Face gear robot joint module

Abstract

The invention relates to a face gear robot joint module which comprises a shell, a frameless torque motor, a face gear shaft, a face gear and an output flange plate. The frameless torque motor is installed on the front portion in the shell, and the face gear shaft is vertically and rotatably installed on the rear portion in the shell. The face gear is fixedly arranged in the middle of the face gear shaft in a sleeving mode, and the frameless torque motor drives the face gear to rotate through a speed reducing mechanism. And the output flange plate is fixedly connected with the lower end of the face gear shaft. The invention has the following beneficial effects: 1, the meshing noise is reduced; the problems that a planetary gear mechanism is complex in assembly, difficult to maintain and large in back clearance are solved; the number of overall parts of equipment is reduced, and the part manufacturing difficulty and the assembly requirement are lowered. And 4, the production cost can be greatly reduced by 50%.

Description

Technical Field

[0001] This invention relates to the component structure of collaborative robots, and more specifically to a face gear robot joint module. Background Technology

[0002] Face gear transmission has advantages such as small size, light weight, low noise, high overlap, high interchangeability and strong load-bearing capacity.

[0003] Robotic joint modules connect two parts of a collaborative robot, analogous to the joints in a human arm. As the "motion execution unit" and "core functional module" of the collaborative robot, they are key components for achieving intelligent, modular, and precise autonomous movement. When the collaborative robot moves, the frameless torque motor within the joint module provides the drive source. When the collaborative robot requires high torque, the precision reducer within the joint module converts the high-speed, low-torque motor into the low-speed, high-torque required by the robot. When the collaborative robot needs to achieve precise movements, the sensor system built into the joint module enables precise closed-loop control, force control, and collision detection. Simultaneously, the control system can receive commands from higher levels and quickly and accurately control the motor's torque, speed, and position. Currently, the reducer structures used in joint modules on the market are planetary gear reducers and harmonic reducers, with RV reducers used in a small number of scenarios; drive motors mostly use frameless torque motors, frameless servo motors, DC brushless motors, coreless motors, etc.; the sensing system usually includes position sensors and torque sensors, with position sensing mostly implemented using encoders; the control system is integrated on the main control PCB board and controlled by the program in the chip.

[0004] The reducer structure used in the aforementioned joint module has the following defects:

[0005] 1. The meshing noise of multiple gears in the planetary reduction mechanism is high;

[0006] 2. Planetary reduction mechanisms are difficult to maintain, complex to assemble, and have large backlash;

[0007] 3. The RV reduction mechanism has a large number of parts, each with complex manufacturing processes, stringent machining accuracy requirements, and high assembly requirements;

[0008] 4. Due to technical barriers, RV reduction mechanisms have high manufacturing costs and limited supply. Summary of the Invention

[0009] In summary, to overcome the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a face gear robot joint module. The face gear machining technology originates from the first dedicated CNC gear grinding machine jointly developed by Beijing University of Aeronautics and Astronautics and Guilin Guibei Machinery Co., Ltd. By constructing a mathematical model for face gear grinding, efficient and precise gear grinding is achieved on this dedicated CNC gear grinding machine, improving the face gear tooth surface accuracy and meshing performance. This allows the face gear transmission structure to be applied to robot joint modules, replacing planetary reducers and RV reducer structures. This reduces assembly requirements and maintenance difficulty, as well as production costs, while simultaneously improving accuracy and product competitiveness.

[0010] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A face gear robot joint module includes a housing, a frameless torque motor, a face gear shaft, a face gear, and an output flange; the frameless torque motor is installed in the front part of the housing, and the face gear shaft is vertically and rotatably installed in the rear part of the housing; the face gear is fixedly mounted in the middle of the face gear shaft, and the frameless torque motor drives the face gear to rotate through a reduction mechanism; the output flange is fixedly connected to the lower end of the face gear shaft.

[0011] Based on the above technical solution, the present invention can be further improved as follows:

[0012] Furthermore, the reduction mechanism is a spur gear; the stator of the frameless torque motor is installed in the housing near the front end via a stator cover; the spur gear is installed on the stator cover and the front part of the housing via a first deep groove ball bearing, and the spur gear is connected to the rotor of the frameless torque motor via a key, and the spur gear also meshes with the face gear.

