Servo encoder integrated robot integrated joint

Abstract

The invention relates to a servo encoder integrated robot integrated joint which comprises a motor encoder coded disc, a motor drives a torque sensor to move through a harmonic reducer, and the torque sensor serves as an output end and is connected with a flexible gear of the harmonic reducer and a hollow shaft at the same time. Wherein the motor encoder read head, the joint encoder read head and the servo driver are integrated, so that the motor encoder coded disc and the joint encoder coded disc are coaxial and are nested inside and outside, and the working surface of the motor encoder coded disc is opposite to the motor encoder read head on the servo driver and keeps a gap with the motor encoder read head; the joint encoder code disc and the joint encoder read head are opposite to each other and keep a gap therebetween; the motor encoder read head, the joint encoder read head and the servo driver are integrated, so that the encoder read head is not provided with a signal processing PCBA independently, the joint encoder code disc and the motor encoder code disc are coaxially nested, the axial size does not need to be additionally increased, and the size and the volume of the joint are further reduced.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a servo encoder integrated robot integrated joint. Background Art

[0002] In the current robotics field, integrated joints typically feature encoders at both the motor and joint ends to achieve precise position control and safety redundancy. This structure typically includes two sets of encoder discs and readers, often stacked along the joint axis. This results in a complex joint length structure, low power density, and difficulty in achieving compactness and miniaturization of the entire robot. Summary of the Invention

[0003] The problem to be solved by the present invention is to provide a servo encoder integrated robot integrated joint, which solves the above-mentioned technical problems.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A servo encoder integrated robot integrated joint includes a motor and a motor encoder code disk. The motor drives the torque sensor to move through a harmonic reducer. The torque sensor is connected to the flexible wheel and the hollow shaft of the harmonic reducer as the output end. The motor encoder reader is integrated with the joint encoder reader and the servo driver. Therefore, the motor encoder code disk and the joint encoder code disk are coaxial and nested inside and outside, and the working surface of the motor encoder code disk is simultaneously opposite to the motor encoder reader on the servo driver and maintains a gap. The joint encoder code disk and the joint encoder reader are opposite to each other and maintain a gap.

[0006] Preferably, the motor includes a motor rotor and a motor stator, and a hollow shaft is installed through the motor rotor.

[0007] Preferably, a cross roller bearing is provided between the torque sensor and the harmonic reducer.

[0008] Preferably, the motor encoder reader, joint encoder reader, and signal processing circuit are all integrated with the servo drive, and the motor encoder reader and joint encoder reader are arranged on the same side surface of the servo drive and face the working surface of the motor encoder code disk.

[0009] Preferably, the motor encoder reader is located in the sensing area of ​​the motor encoder code disc, and the joint encoder reader is located in the sensing area of ​​the joint encoder code disc.

[0010] Preferably, one end of the hollow shaft is fixed to the torque sensor, and the other end is fixed to the joint encoder disc, and the motor encoder disc is connected to the motor rotor.

[0011] Preferably, the joint encoder code disc and the bearing are axially fixed by a bearing inner pressure plate and a bearing outer pressure plate, and the bearing bracket, the brake housing and the bearing axially position the joint encoder code disc.

[0012] Preferably, the brake housing is connected to the servo drive, and a brake is installed in the brake housing.

[0013] The beneficial effects of the present invention are as follows: the motor encoder reader, the joint encoder reader and the servo driver are integrated into one, so that the encoder reader no longer needs to be provided with a separate signal processing PCBA. At the same time, the joint encoder code disc and the motor encoder code disc are coaxially nested, without the need to increase the axial size, further reducing the size and volume of the joint;

[0014] The signal between the encoder reader and the driver is directly wired and transmitted inside the driver PCBA, reducing signal instability and interference caused by patch cables;

[0015] The joint encoder reader and the motor encoder reader are installed on the same side of the driver PCBA. The driver PCBA does not participate in the dimensional chain of the encoder gap control. This makes the two readers have the same dimensional reference, improving the control accuracy of the gap between the two encoder readers and the code disk.

[0016] The joint encoder code disc is controlled by the dimensional chain of the bearing, bearing bracket, brake housing, etc. to ensure the gap with the encoder reading head on the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a cross-sectional view of the present invention;

[0018] Figure 2 This is a schematic diagram of the first structure of the present invention;

[0019] Figure 3 This is a second structural diagram of the present invention.

[0020] Legend:

[0021] 1. Joint encoder code disc; 2. Bearing; 3. Bearing inner pressure plate; 4. Bearing outer pressure plate; 5. Hollow shaft; 6. Joint encoder reader; 7. Motor encoder reader; 8. Bearing bracket; 9. Servo drive; 10. Motor encoder code disc; 11. Brake; 12. Brake housing; 13. Motor rotor; 14. Motor stator; 15. Harmonic reducer; 16. Crossed roller bearing; 17. Torque sensor. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] Specific examples are given below.

