Robot joint module

Abstract

The robot joint module comprises a motor, a torque sensor and a speed reducer, the speed reducer comprises a wave generator, a flexible gear, a supporting bearing outer ring, a supporting bearing inner ring and a steel wheel, the outer ring of the torque sensor is fixed to the supporting bearing outer ring and one end of a motor shell, and the inner ring of the torque sensor is fixed to the flexible gear; the steel wheel is fixed on an inner ring of the supporting bearing, the steel wheel is sleeved outside the flexible wheel and is in staggered tooth transmission with the flexible wheel, the wave generator is arranged in the flexible wheel and is fixed with the rotating shaft through a connecting column, an end cover and a controller cover are further fixed at the other end of the motor shell, and a circuit board assembly is fixed in a containing space formed by the end cover and the controller cover. A sensor wire harness of the torque sensor penetrates through the end cover in the motor shell and then is connected with the circuit board assembly. According to the invention, the torque sensor and the motor are fixed together, and the sensor wire harness is directly inserted and fixed on the controller from the motor side, so that the problem of pulling of the sensor wire harness is permanently solved, and the sensor can sense more accurately.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot joint module. Background Art

[0002] As the application fields of robots increase, collaborative robots, as automated labor that works in collaboration with humans, have entered more light industrial production. The movement of each degree of freedom of the collaborative robot is generated by the joint module at each joint. The joint module usually includes a joint housing, an input shaft arranged in the joint housing and on the same axis, an output shaft, a driver, a brake, a motor assembly, an encoder and a harmonic reducer. The harmonic reducer is arranged at the first end of the joint housing, the driver is arranged at the second end of the joint housing, the output shaft is penetrated in the joint housing along the axial direction, the input shaft is sleeved on the outer periphery of the output shaft, the first ends of the input shaft and the output shaft are connected to the harmonic reducer, and the second ends extend along the axial direction to the second end of the joint housing.

[0003] The torque sensor is an important sensing component for smart devices. It feeds back the external torque data to the central processing unit through electrical signals to complete closed-loop sensing. The torque sensor matched with the harmonic reducer module or installed at the output end of the harmonic reducer is one of the key sensing components of the intelligent torque sensing harmonic reducer joint module. When in use, the input inner ring is generally connected to the output end of the harmonic reducer, and the output outer ring is connected to the terminal execution component. The force sensing device senses the relative deformation of the material in the thin deformation area to generate an electrical signal and transmit it to the processing system, thereby completing the collection of torque data. Due to the movement of the output end, the connection between the sensor and the controller will be pulled and twisted, which not only affects the detection accuracy of the torque sensor, but also limits the rotation angle of the joint module. In addition, when assembling the existing joint module with a torque sensor, it is necessary to first assemble some parts of the harmonic reducer with the motor housing, and each cannot form an independent module, which is cumbersome to assemble and inconvenient to disassemble and maintain. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a robot joint module, which has high integration, is easy to assemble and permanently solves the problem of sensor harness pulling.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0006] A robot joint module comprises a motor, a torque sensor and a reducer, wherein the motor comprises a motor housing, a stator, a rotor core and a rotating shaft, wherein the stator is fixed to the inner wall of the motor housing, the rotor core is located on the inner side of the stator and is sleeved and fixed on the rotating shaft, and the rotating shaft is rotatably connected to the motor housing, the reducer comprises a wave generator, a flexible wheel, an outer ring of a support bearing, an inner ring of a support bearing and a steel wheel, the outer ring of the torque sensor is clamped and fixed to the outer ring of the support bearing and one end of the motor housing, the inner ring of the torque sensor is fixed to the flexible wheel, the steel wheel is fixed to the inner ring of the support bearing, and the steel wheel is sleeved outside the flexible wheel and is staggered with the flexible wheel for transmission, the wave generator is arranged in the flexible wheel and is fixed to the rotating shaft through a connecting column, the other end of the motor housing is also fixed with an end cover and a controller cover, a circuit board assembly is fixed in the accommodation space formed by the end cover and the controller cover, and a sensor harness of the torque sensor is connected to the circuit board assembly after passing through the end cover in the motor housing.

