Multi-degree-of-freedom robot rotary joint module

Abstract

The application discloses a multi-degree-of-freedom robot rotary joint module, and belongs to the technical field of robot rotary joint module production, which comprises a module shell, a motor, a harmonic reducer, electric push rods, a guide ring, guide bearings, a module output flange and a cross universal joint. The wave generator of the harmonic reducer is connected with the rotor of the motor. One end of the harmonic reducer is provided with a reducer output flange. Three push rod seats are arranged on the module shell. One end of each of the three electric push rods is rotatably connected with the three push rod seats. Three mounting seats are arranged on the guide ring. Guide seats are arranged on the mounting seats. The telescopic rods at the other ends of the three electric push rods are rotatably connected with the three guide seats. The guide bearings are sleeved on the circumferential inner wall of the guide ring. The module output flange is sleeved on the circumferential inner wall of the guide bearings. The two ends of the cross universal joint are connected with the module output flange and the reducer output flange respectively. The application can realize multi-degree-of-freedom control function, and reduces the volume and weight.

Description

Technical Field

[0001] The present invention belongs to the technical field of production of robot rotary joint modules, and in particular relates to a robot rotary joint module with multiple degrees of freedom. Background Art

[0002] With the rapid development of industrial automation and intelligent equipment technology, multi-degree-of-freedom robots have become core vehicles for precision manufacturing, medical rehabilitation, service robotics, and other fields. As the robot's motion execution unit, the performance of the rotary joint module directly affects the overall flexibility, load capacity, and operational precision of the entire machine. Traditional single-degree-of-freedom joint modules are limited by fixed axial lengths and structural rigidity, making them difficult to meet the requirements of complex spatial trajectory tasks. While traditional multi-degree-of-freedom joint modules can achieve multi-axis linkage, they generally suffer from bulky size, lengthy transmission chains, and delayed dynamic response, resulting in high energy loss and limited control precision.

[0003] In recent years, modular design and integrated drive technology have provided new ideas for miniaturizing joint modules. By integrating the motor, reducer, encoder, and drive circuit, the joint size can be significantly reduced and the power density can be increased.

[0004] However, existing technologies still face the following bottlenecks:

[0005] 1. Traditional multi-DOF robot joint modules, because their output flanges can only achieve single-axis reciprocating rotation, require multiple rotary joint modules to be connected in series to achieve multi-DOF operation of humanoid robots. This has the disadvantages of a long transmission chain and a complex structure, which is not conducive to the miniaturization of humanoid robots. At the same time, due to the large inertia and delayed dynamic response, the robot's movement speed and flexibility are also affected, and the control difficulty is increased.

[0006] 2. Traditional multi-degree-of-freedom robot joint modules generally use three-degree-of-freedom joints (such as bionic shoulder joints and hip joints), which limit the range of motion of humanoid robot joints and have a low level of bionics in terms of motion characteristics. This makes it impossible for humanoid robots to complete anthropomorphic movements such as shoulder expansion, shoulder shrug, and leg raising. Summary of the Invention

[0007] The purpose of the present invention is to solve the above problems and provide a multi-degree-of-freedom robot rotation joint module that can complete more anthropomorphic movements without serial connection.

[0008] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0009] The application discloses a multi-degree-of-freedom robot rotary joint module, which comprises a module shell, a motor and a harmonic reducer, the motor and the harmonic reducer are installed in the module shell, a wave generator of the harmonic reducer is connected with a rotor of the motor, one end of the harmonic reducer is provided with a reducer output flange as a rotary power output end, the multi-degree-of-freedom robot rotary joint module further comprises three electric push rods, a guide ring, a guide bearing, a module output flange and a cross universal joint, three push rod seats are uniformly distributed on a circumferential outer wall of the module shell in a circumferential direction, one end of each of the three electric push rods is rotationally connected with the three push rod seats respectively, a circular annular guide ring is provided with three mounting seats which are uniformly distributed on a circumferential outer wall of the guide ring in a circumferential direction and outwardly protrude, each of the mounting seats is provided with a guide seat close to one end of the push rod seat, the telescopic rods at the other ends of the three electric push rods are rotationally connected with the three guide seats respectively, the guide bearing is sleeved on a circumferential inner wall of the guide ring, the module output flange is sleeved on a circumferential inner wall of the guide bearing, and the cross universal joint is located between the module output flange and the reducer output flange and connected with the module output flange and the reducer output flange at two ends respectively.