[0013] Furthermore, it also includes an input flange cover, a main control board, an input magnetic ring encoder, an output sensor board, and an output magnetic ring encoder; the input flange cover is installed at the front end of the housing; the main control board is installed on the stator cover; the magnetic ring of the input magnetic ring encoder is installed on the spur gear;

[0014] The upper and lower ends of the rear of the housing are respectively equipped with a top end cover and a bottom end cover. The upper and lower ends of the face gear shaft are respectively mounted on the top end cover and the bottom end cover via tapered roller bearings and oil seals. The face gear is fixedly fitted in the middle of the face gear shaft via a key connection. A top inspection cover is installed on the upper end of the top end cover. The output end sensor board is provided with a sensor chip and is mounted on the top end cover. The magnetic ring of the output end magnetic ring encoder is mounted on the face gear shaft.

[0015] Furthermore, the reduction mechanism includes a planetary reduction mechanism and a spur gear; the stator of the frameless torque motor is mounted inside the housing near the front end via a stator cover; the sun gear of the planetary reduction mechanism is mounted on the stator cover and the front part of the housing via first deep groove ball bearings, and the sun gear is connected to the rotor of the frameless torque motor via a key; the spur gear is rotatably located inside the housing and at a position corresponding to the rear side of the planetary reduction mechanism, and the spur gear is connected to the planet carrier of the planetary reduction mechanism via a key, and the spur gear also meshes with the face gear.

[0016] Furthermore, it also includes a planetary gear outer bushing; the planetary gear outer bushing is installed in the front part of the housing, the internal gear ring of the planetary reduction mechanism is installed in the planetary gear outer bushing, the planetary gears of the planetary reduction mechanism are located inside the internal gear ring and mesh with the sun gear and the internal gear ring respectively; the planetary gears are mounted on the planet carrier via a rotating shaft and a second deep groove ball bearing, the planet carrier is rotatably mounted in the planetary gear outer bushing via a third deep groove ball bearing and is positioned corresponding to the rear side of the internal gear ring; a planetary gear set cover mounted on the planet carrier is provided on the front side of the internal gear ring;

[0017] The spur gear bushing is mounted to the rear end of the planetary gear outer bushing, and the spur gear is rotatably mounted on the spur gear bushing via a fourth deep groove ball bearing.

[0018] Furthermore, it also includes an input flange cover, a main control board, an input magnetic ring encoder, an output sensor board, and an output magnetic ring encoder; the input flange cover is installed at the front end of the housing; the main control board is installed on the stator cover; the magnetic ring of the input magnetic ring encoder is installed on the sun gear;

[0019] The upper and lower ends of the rear of the housing are respectively equipped with a top end cover and a bottom end cover. The upper and lower ends of the face gear shaft are respectively mounted on the top end cover and the bottom end cover via tapered roller bearings and oil seals. The face gear is fixedly fitted in the middle of the face gear shaft by a key connection. A top inspection cover is installed on the upper end of the top end cover. The output end sensor board is provided with a sensor chip and is mounted on the top end cover. The magnetic ring of the output end magnetic ring encoder is mounted on the face gear shaft.

[0020] Furthermore, the housing is composed of an input end housing and an output end housing, front and rear.

[0021] The beneficial effects of this invention are:

[0022] 1. This invention uses a face gear mechanism to replace the planetary gear mechanism. Due to the meshing characteristics of face gears and the fact that the number of gear parts involved in meshing is less than that of planetary gear reduction mechanisms, meshing noise is reduced.

