High-precision robot integrated joint based on sensing technology

Abstract

This invention relates to the technical field of joint structures, and in particular to a high-precision integrated robot joint based on sensing technology. The joint includes a housing and a main motor, reducer, encoder, and output shaft installed within the housing. The reducer consists of an internal gear ring installed within the housing and a gear structure installed within the internal gear ring. The gear structure rolls within the internal gear ring. The deceleration function is achieved by utilizing the eccentricity of the rolling gear and its meshing with the internal gear ring, rather than relying on the elastic deformation of the flexible wheel. This avoids fatigue damage and breakage caused by long-term frequent use, thus improving the durability of the joint.

Description

Technical Field

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

[0002] With the increasing demands 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 areas, such as automobile manufacturing, electronic assembly, and food processing, there are extremely high requirements for the flexibility, precision, and stability of robots. As a crucial moving part of the robot, robot joints have even stricter quality requirements.

[0003] Traditional robot joints typically consist of a motor, reducer, encoder, and other mechanical components. The reducer primarily uses harmonic reducers or cycloidal reducers for deceleration. The flexure wheel in a harmonic reducer is the core component for deceleration; however, this component is prone to fatigue damage due to prolonged and frequent elastic deformation, especially under impact loads or overloads, which can lead to flexure wheel breakage and ultimately reducer failure. Furthermore, once the flexure wheel is damaged, it is usually difficult to repair, requiring replacement of the entire reducer and increasing maintenance costs. Cycloidal reducers, on the other hand, have a more complex structure and higher cost. The cycloidal gears and pin teeth within them have complex shapes, making machining difficult and requiring high precision in both machining and assembly. To meet market demands and facilitate widespread adoption, this invention provides a novel robot joint. Summary of the Invention

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

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

[0006] The gear structure includes:

[0007] A rolling gear is installed inside an internal gear ring and meshes with the internal gear ring. The axis of the rolling gear is parallel to and separate from the axis of the internal gear ring. A circular groove coaxial with the rolling gear is opened on one end face of the rolling gear.

[0008] A drive shaft is located inside a circular groove and is coaxial with an internal gear ring. Multiple support frames are provided on the outer wall of the drive shaft, and each support frame is rotatably equipped with a push roller. The push roller makes rolling contact with the inner wall of the circular groove. The main motor is connected to the drive shaft for transmission.

[0009] The coupling structure is mounted 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 part of the push roller is located in the slot.

[0011] In some embodiments of the present invention, multiple rollers are rotatably provided on both ends of the push roller, and the rollers make rolling contact with the side wall of the slot.

[0012] In some embodiments of the present invention, the number of 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, both gear structures are located inside the internal 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 disk is provided on another gear structure located between the main motor and a gear structure. The support disk is coaxially mounted on the rolling gear, and the rolling gear is rotatably connected to the support disk. The drive shafts on the two gear structures pass through the support disk and are fixedly connected.

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

[0015] The 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] Both support plates are fixed on the first support ring, and the two support plates are respectively located on both sides of the transmission shaft axis;

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

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

[0019] Two transmission discs are respectively mounted on the end face of the rolling gear and the end face of the output shaft. The rolling gear is coaxial with the upper transmission disc, and the output shaft is coaxial with the upper transmission disc.

[0020] An intermediate disk is located between two transmission disks, and the surfaces of the two transmission disks are parallel to the surface of the intermediate disk. Both the transmission disks and the intermediate disk are provided with multiple connecting balls. The connecting balls on the transmission disks are embedded in the end faces of the transmission disks, and the connecting balls on the intermediate disks pass through the intermediate disks.

[0021] Multiple transmission rods are inclined between two transmission discs and are parallel to each other. The transmission rods pass through the connecting balls on the middle disc, and the two ends of the transmission rods are connected to the connecting balls on the two transmission discs respectively.

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

[0023] The encoder includes:

[0024] The detection head is fixed inside the outer casing;

[0025] The rotor is mounted on the detection head and is connected to the output shaft for transmission.

