High-precision robot integrated joint based on sensing technology

Abstract

The invention relates to the technical field of joint structures, in particular to a high-precision robot integrated joint based on a sensing technology, which comprises a shell, and a main motor, a speed reducer, an encoder and an output shaft which are arranged in the shell, the speed reducer is composed of an inner gear ring arranged in the shell and a gear structure arranged in the inner gear ring, the gear structure rolls in the inner gear ring; the speed reduction function is achieved through eccentricity of the rolling gear and meshing rolling between the rolling gear and the inner gear ring instead of depending on elastic deformation of the flexible gear, the problems of fatigue damage and breakage caused by long-term frequent use can be avoided, and the durability of the joint is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of joint structures, and in particular to a high-precision robot integrated joint based on sensing technology. Background Art

[0002] With the increasing requirements for automation in the manufacturing industry and the development of emerging technologies such as artificial intelligence and the Internet of Things, robotics technology is also advancing rapidly. In many application fields, such as automobile manufacturing, electronic assembly, food processing and other industries, there are extremely high requirements for the flexibility, precision and stability of robots, and robot joints, as important active parts of robots, have even stricter quality requirements.

[0003] Traditional robot joints are usually composed of motors, reducers, encoders and other mechanical components, among which the reducers mainly adopt harmonic reducers or cycloid reducers to complete the deceleration work. The flexible wheel in the harmonic reducer is the core component for realizing the deceleration work. Since this component needs to perform elastic deformation movement for a long time and frequently, it is prone to fatigue damage. In particular, when subjected to impact loads or overloads, it will cause the flexible wheel to break, and then the entire reducer will fail. Once the flexible wheel is damaged, it is usually difficult to repair and a new reducer must be replaced, which increases the maintenance cost. The structure of the cycloid reducer is relatively complex and the cost is high. The shapes of the cycloid gears and pin teeth are complex, and the processing is difficult. In addition, the processing accuracy and assembly accuracy requirements are high. In order to meet market demand and facilitate popularization, the present invention provides a new robot joint. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a high-precision robot integrated joint based on sensing technology, and the specific technical solution adopted is:

[0005] According to a first aspect of the present invention, a high-precision robot integrated joint based on sensing technology is provided, comprising a housing and a main motor, a reducer, an encoder, and an output shaft installed in the housing, wherein the reducer is composed of an inner gear ring installed in the housing and a gear structure installed in the inner gear ring, and the gear structure rolls in the inner gear ring;

[0006] Wherein, the gear structure comprises:

[0007] A rolling gear is installed in the inner gear ring and meshed with the inner gear ring. The axis of the rolling gear is parallel to the axis of the inner gear ring and separated from each other. A circular groove coaxial with the rolling gear is provided on one end surface of the rolling gear.

[0008] A transmission shaft is arranged inside the circular groove, and the transmission shaft is coaxial with the inner gear ring. A plurality of support frames are arranged on the outer wall of the transmission shaft, and a push roller is rotatably arranged on each support frame. The push roller is in rolling contact with the inner wall of the circular groove, and the main motor is in transmission connection with the transmission shaft;

[0009] The coupling structure is installed on the other end face of the rolling gear and is used to connect the rolling gear and the output shaft.

[0010] In some embodiments of the present invention, a slot is provided on the inner wall of the circular groove on the rolling gear, and a portion of the pushing roller is located in the slot.

[0011] In some embodiments of the present invention, a plurality of rollers are rotatably provided on both end surfaces of the pushing roller, and the rollers are in rolling contact with the side walls of the slot.

[0012] In some embodiments of the present invention, the number of the gear structures is set to two, the transmission shafts on the two gear structures are coaxial and both are connected to the main motor for transmission, the two gear structures are located on the inner side of the inner gear ring, and the eccentric directions of the rolling gears on the two gear structures are opposite.

[0013] In some embodiments of the present invention, a support plate is provided on another gear structure located between the main motor and a gear structure. The support plate is coaxially arranged on the rolling gear, and the rolling gear is rotatably connected to the support plate. The transmission shafts on the two gear structures pass through the support plate and are fixedly connected.

