A robot joint module and its use method

Abstract

The present invention discloses a robot joint module and a method of use, which relates to the field of robotics technology. The module comprises a module housing, a servo motor is provided inside the module housing, an intelligent encoder is provided on the servo motor, a splitting assembly is provided inside the module housing, the splitting assembly comprises a plurality of splitting grooves provided on the inner side surface of the module housing, a splitting ring is slidably provided inside the module housing, and a stabilizing ring is fixedly connected to the inside of each splitting groove. By disconnecting the meshing transmission relationship between the reduction gear set and the servo motor, the device can be prevented from affecting the meshing of its internal gears after being overloaded, and excessive friction between the meshing positions of the internal gears can be avoided. The problem of loose meshing of the internal gears due to excessive friction can be prevented, which can cause the problem of inaccurate swing of the robot joint. By splitting the cylindrical spur gear 2 from the cylindrical spur gear 1 when overloaded, the device can be prevented from continuing to operate after being overloaded.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot joint module and a method of using the same. Background Art

[0002] Existing robotic joint modules typically employ an integrated design, with a core power unit comprised of a servo motor, reduction gear, sensors, and transmission components. The servo motor is directly connected to the reduction gear via its output shaft, forming a high-torque, high-precision power transmission chain. To enhance structural compactness, modern joint modules often employ an integrated design, encapsulating the motor, reduction gear, and intelligent encoder within a single housing. Rigid connections or preload mechanisms ensure the stability of the gear ring meshing. This design can meet the high-precision motion requirements of robotic joints under light loads or static conditions.

[0003] However, when the robot is carrying goods, the goods will generate a load on the robot joint module. Since the reduction gear group and the servo motor in the robot rod-hanging joint module are rigidly meshed, that is, they are connected through gears, when the robot joint is subjected to external loads, the load torque will be transmitted to the gear group inside it through the reduction mechanism, causing the meshing surfaces of the two to bear additional asymmetric stress, the contact pressure between the meshing tooth surfaces is unevenly distributed, and the friction in local areas is aggravated. If the robot joint module is still working when it is subjected to a load exceeding the rated load, it will further cause wear on the internal gears, easily leading to tooth surface deformation or gap expansion, reduced gear ring meshing tightness, and easy backlash or vibration during transmission, which directly affects the positioning accuracy of the joint swing and even damages the joint module. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a robot joint module and a method of use.

[0005] The technical solution is as follows:

[0006] The present invention provides a robot joint module, comprising a module housing, a servo motor disposed inside the module housing, and a split assembly disposed inside the module housing;

[0007] The splitting component includes a splitting groove provided on the inner side of the module shell, a splitting ring sliding inside the module shell, the splitting ring is slidably connected to the splitting groove, a stabilizing ring is fixedly connected to the inside of the splitting groove, a connecting rod is fixedly connected to the side of the splitting ring, the connecting rod passes through the stabilizing ring and is fixedly connected to an iron plate, a spring is fixedly connected between the side of the iron plate close to the connecting rod and the groove wall of the splitting groove, an electromagnet is fixedly connected to the groove wall on the side of the splitting groove away from the servo motor, a cylindrical spur gear is fixedly connected to the output shaft of the servo motor, a reduction gear group is provided inside the splitting ring, an input shaft is provided on the side of the reduction gear group close to the servo motor, an output shaft is provided on the side of the reduction gear group away from the servo motor, a cylindrical spur gear 2 is fixedly connected to the input shaft of the reduction gear group, and the cylindrical spur gear 1 is meshed with the cylindrical spur gear 2. It also includes a detection component for detecting the load borne by the output shaft of the reduction gear group and a support component for limiting the output shaft.

[0008] Furthermore, the outer ring surface of the split ring is provided with a convex strip, the convex strip of the split ring is slidably connected to the inside of the split groove, and the connecting rod slides inside the stabilizing ring.

[0009] Furthermore, the detection component includes two sealing plates fixedly connected to the two ends of the module housing by bolts respectively. The sealing plate on the side away from the servo motor is provided with a mounting hole for the output shaft of the reduction gear set to pass through. The servo motor is fixedly connected to the adjacent sealing plate by bolts. A bearing is installed in the mounting hole of the sealing plate. The outer ring of the bearing is connected and fixed to the mounting hole of the sealing plate, and a plurality of pressure sensors arranged in a circular array are fixedly connected between the outer ring of the bearing and the inner side wall of the mounting hole of the sealing plate. A slider is fixedly connected to the inner side wall of the inner ring of the bearing. A sliding groove corresponding to the slider is provided on the output shaft of the reduction gear set, and the slider on the bearing slides in the sliding groove.