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

[0027] In some embodiments of the present invention, the internal gear ring rotates within the outer casing, and the internal gear ring and the drive shaft are driven by a transmission structure.

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

[0029] The first transmission wheel is mounted and fixed on the outer wall of a transmission shaft.

[0030] The hemisphere is connected to the first transmission wheel via a transmission mechanism.

[0031] The second transmission wheel is connected to the hemisphere, and both the first and second transmission wheels are located on one side of the center of the hemisphere.

[0032] The adjusting gear is connected to the second transmission wheel and is located inside the inner gear ring, meshing with the inner gear ring.

[0033] The first transmission wheel axis, the center of the hemisphere, the second transmission wheel axis, and the transmission shaft axis are all located on the same vertical plane. A support shaft is rotatably installed inside the outer shell, and a mounting seat is fixedly installed in the middle of the support shaft. The hemisphere is rotatably installed on the mounting seat. An adjustment motor for providing power to the support shaft is provided on the outer wall of the outer shell.

[0034] The beneficial effects of this invention are as follows:

[0035] By utilizing the eccentricity of the rolling gear and its meshing rolling with the internal gear ring to achieve deceleration, rather than relying on the elastic deformation of the flexible wheel, fatigue damage and fracture caused by long-term frequent use can be avoided, thus improving the durability of the joint. Compared with traditional cycloidal reducers, this new reducer has a simpler structure, reducing the processing and use of complex-shaped parts, such as cycloidal gears and pin teeth, thereby reducing processing difficulty and cost. At the same time, the number of components is reduced, the assembly accuracy requirements are lowered, and the assembly process is also simplified, which helps to reduce manufacturing costs and assembly time. The use of gear meshing to transmit power ensures high transmission accuracy and stability. The entire system has a high degree of integration, integrating the motor, reducer, sensor, and output shaft into a compact whole, saving space and making it suitable for applications with strict requirements on installation dimensions. In summary, this invention not only solves the problems existing in traditional robot joints, but also provides an efficient, reliable, and economical solution for the future development of robots. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0038] Figure 2 This is a schematic cross-sectional view of the outer shell in an embodiment of the present invention;

[0039] Figure 3 This is an exploded structural diagram of the present invention;

[0040] Figure 4 This is a schematic diagram of the exploded structure of the reducer in an embodiment of the present invention;

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

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

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

[0044] Figure 8 This is a schematic diagram of the transmission structure in an embodiment of the present invention.

[0045] Figure label:

[0046] 100. Outer shell;

[0047] 200. Main motor;

[0048] 300. Reducer; 301. Internal gear ring; 302. Gear structure; 303. Rolling gear; 304. Drive 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. Detector 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. Adjusting gear; 605. Support shaft; 606. Adjusting motor; 607. Mounting base. Detailed Implementation

[0052] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0053] like Figures 1 to 5 As shown, the high-precision robot integrated joint based on sensing technology of the present invention includes 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 internal gear ring 301 installed in the housing 100 and a gear structure 302 installed in the internal gear ring 301. The gear structure 302 rolls in the internal gear ring 301.

[0054] The gear structure 302 includes:

[0055] A rolling gear 303 is installed inside an internal gear ring 301 and meshes with the internal gear ring 301. The axis of the rolling gear 303 is parallel to and separate from the axis of the internal gear ring 301. A circular groove coaxial with the rolling gear 303 is provided on one end face of the rolling gear 303.

[0056] The drive shaft 304 is located inside the circular groove and is coaxial with the internal gear ring 301. Multiple support frames 305 are provided on the outer wall of the drive shaft 304. Each support frame 305 is rotatably provided with a push roller 306. The push roller 306 rolls in contact with the inner wall of the circular groove. The main motor 200 is connected to the drive shaft 304 for transmission.

[0057] The coupling structure 307 is mounted on the other end face of the rolling gear 303 and is used to connect the rolling gear 303 and the output shaft 500.