[0014] In some embodiments of the present invention, the reducer further comprises:

[0015] A first support ring is rotatably mounted on the inner wall of the housing, and the axis of the first support ring coincides with the axis of the transmission shaft;

[0016] Two support plates are fixed on the first support ring, and the two support plates are arranged on both sides of the axis of the transmission shaft;

[0017] The two second support rings are fixedly connected to the two support plates respectively, and the two second support rings are rotatably mounted on the end surfaces of the two rolling gears respectively, and the second support rings are coaxial with the rolling gears thereon.

[0018] In some embodiments of the present invention, the coupling structure comprises:

[0019] Two transmission plates are respectively mounted on the end surface of the rolling gear and the end surface of the output shaft, the rolling gear is coaxial with the transmission plate on it, and the output shaft is coaxial with the transmission plate on it;

[0020] The middle plate is located between the two transmission plates, and the surfaces of the two transmission plates are parallel to the surface of the middle plate. The transmission plates and the middle plate are both provided with a plurality of connecting balls. The connecting balls on the transmission plates are embedded on the end surfaces of the transmission plates, and the connecting balls on the middle plate pass through the middle plate.

[0021] A plurality of transmission rods are tilted and located between the two transmission discs. The plurality of transmission rods are parallel to each other. The transmission rods pass through the connecting balls on the middle disc. Both ends of the transmission rods are respectively connected to the connecting balls on the two transmission discs.

[0022] In some embodiments of the present invention, a magnetic ring is provided on the circumferential outer wall of the intermediate disk;

[0023] The encoder comprises:

[0024] A detection head is fixed in the housing;

[0025] A rotor, mounted on the detection head and drivingly connected to the output shaft;

[0026] Magnetic field detector, mounted on the detection head and used in conjunction with the magnetic ring.

[0027] In some embodiments of the present invention, the inner gear ring rotates in the outer shell, and transmission is transmitted between the inner gear ring and the transmission shaft via a transmission structure.

[0028] In some embodiments of the present invention, the transmission structure includes:

[0029] A first transmission wheel, mounted and fixed on an outer wall of a transmission shaft;

[0030] A hemispherical body, drivingly connected to the first transmission wheel;

[0031] The second transmission wheel is transmission-connected to the hemispherical body, and both the first transmission wheel and the second transmission wheel are located on one side of the center of the hemispherical body;

[0032] An adjusting gear is transmission-connected with the second transmission wheel, and the adjusting gear is located inside the inner gear ring, and the adjusting gear is meshingly connected with the inner gear ring;

[0033] Among them, the axis of the first transmission wheel, the center of the hemisphere, the axis of the second transmission wheel and the axis of the transmission shaft are all located on the same vertical plane, a support shaft is rotatably arranged in the outer shell, a mounting seat is fixedly installed in the middle of the support shaft, the hemisphere is rotatably installed on the mounting seat, and an adjusting motor for providing power to the support shaft is arranged on the outer wall of the outer shell.

[0034] The beneficial effects of the present invention are:

[0035] The deceleration function is achieved by utilizing the eccentricity of the rolling gear and the meshing rolling with the inner gear ring, rather than relying on the elastic deformation of the flexible wheel, which can avoid fatigue damage and fracture problems caused by long-term and frequent use, thereby improving the durability of the joint; compared with the traditional cycloid reducer, the structure of this new reducer is simpler, reducing the processing and use of complex-shaped parts, such as cycloid gears and pin teeth, reducing the processing difficulty and cost, while reducing the number of components, lowering the assembly accuracy requirements, and simplifying the assembly process, which helps to reduce manufacturing costs and assembly time; the use of tooth meshing to transmit power ensures high transmission accuracy and stability, the entire system has a high degree of integration, and the motor, reducer, sensor and output shaft are integrated into a compact whole, saving space, and is suitable for application scenarios with strict requirements on installation dimensions; in summary, the present invention not only solves the problems existing in traditional robot joints, but also provides an efficient, reliable and economical solution for the development of future robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a schematic diagram of the structure of the present invention;

[0038] Figure 2 is a schematic diagram of a cross-sectional structure of a housing in an embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the explosion structure of the present invention;

[0040] Figure 4 Schematic diagram of the explosion structure of the reducer in the embodiment of the present invention;

[0041] Figure 5 is a schematic structural diagram of a gear structure in an embodiment of the present invention;

[0042] Figure 6 is a structural schematic diagram of a coupling structure in an embodiment of the present invention;

[0043] Figure 7 is a schematic diagram of the structure of an encoder in an embodiment of the present invention;

[0044] Figure 8 Schematic diagram of the transmission structure in the embodiment of the present invention.