[0024] See also Figures 1 to 3 A servo encoder integrated robot integrated joint includes a motor and a motor encoder code disc 10. The motor drives the torque sensor 17 to move through the harmonic reducer 15. The torque sensor 17 is connected to the flexible wheel of the harmonic reducer 15 and the hollow shaft 5 as the output end. The motor encoder reader 7 is integrated with the joint encoder reader 6 and the servo driver 9, so the motor encoder code disc 10 is coaxial with the joint encoder code disc 1 and nested inside and outside, and the working surface of the motor encoder code disc 10 is simultaneously opposite to the motor encoder reader 7 on the servo driver 9 and maintains a gap, and the joint encoder code disc 1 is opposite to the joint encoder reader 6 and maintains a gap.

[0025] The motor includes a motor rotor 13 and a motor stator 14 , and a hollow shaft 5 is installed through the motor rotor 13 .

[0026] A cross roller bearing 16 is provided between the torque sensor 17 and the harmonic reducer 15 , and the torque sensor 17 and the harmonic reducer 15 are rotationally connected.

[0027] The motor encoder reader 7, the joint encoder reader 6, and the signal processing circuit are all integrated with the servo driver 9. The motor encoder reader 7 and the joint encoder reader 6 are arranged on the same side surface of the servo driver 9 and face the working surface of the motor encoder code disk 10. The motor encoder reader 7 is in the sensing area of ​​the motor encoder code disk 10, and the joint encoder reader 6 is in the sensing area of ​​the joint encoder code disk 1.

[0028] One end of the hollow shaft 5 is fixed to the torque sensor 17 , and the other end is fixed to the joint encoder disc 1 . The motor encoder disc 10 is connected to the motor rotor 13 .

[0029] The joint encoder code disc 1 and the bearing 2 are axially fixed by the bearing inner pressure plate 3 and the bearing outer pressure plate 4, and the bearing bracket 8, the brake housing 12 and the bearing 2 axially position the joint encoder code disc 1.

[0030] The brake housing 12 is connected to the servo driver 9 , and the brake 11 is installed in the brake housing 12 .

[0031] The motor encoder reader 7 is integrated with the joint encoder reader 6 and the servo driver 9, so that the encoder reader no longer needs to be equipped with a separate signal processing PCBA.

[0032] The joint encoder reader 6 and the motor encoder reader 7 are arranged on the same side of the driver PCBA, facing the working surface of the encoder code disk.

[0033] The joint encoder code disc 1 and the motor encoder code disc 10 are coaxially nested, and the working surfaces are facing the encoder reading head at the same time.

[0034] The joint encoder code disc 1 is controlled by the dimensional chain of the bearing 2, bearing bracket 8, brake housing 12, etc. to ensure the gap with the encoder reading head on the driver.

[0035] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A servo encoder integrated robot integrated joint, characterized in that: The invention comprises a motor and a motor encoder code disc (10), wherein the motor drives a torque sensor (17) to move through a harmonic reducer (15), and the torque sensor (17) is connected to the flexible wheel of the harmonic reducer (15) and the hollow shaft (5) as an output end, wherein the motor encoder reader (7) is integrated with the joint encoder reader (6) and the servo driver (9), so that the motor encoder code disc (10) and the joint encoder code disc (1) are coaxial and nested inside and outside, and the working surface of the motor encoder code disc (10) is simultaneously opposite to the motor encoder reader (7) on the servo driver (9) and maintains a gap, and the joint encoder code disc (1) is opposite to the joint encoder reader (6) and maintains a gap.

2. The servo encoder integrated robot joint according to claim 1, characterized in that: The motor comprises a motor rotor (13) and a motor stator (14), and a hollow shaft (5) is installed through the motor rotor (13).

3. The servo encoder integrated robot joint according to claim 2, characterized in that: A cross roller bearing (16) is provided between the torque sensor (17) and the harmonic reducer (15).

4. The servo encoder integrated robot joint according to claim 3, characterized in that: The motor encoder reader (7), the joint encoder reader (6), and the signal processing circuit are all integrated with the servo driver (9); the motor encoder reader (7) and the joint encoder reader (6) are arranged on the same side surface of the servo driver (9) and face the working surface of the motor encoder code disk (10).

5. The servo encoder integrated robot joint according to claim 4, characterized in that: The motor encoder reader (7) is located in the sensing area of ​​the motor encoder code disc (10), and the joint encoder reader (6) is located in the sensing area of ​​the joint encoder code disc (1).

6. The servo encoder integrated robot joint according to claim 5, characterized in that: One end of the hollow shaft (5) is fixed to the torque sensor (17), and the other end is fixed to the joint encoder disc (1); the motor encoder disc (10) is connected to the motor rotor (13).

7. The servo encoder integrated robot joint according to claim 6, characterized in that: The joint encoder code disc (1) and the bearing (2) are axially fixed by a bearing inner pressure plate (3) and a bearing outer pressure plate (4), and the bearing bracket (8), the brake housing (12) and the bearing (2) axially position the joint encoder code disc (1).

8. The servo encoder integrated robot joint according to claim 7, characterized in that: The brake housing (12) is connected to the servo driver (9), and a brake (11) is installed in the brake housing (12).

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