaft, the device exhibits stronger wear resistance and corrosion resistance during high-frequency operation and long-term work of the robotic arm, thereby extending its service life.

[0026] 6. Strong adaptability and wide application: The transmission device is not only suitable for the motor drive system of the robot manipulator, but can also be widely used in other systems that require continuous transmission of electrical signals, such as automated production lines, drones and other intelligent equipment drive systems.

[0027] 7. Simplified design and manufacturing process: Compared with traditional transmission systems, this device has a simpler structure and more efficient manufacturing process, which can reduce production costs and facilitate rapid integration into existing robot systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly explain the technical solutions in the embodiments of the present invention or the prior art, the drawings involved in the embodiments or the prior art description are briefly introduced below. Obviously, the following drawings only show some embodiments of the present invention, and ordinary technicians can also deduce other related drawings based on these drawings without creative work.

[0029] Figure 1 .The front view of the sliding motherboard that transmits the robot arm shaft signal.

[0030] Figure 2 .for Figure 1Back view of the motherboard in which the signal is transferred.

[0031] Figure 3 .It is the front view of the sliding plate for transmitting the signal of the robot arm shaft.

[0032] Figure 4 .for Figure 3 Back view of the signal transmission slider in the figure.

[0033] Figure 5 . is a schematic diagram of the overall structure.

[0034] Figures 1 to 4 The reference numerals shown in the figure are: MT01-MT04: metal copper ring; MG06-MG10 / GD05-GD09: high-density bakelite insulation board; MT10-MT13: metal probes with elastic design, 8 combinations and 32 pieces in total; MC15 / GC11: fixed perforation; MS16-MS19 / GS14-GS17: wire perforation; MG20 / GG18: insulating bakelite cover; MS21 / GD13: signal transmission bus; GD10: rotating shaft; GD12: positioning point. Note: The letter M represents the motherboard of the slip ring, G represents the male board of the slip ring, D refers to the contact positioning between the male board of the slip ring and the motherboard, T represents the copper wire, C is the countersunk hole, S is the data bus, and I is the insulating isolation platform. DETAILED DESCRIPTION

[0035] Structural design:

[0036] Male and female board structure: The present invention adopts a one-to-one male and female board structure, which are connected by metal probes to ensure stable signal transmission. Both the male and female boards are made of high-density bakelite material, which has excellent electrical insulation and mechanical strength and can withstand long-term workloads.

[0037] Metal probe design: To ensure stable transmission, the metal probe design adopts the elastic principle, with a total of 8 groups and 32 probes to ensure stable contact at each connection point, avoiding signal interruption and abnormal signal transmission caused by poor contact of individual probes during the rotation of the robotic arm.

[0038] Signal transmission structure:

[0039] Copper ring design of male and female boards: 4 sets of copper rings are installed in the male and female boards, and the copper rings of the female board are connected to the male board by welding metal probes. In actual work, the elastic design of the metal probe can provide a certain pressure to ensure that the copper rings always maintain good contact when the mechanical arm shaft rotates, ensuring stable signal transmission.

[0040] Optimization of contact structure: 4 small holes are opened on the back of the motherboard for the motor signal to contact the copper ring, and the male board has corresponding small holes, so that the motherboard can more accurately transmit the signal to the male copper ring, and then the data signal is exported and transmitted to the next level control system through the 4 small holes on the back of the male board. Through precise structural design and hole matching, the signal transmission between the male and motherboards is more accurate, effectively avoiding signal loss and interference caused by poor contact in traditional slip rings.

[0041] Positioning design:

[0042] Male board center protrusion design: In order to ensure the accurate docking between the male board and the female board, the present invention designs a protrusion structure in the center of the male board. This protrusion design plays a positioning role in the assembly process, ensuring the docking accuracy of the male board and the female board, thereby ensuring that no deviation or misconnection occurs during signal transmission.

[0043] Signal stability and efficient transmission:

[0044] Advantages of elastic probes: The elastic design of the metal probe ensures that the contact point remains stable even in working environments with high-frequency vibration or long-term rotation. In this way, the signal transmission is not disturbed during the rotation of the mechanical arm, ensuring the continuity and stability of the signal.

[0045] Accurate signal transmission: Through the precisely designed copper rings and small holes, the signal is accurately transmitted from the motor signal end of the motherboard to the copper ring of the male board, and then to the next level signal connection, effectively avoiding abnormal signal transmission.