[0045] Reference numerals:

[0046] 100. Shell;

[0047] 200, main motor;

[0048] 300, reducer; 301, inner gear ring; 302, gear structure; 303, rolling gear; 304, transmission shaft; 305, support frame; 306, push roller; 307, coupling structure; 308, slot; 309, roller; 310, support plate; 311, first support ring; 312, support plate; 313, second support ring; 314, transmission plate; 315, intermediate plate; 316, connecting ball; 317, transmission rod; 318, magnetic ring;

[0049] 400, encoder; 401, detection head; 402, rotor; 403, magnetic field detector;

[0050] 500, output shaft;

[0051] 600, transmission structure; 601, first transmission wheel; 602, hemisphere; 603, second transmission wheel; 604, adjustment gear; 605, support shaft; 606, adjustment motor; 607, mounting seat. DETAILED DESCRIPTION

[0052] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0053] like Figures 1 to 5 As shown, the high-precision robot integrated joint based on sensing technology of the present invention comprises a housing 100 and a main motor 200, a reducer 300, an encoder 400, and an output shaft 500 installed in the housing 100. The reducer 300 is composed of an inner gear ring 301 installed in the housing 100 and a gear structure 302 installed in the inner gear ring 301. The gear structure 302 rolls in the inner gear ring 301.

[0054] Wherein, the gear structure 302 comprises:

[0055] The rolling gear 303 is installed in the inner gear ring 301 and meshed with the inner gear ring 301. The axis of the rolling gear 303 is parallel to the axis of the inner gear ring 301 and separated from each other. A circular groove coaxial with the rolling gear 303 is formed on one end surface of the rolling gear 303.

[0056] The transmission shaft 304 is arranged inside the circular groove, and the transmission shaft 304 is coaxial with the inner gear ring 301. A plurality of support frames 305 are arranged on the outer wall of the transmission shaft 304. A push roller 306 is rotatably arranged on each support frame 305. The push roller 306 is in rolling contact with the inner wall of the circular groove. The main motor 200 is connected to the transmission shaft 304 in transmission.

[0057] The coupling structure 307 is installed on the other end surface of the rolling gear 303 and is used to connect the rolling gear 303 and the output shaft 500;

[0058] The housing 100 is used to provide an installation position for the main motor 200, the reducer 300, the encoder 400 and the output shaft 500, and one end of the output shaft 500 extends out of the housing 100. The main motor 200 transmits power to the output shaft 500 through the reducer 300. The reducer 300 mainly plays a deceleration effect. The encoder 400 is used to detect the transmission ratio of the main motor 200 and the output shaft 500; the multiple support frames 305 and the multiple push rollers 306 on the transmission shaft 304 are used to support and connect the transmission shaft 304 and the rolling gear 303. When the main motor 200 drives the transmission shaft 304 to rotate, the transmission shaft 304 pushes the rolling gear 303 to roll in the inner gear ring 301 through the support frame 305 and the push roller 306. At this time, the push roller 306 rolls in the circular groove on the rolling gear 303, and the rolling gear 303 as a whole performs a circular motion around the axis of the inner gear ring 301. At the same time, due to the rolling gear 303 The rolling gear 303 is in a rolling state, so the rolling gear 303 performs synchronous reverse rotation relative to the inner gear ring 301, and the coupling structure 307 transmits the rotation of the rolling gear 303 to the output shaft 500, thereby realizing power output. Since the output shaft 500 only receives the self-rotational energy of the rolling gear 303, the rotation speed of the output shaft 500 is slower than that of the transmission shaft 304, thus achieving a deceleration effect. Moreover, since the power is transmitted in a tooth meshing manner, its stability is high and the transmission accuracy is high. Of course, the transmission deceleration function here is mainly realized by the difference in the number of teeth on the rolling gear 303 and the number of teeth on the inner gear ring 301. When the transmission ratio needs to be adjusted, it is only necessary to replace the rolling gear 303 with a different number of teeth. Since the rolling gear 303 and the transmission shaft 304 are not coaxial, the lengths of the multiple support frames 305 used for support are different, and the transmission shaft 304 is coaxial with the output shaft 500.

