Compact RV robot joint module

Abstract

The invention provides a compact RV robot joint module which comprises a joint mounting shell, a torque motor assembly, a speed reducer input gear, an RV speed reducer assembly, a wire passing pipe, an encoder, a detection sensor assembly and a control host. The output end of the torque motor assembly is in driving connection with the RV speed reducer assembly through a speed reducer input gear, an encoder and a detection sensor assembly which are used for detecting rotation data of a rotor of the torque motor assembly are further installed in the joint installation shell, and a control host is installed at the rear end of the joint installation shell. The whole machine is smaller, more compact and lighter in weight, aiming at a large-load industrial robot, installation is simpler and more convenient, the weight of the whole machine of the robot is reduced, when the robot is installed on a moving trolley, the load of the AGV is lighter, the transportation carrying capacity of the AGV is larger, and faults can be detected in real time and fed back.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint structures, and in particular to a compact RV robot joint module. Background Art

[0002] The existing robot joints are relatively long, and the motor is connected to the reducer through the connecting part, which takes up a lot of space, has a long joint part, is heavy, and requires a large external distribution box and controller, which is inconvenient to use. If the robot joints need to be placed on an AGV mobile vehicle, most of the mobile robots on the market that can withstand a load of more than 30 kilograms rely on bulky industrial robots, which causes huge energy consumption for the AGV chassis, resulting in the problems of short range, inflexibility, and large size of the mobile robot.

[0003] In addition, the existing robot joint modules run for a long time, and the motor components and reducers are prone to wear or other failures. There is currently a lack of joint modules that can detect equipment faults in a timely manner.

[0004] There is a need for a new type of robot joint module that is more flexible and lightweight and capable of fault detection to solve the above-mentioned problems. Summary of the invention

[0005] The present invention provides a compact RV robot joint module, which solves the problems of the existing robot joint module occupying a large space, being heavy, being inconvenient and being unable to perform fault detection in real time by technically transforming the existing robot joint structure.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A compact RV robot joint module comprises a joint mounting housing, a torque motor assembly, a reducer input gear, an RV reducer assembly, a wire tube, an encoder, a detection sensor assembly and a control host. The torque motor assembly, the RV reducer assembly and the wire tube are installed in the joint mounting housing. The wire tube is penetrated through the center position of the torque motor assembly and the RV reducer assembly, and the output end of the torque motor assembly is connected to the RV reducer assembly through the reducer input gear. An encoder for detecting rotor rotation data of the torque motor assembly and a detection sensor assembly for detecting the running status of the torque motor assembly and the RV reducer assembly are also installed in the joint mounting housing. A control host is installed at the rear end of the joint mounting housing, a servo driver is arranged in the control host, and the detection sensor assembly, the servo driver and the torque motor assembly are electrically connected to the encoder.

[0008] Preferably, the joint mounting housing includes a reducer housing, a motor housing and a drive fixing plate, the RV reducer assembly is installed in the reducer housing, the torque motor assembly is installed in the motor housing, the reducer housing and the motor housing are detachably connected by fixing screws, a drive fixing plate is fixedly installed on the back of the motor housing, and the control host is installed and fixed on the drive fixing plate.

[0009] Preferably, the torque motor assembly includes a motor stator, a motor rotor, a motor shaft, a motor bearing and a motor flange, the RV reducer assembly includes a planetary gear set, a motor flange is fixedly installed in a motor housing, the motor stator is fixedly connected to the motor flange, a motor rotor is movably installed in the motor stator, the inner side of the motor rotor is fixedly connected to the motor shaft, and the motor shaft is supported in the motor housing through a motor bearing, the front end of the motor shaft is fixedly connected to the reducer input gear, the reducer input gear and the planetary gear set are meshed with each other, and the motor shaft and the reducer input gear are sleeved on the outer side of the wire tube.

[0010] Preferably, the motor rotor shaft is made of lightweight aluminum.

[0011] Preferably, the detection sensor assembly includes a motor torque sensor and a reducer torque sensor, the motor torque sensor is installed inside the motor housing facing the motor shaft, and the motor torque sensor is used to detect the motor shaft input torque parameter and send it to the control host, the reducer torque sensor is installed inside the reducer housing facing the RV reducer assembly output end, and the reducer torque sensor is used to detect the RV reducer assembly output torque parameter and send it to the control host.