[0058] The housing 100 provides mounting positions for the main motor 200, reducer 300, encoder 400, and output shaft 500, with one end of the output shaft 500 extending beyond the housing 100. The main motor 200 transmits power to the output shaft 500 through the reducer 300, which primarily functions to reduce speed. The encoder 400 detects the transmission ratio between the main motor 200 and the output shaft 500. Multiple support frames 305 and multiple push rollers 306 on the drive shaft 304 support and connect the drive shaft 304 and the rolling gear 303. When the main motor 200 drives the drive shaft 304 to rotate, the drive shaft 304, through the support frames 305 and push rollers 306, pushes the rolling gear 303 to roll within the internal gear ring 301. At this time, the push rollers 306 roll within the circular grooves on the rolling gear 303, causing the rolling gear 303 to rotate around the axis of the internal gear ring 301. In a rolling state, the rolling gear 303 rotates synchronously in the opposite direction to the internal gear ring 301. The coupling structure 307 transmits the rotational motion of the rolling gear 303 to the output shaft 500, thereby realizing power output. Since the output shaft 500 only receives the rotational energy of the rolling gear 303, the rotational speed of the output shaft 500 is slower than that of the transmission shaft 304, thus achieving a speed reduction effect. Furthermore, due to the use of gear meshing to transmit power, its stability and transmission accuracy are high. Of course, the speed reduction function here is mainly achieved by the difference in the number of teeth on the rolling gear 303 compared to the number of teeth on the internal gear ring 301. When it is necessary to adjust the transmission ratio, 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 multiple support frames 305 used for support have different lengths, and the transmission shaft 304 and the output shaft 500 are coaxial.

[0059] The deceleration function is achieved by utilizing the eccentricity of the rolling gear 303 and its meshing rolling with the internal gear ring 301, rather than relying on the elastic deformation of the flexspline. This avoids fatigue damage and breakage caused by long-term frequent use, thus improving the durability of the joint. Compared with traditional cycloidal reducers, this new reducer has a simpler structure, reducing the processing and use of complex-shaped parts, such as cycloidal gears and pin teeth, thereby reducing processing difficulty and cost. At the same time, the number of components is reduced, the assembly accuracy requirements are lowered, and the assembly process is also simplified, which helps to reduce manufacturing costs and assembly time. The use of gear meshing to transmit power ensures high transmission accuracy and stability. The entire system has a high degree of integration, integrating the motor, reducer, sensor, and output shaft into a compact whole, saving space and making it suitable for applications with strict requirements on installation dimensions. In summary, this invention not only solves the problems existing in traditional robot joints, but also provides an efficient, reliable, and economical solution for the future development of 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. Part of the push roller 306 is located in the slot 308. The inner wall of the slot 308 is used to lock the push roller 306, so that the multiple push rollers 306 provide auxiliary support for the rolling gear 303. This ensures that the rolling gear 303 can roll smoothly on the internal gear ring 301 while the rolling gear 303 is firmly connected to the transmission shaft 304, preventing the push roller 306 from being misaligned and disengaged from the rolling gear 303.

[0061] To reduce the friction between the inner wall of the slot 308 and the end face of the push roller 306, and to reduce frictional loss, such as Figure 5 As shown, multiple rollers 309 are rotatably arranged on both ends of the push roller 306. The rollers 309 roll in contact with the side wall of the slot 308. Thus, when the push roller 306 rolls in the slot 308, the rollers 309 roll synchronously on the side wall of the slot 308.

[0062] Because the rolling gear 303 on the gear structure 302 is eccentric, it vibrates in the vertical plane when it runs. This vibration is transmitted to the entire joint and causes joint vibration, which can damage the equipment. To improve this situation, such as... Figure 4 As shown, the number of gear structures 302 is set to two. The transmission shafts 304 on the two gear structures 302 are coaxial and both are connected to the main motor 200. Both gear structures 302 are located inside the internal gear ring 301. The eccentric directions of the rolling gears 303 on the two gear structures 302 are opposite. This allows the center of gravity of the two rolling gears 303 to coincide with the axis of the transmission shaft 304. When the equipment is running, it will not vibrate due to the shift of the center of gravity, thus improving the stability of the equipment operation.