[0059] The deceleration function is achieved by utilizing the eccentricity of the rolling gear 303 and the meshing rolling with the inner gear ring 301, rather than relying on the elastic deformation of the flexible wheel, which can avoid fatigue damage and breakage caused by long-term and frequent use, thereby improving the durability of the joint; compared with the traditional cycloid reducer, the structure of this new reducer is simpler, reducing the processing and use of complex-shaped parts, such as cycloid gears and pin teeth, reducing the processing difficulty and cost, while reducing the number of components, lowering the assembly accuracy requirements, and simplifying the assembly process, which helps to reduce manufacturing costs and assembly time; power is transmitted in a tooth meshing manner, ensuring high transmission accuracy and stability, the entire system has a high degree of integration, and the motor, reducer, sensor and output shaft are integrated into a compact whole, saving space, and is suitable for application scenarios with strict requirements on installation dimensions; in summary, the present invention not only solves the problems existing in traditional robot joints, but also provides an efficient, reliable and economical solution for the development of future robots.

[0060] like Figure 5 As shown, a slot 308 is provided on the inner wall of the circular groove on the rolling gear 303, and part of the pushing roller 306 is located in the slot 308. The pushing roller 306 is positioned by using the inner wall of the slot 308, so that the plurality of pushing rollers 306 can play an auxiliary supporting role on the rolling gear 303, ensuring that the rolling gear 303 can roll smoothly on the inner gear ring 301 while the rolling gear 303 is firmly connected to the transmission shaft 304, thereby preventing the pushing roller 306 from being dislocated and separated from the rolling gear 303.

[0061] In order to reduce the friction between the inner wall of the slot 308 and the end surface of the push roller 306 and reduce the friction loss, Figure 5 As shown, a plurality of rollers 309 are rotatably provided on both end surfaces of the push roller 306 , and the rollers 309 are in rolling contact with the side walls of the slot 308 , so that when the push roller 306 rolls in the slot 308 , the rollers 309 roll on the side walls of the slot 308 synchronously.

[0062] Since the rolling gear 303 on the gear structure 302 is in an eccentric state, when the rolling gear 303 is running, it will vibrate on the vertical plane, and this vibration will be transmitted to the entire joint and cause joint vibration, thereby causing damage to the equipment. In order to improve this situation, Figure 4 As shown, the number of the gear structures 302 is set to two, the transmission shafts 304 on the two gear structures 302 are coaxial and are both connected to the main motor 200, the two gear structures 302 are both located on the inner side of the inner gear ring 301, and the eccentric directions of the rolling gears 303 on the two gear structures 302 are opposite, so that the center of gravity of the two rolling gears 303 can coincide with the axis of the transmission shaft 304. When the equipment is running, it will not cause vibration due to the shift of the center of gravity, thereby improving the stability of the equipment operation.

[0063] When the reducer 300 is transmitting, the two rolling gears 303 in the two gear structures 302 are both in a rolling state, that is, the rolling gear 303 in the middle needs to move relative to the transmission shaft 304 on it, and the main motor 200 needs to transmit power to the two gear structures 302 through the transmission shaft 304. Therefore, the gear structure 302 in the middle needs to be specially set, as shown in the following figure. Figure 4 As shown, a support plate 310 is arranged on another gear structure 302 located between the main motor 200 and a gear structure 302, and the support plate 310 is coaxially arranged on the rolling gear 303, and the rolling gear 303 is rotatably connected with the support plate 310, and the transmission shafts 304 on the two gear structures 302 pass through the support plate 310 and are fixedly connected. In detail, the end surface of the support plate 310 passes through the rolling gear 303 and extends into the circular groove of the rolling gear 303, so that when the main motor 200 drives the two transmission shafts 304 to rotate, the rolling gear 303 located in the middle can smoothly The rolling gear 303 rolls in the inner gear ring 301, and can rotate on the support plate 310. The rolling of the rolling gear 303 will not interfere with the rotational movement of the transmission shaft 304, thereby allowing the two gear structures 302 to move synchronously. Here, the support plate 310 mainly serves the purpose of connecting the two transmission shafts 304. Of course, in order to simplify the structure, a hole allowing the transmission shaft 304 to pass through can also be directly opened on the middle rolling gear 303. However, this requires calculating the weight of the rolling gear 303 to ensure that the center of gravity of the two gear structures 302 coincides with the axis of the transmission shaft 304.