[0012] Preferably, a power-off brake for emergency braking when the motor is powered off is also installed inside the motor housing.

[0013] Preferably, an alarm module is installed on the external machine platform of the joint module, and the alarm module is electrically connected to the control host.

[0014] Preferably, the alarm module includes a warning light and a buzzer.

[0015] Preferably, a wireless communication module is installed on the control host, and the control host is wirelessly connected to the remote control terminal via the wireless communication module.

[0016] Preferably, the torque motor assembly adopts a low-voltage DC motor.

[0017] The beneficial effects of the present invention are:

[0018] The present application integrates the bulky motor and motor connecting components together, and compactly connects the torque motor output shaft to the reducer to form an independent unit module, which simplifies the installation process, shortens the overall structure, and makes the whole machine more compact, compact and lighter. For industrial robots with large loads, the installation is easier, the weight of the robot is reduced, the occupied space is greatly reduced, and the overall weight of the equipment is reduced. When installed on a mobile cart, the load on the AGV cart is lighter, and the AGV cart has a larger transport carrying capacity.

[0019] The present invention adopts low-voltage direct current power supply, which saves energy loss caused by voltage conversion, improves the endurance time of the robot, and cooperates with the AGV mobile car to directly power the battery, so the endurance is stronger.

[0020] The present invention installs a motor torque sensor and a reducer torque sensor in the joint mounting housing, which can detect the input and output torque parameters of the torque motor assembly and the RV reducer assembly in real time. When an operating fault is detected, the control host promptly issues an alarm through the alarm module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1-Figure 2 It is a schematic diagram of the joint structure of the robot of the present invention;

[0022] Figure 3 is a schematic cross-sectional view of the joint structure of the robot of the present invention;

[0023] Figure 4-Figure 5 It is a schematic diagram of the split structure of the present invention;

[0024] Explanation of the accompanying drawings: joint mounting housing 1, reducer housing 11, motor housing 12, drive fixing plate 13, fixing screw 14, torque motor assembly 2, motor stator 21, motor rotor 22, motor shaft 23, motor bearing 24, motor flange 25, reducer input gear 3, RV reducer assembly 4, planetary gear set 41, wire tube 5, encoder 6, detection sensor assembly 7, motor torque sensor 71, reducer torque sensor 72, control host 8, second encoder 9. DETAILED DESCRIPTION

[0025] The specific contents of the present invention are described in detail below with reference to the accompanying drawings and embodiments.

[0026] See also Figure 1-5As shown, the present invention provides a compact RV robot joint module, including a joint mounting shell 1, a torque motor assembly 2, a reducer input gear 3, an RV reducer assembly 4, a wire tube 5, an encoder 6, a detection sensor assembly 7 and a control host 8, the torque motor assembly 2, the RV reducer assembly 4 and the wire tube 5 are installed in the joint mounting shell 1, the wire tube 5 is penetrated through the center position of the torque motor assembly 2 and the RV reducer assembly 4, and the output end of the torque motor assembly 2 is connected to the RV reducer assembly 4 through the reducer input gear 3, the joint mounting shell 1 is also equipped with an encoder 6 for detecting the rotation data of the rotor of the torque motor assembly 2 and a detection sensor assembly 7 for detecting the running status of the torque motor assembly 2 and the RV reducer assembly 4, the joint mounting shell 1 is equipped with a control host 8 at the rear end, the control host 8 is equipped with a servo driver, and the detection sensor assembly 7, the servo driver and the torque motor assembly 2 are electrically connected with the encoder 6.

[0027] Furthermore, the joint mounting housing 1 includes a reducer housing 11, a motor housing 12 and a drive fixing plate 13, the RV reducer assembly 4 is installed in the reducer housing 11, the torque motor assembly 2 is installed in the motor housing 12, the reducer housing 11 and the motor housing 12 are detachably connected by fixing screws 14, the drive fixing plate 13 is fixedly installed on the back of the motor housing 12, and the control host 8 is installed and fixed on the drive fixing plate 13.