[0010] Furthermore, the support assembly includes a fixed ring fixedly connected to the inner wall of the module shell, the inner wall of the fixed ring is fixedly connected to two relatively arranged inner ring frames, the inner ring frames are provided with an annular circular groove ring, the inner wall of the fixed ring is rotatably connected to multiple groups of telescopic rods, each group includes two telescopic rods, the telescopic rod includes a fixed end and a telescopic end, and a spring 2 is provided between the fixed end and the telescopic end, the fixed end is rotatably connected to the fixed ring, the telescopic ends of the two telescopic rods of the same group are rotatably connected with a connecting shaft, the two ends of the connecting shaft are respectively slidably connected to the circular groove rings of the two inner ring frames, and each connecting shaft A supporting shell is fixedly connected to each connecting shaft, and an inner ring is fixedly connected between multiple supporting shells. Multiple openings are opened on the inner ring, and the number of openings corresponds to the number of supporting shells. The openings of the inner ring are connected to the interior of the adjacent supporting shells. The inner ring is sleeved on the outside of the output shaft of the reduction gear set. Two springs three are symmetrically fixedly connected to the interior of each supporting shell. The two springs three are fixedly connected to a card block at one end away from the end connected to the supporting shell. An electromagnet two is arranged in the card block. The interior of the supporting shell is fixedly connected to a magnet. The servo motor and the split ring are provided with intelligent encoders.

[0011] Furthermore, after the electromagnet 2 on the clamping block is energized, the magnetic poles of the side close to the magnet are the same.

[0012] Furthermore, the support assembly also includes two limiting rings fixedly connected to the output shaft of the reduction gear group. A plurality of support grooves are provided on the outer surface of the output shaft of the reduction gear group and located between the two limiting rings. The number of support grooves corresponds to the number of blocks.

[0013] The present invention also provides a method for using the robot joint module, using the robot joint module as described above, the method comprising the following steps:

[0014] Step 1: When the pressure sensor detects that the load on the output shaft of the reduction gear set exceeds the rated load, the electromagnet 1 is energized and magnetically attracts the iron plate, which drives the connecting rod and the split ring to move along the split groove, separating the cylindrical spur gear 2 from the cylindrical spur gear 1;

[0015] Step 2: When electromagnet 1 is energized, electromagnet 2 on the clamping block is energized and repels the magnet, pushing the clamping block into the support slot, connecting the output shaft of the reduction gear set to the support shell, and buffering and supporting the output shaft of the reduction gear set through the telescopic rod and spring 2;

[0016] Step 3: When the pressure sensor detects that the load on the output shaft of the reduction gear set is lower than the rated load, the rotation deviation angle of cylindrical spur gear 1 and cylindrical spur gear 2 is detected by the intelligent encoder, and the cylindrical spur gear 1 is adjusted by the servo motor so that cylindrical spur gear 1 is aligned with cylindrical spur gear 2. The electromagnet 1 and the electromagnet 2 on the clamping block are powered off, and the spring 1 pulls the iron plate to reset, so that the split ring pushes the cylindrical spur gear 2 to re-engage with the cylindrical spur gear 1, the spring 3 resets the clamping block out of the support groove, and the spring 2 drives the telescopic rod to reset.

[0017] From the above, the beneficial effects of the present invention are as follows:

[0018] By disconnecting the meshing transmission relationship between the reduction gear set and the servo motor, the device can avoid the impact on the meshing of its internal gears after overload, avoid excessive friction at the meshing position of the internal gears, and prevent the internal gears from being loosely meshed due to excessive friction, which causes the robot joints to swing inaccurately. By separating the cylindrical spur gear 2 and the cylindrical spur gear 1 when overloaded, it can avoid continued operation after overload;

[0019] By buffering and supporting the output shaft of the reduction gear set, compared with the mode of directly stopping operation when overload is detected in the prior art, the present invention makes the cylindrical spur gear 2 no longer mesh with the cylindrical spur gear 1, and the external cargo drives the robot joint to deflect in the opposite direction, and buffers and supports the output shaft of the reduction gear set through the telescopic rod and spring 2, so as to avoid the robot joint from being continuously squeezed by external obstacles, and can prevent the gears inside the device from remaining in a tightly meshed state when overloaded, and can reduce the time of gear overload squeezing, and avoid the gears from being subjected to asymmetric stress for a long time and causing gear wear, and will not affect the operation of other joint modules of the robot, and will not cause the cargo carried by the robot to fall. At the same time, in the prior art, the robot remains stationary after directly shutting down. Because the cargo is always on the robot, the weight of the cargo will always cause a load on the gears in the joint module of the robot, and thus the gears will always be subjected to stress. By disconnecting the meshing relationship between the cylindrical spur gear 1 and the cylindrical spur gear 2, the wear of the gears can be reduced, thereby increasing the service life of the gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic sectional perspective view of the overall structure of the present invention;