[0046] Example:

[0047] A slip ring electrical signal transmission device based on a motor-driven rotating shaft of a robot mechanical arm, wherein the device body comprises a motherboard MH01 and a male board GH01, wherein the motherboard and the male board are connected by electrical signals through a metal probe TZ01.

[0048] The motherboard MH01 is provided with a metal probe TZ01, a copper ring MT01, an insulating bakelite cover MG20, a fixing countersunk hole MC15, a signal bus MS21 and conductive through holes MS16-M19.

[0049] The public board GH01 includes a copper ring GT01, a fixing countersunk hole GC11, a contact positioning countersunk hole GD12, an isolation layer GI05, a signal bus GS13 and an insulating bakelite cover plate GG18.

[0050] The metal probe TZ01 has 8 groups of 4 in a group, with a total of 32 probes, which are located above the copper ring MT01 on the motherboard. The electrical signal is connected to the copper ring GT01 on the male board through the probe on the motherboard. The metal probe TZ01 uses elastic design to ensure that each connection point can maintain stable contact and ensure that the signal is not disturbed or interrupted during the rotation of the shaft, thereby ensuring the stability and efficiency of signal transmission. The copper rings are made of high-conductivity copper alloy materials to ensure that the signal can be transmitted efficiently and reduce resistance loss. Precision welding is performed inside the copper ring to ensure the firm connection and stability of the metal probe.

[0051] The fixing countersunk holes MC15 / GC11 are used in conjunction with fixing devices such as screws, nuts or retaining springs, so that the components on the motherboard MH01 can be firmly fixed at a predetermined position, thereby avoiding position changes of the components due to external vibrations or loads.

[0052] The metal probe is made of elastic metal material with low resistance, and can automatically adjust the pressure according to the rotation of the shaft during use to ensure the stability of the contact point. The metal probe includes a mounting seat, a spring and a contact point, the contact point is mounted in the mounting seat through the spring, and the mounting seat is fixed on the copper ring.

[0053] The motherboard MH01 and the male board GH01 are respectively provided with small holes MS16-M19 and GS14-GS19 to ensure that the motor signal contacts through the copper ring and realizes accurate signal transmission.

[0054] The male board GH01 and the female board MH01 are made of high-density bakelite material, which has good electrical insulation and mechanical strength, can effectively isolate the current and ensure that the signal is not interfered with. The male board is designed with a protruding part in the center as the rotation axis GI12, and the female board MH01 is designed with a groove in the center to ensure accurate docking during rotation and prevent deviation during signal transmission. The female board MH01 can rotate at any angle relative to the male board GH01.

[0055] The insulating bakelite cover MG20 is located on the back panels of the motherboard MH01 and the male board GH01, and covers the top of the signal bus, playing a role of electrical insulation and protection, preventing external current or signal interference from affecting internal signal transmission.

[0056] The metal probe TZ01 is welded inside the motherboard copper ring MT01, and the elastic design provides pressure to ensure that the contact point of the copper ring always maintains good contact, thereby ensuring the stability of signal transmission.

[0057] The device optimizes the signal transmission structure through multiple contact holes and copper rings to ensure that the signal transmission quality is not affected under high load and high-speed rotation environments. The device can maintain low wear and failure rates during long-term operation, reducing maintenance costs and downtime. The device can operate stably under vibration tests and long-term load tests, and adapt to the high-speed and high-load movement conditions of the robot arm. The device has a modular design, which is easy to disassemble, replace or repair, reducing maintenance costs. The device can adapt to extreme environmental working conditions such as high temperature, low temperature, and high humidity, ensuring stable signal transmission in a variety of environments. The device can be widely used in robot arms, power tools, automated production lines and other intelligent equipment, especially for systems that need to transmit electrical signals through rotating shafts.

[0058] Install the male and female boards: First, install the male and female boards on the shaft of the robot arm through the fixing device. The male and female boards are connected through the set protruding positioning part (shaft) to ensure that they always maintain relative positioning during the rotation process. After installation, the signal output port of the mother board is connected to the signal end of the robot arm motor, and the signal output port of the male board is connected to the robot control system. In this way, when the motor rotates, the signal can be stably transmitted from the motor to the control system through the slip ring.