[0028] Furthermore, the torque motor assembly 2 includes a motor stator 21, a motor rotor 22, a motor shaft 23, a motor shaft 23 bearing and a motor flange 25, the RV reducer assembly 4 includes a planetary gear set 41, a motor flange 25 is fixedly installed in the motor housing 12, the motor stator 21 is fixedly connected to the motor flange 25, the motor rotor 22 is movably installed in the motor stator 21, the inner side of the motor rotor 22 is fixedly connected to the motor shaft 23, and the motor shaft 23 is supported in the motor housing 12 through the motor shaft 23 bearing, the front end of the motor shaft 23 is fixedly connected to the reducer input gear 3, the reducer input gear 3 and the planetary gear set 41 are meshed with each other, and the motor shaft 23 and the reducer input gear 3 are sleeved on the outer side of the wire tube 5.

[0029] When in use, the motor shaft 23 drives the encoder 6 to rotate, the encoder 6 measures the rotor speed and rotation position, and transmits the data to the DC servo driver, and the DC servo driver controls the rotation of the output shaft of the torque motor assembly 2 by controlling the host 8.

[0030] In another embodiment 2, a second encoder 9 is installed in the motor housing 12 on the outer side of the right end of the wire tube 5. The second encoder 9 is used to measure the rotation speed and rotation position of the wire tube 5 and send them to the DC servo driver.

[0031] The motor shaft 23 and the input gear are fixedly mounted by adhesive bonding. In another embodiment 3, the motor shaft 23 and the input gear can be fixedly mounted by welding or riveting, etc., to save production costs.

[0032] Furthermore, in order to reduce the weight of the whole machine, the shaft of the motor rotor 22 is made of lightweight aluminum. After the weight of the whole machine is reduced, the end can obtain a greater load capacity.

[0033] Furthermore, in order to detect the input and output torque in real time, the detection sensor assembly 7 includes a motor torque sensor 71 and a reducer torque sensor 72. The motor torque sensor 71 is installed inside the motor housing 12 facing the motor shaft 23, and the motor torque sensor 71 is used to detect the input torque parameters of the motor shaft 23 and send it to the control host 8. The reducer torque sensor 72 is installed inside the reducer housing 11 facing the output end of the RV reducer assembly 4, and the reducer torque sensor 72 is used to detect the output torque parameters of the RV reducer assembly 4 and send it to the control host 8.

[0034] An adaptive control algorithm is integrated in the control host 8 to automatically adjust the motor output according to parameters such as torque and speed detected in real time, thereby optimizing operating efficiency and reducing energy consumption.

[0035] This application also has fault diagnosis and prediction capabilities, using machine learning algorithms to conduct in-depth analysis of sensor data to achieve early diagnosis of faults and predictive maintenance, thereby reducing downtime.

[0036] Furthermore, a power-off brake for emergency braking when the motor is powered off is installed inside the motor housing 12. When the motor is powered on, the electromagnetic force causes the brake to be in a released state, allowing the motor to operate normally; when the motor is powered off, the brake automatically enters a braking state, and the motor is quickly stopped by friction torque.

[0037] Furthermore, in order to be able to issue an alarm in time, an alarm module is installed on the external machine platform of the joint module, and the alarm module is electrically connected to the control host 8.

[0038] Furthermore, the alarm module includes a warning light and a buzzer. The alarm module receives the alarm information sent by the control host 8 and performs sound and light warning through the warning light and the buzzer.

[0039] Furthermore, a wireless communication module is installed on the control host 8, and the control host 8 is wirelessly connected to the remote control terminal through the wireless communication module. The remote control terminal uses a mobile device such as a mobile phone or a mobile tablet, which can conveniently view the machine operation status remotely and in real time.

[0040] Furthermore, the torque motor assembly 2 adopts a low-voltage DC motor, which saves energy loss caused by voltage conversion, improves the endurance of the robot, and cooperates with the AGV mobile car to directly power the battery, so that the endurance is stronger.

[0041] Furthermore, the machine is provided with wiring grooves inside, and the circuit connection lines are passed through the inside of the machine without being exposed, so that the overall appearance is smoother and more beautiful, and no bumps or damages are caused to the circuit connection lines.