[0022] Figure 3 It is a three-dimensional schematic diagram of the sealing plate and the split ring and other components of the present invention;

[0023] Figure 4 For the present invention Figure 3 A in the middle is an enlarged schematic diagram;

[0024] Figure 5 It is a three-dimensional schematic diagram of the components such as the split ring and the electromagnet of the present invention;

[0025] Figure 6 For the present invention Figure 5 The enlarged schematic diagram of point B in the middle;

[0026] Figure 7 It is a three-dimensional schematic diagram of the sealing plate, pressure sensor, bearing and other components of the present invention;

[0027] Figure 8 It is a three-dimensional schematic diagram of the servo motor, reduction gear set, fixing ring and other components of the present invention;

[0028] Figure 9 It is a three-dimensional schematic diagram of the cylindrical spur gear 1, cylindrical spur gear 2, support groove and other components of the present invention;

[0029] Figure 10 It is a three-dimensional schematic diagram of the fixing ring, inner ring frame, telescopic rod and other components of the present invention;

[0030] Figure 11 It is a three-dimensional schematic diagram of the supporting shell, the clamping block and other components of the present invention;

[0031] Figure 12 For the present invention Figure 11 Schematic diagram of point C in the middle.

[0032] Wherein, the accompanying drawings in the present invention are:

[0033] 1, module housing; 2, servo motor; 21, cylindrical spur gear 1; 4, reduction gear set; 41, cylindrical spur gear 2;

[0034] 31, splitting groove; 32, splitting ring; 33, stabilizing ring; 34, connecting rod; 35, iron plate; 36, spring 1; 37, electromagnet 1;

[0035] 51, sealing plate; 52, pressure sensor; 53, bearing;

[0036] 61, fixing ring; 62, inner ring frame; 63, telescopic rod; 64, spring 2; 65, connecting shaft; 66, supporting shell; 67, inner ring; 68, spring 3; 69, clamping block; 691, magnet; 610, limiting ring; 611, supporting groove. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] The embodiments provided by the present invention will be described in detail below:

[0039] like Figures 1 to 6 and Figure 9 As shown, a robot joint module includes a module housing 1, a servo motor 2 is provided inside the module housing 1, and an intelligent encoder and a controller are provided on the servo motor 2 for detecting the operating state of the servo motor 2 and controlling the forward and reverse rotation of the servo motor 2. The module housing 1 is provided with a split component;

[0040] Among them: the intelligent encoder has the function of high-precision position feedback, which can convert angular displacement into electrical signals for dynamic error correction and dynamic compensation. The intelligent encoder and servo motor 2 are both electrically connected to the controller. The intelligent encoder can control the forward and reverse rotation of the servo motor 2 through the controller, and can adjust the rotation angle of the output shaft of the servo motor 2 in real time. The intelligent encoder and controller are existing known technologies and will not be described in detail here.

[0041] The splitting component includes a plurality of splitting grooves 31 opened on the inner side surface of the module shell 1 and arranged in a ring array, a splitting ring 32 is slidably provided inside the module shell 1, and the outer ring surface of the splitting ring 32 is provided with a plurality of convex strips arranged in a ring array, and the number of convex strips is the same as the number of the splitting grooves 31, and the convex strips of the splitting ring 32 are slidably connected to the inside of the adjacent splitting grooves 31, and the inside of each splitting groove 31 is fixedly connected to a stabilizing ring 33, and the side of the splitting ring 32 is equidistantly connected to a plurality of connecting rods 34 in a ring shape, and the number of connecting rods 34 is the same as the number of the splitting grooves 31, and the connecting rods 34 slide inside the adjacent stabilizing rings 33, and the connecting rod 34 passes through one end of the stabilizing ring 33 and is fixedly connected to an iron plate 35, and a spring 36 is connected between the side of the iron plate 35 close to the connecting rod 34 and the groove wall of the splitting groove 31, and an electromagnet 37 is fixedly connected to the groove wall of the side of the splitting groove 31 away from the servo motor 2, and the electromagnet 37 is electrically connected to the controller.