[0064] like Figure 4 As shown, the reducer 300 also includes:

[0065] The first support ring 311 is rotatably mounted on the inner wall of the housing 100, and the axis of the first support ring 311 coincides with the axis of the transmission shaft 304;

[0066] Two support plates 312 are fixed on the first support ring 311, and the two support plates 312 are arranged on both sides of the axis of the transmission shaft 304;

[0067] Two second support rings 313 are fixedly connected to the two support plates 312 respectively, and the two second support rings 313 are rotatably mounted on the end surfaces of the two rolling gears 303 respectively, and the second support rings 313 are coaxial with the rolling gears 303 thereon;

[0068] When the rolling gear 303 rotates, it will rotate on the second support ring 313. When the rolling gear 303 is fixed in the inner gear ring 301 and performs circular motion, it will drive the first support ring 311 to rotate through the second support ring 313 and the support plate 312. Therefore, this structure can be used to achieve the purpose of auxiliary support for the rolling gears 303 on the two gear structures 302, thereby improving the stability of its rotation.

[0069] When the coupling structure 307 transmits the rolling gear 303 and the output shaft 500, since the rolling gear 303 performs circular motion and self-rotation motion simultaneously, the coupling structure 307 needs to filter the circular motion of the rolling gear 303, that is, the coupling structure 307 only transmits the self-rotation motion of the rolling gear 303 to the output shaft 500, so the structure of the coupling structure 307 needs to be specially set, as shown in the following example. Figure 6 As shown, the coupling structure 307 includes:

[0070] Two transmission plates 314 are respectively mounted on the end faces of the rolling gear 303 and the output shaft 500. The rolling gear 303 is coaxial with the transmission plate 314, and the output shaft 500 is coaxial with the transmission plate 314.

[0071] The middle disk 315 is located between the two transmission disks 314, and the surfaces of the two transmission disks 314 are parallel to the surface of the middle disk 315. The transmission disk 314 and the middle disk 315 are both provided with a plurality of connecting balls 316. The connecting balls 316 on the transmission disk 314 are embedded on the end surface of the transmission disk 314, and the connecting balls 316 on the middle disk 315 pass through the middle disk 315.

[0072] A plurality of transmission rods 317 are tilted and located between the two transmission disks 314. The plurality of transmission rods 317 are parallel to each other. The transmission rods 317 pass through the connection balls 316 on the middle disk 315. Both ends of the transmission rods 317 are respectively connected to the connection balls 316 on the two transmission disks 314.

[0073] When the rolling gear 303 performs circular motion, the rolling gear 303 will drive the multiple transmission rods 317 to synchronously tilt through the transmission disk 314 thereon, and the transmission disk 314 on the output shaft 500 will not be affected by the motion. When the rolling gear 303 rotates, the rolling gear 303 will drive the output shaft 500 to rotate through the transmission disk 314 and the transmission rod 317, thereby achieving kinetic energy filtering and transmission effects. The setting of the intermediate disk 315 is mainly to limit the multiple transmission rods 317 to keep them parallel to each other, avoid twisting of the multiple transmission rods 317, and improve transmission stability and structural firmness.

[0074] like Figure 6 and Figure 7As shown, a magnetic ring 318 is provided on the circumferential outer wall of the intermediate disk 315;

[0075] The encoder 400 comprises:

[0076] The detection head 401 is fixed in the housing 100;

[0077] The rotor 402 is mounted on the detection head 401 and is in driving connection with the output shaft 500;

[0078] A magnetic field detector 403, mounted on the detection head 401 and used in conjunction with the magnetic ring 318;

[0079] When the output shaft 500 rotates, it will directly drive the rotor 402 to rotate, and the detection head 401 will directly detect the rotation speed of the rotor 402 to determine the output speed. Since the rolling gear 303 performs a circular motion, it will drive the intermediate disk 315 to perform a circular motion synchronously. The distance between the magnetic ring 318 on the intermediate disk 315 and the magnetic field detector 403 will change repeatedly. When the magnetic field detector 403 detects the maximum value of the magnetic field around the magnetic ring 318 twice in a row, the magnetic ring 318 approaches the magnetic field detector 403 twice in a row. At this time, the rolling gear 303 rotates one circle. The detection time is used to calculate the output speed of the main motor 200. In this way, the output speed of the output shaft 500 is compared with the output speed of the main motor 200 to determine the transmission ratio.