[0063] When the reducer 300 is in operation, both rolling gears 303 within its two gear structures 302 are in a rolling state. Specifically, the middle rolling gear 303 needs to move relative to its upper drive shaft 304. The main motor 200 needs to transmit power to the two gear structures 302 via the drive shaft 304. Therefore, special settings are required for the middle gear structure 302, as detailed below. Figure 4 As shown, a support disk 310 is provided on another gear structure 302 located between the main motor 200 and a gear structure 302. The support disk 310 is coaxially mounted on the rolling gear 303, and the rolling gear 303 is rotatably connected to the support disk 310. The drive shafts 304 on the two gear structures 302 pass through the support disk 310 and are fixedly connected. Specifically, the end face of the support disk 310 passes through the rolling gear 303 and extends into the circular groove of the rolling gear 303. In this way, when the main motor 200 drives the two drive shafts 304 to rotate, the rolling gear 303 located in the middle can smoothly rotate. The rolling gear 303 rolls within the internal gear ring 301 and can rotate on the support disk 310. The rolling of the rolling gear 303 will not interfere with the rotational movement of the transmission shaft 304, thus allowing the two gear structures 302 to move synchronously. Here, the support disk 310 mainly serves to connect the two transmission shafts 304. Of course, to simplify the structure, a hole can be directly made in the intermediate rolling gear 303 to allow the transmission shaft 304 to pass through. 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 outer casing 100, and the axis of the first support ring 311 coincides with the axis of the transmission shaft 304;

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

[0067] Two second support rings 313 are fixedly connected to two support plates 312 respectively, and the two second support rings 313 are rotatably mounted on the end faces of two rolling gears 303 respectively, with the second support rings 313 and the rolling gears 303 on the same axis.

[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 internal 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. Thus, this structure can be used to provide auxiliary support for the rolling gear 303 on the two gear structures 302 and improve its rotational stability.

[0069] When the coupling structure 307 transmits power between the rolling gear 303 and the output shaft 500, since the rolling gear 303 simultaneously performs circular and rotational motions, the coupling structure 307 needs to filter the circular motion of the rolling gear 303. That is, the coupling structure 307 only transmits the rotational motion of the rolling gear 303 to the output shaft 500. Therefore, the structure of the coupling structure 307 needs to be specially designed, as follows: Figure 6 As shown, the coupling structure 307 includes:

[0070] Two transmission discs 314 are respectively mounted on the end face of the rolling gear 303 and the end face of the output shaft 500. The rolling gear 303 is coaxial with its upper transmission disc 314, and the output shaft 500 is coaxial with its upper transmission disc 314.

[0071] The intermediate 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 intermediate disk 315. Both the transmission disks 314 and the intermediate disk 315 are provided with multiple connecting balls 316. The connecting balls 316 on the transmission disk 314 are embedded in the end face of the transmission disk 314, and the connecting balls 316 on the intermediate disk 315 pass through the intermediate disk 315.

[0072] Multiple transmission rods 317 are inclined between two transmission discs 314. The multiple transmission rods 317 are parallel to each other. The transmission rods 317 pass through the connecting ball 316 on the intermediate disc 315. The two ends of the transmission rods 317 are respectively connected to the connecting ball 316 on the two transmission discs 314.

[0073] When the rolling gear 303 performs circular motion, it drives multiple transmission rods 317 to tilt synchronously through its transmission disk 314. The transmission disk 314 on the output shaft 500 is not affected by this motion. When the rolling gear 303 rotates, it drives the output shaft 500 to rotate through the transmission disk 314 and the transmission rods 317, thereby achieving the effect of kinetic energy filtering and transmission. The intermediate disk 315 is mainly set to limit the multiple transmission rods 317, keep them parallel to each other, avoid the multiple transmission rods 317 from twisting, and improve the transmission stability and structural robustness.