[0042] like Figure 2 、 Figure 8 and Figure 9As shown, a cylindrical spur gear 1 21 is fixedly connected to the output shaft of the servo motor 2, a reduction gear set 4 is provided inside the split ring 32, and an output shaft and an input shaft are provided on the reduction gear set 4. The side close to the servo motor 2 is the input shaft, and the side away from the servo motor 2 is the output shaft. A cylindrical spur gear 2 41 is fixedly connected to the input shaft of the reduction gear set 4, and the cylindrical spur gear 1 21 is meshed with the cylindrical spur gear 2 41.

[0043] Among them: the output shaft of the reduction gear set 4 is slidably connected to the external robot arm component through a key, so that when the reduction gear set 4 is driven to move by the split ring 32, the output shaft of the reduction gear set 4 can still maintain a transmission connection relationship with the external robot arm.

[0044] It should be noted that: the split ring 32 is also provided with an intelligent encoder for detecting the rotation angle of the output shaft of the reduction gear set 4. The intelligent encoder is also electrically connected to the controller and can control the rotation of the servo motor 2. When the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41 are re-engaged after splitting, the output shaft of the servo motor 2 can be controlled by the intelligent encoder and the controller, so that the output shaft of the servo motor 2 drives the cylindrical spur gear 1 21 to rotate to a position where it can engage with the cylindrical spur gear 2 41, so that the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41 can be effectively re-engaged.

[0045] like Figure 1 、 Figure 2 and Figure 7 As shown, a detection component is provided on the module housing 1, and the detection component includes two sealing plates 51 fixedly connected to the two ends of the module housing 1 by bolts. A mounting hole for the output shaft of the reduction gear set 4 to pass through is provided on the sealing plate 51 on the side away from the servo motor 2, and the servo motor 2 is fixedly connected to the adjacent sealing plate 51 by bolts. A bearing 53 is installed in the mounting hole of the sealing plate 51, and the outer ring of the bearing 53 is connected and fixed to the mounting hole of the sealing plate 51, and a plurality of pressure sensors 52 arranged in a circular array are fixedly connected between the outer ring of the bearing 53 and the inner side wall of the mounting hole of the sealing plate 51, a slider is fixedly connected to the inner side wall of the inner ring of the bearing 53, and the inner ring of the bearing 53 can rotate in the outer ring through a ball bearing, and a slide groove corresponding to the slider is provided on the output shaft of the reduction gear set 4, and the slider on the bearing 53 slides in the slide groove, and the pressure sensor 52 is electrically connected to the controller.

[0046] Among them: during the rotation of the output shaft of the reduction gear set 4, the inner ring of the bearing 53 can be driven to rotate through the sliding groove and the slider. In addition, when the reduction gear set 4 moves, its output shaft will not drive the bearing 53 to move, only the slider slides in the sliding groove.

[0047] like Figure 2 、 Figures 8 to 12As shown, a support assembly for buffering the output shaft of the reduction gear set 4 is provided inside the module housing 1. The support assembly includes a fixed ring 61 fixedly connected to the inner side wall of the module housing 1. The inner side wall of the fixed ring 61 is fixedly connected to two oppositely arranged inner ring frames 62. The two inner ring frames 62 are each composed of a circular groove ring and a plurality of straight rods. The inner side wall of the fixed ring 61 is rotatably connected to multiple groups of telescopic rods 63. Each group includes two telescopic rods 63. The telescopic rod 63 includes a fixed end and a telescopic end, and a spring 2 64 is provided between the fixed end and the telescopic end. The telescopic ends of the two telescopic rods 63 of the same group are connected to each other in a common rotation with a connecting shaft 65. The two ends of the connecting shaft 65 slide in the circular groove rings of the two inner ring frames 62 respectively. Each connecting shaft 65 is fixedly connected to a support shell 66. The multiple support shells 66 are commonly fixedly connected to an inner ring 67. The inner ring 67 is provided with multiple openings. The number of openings corresponds to the number of support shells 66. The openings of the inner ring 67 are connected to the interior of the adjacent support shells 66. The inner ring 67 is sleeved on the outside of the output shaft of the reduction gear group 4. Each support The interior of the shell 66 is symmetrically fixed with two springs 3 68, and the two springs 3 68 are fixedly connected to a block 69 at one end away from the connection with the support shell 66. An electromagnet 2 is provided in the block 69, and a magnet 691 is fixedly connected to the interior of the support shell 66. When the electromagnet 2 on the block 69 is energized, the magnetic poles of the side close to the magnet 691 are the same. Two limiting rings 610 corresponding to the positions of the inner ring 67 are fixedly connected to the output shaft of the reduction gear set 4. The outer surface of the output shaft of the reduction gear set 4 is located between the two limiting rings 610. A plurality of support grooves 611 arranged in a circular array are provided at the position. The support grooves 611 are long strips. The number of the support grooves 611 corresponds to the number of the card blocks 69, and the positions of the plurality of support grooves 611 correspond to the positions of the plurality of card blocks 69 respectively. The length of the support groove 611 is larger than the width of the inner ring 67. When the card block 69 is plugged into the support groove 611 and the reduction gear set 4 is translated, the card block 69 can slide in the support groove 611 without affecting the translation of the reduction gear set 4. The electromagnet 2 on the card block 69 is electrically connected to the controller.