[0042] The present application integrates the bulky motor and motor connecting components together, and compactly connects the torque motor output shaft to the reducer to form an independent unit module, which simplifies the installation process, shortens the overall structure, and makes the whole machine more compact, compact and lighter. For industrial robots with large loads, the installation is easier, the weight of the robot is reduced, the occupied space is greatly reduced, and the overall weight of the equipment is reduced. When installed on a mobile cart, the load on the AGV cart is lighter, and the AGV cart has a larger transport carrying capacity.

[0043] The present application installs a motor torque sensor and a reducer torque sensor in the joint mounting housing, which can detect the input and output torque parameters of the torque motor assembly and the RV reducer assembly in real time. When an operating fault is detected, the control host will promptly issue an alarm through the alarm module.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

[0045] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0046] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A compact RV robot joint module, characterized in that: It includes a joint mounting shell, a torque motor assembly, a reducer input gear, an RV reducer assembly, a wire tube, an encoder, a detection sensor assembly and a control host. The torque motor assembly, the RV reducer assembly and the wire tube are installed in the joint mounting shell. The wire tube is penetrated through the center position of the torque motor assembly and the RV reducer assembly, and the output end of the torque motor assembly is connected to the RV reducer assembly through the reducer input gear. An encoder for detecting the rotation data of the torque motor assembly rotor and a detection sensor assembly for detecting the operating status of the torque motor assembly and the RV reducer assembly are also installed in the joint mounting shell. The control host is installed at the rear end of the joint mounting shell, and a servo driver is arranged in the control host. The detection sensor assembly, the servo driver and the torque motor assembly are electrically connected to the encoder.

2. A compact RV robot joint module according to claim 1, characterized in that: The joint mounting housing includes a reducer housing, a motor housing and a drive fixing plate. The RV reducer assembly is installed in the reducer housing, and the torque motor assembly is installed in the motor housing. The reducer housing and the motor housing are detachably connected by fixing screws. A drive fixing plate is fixedly installed on the back of the motor housing, and the control host is installed and fixed on the drive fixing plate.

3. A compact RV robot joint module according to claim 1, characterized in that: The torque motor assembly includes a motor stator, a motor rotor, a motor shaft, a motor bearing and a motor flange. The RV reducer assembly includes a planetary gear set. A motor flange is fixedly installed in a motor housing. The motor stator is fixedly connected to the motor flange. A motor rotor is movably installed in the motor stator. The inner side of the motor rotor is fixedly connected to the motor shaft, and the motor shaft is supported in the motor housing through a motor bearing. The front end of the motor shaft is fixedly connected to a reducer input gear, and the reducer input gear is meshed with the planetary gear set. The motor shaft and the reducer input gear are sleeved on the outer side of the wire tube.

4. A compact RV robot joint module according to claim 3, characterized in that: The motor rotor shaft is made of lightweight aluminum.

5. A compact RV robot joint module according to claim 1, characterized in that: The detection sensor assembly includes a motor torque sensor and a reducer torque sensor. The motor torque sensor is installed inside the motor housing and facing the motor shaft, and the motor torque sensor is used to detect the input torque parameter of the motor shaft and send it to the control host. The reducer torque sensor is installed inside the reducer housing and facing the output end of the RV reducer assembly, and the reducer torque sensor is used to detect the output torque parameter of the RV reducer assembly and send it to the control host.

6. A compact RV robot joint module according to claim 1, characterized in that: A power-off brake for emergency braking when the motor is powered off is also installed inside the motor housing.

7. A compact RV robot joint module according to claim 1, characterized in that: An alarm module is installed on the external machine platform of the joint module, and the alarm module is electrically connected to the control host.

8. A compact RV robot joint module according to claim 7, characterized in that: The alarm module includes a warning light and a buzzer.

9. A compact RV robot joint module according to claim 1, characterized in that: The control host is installed with a wireless communication module, and the control host is wirelessly connected to the remote control terminal through the wireless communication module.

10. A compact RV robot joint module according to claim 1, characterized in that: The torque motor assembly adopts a low-voltage DC motor.

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