[0080] In order to adjust the transmission ratio of the reducer 300 without replacing the rolling gear 303, Figure 4 As shown, the inner gear ring 301 rotates in the outer shell 100, and the inner gear ring 301 and the transmission shaft 304 are transmitted through the transmission structure 600. The rotation of the transmission shaft 304 can drive the inner gear ring 301 to rotate through the transmission structure 600, so that the transmission shaft 304 can provide rotational power for the rolling gear 303 and the inner gear ring 301. The rolling gear 303 needs to roll on the inner gear ring 301 so that the rolling gear 303 generates self-rotation motion. Therefore, by adjusting the rotation speed of the inner gear ring 301, the self-rotation speed of the rolling gear 303 can be adjusted to achieve the adjustment of the transmission ratio.

[0081] like Figure 2 and Figure 8 As shown, the transmission structure 600 includes:

[0082] A first transmission wheel 601 is mounted and fixed on an outer wall of a transmission shaft 304;

[0083] The hemispherical body 602 is drivingly connected to the first transmission wheel 601;

[0084] The second transmission wheel 603 is in transmission connection with the hemispherical body 602, and the first transmission wheel 601 and the second transmission wheel 603 are both located on one side of the center of the hemispherical body 602;

[0085] The adjusting gear 604 is transmission-connected with the second transmission wheel 603, and the adjusting gear 604 is located in the inner gear ring 301, and the adjusting gear 604 is meshingly connected with the inner gear ring 301;

[0086] Among them, the axis of the first transmission wheel 601, the center of the hemisphere 602, the axis of the second transmission wheel 603 and the axis of the transmission shaft 304 are all located on the same vertical plane, a support shaft 605 is rotatably arranged in the shell 100, a mounting seat 607 is fixedly installed in the middle of the support shaft 605, the hemisphere 602 is rotatably mounted on the mounting seat 607, and an adjusting motor 606 for providing power to the support shaft 605 is arranged on the outer wall of the shell 100; specifically, the rotation axis of the hemisphere 602 on the mounting seat 607 is parallel to the axis of the transmission shaft 304, and the axis of the support shaft 605 is perpendicular to the axis of the transmission shaft 304; because the first transmission wheel 601 and the second transmission wheel 603 both need to be connected to the outer wall of the hemisphere 602 for transmission, the outer wall of the first transmission wheel 601 and the outer wall of the second transmission wheel 603 can be set to an arc-shaped conical surface to facilitate their use in conjunction with the outer wall of the hemisphere 602 In the natural state, a transmission shaft 304 will directly drive the inner gear ring 301 to rotate by using the first transmission wheel 601, the hemisphere 602, the second transmission wheel 603 and the adjusting gear 604, so that the rolling gear 303 rolls on the inner gear ring 301 in the moving state, and the output shaft 500 outputs a stable speed. When it is necessary to adjust the transmission ratio of the reducer 300 and the output speed of the output shaft 500, the adjusting motor 606 can drive the hemisphere 602 to rotate through the supporting shaft 605 and the mounting seat 607, and the hemisphere 602 performs a flipping motion around its center of circle, that is, the rotation axis of the hemisphere 602 is adjusted from a horizontal state to an inclined state. At this time, the transmission ratio of the first transmission wheel 601 and the hemisphere 602, and the transmission ratio of the second transmission wheel 603 and the hemisphere 602 are changed, so that the speed transmitted to the inner gear ring 301 by the transmission shaft 304 will change, thereby realizing the adjustment work.

[0087] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A high-precision robot integrated joint based on sensing technology, comprising a housing and a main motor, a reducer, an encoder, and an output shaft installed in the housing, characterized in that: The reducer is composed of an inner gear ring installed in a housing and a gear structure installed in the inner gear ring, and the gear structure rolls in the inner gear ring; Wherein, the gear structure comprises: A rolling gear is installed in the inner gear ring and meshed with the inner gear ring. The axis of the rolling gear is parallel to the axis of the inner gear ring and separated from each other. A circular groove coaxial with the rolling gear is provided on one end surface of the rolling gear. A transmission shaft is arranged inside the circular groove, and the transmission shaft is coaxial with the inner gear ring. A plurality of support frames are arranged on the outer wall of the transmission shaft, and a push roller is rotatably arranged on each support frame. The push roller is in rolling contact with the inner wall of the circular groove, and the main motor is in transmission connection with the transmission shaft; The coupling structure is installed on the other end face of the rolling gear and is used to connect the rolling gear and the output shaft.