[0048] In combination with the above preferred embodiment, the entire working process and working principle of the above embodiment are as follows:

[0049] The initial state is:

[0050] Electromagnet 1 37 is not energized, and thus electromagnet 1 37 does not magnetically attract the iron plate 35. At this time, spring 1 36 is not stretched by the iron plate 35, the cylindrical spur gear 2 41 on the reduction gear set 4 remains engaged with the cylindrical spur gear 1 21, the spring 2 64 is not deformed, the electromagnet 2 on the block 69 is not energized, and thus the electromagnet 2 on the block 69 does not repel each other with the magnet 691, and the spring 3 68 is not stretched by the block 69. Under the action of the spring 3 68, the side of the block 69 away from the spring 3 68 is located in the opening of the inner ring 67 and does not contact the output shaft of the reduction gear set 4.

[0051] The working status is:

[0052] When the robot needs to rotate its joints, the servo motor 2 can be controlled to rotate through the controller, and the output shaft of the servo motor 2 drives the cylindrical spur gear 1 21 to rotate, and the cylindrical spur gear 1 21 drives the cylindrical spur gear 2 41 to rotate synchronously. Under the deceleration action of the reduction gear group 4, the high-speed and low-torque rotation transmitted by the servo motor 2 is converted into a low-speed and high-torque rotation, and then the output shaft of the reduction gear group 4 will drive the joint of the robot that needs to rotate to rotate.

[0053] Separate the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41:

[0054] During the rotation of the output shaft of the reduction gear set 4, if an overload occurs, such as when the robot encounters an obstacle in the process of lifting goods, the gears inside the reduction gear set 4 and the meshing position of the cylindrical spur gear 2 41 and the cylindrical spur gear 1 21 will be overloaded. Since the output shaft of the reduction gear set 4 is attached to the pressure sensor 52 through the bearing 53, the output shaft of the above-mentioned reduction gear set 4 is overloaded when it rotates, and the pressure applied to the pressure sensor 52 will increase. When the detection value of the pressure sensor 52 exceeds the preset threshold, the pressure sensor 52 controls the electromagnet 1 37 to be energized through the controller. When the electromagnet 1 37 is energized, it will magnetically attract the adjacent iron plate 35, causing the iron plate 35 to move toward the side close to the electromagnet 1 37. The iron plate 35 will stretch the spring 1 36 during the movement, and the iron plate 35 will also stretch the spring 1 36 during the movement. The connecting rod 34 will move inside the stabilizing ring 33 toward the side close to the electromagnet 37, and the connecting rod 34 will drive the split ring 32 to move. Under the guidance of the splitting groove 31, the splitting ring 32 moves inside the module housing 1 toward the side away from the servo motor 2. The splitting ring 32 drives the reduction gear set 4 therein to move as a whole toward the side away from the servo motor 2. The cylindrical spur gear 2 41 on the input shaft of the reduction gear set 4 no longer meshes with the cylindrical spur gear 1 21, thereby avoiding the impact of the internal gear meshing on the device after overload, avoiding excessive friction between the internal gear meshing positions, and preventing the internal gears from being loosely meshed due to excessive friction, resulting in inaccurate swing of the robot joints. By splitting the cylindrical spur gear 2 41 and the cylindrical spur gear 1 21 when overloaded, it is avoided that the device continues to operate after overload.

[0055] It should be noted that when the robot grabs goods, the grabbing device used by the robot is an existing adaptive clamping device. When the cylindrical spur gear 2 41 is not engaged with the cylindrical spur gear 1 21, it will not affect the grabbing force of the grabbing device on the external goods, that is, it will not cause the goods to fall.