[0010] As preferred, in order to better realize the guiding function and as little as possible affect the relative rotation function between the module output flange and the guide ring, the guide bearing is a sliding bearing. Since the rotation angle of the module output flange is generally not large, the relative rotation between the module output flange and the guide ring can be completely realized through the sliding bearing.

[0011] As preferred, in order to as little as possible reduce the volume, the motor is a frameless motor, a tubular reducer input shaft is sleeved in the rotor of the motor, and the reducer input shaft is connected with the wave generator and integrally formed.

[0012] As preferred, in order to facilitate detection of the rotation speed of the rotor of the motor and control of the electric push rod, an end of the module shell close to the motor is provided with a shell end cover, the shell end cover is provided with a drive control board, an end of the rotor of the motor close to the drive control board is provided with a magnetic encoder, control input ends of the electric push rod and a control input end of the motor are connected with control output ends of the drive control board in correspondence respectively, and the drive control board is provided with a sensor for sensing the magnetic encoder.

[0013] As preferred, in order to facilitate detection of the rotation speed of the reducer output flange and as little as possible reduce the volume, a circumferential inner wall of one end of the reducer output flange extends to a direction close to the drive control board to form a tubular flange shaft, one end of the flange shaft close to the drive control board is provided with a magnetic element, and the drive control board is provided with a sensor for sensing the magnetic element.

[0014] Preferably, in order to realize the reduction transmission function and minimize the volume, the harmonic reducer includes the wave generator, the reducer output flange, the reducer housing, a rigid wheel, a flexible wheel, and a cross-roller bearing. The reducer housing is installed in the module housing, the cross-roller bearing is installed in the reducer housing and uses the reducer housing as the outer ring of the bearing. The inner ring of the cross-roller bearing is connected to the rigid wheel and the reducer output flange in sequence through connecting screws. The wave generator is connected to the reducer output flange through a rolling bearing and is located in the rigid wheel. One end of the flexible wheel is located between the wave generator and the rigid wheel.

[0015] The beneficial effects of the present invention are:

[0016] The present invention integrates the module housing, motor and harmonic reducer and installs an electric push rod, a guide ring, a guide bearing, a module output flange and a cross universal joint. On the one hand, it can transmit the rotational motion of the reducer output flange to the module output flange through the cross universal joint to drive the rotation of related joint components of the robot. On the other hand, it can control the module output flange to perform arbitrary angle control through the electric push rod, thereby realizing multi-degree-of-freedom control functions not limited to three degrees of freedom. Ultimately, only one rotary joint module is required to complete rotation control and multi-degree-of-freedom control functions not limited to three degrees of freedom. This greatly simplifies the robot joint structure, reduces the volume and weight, is beneficial to improving the robot's movement speed and flexibility, and is more convenient to control. It expands the movement range of the humanoid robot joints, improves the bionic level of the movement characteristics, and enables the humanoid robot to complete anthropomorphic movements such as shoulder expansion, shoulder shrug, and leg raising. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the three-dimensional diagrams of the multi-degree-of-freedom robot rotary joint module of the present invention;

[0018] Figure 2 This is the second stereoscopic diagram of the multi-degree-of-freedom robot rotary joint module of the present invention;

[0019] Figure 3 This is a front view of the multi-degree-of-freedom robot rotary joint module of the present invention;

[0020] Figure 4 It is an AA sectional view in the main view of the multi-degree-of-freedom robot rotary joint module of the present invention;

[0021] Figure 5 yes Figure 4 Enlarged view of "B" in the figure.