[0007] As a preferred embodiment, a T-shaped wiring harness pipe fitting is also included, which includes an intermediate tube and a connecting plate fixed at one end of the intermediate tube, the connecting plate is fixed to the steel wheel, the intermediate tube passes through the wave generator, the connecting column and the rotating shaft, and a gap is left between the intermediate tube and the wave generator and the connecting column, and the other end of the intermediate tube is rotatably connected to the rotating shaft through a bearing.

[0008] As a preferred solution, the connecting disk is annular, the middle tube is hollow tube-shaped, and one end of the middle tube is integrally formed with the connecting disk, with a wire hole formed in the middle.

[0009] As a preferred solution, the outer edge of the connecting plate is provided with a flange, the steel wheel is provided with an annular groove, and the flange is clamped and fixed in the annular groove.

[0010] As a preferred embodiment, a through hole is provided on the end cover, and a magnetic ring A is fixed to one end of the rotating shaft located at the through hole through a magnetic ring seat A, and a magnetic ring B is fixed to one end of the intermediate tube close to the through hole through a magnetic ring seat B, and the magnetic ring A and magnetic ring B are located in the same plane, and magnetic ring A is located outside magnetic ring B, and the two are concentrically arranged.

[0011] As a preferred solution, the circuit board assembly includes two stacked and spaced circuit boards, and a magnetic sensor and a signal processor that respectively cooperate with the magnetic ring A and the magnetic ring B are provided on a circuit board close to the motor housing.

[0012] As a preferred solution, the wave generator includes an elliptical hub and a thin-walled bearing sleeved outside the elliptical hub, and the outer ring of the thin-walled bearing is embedded in the flexible wheel.

[0013] As a preferred embodiment, a convex ring is provided at the end of the connecting column, one side of the convex ring is trumpet-shaped, the elliptical hub is annular, and the inner wall is provided with a circular convex edge, and the convex ring and the convex edge are fixed by bolts.

[0014] As a preferred solution, a sealing ring is further provided between the support bearing outer ring and the support bearing inner ring.

[0015] As a preferred solution, the end cover is also provided with a through hole through which the three-phase wires of the power supply machine pass.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention fixes the torque sensor together with the motor without affecting its function; at the same time, the sensor harness is directly inserted and fixed on the controller from the motor side, which permanently solves the problem of pulling the sensor harness and makes the sensor sensing more accurate; at the same time, since the torque sensor is fixed, the entire joint module can achieve 360° rotation, and the movement is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0019] Figure 1 and Figure 2 It is a schematic diagram of the overall structure of the present invention from two different angles;

[0020] Figure 3 It is a schematic diagram of the cutaway structure of the present invention;

[0021] Figure 4 and Figure 5 It is a schematic diagram of the explosion structure of the present invention at two different angles.

[0022] The accompanying drawings are marked as follows: 11, motor housing; 12, end cover; 13, stator; 14, rotor core; 15, rotating shaft; 16, connecting column; 17, three-phase line; 21, elliptical hub; 22, flexible wheel; 23, support bearing outer ring; 24, support bearing inner ring; 25, steel wheel 26, sealing ring; 3, torque sensor; 31, sensor wiring harness; 4, T-shaped wiring harness pipe fitting; 40, wire hole; 41, connecting plate; 42, intermediate tube; 43, bearing; 5, controller cover; 6, circuit board assembly; 71, magnetic ring seat A; 72, magnetic ring A; 81, magnetic ring seat B; 82, magnetic ring B. DETAILED DESCRIPTION

[0023] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0030] like Figures 1 to 5 As shown, a robot joint module includes a motor, a torque sensor 3 and a reducer. The motor includes a motor housing 11, a stator 13, a rotor core 14 and a rotating shaft 15. The stator 13 is fixed to the inner wall of the motor housing 11, the rotor core 14 is located on the inner side of the stator and is sleeved and fixed on the rotating shaft 15. The rotating shaft 15 is rotatably connected to the motor housing 11.

[0031] The reducer includes a wave generator, a flexible spline 22, a support bearing outer ring 23, a support bearing inner ring 24 and a steel wheel 25. The outer ring of the torque sensor 3 is clamped and fixed to the support bearing outer ring 23 and one end of the motor housing 11. The inner ring of the torque sensor 3 is fixed to the flexible spline 22. The steel wheel 25 is fixed to the support bearing inner ring 24. The steel wheel 25 is sleeved outside the flexible spline 22 and is staggered with the flexible spline 22. A sealing ring 26 is also provided between the support bearing outer ring 23 and the support bearing inner ring 24.