[0023] 2. This invention uses a face gear mechanism to replace the planetary gear mechanism, which solves the problems of complex assembly, difficult maintenance, and large backlash of the planetary gear mechanism;

[0024] 3. This invention uses a face gear mechanism to replace the RV reduction mechanism, reducing the overall number of parts in the equipment and lowering the difficulty of parts manufacturing and assembly requirements;

[0025] 4. This invention uses a face gear mechanism to replace the RV reduction mechanism, which can significantly reduce production costs by 50%. Attached Figure Description

[0026] Figure 1 This is a structural diagram of Example 1;

[0027] Figure 2 This is a structural diagram of Example 2;

[0028] Figure 3 for Figure 2 Structural Supplementary Explanation Diagram ( Figure 2 (Enlarged cross-sectional view from the top view angle).

[0029] The attached diagram lists the components represented by each number as follows:

[0030] 1. Face gear shaft, 2. Face gear, 3. Output flange, 4. Spur gear, 5. Stator, 6. Stator cover, 7. First deep groove ball bearing, 8. Rotor, 9. Flange cover, 10. Main control board, 11. Gear shaft, 12. Input magnetic ring encoder, 13. Output sensor board, 14. Output magnetic ring encoder, 15. Top end cover, 16. Bottom end cover, 17. Tapered roller bearing, 18. Oil seal, 19. Top inspection cover, 20. Sun gear, 21. Planetary carrier, 22. Planetary gear outer bushing, 23. Internal gear ring, 24. Planetary gear, 25. Third deep groove ball bearing, 26. Planetary gear secondary cover, 27. Spur gear bushing, 28. Fourth deep groove ball bearing, 29. Input front housing, 30. Output rear housing, 31. Second deep groove ball bearing. Detailed Implementation

[0031] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0032] Example 1

[0033] like Figure 1As shown, a face gear robot joint module includes a housing, a frameless torque motor, a face gear shaft 1, a face gear 2, and an output flange 3. The housing is composed of an input end housing 29 and an output end housing 30, one in front and one behind. The frameless torque motor is installed at the front of the housing, and the face gear shaft 1 is vertically and rotatably installed at the rear of the housing. The face gear 2 is fixedly mounted in the middle of the face gear shaft 1, and the frameless torque motor drives the face gear 2 to rotate through a reduction mechanism. The output flange 3 is fixedly connected to the lower end of the face gear shaft 1.

[0034] In this embodiment, the reduction mechanism is a single-stage reduction mechanism (spur gear 4), as detailed below:

[0035] The reduction mechanism is a spur gear 4. The stator 5 of the frameless torque motor is mounted inside the housing near the front end via a stator cover 6. The spur gear 4 is mounted on the stator cover 6 and the front part of the housing via a first deep groove ball bearing 7, and the spur gear 4 is connected to the rotor 8 of the frameless torque motor via a key. The spur gear 4 also meshes with the face gear 2.

[0036] The module also includes an input flange cover 9, a main control board 10, an input magnetic ring encoder 12, an output sensor board 13, and an output magnetic ring encoder 14. The input flange cover 9 is installed at the front end of the housing. The main control board 10 is installed on the stator cover 6. The magnetic ring of the input magnetic ring encoder 12 is installed on the spur gear 4. A top end cover 15 and a bottom end cover 16 are respectively installed at the upper and lower ends of the rear of the housing. The upper and lower ends of the face gear shaft 1 are respectively installed on the top end cover 15 and the bottom end cover 16 via tapered roller bearings 17 and oil seals 18. The face gear 2 is fixedly fitted onto the middle of the face gear shaft 1 via a key connection. A top inspection cover 19 is installed on the upper end of the top end cover 15. The output sensor board 13 has a sensor chip and is installed on the top end cover 15. Specifically, the output sensor board 13 is installed on the top end cover 15 via hexagonal isolation posts and screws. The top inspection cover 19 is only for sealing and is opened when needed. The magnetic ring of the output magnetic ring encoder 14 is mounted on the face gear shaft 1.

[0037] A frameless torque motor serves as the power source, driving the spur gear 4 to rotate. Since the spur gear 4 meshes with the face gear 2, the face gear 2 rotates synchronously with the spur gear 4, driving the face gear shaft 1 to rotate. Finally, the torque is output through the output flange 3 connected to the face gear shaft 1. Two sets of magnetic ring encoders, the input magnetic ring encoder 12 and the output magnetic ring encoder 14, respectively sense and record the deflection angles of the spur gear 4 and the face gear 2, enabling the main control board 10 to precisely control the operation of the entire joint module.