[0022] In the figure, 1-guide ring, 2-guide bearing, 3-mounting seat, 4-guide seat, 5-electric push rod, 6-harmonic reducer, 61-reducer output flange, 62-rigid wheel, 63-flexible wheel, 64-reducer housing, 65-cross roller bearing, 66-wave generator, 7-module housing, 8-push rod seat, 9-housing connecting flange, 10-housing end cover, 11-module output flange, 12-cross universal joint, 13-stator, 14-rotor, 15-reducer input shaft, 16-flange shaft, 17-drive control board, 18-magnetic encoder. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings:

[0024] like Figure 1-Figure 5 As shown, the multi-degree-of-freedom robot rotary joint module of the present invention includes a module housing 7, a motor (including the stator 13 and rotor 14 described below, which is a conventional structure), a harmonic reducer 6, three electric push rods 5, a guide ring 1, a guide bearing 2, a module output flange 11 and a cross universal joint 12. The motor and the harmonic reducer 6 are installed in the module housing 7, and the wave generator 66 of the harmonic reducer 6 is connected to the rotor 14 of the motor. One end of the harmonic reducer 6 is provided with a reducer output flange 61 as a rotational power output end, and three push rods evenly distributed along the circumferential direction are provided on the circumferential outer wall of the module housing 7. Seat 8, one end of the three electric push rods 5 are rotationally connected to the three push rod seats 8 respectively, and three mounting seats 3 that are evenly distributed along the circumferential direction and convex are provided on the circumferential outer wall of the circular guide ring 1, and a guide seat 4 is provided on the mounting seat 3 at one end close to the push rod seat 8. The telescopic rods at the other ends of the three electric push rods 5 are rotationally connected to the three guide seats 4 respectively, the guide bearing 2 is sleeved on the circumferential inner wall of the guide ring 1, and the module output flange 11 is sleeved on the circumferential inner wall of the guide bearing 2. The cross universal joint 12 is located between the module output flange 11 and the reducer output flange 61 and its two ends are respectively connected to the module output flange 11 and the reducer output flange 61.

[0025] like Figure 1-Figure 5 As shown, the present invention also discloses the following multiple more optimized specific structures:

[0026] To better achieve the guiding function and minimize the impact on the relative rotation between the module output flange 11 and the guide ring 1, the guide bearing 2 is a sliding bearing. Since the rotation angle of the module output flange 11 is generally not large, the relative rotation between the module output flange 11 and the guide ring 1 can be fully achieved using a sliding bearing.

[0027] In order to minimize the volume, the motor is a frameless motor, and the tubular reducer input shaft 15 is sleeved inside the rotor 14 of the motor. The reducer input shaft 15 is connected to the wave generator 66 and is integrally formed.

[0028] In order to facilitate the detection of the rotational speed of the motor's rotor 14 and control the electric push rod 5, a housing end cover 10 is installed at one end of the module housing 7 close to the motor through a housing connecting flange 9. A drive control board 17 is installed in the housing end cover 10. A magnetic encoder 18 is installed at one end of the motor's rotor 14 close to the drive control board 17. The control input end of the electric push rod 5 and the control input end of the motor are respectively connected to the control output end of the drive control board 17. A sensor for sensing the magnetic encoder 18 (not shown in the figure) is installed on the drive control board 17.

[0029] In order to facilitate the detection of the rotational speed of the reducer output flange 61 and minimize the volume, the inner wall of the circumference of one end of the reducer output flange 61 extends toward the drive control board 17 to form a tubular flange shaft 16. One end of the flange shaft 16 is close to the drive control board 17 and is installed with a magnetic element (not shown in the figure). A sensor for sensing the magnetic element is installed on the drive control board 17 (not shown in the figure).

[0030] In order to achieve the reduction transmission function and minimize the volume, the harmonic reducer 6 includes a wave generator 66, a reducer output flange 61, a reducer housing 64, a rigid wheel 62, a flexible wheel 63, and a cross-roller bearing 65. The reducer housing 64 is installed in the module housing 7. The cross-roller bearing 65 is installed in the reducer housing 64 and uses the reducer housing 64 as the outer ring of the bearing. The inner ring of the cross-roller bearing 65 is connected to the rigid wheel 62 and the reducer output flange 61 in sequence through connecting screws (not marked in the figure). The wave generator 66 is connected to the reducer output flange 61 through a rolling bearing (not marked in the figure) and is located in the rigid wheel 62. One end of the flexible wheel 63 is located between the wave generator 66 and the rigid wheel 62.