2. The high-precision robot integrated joint based on sensing technology according to claim 1 is characterized in that: A clamping groove is provided on the inner wall of the circular groove on the rolling gear, and part of the pushing roller is located in the clamping groove.

3. The high-precision robot integrated joint based on sensing technology according to claim 2 is characterized in that: A plurality of rollers are rotatably arranged on both end surfaces of the pushing roller, and the rollers are in rolling contact with the side walls of the slot.

4. The high-precision robot integrated joint based on sensing technology according to claim 3 is characterized in that: The number of the gear structures is set to two, the transmission shafts on the two gear structures are coaxial and both are connected to the main motor, the two gear structures are located on the inner side of the inner gear ring, and the eccentric directions of the rolling gears on the two gear structures are opposite.

5. The high-precision robot integrated joint based on sensing technology according to claim 4 is characterized in that: A support plate is arranged on another gear structure between the main motor and a gear structure. The support plate is coaxially arranged on the rolling gear, and the rolling gear is rotationally connected to the support plate. The transmission shafts on the two gear structures pass through the support plate and are fixedly connected.

6. The high-precision robot integrated joint based on sensing technology according to claim 4 is characterized in that: The reducer also includes: A first support ring is rotatably mounted on the inner wall of the housing, and the axis of the first support ring coincides with the axis of the transmission shaft; Two support plates are fixed on the first support ring, and the two support plates are arranged on both sides of the axis of the transmission shaft; The two second support rings are fixedly connected to the two support plates respectively, and the two second support rings are rotatably mounted on the end surfaces of the two rolling gears respectively, and the second support rings are coaxial with the rolling gears thereon.

7. The high-precision robot integrated joint based on sensing technology according to claim 1, characterized in that: The coupling structure comprises: Two transmission plates are respectively mounted on the end surface of the rolling gear and the end surface of the output shaft, the rolling gear is coaxial with the transmission plate on it, and the output shaft is coaxial with the transmission plate on it; The middle plate is located between the two transmission plates, and the surfaces of the two transmission plates are parallel to the surface of the middle plate. The transmission plates and the middle plate are both provided with a plurality of connecting balls. The connecting balls on the transmission plates are embedded on the end surfaces of the transmission plates, and the connecting balls on the middle plate pass through the middle plate. A plurality of transmission rods are tilted and located between the two transmission discs. The plurality of transmission rods are parallel to each other. The transmission rods pass through the connecting balls on the middle disc. Both ends of the transmission rods are respectively connected to the connecting balls on the two transmission discs.

8. The high-precision robot integrated joint based on sensing technology according to claim 7 is characterized in that: A magnetic ring is arranged on the circumferential outer wall of the intermediate disk; The encoder comprises: A detection head is fixed in the housing; A rotor, mounted on the detection head and drivingly connected to the output shaft; Magnetic field detector, mounted on the detection head and used in conjunction with the magnetic ring.

9. The high-precision robot integrated joint based on sensing technology according to claim 4, characterized in that: The inner gear ring rotates in the outer shell, and transmission is carried out between the inner gear ring and the transmission shaft via a transmission structure.

10. The high-precision robot integrated joint based on sensing technology according to claim 9, characterized in that: The transmission structure comprises: A first transmission wheel, mounted and fixed on an outer wall of a transmission shaft; A hemispherical body, drivingly connected to the first transmission wheel; The second transmission wheel is transmission-connected to the hemisphere, and both the first transmission wheel and the second transmission wheel are located on one side of the center of the hemisphere; An adjusting gear is transmission-connected with the second transmission wheel, and the adjusting gear is located inside the inner gear ring, and the adjusting gear is meshingly connected with the inner gear ring; Among them, the axis of the first transmission wheel, the center of the hemisphere, the axis of the second transmission wheel and the axis of the transmission shaft are all located on the same vertical plane, a support shaft is rotatably arranged in the outer shell, a mounting seat is fixedly installed in the middle of the support shaft, the hemisphere is rotatably installed on the mounting seat, and an adjusting motor for providing power to the support shaft is arranged on the outer wall of the outer shell.

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