[0059] Static test: Test the stability of signal transmission without rotation to ensure that the signal can be accurately transmitted from the motor to the control system without signal loss or interference.

[0060] Dynamic test: Start the motor of the robot arm and perform a shaft rotation test to check the stability of the signal transmission of the slip ring under high-speed rotation. By monitoring the signal strength and accuracy, verify that there is no abnormality in the signal transmission process.

[0061] Vibration test: In order to simulate the working environment of the robot arm, a vibration test is performed to verify whether the slip ring can still maintain stable signal transmission under vibration.

[0062] Finally, a long-term operation test is carried out on the slip ring system to simulate the working state of the robotic arm under different loads and frequent movements, to check whether the contact between the metal probe and the copper ring is stable, and whether the probe is worn or loose, to ensure the reliability and durability of the slip ring system.

[0063] By using a flexible metal probe and precision-machined copper ring, the slip ring system can maintain good contact during the rotation of the robot arm, ensuring stable signal transmission. No matter how the robot arm rotates, the signal between the motor and the control system can always be accurately transmitted.

[0064] The male and female boards are precisely positioned to ensure accurate docking, preventing signal loss due to offset. In addition, the elastic design of the metal probe effectively extends the service life of the contact point, reduces wear, and improves the long-term stability of the slip ring system.

[0065] The slip ring system has been vibration tested and subjected to long-term load tests, and can adapt to the high load and high-frequency motion conditions of the robot arm without signal attenuation, loss or interference, ensuring precise control of the robot in complex operations.

[0066] Through the slip ring design of this embodiment, the control system of the robot arm can stably receive the control signal from the motor, thereby improving the operating accuracy and response speed of the robot arm, and achieving more efficient automated operations in complex industrial applications.

[0067] Although this embodiment is mainly aimed at the rotating mechanical arm in the robot, the slip ring system is also applicable to other types of robots, such as collaborative robots (cobots), drones, etc., especially in scenarios where signals need to be transmitted through rotating shafts, and has broad application prospects.

[0068] The design of this slip ring system can adjust the number and configuration of metal probes and copper rings according to specific application requirements to adapt to different types of electrical signal transmission requirements, such as analog signals, digital signals, and high-frequency signals.

[0069] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A slip ring electrical signal transmission device based on a motor driven shaft of a robot manipulator, comprising a coaxially arranged motherboard (MH01) and a male board (GH01), characterized in that: Concentric copper rings of equal number and specification are installed on the opposite surfaces of the motherboard (MH01) and the male board (GH01). Two opposite copper rings form a group. The copper rings in each group are in contact with each other through a metal probe (TZ01). Each group of copper rings is used to transmit an electrical signal.

2. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 1, characterized in that: The metal probe (TZ01) is fixedly mounted on the copper ring of the motherboard (MH01). The metal probe (TZ01) comprises a mounting seat, a spring and a contact. The contact is mounted in the mounting seat through the spring, and the mounting seat is fixed on the copper ring.

3. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 1, characterized in that: The back of the motherboard (MH01) and the male board (GH01) is provided with a signal lead-out slot, in which a signal bus (MS21) is installed, and a conductive through hole is provided at the bottom of the slot corresponding to the position of each copper ring.

4. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 1, characterized in that: There are 4 groups of copper rings in total, and each group of copper rings is equipped with 8 evenly distributed metal probes (TZ01).

5. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 3 is characterized in that: The back of both the motherboard (MH01) and the male board (GH01) are equipped with three signal lead-out slots, which are spaced 120° apart from each other; Install the insulating bakelite cover (MG20) in the signal lead-out slot to make the surface flush.

6. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 1, characterized in that: Each copper ring has insulating isolation platforms on both sides.

7. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to any one of claims 1 to 6, characterized in that: The male board (GH01) and the female board (MH01) are made of high-density bakelite material. The male board (GH01) has a raised shaft (GI12) in the center, and the female board (MH01) has a hole in the center and is mounted on the shaft (GI12).

8. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to claim 7, characterized in that: The end surface of the rotating shaft (GI12) is provided with a circle of countersunk holes.

9. The slip ring electrical signal transmission device based on the motor driven shaft of the robot mechanical arm according to any one of claims 1 to 6, characterized in that: A circle of fixing countersunk holes is provided on the back of the motherboard (MH01).

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