[0031] like Figure 1-Figure 5 As shown, when used, the module shell 7 is connected and fixed to the body frame of the humanoid robot (not shown in the figure), and the module output flange 11 is connected and fixed to other corresponding joint modules of the humanoid robot (not shown in the figure). When the drive control board 17 receives the rotation control signal sent by the host computer, it controls the stator 13 of the motor to generate a regular alternating magnetic field, drives the rotor 14 of the motor to rotate, drives the reducer input shaft 15 and the wave generator 66 to rotate synchronously, and after the harmonic reducer 6 decelerates and increases the torque, drives the module output flange 11 to rotate through the cross universal joint 12; at the same time, the sensor on the drive control board 17 collects the magnetic field change information of the magnetic encoder 18 and uses it as the basis for speed control, thereby realizing closed-loop control of the rotary joint module.

[0032] At the same time, after receiving the tilt signal sent by the host computer, the drive control board 17 controls the movement of the three electric push rods 5 respectively. Based on the principle that three points can determine a plane, by controlling the stroke of the telescopic rods of the three electric push rods 5, the guide ring 1 is adjusted to the required tilt plane. The module output flange 11 will also be synchronously tilted to the required tilt plane under the guidance of the guide ring 1. The rotational motion of the harmonic reducer 6 is continuously transmitted to the module output flange 11 through the cross universal joint 12, thereby realizing the multi-degree-of-freedom control function of the rotary joint module.

[0033] The above embodiments are only preferred embodiments of the present invention and are not limitations on the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. A multi-degree-of-freedom robot rotary joint module, comprising a module housing, a motor, and a harmonic reducer, wherein the motor and the harmonic reducer are installed in the module housing, a wave generator of the harmonic reducer is connected to the rotor of the motor, and one end of the harmonic reducer is provided with a reducer output flange as a rotational power output end, characterized in that: The multi-degree-of-freedom robot rotary joint module also includes three electric push rods, a guide ring, a guide bearing, a module output flange and a cross universal joint. Three push rod seats evenly distributed along the circumferential direction are provided on the circumferential outer wall of the module shell. One end of the three electric push rods is rotatably connected to the three push rod seats respectively. Three mounting seats evenly distributed along the circumferential direction and convex are provided on the circumferential outer wall of the annular guide ring. A guide seat is provided on one end of the mounting seat close to the push rod seat. The telescopic rods at the other end of the three electric push rods are rotatably connected to the three guide seats respectively. The guide bearing is mounted on the circumferential inner wall of the guide ring, and the module output flange is mounted on the circumferential inner wall of the guide bearing. The cross universal joint is located between the module output flange and the reducer output flange and its two ends are respectively connected to the module output flange and the reducer output flange.

2. The multi-degree-of-freedom robot rotary joint module according to claim 1, characterized in that: The guide bearing is a sliding bearing.

3. The multi-degree-of-freedom robot rotary joint module according to claim 1 or 2, characterized in that: The motor is a frameless motor, and a tubular reducer input shaft is sleeved inside the rotor of the motor. The reducer input shaft is connected to the wave generator and is integrally formed.

4. The multi-degree-of-freedom robot rotary joint module according to claim 3, characterized in that: A housing end cover is installed at one end of the module housing close to the motor, a drive control board is installed in the housing end cover, a magnetic encoder is installed on one end of the rotor of the motor close to the drive control board, the control input end of the electric push rod and the control input end of the motor are respectively connected to the control output end of the drive control board, and a sensor for sensing the magnetic encoder is installed on the drive control board.

5. The multi-degree-of-freedom robot rotary joint module according to claim 4, characterized in that: The inner circumferential wall of one end of the reducer output flange extends toward the drive control board to form a tubular flange shaft. One end of the flange shaft is close to the drive control board and is equipped with a magnetic element. A sensor for sensing the magnetic element is installed on the drive control board.

6. The multi-degree-of-freedom robot rotary joint module according to claim 1 or 2, characterized in that: The harmonic reducer includes the wave generator, the reducer output flange, the reducer housing, a rigid wheel, a flexible wheel, and a cross-roller bearing. The reducer housing is installed in the module housing. The cross-roller bearing is installed in the reducer housing and uses the reducer housing as the outer ring of the bearing. The inner ring of the cross-roller bearing is connected to the rigid wheel and the reducer output flange in sequence through connecting screws. The wave generator is connected to the reducer output flange through a rolling bearing and is located in the rigid wheel. One end of the flexible wheel is located between the wave generator and the rigid wheel.

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