[0032] The wave generator includes an elliptical hub 21 and a thin-walled bearing sleeved outside the elliptical hub 21, and the outer ring of the thin-walled bearing is embedded in the flexible wheel 22. A convex ring is provided at the end of the connecting column 16, and one side of the convex ring is closed in a trumpet shape. The elliptical hub 21 is annular, and the inner wall is provided with a circular annular convex edge, and the convex ring and the convex edge are fixed by bolts.

[0033] The other end of the motor housing 11 is also fixed with an end cover 12 and a controller cover 5, and a circuit board assembly 6 is fixed in the accommodation space formed by the end cover 12 and the controller cover 5. The sensor harness 31 of the torque sensor 3 passes through the end cover 12 in the motor housing 11 and is connected to the circuit board assembly 6. The end cover 12 is also provided with a through hole through which the three-phase line 17 of the power supply machine passes.

[0034] The harmonic reducer in the joint module of the present invention uses the steel wheel as the output end to achieve a speed ratio of 101:1; at the same time, the flexible wheel is fixed to the motor housing through a torque sensor, and the sensor harness is directly inserted and fixed to the controller from the motor side, which permanently solves the problem of sensor harness pulling and makes the sensor sensing more accurate; at the same time, since the torque sensor is fixed, the entire joint module can achieve 360° rotation, and the movement is more flexible.

[0035] The joint module of the present invention also includes a T-shaped wiring harness pipe fitting 4, which includes an intermediate tube 42 and a connecting plate 41 fixed at one end of the intermediate tube, the connecting plate 41 is fixed to the steel wheel 25, the intermediate tube 42 passes through the wave generator, the connecting column 16 and the rotating shaft 15, and a gap is left between the wave generator and the connecting column 16, and the other end of the intermediate tube 42 is rotatably connected to the rotating shaft 15 through a bearing 43.

[0036] The connecting disk 41 is annular, the middle tube 42 is hollow, and one end of the middle tube 42 is integrally formed with the connecting disk 41, and a wire hole 40 is formed in the middle. The outer edge of the connecting disk 41 is provided with a flange, and the steel wheel 25 is provided with an annular groove, and the flange is fixed in the annular groove. The power lines and signal lines can be arranged between multiple joint modules through the wire hole 40, making the overall wiring neater and minimizing the effects of pulling and twisting of the wire harness when the joint module moves.

[0037] A through hole is provided on the end cover 12, and the rotating shaft 15 is located at one end of the through hole and a magnetic ring A72 is fixed thereto through a magnetic ring seat A71. The end of the intermediate tube 42 close to the through hole is fixed thereto with a magnetic ring B82 through a magnetic ring seat B81. The magnetic ring A72 and the magnetic ring B82 are located in the same plane, and the magnetic ring A71 is located outside the magnetic ring B82, and the two are concentrically arranged.

[0038] The circuit board assembly includes two circuit boards stacked and spaced apart, and a circuit board close to the motor housing 11 is provided with a magnetic sensor and a signal processor respectively matching with the magnetic ring A72 and the magnetic ring B82.

[0039] A controller cover is provided at one end of the motor of the present invention, and the dual encoders in the controller cover are arranged concentrically and side by side inside and outside, meeting the requirement of arranging encoders at the output end and the input end respectively, so that the axial space of the overall joint module is saved by more than 5mm, and the reading control accuracy of the encoder is improved.

[0040] The present invention satisfies the requirements that the output and input ends are accurately and directly fixed on the reducer; the sensor and the reducer are installed to form a module assembly; finally, the module is installed to one end of the motor. Such a structure enables the stator part of the motor to be separately heat-fitted; for replacement of parts and disassembly and assembly, the housing components will not be damaged, and the replaceability is high; the assembly and disassembly are more convenient.