[0038] Example 2

[0039] This embodiment replaces the single-stage reduction mechanism in Embodiment 1 with a multi-stage reduction mechanism (planetary reduction mechanism and spur gear 4), while the rest remains the same as in Embodiment 1, as detailed below:

[0040] like Figure 2 and 3 As shown, the reduction mechanism includes a planetary reduction mechanism and a spur gear 4. The stator 5 of the frameless torque motor is mounted inside the housing near the front end via a stator cover 6. The sun gear 20 of the planetary reduction mechanism is mounted on the stator cover 6 and the front part of the housing via first deep groove ball bearings 7, and the sun gear 20 is connected to the rotor 8 of the frameless torque motor via a key. The spur gear 4 is rotatably located inside the housing and at a position corresponding to the rear side of the planetary reduction mechanism, and the spur gear 4 is connected to the planet carrier 21 of the planetary reduction mechanism via a key. The spur gear 4 also meshes with the face gear 2.

[0041] The module also includes a planetary gear outer bushing 22. The planetary gear outer bushing 22 is installed at the front of the housing. The internal gear ring 23 of the planetary reduction mechanism is installed inside the planetary gear outer bushing 22. The planetary gear 24 of the planetary reduction mechanism is located inside the internal gear ring 23 and meshes with the sun gear 20 and the internal gear ring 23 respectively. The planetary gear 24 is mounted to the planet carrier 21 via a gear shaft 11 and a second deep groove ball bearing 31. The planet carrier 21 is rotatably mounted inside the planetary gear outer bushing 22 via a third deep groove ball bearing 25, corresponding to the rear side of the internal gear ring 23. A planetary gear set cover 26, mounted on the planet carrier 21, is provided on the front side of the internal gear ring 23. The spur gear 4's spur gear bushing 27 is installed to the rear end of the planetary gear outer bushing 22, and the spur gear 4 is rotatably mounted on the spur gear bushing 27 via a fourth deep groove ball bearing 28.

[0042] A frameless torque motor serves as the power source, driving the input sun gear 20 to rotate. The sun gear 20 meshes with planetary gears 24, which are connected to the planet carrier 21 via gear shaft 11. Therefore, when the sun gear 20 rotates, the planetary gears 24 and the planet carrier 21 rotate synchronously. The planet carrier 21 is connected to spur gear 4 via a key, and its rotation drives the spur gear 4 to rotate. Since the spur gear 4 meshes with face gear 2, the face gear 2 rotates synchronously with the spur gear 4, driving the face gear shaft 1 to rotate. Finally, the torque is output through the output flange 3 connected to the face gear shaft 1. Two sets of magnetic ring encoders, the input magnetic ring encoder 12 and the output magnetic ring encoder 14, respectively sense and record the deflection angles of the spur gear 4 and the face gear 2, enabling the main control board 10 to precisely control the operation of the entire joint module. The overall reduction ratio is increased through a two-stage reduction (planetary reduction mechanism and spur gear 4), thereby improving the overall torque.

[0043] 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 within the protection scope of the present invention.

Claims

1. A face gear robot joint module, characterized in that, The device includes a housing, a frameless torque motor, a face gear shaft (1), a face gear (2), and an output flange (3). The frameless torque motor is installed in the front part of the housing, and the face gear shaft (1) is vertically and rotatably installed in the rear part of the housing. The face gear (2) is fixedly fitted in the middle of the face gear shaft (1), and the frameless torque motor drives the face gear (2) to rotate through a reduction mechanism. The output flange (3) is fixedly connected to the lower end of the face gear shaft (1).

2. The face gear robot joint module according to claim 1, characterized in that, The reduction mechanism is a spur gear (4); the stator (5) of the frameless torque motor is installed in the housing near the front end through the stator cover (6); the spur gear (4) is installed on the stator cover (6) and the front part of the housing through the first deep groove ball bearing (7), and the spur gear (4) is connected to the rotor (8) of the frameless torque motor through a key, and the spur gear (4) also meshes with the face gear (2).