[0056] Provide buffer support for the output shaft of reduction gear set 4:

[0057] When the electromagnet 1 37 is energized, the electromagnet 2 on the card block 69 is also energized. After the electromagnet 2 is energized, the magnetic poles of the electromagnet 2 and the magnet 691 on the side close to each other are the same, and then the electromagnet 2 on the card block 69 and the magnet 691 repel each other. At this time, the card block 69 will move to the side away from the magnet 691. The movement of the card block 69 will stretch the spring 3 68. At this time, the card block 69 will pass through the opening of the inner ring 67 and insert into the inside of the adjacent support groove 611. Through the plug-in relationship between the card block 69 and the support groove 611, the output shaft of the reduction gear set 4 and the support shell 66 remain in a relatively static state. That is, the rotation of the output shaft of the reduction gear set 4 will drive the support shell 66 to rotate synchronously through the card block 69. At the same time, due to the cylindrical spur gear 2 41 It is no longer engaged with the cylindrical spur gear 21. When it is overloaded during the lifting of goods, the output shaft of the reduction gear set 4 will tend to rotate in the opposite direction under the influence of the gravity of the external goods. When the output shaft of the reduction gear set 4 rotates in the opposite direction, the output shaft of the reduction gear set 4 drives the support shell 66 to rotate through the support groove 611, and the support shell 66 drives the connecting shaft 65 to slide in the circular groove ring of the inner ring frame 62. The telescopic rod 63 can buffer the support shell 66, and the spring 2 64 adaptively deforms, thereby making it impossible for the support shell 66 to rotate smoothly, thereby buffering and supporting the output shaft of the reduction gear set 4, and gradually reducing the speed through the buffering locking of the telescopic rod 63 and the spring 2 64, thereby preventing the output shaft of the reduction gear set 4 from rotating in the opposite direction. Compared with the mode of directly stopping operation when overload is detected in the prior art, the present invention makes the cylindrical spur gear 2 41 no longer mesh with the cylindrical spur gear 1 21, and the external cargo drives the robot joint to deflect in the opposite direction, and buffers and supports the output shaft of the reduction gear set 4 through the telescopic rod 63 and the spring 2 64, so as to avoid the robot joint from being continuously squeezed by external obstacles, and prevent the gears inside the device from remaining in a tightly meshed state when overloaded, and reduce the time of gear overload squeezing, and avoid the gears from being subjected to asymmetric stress for a long time and causing gear wear, and will not affect the operation of other joint modules of the robot, and will not cause the cargo carried by the robot to fall. At the same time, the robot remains stationary after directly stopping in the prior art. Because the cargo is always on the robot, the weight of the cargo will always cause a load on the gears in the joint module of the robot, and thus the gears will always be subjected to stress. By disconnecting the meshing relationship between the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41, the wear of the gears can be reduced.

[0058] It should be noted that: when the block 69 moves toward the center of the inner ring 67, if the block 69 is not aligned with the support groove 611, the block 69 will first come into contact with the outer surface of the output shaft of the reduction gear set 4 when it moves. However, at this time, the output shaft of the reduction gear set 4 is in a rotatable state. Due to the gravity of the cargo, the output shaft of the reduction gear set 4 rotates in the opposite direction, and then the output shaft of the reduction gear set 4 will cause the support groove 611 to rotate with the shaft to a position aligned with the block 69. Under the action of the magnet 691, the block 69 will still be inserted into the inside of the support groove 611, thereby achieving the effect of limiting the output shaft.

[0059] After locking the output shaft of the reduction gear set 4, the rotation deviation angle of the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41 is monitored by the intelligent encoder, and then the output shaft of the servo motor 2 is controlled in low speed mode to drive the cylindrical spur gear 1 21 to compensate for the deviation, so as to adjust the angle after the deviation, and ensure precise operation during subsequent reconnection, thereby providing effective meshing conditions for the subsequent re-engagement of the cylindrical spur gear 2 41 with the cylindrical spur gear 1 21, and avoiding tooth collision when the cylindrical spur gear 2 41 and the cylindrical spur gear 1 21 are engaged.

[0060] Reset:

[0061] When the transported goods are removed or the obstacle is removed, the extrusion pressure on the pressure sensor 52 is reduced. When the extrusion pressure returns to below the preset threshold, the pressure sensor 52 controls the electromagnet 1 37 and the electromagnet 2 on the block 69 to be de-energized through the controller. After the electromagnet 1 37 is de-energized, it no longer magnetically attracts the iron plate 35. Under the elastic reset action of the spring 1 36, the iron plate 35 moves inside the splitting groove 31 toward the side away from the electromagnet 1 37. The iron plate 35 drives the connecting rod 34 to move synchronously inside the stabilizing ring 33 toward the side away from the electromagnet 1 37. The connecting rod 34 causes the splitting ring 32 to move along the splitting groove 31 inside the module housing 1 toward the side close to the servo motor 2. The splitting ring 32 drives the reduction gear set 4 to move toward the side close to the servo motor 2. The reduction gear set 4 drives the cylindrical spur gear 2 41 on its input shaft to approach the cylindrical spur gear 1 21. At this time, the cylindrical spur gear 2 41 will mesh with the cylindrical spur gear 1 21 again.