[0041] The invention integrates the reducer, sensor, motor and controller, with high overall integration and high product modularization. In addition, the joint module of the invention has a wide range of applications and high replaceability. The reducer of the above structure can be installed in a joint module without a sensor only by changing the cup-type flexible wheel to a top-hat-type flexible wheel.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0043] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot joint module, comprising a motor, a torque sensor (3) and a reducer, wherein the motor comprises a motor housing (11), a stator (13), a rotor core (14) and a rotating shaft (15), wherein the stator (13) is fixed to the inner wall of the motor housing (11), the rotor core (14) is located inside the stator and is sleeved and fixed on the rotating shaft (15), and the rotating shaft (15) is rotatably connected to the motor housing (11), and the reducer comprises a wave generator, a flexible wheel (22), a support bearing outer ring (23), a support bearing inner ring (24) and a steel wheel (25), characterized in that: The outer ring of the torque sensor (3) is clamped and fixed on the outer ring (23) of the support bearing and one end of the motor housing (11); the inner ring of the torque sensor (3) is fixed to the flexible wheel (22); the steel wheel (25) is fixed to the inner ring (24) of the support bearing, and the steel wheel (25) is sleeved outside the flexible wheel (22) and is staggered with the flexible wheel (22) for transmission; the wave generator is arranged in the flexible wheel (22) and is fixed to the rotating shaft (15) through a connecting column (16); the other end of the motor housing (11) is also fixed with an end cover (12) and a controller cover (5); a circuit board assembly (6) is fixed in the accommodation space formed by the end cover (12) and the controller cover (5); the sensor harness (31) of the torque sensor (3) passes through the end cover (12) in the motor housing (11) and is connected to the circuit board assembly (6).

2. A robot joint module according to claim 1, characterized in that: The invention also comprises a T-shaped wire harness pipe (4), wherein the T-shaped wire harness pipe (4) comprises an intermediate pipe (42) and a connecting plate (41) fixed to one end of the intermediate pipe, wherein the connecting plate (41) is fixed to the steel wheel (25), and the intermediate pipe (42) passes through the wave generator, the connecting column (16) and the rotating shaft (15), and a gap is left between the intermediate pipe (42) and the wave generator and the connecting column (16), and the other end of the intermediate pipe (42) is rotatably connected to the rotating shaft (15) via a bearing (43).

3. A robot joint module according to claim 2, characterized in that: The connecting disk (41) is annular, the intermediate tube (42) is hollow tube-shaped, and one end of the intermediate tube (42) is integrally formed with the connecting disk (41), with a wire hole (40) formed in the middle.

4. A robot joint module according to claim 2, characterized in that: The outer edge of the connecting plate (41) is provided with a flange, and the steel wheel (25) is provided with an annular groove, and the flange is clamped and fixed in the annular groove.

5. A robot joint module according to claim 2, characterized in that: The end cover (12) is provided with a through hole, and a magnetic ring A (72) is fixed to one end of the rotating shaft (15) located at the through hole through a magnetic ring seat A (71), and a magnetic ring B (82) is fixed to one end of the intermediate tube (42) close to the through hole through a magnetic ring seat B (81), wherein the magnetic ring A (72) and the magnetic ring B (82) are located in the same plane, and the magnetic ring A (71) is located outside the magnetic ring B (82), and the two are concentrically arranged.

6. A robot joint module according to claim 5, characterized in that: The circuit board assembly comprises two circuit boards which are stacked and spaced apart from each other, and a magnetic sensor and a signal processor which respectively cooperate with the magnetic ring A (72) and the magnetic ring B (82) are provided on a circuit board close to the motor housing (11).

7. A robot joint module according to claim 1, characterized in that: The wave generator comprises an elliptical hub (21) and a thin-walled bearing sleeved outside the elliptical hub (21), and the outer ring of the thin-walled bearing is embedded in the flexible wheel (22).

8. A robot joint module according to claim 7, characterized in that: The end of the connecting column (16) is provided with a convex ring, one side of which is closed in a trumpet shape. The elliptical wheel hub (21) is annular and has an inner wall provided with a circular convex edge. The convex ring and the convex edge are fixed by bolts.

9. The robot joint module according to claim 1, characterized in that: A sealing ring (26) is also provided between the support bearing outer ring (23) and the support bearing inner ring (24).

10. The robot joint module according to claim 1, characterized in that: The end cover (12) is also provided with a through hole through which the three-phase line (17) of the power supply machine passes.

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