3. The face gear robot joint module according to claim 2, characterized in that, It also includes an input flange cover (9), a main control board (10), an input magnetic ring encoder (12), an output sensor board (13), and an output magnetic ring encoder (14); the input flange cover (9) is installed on the front end of the housing; the main control board (10) is installed on the stator cover (6); the magnetic ring of the input magnetic ring encoder (12) is installed on the spur gear (4); The upper and lower ends of the rear of the housing are respectively equipped with a top end cover (15) and a bottom end cover (16). The upper and lower ends of the face gear shaft (1) are respectively mounted on the top end cover (15) and the bottom end cover (16) through tapered roller bearings (17) and oil seals (18). The face gear (2) is fixedly fitted in the middle of the face gear shaft (1) by a key connection. The upper end of the top end cover (15) is equipped with a top inspection cover (19). The output end sensor board (13) is provided with a sensor chip and is mounted on the top end cover (15). The magnetic ring of the output end magnetic ring encoder (14) is mounted on the face gear shaft (1).

4. The face gear robot joint module according to claim 1, characterized in that, The reduction mechanism includes a planetary reduction mechanism and a spur gear (4); the stator (5) of the frameless torque motor is installed in the housing near the front end via a stator cover (6); the sun gear (20) of the planetary reduction mechanism is installed on the stator cover (6) and the front part of the housing via a first deep groove ball bearing (7), and the sun gear (20) is connected to the rotor (8) of the frameless torque motor via a key; the spur gear (4) is rotatably located in the housing and at a position corresponding to the rear side of the planetary reduction mechanism, and the spur gear (4) is connected to the planet carrier (21) of the planetary reduction mechanism via a key, and the spur gear (4) also meshes with the face gear (2).

5. The face gear robot joint module according to claim 4, characterized in that, It also includes a planetary gear outer bushing (22); the planetary gear outer bushing (22) is installed in the front part of the housing, the internal gear ring (23) of the planetary reduction mechanism is installed in the planetary gear outer bushing (22), the planetary gear (24) of the planetary reduction mechanism is located inside the internal gear ring (23) and meshes with the sun gear (20) and the internal gear ring (23) respectively; the planetary gear (24) is installed on the planet carrier (21) through the gear shaft (11) and the second deep groove ball bearing (31), the planet carrier (21) is rotatably installed in the planetary gear outer bushing (22) through the third deep groove ball bearing (25) and corresponds to the rear side of the internal gear ring (23); the front side of the internal gear ring (23) is provided with a planetary gear sub-cover (26) installed on the planet carrier (21). The spur gear sleeve (27) of the spur gear (4) is installed at the rear end of the planetary gear outer sleeve (22), and the spur gear (4) is rotatably mounted on the spur gear sleeve (27) by a fourth deep groove ball bearing (28).

6. The face gear robot joint module according to claim 4, characterized in that, It also includes an input flange cover (9), a main control board (10), an input magnetic ring encoder (12), an output sensor board (13), and an output magnetic ring encoder (14); the input flange cover (9) is installed on the front end of the housing; the main control board (10) is installed on the stator cover (6); the magnetic ring of the input magnetic ring encoder (12) is installed on the sun gear (20); The upper and lower ends of the rear of the housing are respectively equipped with a top end cover (15) and a bottom end cover (16). The upper and lower ends of the face gear shaft (1) are respectively mounted on the top end cover (15) and the bottom end cover (16) through tapered roller bearings (17) and oil seals (18). The face gear (2) is fixedly mounted on the middle of the face gear shaft (1) by means of a key connection. A top inspection cover (19) is installed on the upper end of the top end cover (15). The sensor chip is provided on the output end sensor board (13) and is mounted on the top end cover (15). The magnetic ring of the output end magnetic ring encoder (14) is mounted on the face gear shaft (1).

7. The face gear robot joint module according to any one of claims 1 to 6, characterized in that, The housing consists of an input end housing (29) and an output end housing (30) arranged front and rear.

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