[0062] It should be noted that: when the reduction gear set 4 moves as a whole, the output shaft of the reduction gear set 4 will move synchronously. At this time, the block 69 will move in the support groove 611. Through the movable design of the block 69 and the support groove 611, when the block 69 is inserted in the support groove 611, it will not affect the translational reset movement of the reduction gear set 4.

[0063] At the same time, the electromagnet 2 on the block 69 no longer generates magnetism after the power is cut off, and the magnet 691 no longer repels the electromagnet 2 of the block 69. Under the elastic reset action of the spring 3 68, the block 69 retracts into the interior of the support shell 66, and the block 69 is no longer plugged into the support groove 611. Under the elastic reset action of the spring 2 64, the telescopic rod 63 returns to its initial state. At this time, the servo motor 2 and the reduction gear set 4 are reconnected, so that the servo motor 2 can drive the reduction gear set 4 for reduction drive through the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41.

[0064] This embodiment also provides a method for using a robot joint module, using the robot joint module as described above, the method comprising the following steps:

[0065] Step 1: When the pressure sensor 52 detects that the load on the output shaft of the reduction gear set 4 exceeds the rated load, the electromagnet 1 37 is energized and magnetically attracts the iron plate 35. The iron plate 35 drives the connecting rod 34 and the split ring 32 to move along the split groove 31, so that the cylindrical spur gear 2 41 is separated from the cylindrical spur gear 1 21.

[0066] Step 2: When electromagnet 1 37 is energized, electromagnet 2 on the clamping block 69 is energized and repels magnet 691, pushing the clamping block 69 into the support groove 611, connecting the output shaft of the reduction gear set 4 to the support shell 66, and buffering and supporting the output shaft of the reduction gear set 4 through the telescopic rod 63 and spring 2 64;

[0067] Step 3: When the pressure sensor 52 detects that the load on the output shaft of the reduction gear set 4 is lower than the rated load, the rotation deviation angle of the cylindrical spur gear 1 21 and the cylindrical spur gear 2 41 is detected by the intelligent encoder, and the cylindrical spur gear 1 21 is adjusted by the servo motor 2 so that the cylindrical spur gear 1 21 is aligned with the cylindrical spur gear 2 41, the electromagnet 1 37 and the electromagnet 2 on the block 69 are powered off, the spring 1 36 pulls the iron plate 35 to reset, so that the split ring 32 pushes the cylindrical spur gear 2 41 to re-engage with the cylindrical spur gear 1 21, the spring 3 68 is reset to make the block 69 disengage from the support groove 611, and the spring 2 64 drives the telescopic rod 63 to reset.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot joint module, comprising a module housing (1), wherein a servo motor (2) is provided inside the module housing (1), characterized in that: A split component is provided inside the module housing (1); The splitting component includes a splitting groove (31) provided on the inner side of the module housing (1), a splitting ring (32) slidingly provided inside the module housing (1), the splitting ring (32) being slidably connected to the splitting groove (31), a stabilizing ring (33) being fixedly connected inside the splitting groove (31), a connecting rod (34) being fixedly connected to the side of the splitting ring (32), the connecting rod (34) passing through the stabilizing ring (33) and being fixedly connected to an iron plate (35), a spring (36) being fixedly connected between a side of the iron plate (35) close to the connecting rod (34) and a groove wall of the splitting groove (31), and a side of the splitting groove (31) away from the servo motor (2) being fixedly connected to the groove wall. There is an electromagnet (37), a cylindrical spur gear (21) is fixedly connected to the output shaft of the servo motor (2), a reduction gear set (4) is arranged inside the split ring (32), an input shaft is arranged on the side of the reduction gear set (4) close to the servo motor (2), an output shaft is arranged on the side of the reduction gear set (4) away from the servo motor (2), a cylindrical spur gear (4) is fixedly connected to the input shaft of the reduction gear set (4), the cylindrical spur gear (21) is meshed with the cylindrical spur gear (41), and the detection component for detecting the load borne by the output shaft of the reduction gear set (4) and a support component for limiting the output shaft; The outer surface of the split ring (32) is provided with a convex strip, the convex strip of the split ring (32) is slidably connected to the inside of the split groove (31), and the connecting rod (34) slides inside the stabilizing ring (33); The detection component includes two sealing plates (51) fixedly connected to both ends of the module housing (1) by bolts, and a mounting hole for the output shaft of the reduction gear set (4) to pass through is provided on the sealing plate (51) away from the servo motor (2). The servo motor (2) is fixedly connected to the adjacent sealing plate (51) by bolts. A bearing (53) is installed in the mounting hole of the sealing plate (51), and the outer ring of the bearing (53) is fixedly connected to the mounting hole of the sealing plate (51). A plurality of pressure sensors (52) arranged in a ring array are fixedly connected between the outer ring of the bearing (53) and the inner side wall of the mounting hole of the sealing plate (51). A slider is fixedly connected to the inner side wall of the inner ring of the bearing (53). A slide groove corresponding to the slide groove is provided on the output shaft of the reduction gear set (4), and the slide groove on the bearing (53) slides in the slide groove. The support assembly includes a fixed ring (61) fixedly connected to the inner wall of the module housing (1), the inner wall of the fixed ring (61) is fixedly connected to two inner ring frames (62) arranged opposite to each other, the inner ring frame (62) is provided with a circular groove ring, the inner wall of the fixed ring (61) is rotatably connected to multiple groups of telescopic rods (63), each group includes two telescopic rods (63), the telescopic rods (63) include a fixed end and a telescopic end, and a spring 2 (64) is provided between the fixed end and the telescopic end, the fixed end is rotatably connected to the fixed ring (61), the telescopic ends of the two telescopic rods (63) in the same group are rotatably connected to a connecting shaft (65), the two ends of the connecting shaft (65) are respectively slidably connected to the circular groove rings of the two inner ring frames (62), and each connecting shaft (65) is fixedly connected There is a support shell (66), and an inner ring (67) is fixedly connected between the multiple support shells (66). The inner ring (67) is provided with multiple openings, and the number of the openings corresponds to the number of the support shells (66). The openings of the inner ring (67) are connected to the inside of the adjacent support shell (66). The inner ring (67) is sleeved on the outside of the output shaft of the reduction gear group (4). The inside of each support shell (66) is symmetrically fixedly connected with two springs (68). The two springs (68) are fixedly connected to a block (69) at one end away from the end connected to the support shell (66). The block (69) is provided with an electromagnet (2). The inside of the support shell (66) is fixedly connected with a magnet (691). The servo motor (2) and the split ring (32) are both provided with an intelligent encoder.