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

[0075] Encoder 400 includes:

[0076] The detection head 401 is fixed inside the outer casing 100;

[0077] Rotor 402 is mounted on detection head 401 and is connected to output shaft 500 for transmission.

[0078] The magnetic field detector 403 is installed on the detection head 401 and used in conjunction with the magnetic ring 318.

[0079] When the output shaft 500 rotates, it directly drives the rotor 402 to rotate. The detection head 401 directly detects the rotational speed of the rotor 402 to determine the output speed. Since the rolling gear 303 performs circular motion, it drives the intermediate disk 315 to perform 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 magnetic field value around the magnetic ring 318 twice in a row, the magnetic ring 318 will approach the magnetic field detector 403 twice in a row. At this time, the rolling gear 303 rotates one revolution. By using this detection time, the output speed of the main motor 200 can be calculated. By comparing the output speed of the output shaft 500 with the output speed of the main motor 200, the transmission ratio can be determined.

[0080] To achieve adjustment of the transmission ratio of the reducer 300 without replacing the rolling gear 303, such as Figure 4 As shown, the internal gear ring 301 rotates within the housing 100. The internal gear ring 301 and the transmission shaft 304 are connected by a transmission structure 600. The rotation of the transmission shaft 304 can drive the internal gear ring 301 to rotate through the transmission structure 600. In this way, the transmission shaft 304 can provide rotational power to both the rolling gear 303 and the internal gear ring 301. The rolling gear 303 needs to roll on the internal gear ring 301 to generate its own rotational motion. Therefore, by adjusting the rotational speed of the internal gear ring 301, the rotational speed of the rolling gear 303 can be adjusted, thereby achieving the adjustment of the transmission ratio.

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

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

[0083] The hemisphere 602 is connected to the first transmission wheel 601 in a transmission connection.

[0084] The second transmission wheel 603 is connected to the hemisphere 602 in a transmission connection, and both the first transmission wheel 601 and the second transmission wheel 603 are located on one side of the center of the hemisphere 602.

[0085] Adjusting gear 604 is connected to the second transmission wheel 603, and adjusting gear 604 is located inside the internal gear ring 301, and adjusting gear 604 is meshed with internal gear ring 301;

[0086] In this configuration, the axes of the first transmission wheel 601, the center of the hemisphere 602, the second transmission wheel 603, and the transmission shaft 304 are all located on the same vertical plane. A support shaft 605 is rotatably mounted inside the outer casing 100, with a mounting base 607 fixedly installed in the middle of the support shaft 605. The hemisphere 602 is rotatably mounted on the mounting base 607. An adjusting motor 606 for providing power to the support shaft 605 is installed on the outer wall of the outer casing 100. Specifically, the rotation axis of the hemisphere 602 on the mounting base 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. Since both the first transmission wheel 601 and the second transmission wheel 603 need to be connected to the outer wall of the hemisphere 602, the outer walls of both the first transmission wheel 601 and the second transmission wheel 603 can be designed as arc-shaped conical surfaces to facilitate their use in conjunction with the outer wall of the hemisphere 602. In its natural state, a drive shaft 304 directly drives the internal gear ring 301 to rotate via the first drive wheel 601, hemisphere 602, second drive wheel 603, and adjusting gear 604. This causes the rolling gear 303 to roll on the moving internal gear ring 301, 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 via the support shaft 605 and mounting base 607. The hemisphere 602 rotates around its center, that is, the rotation axis of the hemisphere 602 is adjusted from horizontal to inclined. At this time, the transmission ratio between the first drive wheel 601 and the hemisphere 602, and the transmission ratio between the second drive wheel 603 and the hemisphere 602, all change. This changes the speed transmitted from the drive shaft 304 to the internal gear ring 301, thereby achieving the adjustment.