2. A robot joint module according to claim 1, characterized in that: After the electromagnet 2 on the clamping block (69) is energized, the magnetic poles on the side close to the magnet (691) are the same.

3. A robot joint module according to claim 2, characterized in that: The support assembly further comprises two limiting rings (610) fixedly connected to the output shaft of the reduction gear set (4); a plurality of supporting grooves (611) are provided on the outer surface of the output shaft of the reduction gear set (4) and located between the two limiting rings (610); the number of the supporting grooves (611) corresponds to the number of the clamping blocks (69).

4. A method for using a robot joint module, characterized in that: Using the robot joint module according to claim 3, the method comprises the following steps: Step 1: When the pressure sensor (52) detects that the load on the output shaft of the reduction gear set (4) exceeds the rated load, the electromagnet (37) is energized and magnetically attracts the iron plate (35), and the iron plate (35) drives the connecting rod (34) and the split ring (32) to move along the split groove (31), so that the cylindrical spur gear (41) is separated from the cylindrical spur gear (21); Step 2: When the electromagnet 1 (37) is energized, the electromagnet 2 on the clamping block (69) is energized and repels the magnet (691), pushing the clamping block (69) into the support groove (611), connecting the output shaft of the reduction gear set (4) to the support shell (66), and buffering and supporting the output shaft of the reduction gear set (4) through the telescopic rod (63) and the spring 2 (64); Step 3: When the pressure sensor (52) detects that the load on the output shaft of the reduction gear set (4) is lower than the rated load, the rotation deviation angle of the cylindrical spur gear 1 (21) and the cylindrical spur gear 2 (41) is detected by the intelligent encoder, and the cylindrical spur gear 1 (21) is adjusted by the servo motor (2) so that the cylindrical spur gear 1 (21) is aligned with the cylindrical spur gear 2 (41), the electromagnet 1 (37) and the electromagnet 2 on the clamping block (69) are powered off, the spring 1 (36) pulls the iron plate (35) to reset, so that the split ring (32) pushes the cylindrical spur gear 2 (41) to re-engage with the cylindrical spur gear 1 (21), the spring 3 (68) resets the clamping block (69) to disengage from the support groove (611), and the spring 2 (64) drives the telescopic rod (63) to reset.

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