[0087] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A high-precision integrated robot joint based on sensing technology, comprising a housing and a main motor, reducer, encoder, and output shaft installed within the housing, characterized in that, The reducer consists of an internal gear ring installed inside a housing and a gear structure installed inside the internal gear ring, wherein the gear structure rolls within the internal gear ring. The gear structure includes: A rolling gear is installed inside an internal gear ring and meshes with the internal gear ring. The axis of the rolling gear is parallel to and separate from the axis of the internal gear ring. A circular groove coaxial with the rolling gear is opened on one end face of the rolling gear. A drive shaft is located inside a circular groove and is coaxial with an internal gear ring. Multiple support frames are provided on the outer wall of the drive shaft, and each support frame is rotatably equipped with a push roller. The push roller makes rolling contact with the inner wall of the circular groove. The main motor is connected to the drive shaft for transmission. The coupling structure is mounted on the other end face of the rolling gear and is used to connect the rolling gear and the output shaft; A slot is provided on the inner wall of the circular groove on the rolling gear, and part of the push roller is located in the slot; Multiple rollers are rotatably arranged on both ends of the push roller, and the rollers make rolling contact with the side wall of the slot. The number of 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, both gear structures are located inside the internal gear ring, and the eccentric directions of the rolling gears on the two gear structures are opposite. A support disk is provided on another gear structure located between the main motor and a gear structure. The support disk is coaxially mounted on the rolling gear, and the rolling gear is rotatably connected to the support disk. The drive shafts on the two gear structures pass through the support disk and are fixedly connected.

2. The high-precision integrated robot joint based on sensing technology according to claim 1, characterized in that, The reducer also includes: The 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; Both support plates are fixed on the first support ring, and the two support plates are respectively located on both sides of the transmission shaft axis; Two second support rings are fixedly connected to two support plates respectively, and the two second support rings are rotatably mounted on the end faces of two rolling gears, with the second support rings coaxial with the rolling gears on them.

3. The high-precision integrated robot joint based on sensing technology according to claim 1, characterized in that, The coupling structure includes: Two transmission discs are respectively mounted on the end face of the rolling gear and the end face of the output shaft. The rolling gear is coaxial with the upper transmission disc, and the output shaft is coaxial with the upper transmission disc. An intermediate disk is located between two transmission disks, and the surfaces of the two transmission disks are parallel to the surface of the intermediate disk. Both the transmission disks and the intermediate disk are provided with multiple connecting balls. The connecting balls on the transmission disks are embedded in the end faces of the transmission disks, and the connecting balls on the intermediate disks pass through the intermediate disks. Multiple transmission rods are inclined between two transmission discs and are parallel to each other. The transmission rods pass through the connecting balls on the middle disc, and the two ends of the transmission rods are connected to the connecting balls on the two transmission discs respectively.

4. The high-precision integrated robot joint based on sensing technology according to claim 3, characterized in that, A magnetic ring is provided on the outer circumference of the intermediate disk; The encoder includes: The detection head is fixed inside the outer casing; The rotor is mounted on the detection head and is connected to the output shaft for transmission. A magnetic field detector, mounted on a detection head and used in conjunction with a magnetic ring.

5. The high-precision integrated robot joint based on sensing technology according to claim 1, characterized in that, The internal gear ring rotates within the outer casing, and the internal gear ring and the drive shaft are connected by a transmission structure.

6. The high-precision integrated robot joint based on sensing technology according to claim 5, characterized in that, The transmission structure includes: The first transmission wheel is mounted and fixed on the outer wall of a transmission shaft. The hemisphere is connected to the first transmission wheel via a transmission mechanism. The second transmission wheel is connected to the hemisphere, and both the first and second transmission wheels are located on one side of the center of the hemisphere. The adjusting gear is connected to the second transmission wheel and is located inside the inner gear ring, meshing with the inner gear ring. The first transmission wheel axis, the center of the hemisphere, the second transmission wheel axis, and the transmission shaft axis are all located on the same vertical plane. A support shaft is rotatably installed inside the outer shell, and a mounting seat is fixedly installed in the middle of the support shaft. The hemisphere is rotatably installed on the mounting seat. An adjustment motor for providing power to the support shaft is provided on the outer wall of the outer shell.

Images