Robotic joint assembly and method of assembly
Patent Information
- Application Number
- CN202580017902.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-03-08
- Filing Date
- 2025-03-06
- Publication Date
- 2026-09-25
Smart Images
Figure CN122826084A_ABST
Abstract
Description
[0001] This disclosure relates to a robot, such as a robotic arm, and / or a robotic joint assembly for such a robot or robotic arm. More specifically, this disclosure relates to an improved robotic joint assembly for performing movements of a robot or robotic arm, and a method for assembling the robotic joint assembly. Background Technology
[0002] Robots, and especially robotic arms, are widely used to perform a wide variety of automated tasks. Recently, lightweight robots have become increasingly popular for assisting human activities, such as in production facilities. These robots are often referred to as collaborative robots or cobots.
[0003] For robots, such as robotic arms, there is a desire to enhance flexibility and facilitate more compact robotic solutions. Another goal is to make robots and / or robotic arms lighter, easier to manufacture, and less expensive. Furthermore, the reliability and robustness of such lightweight robots have always been important. Summary of the Invention
[0004] The purpose of this disclosure is at least to provide improvements to the prior art and / or to solve or reduce problems known from the prior art. Another purpose of this disclosure is to provide advantageous or at least alternative robots, robotic arms and / or components thereof.
[0005] More specifically, this disclosure provides a solution that allows for easier manufacturing, the use of lighter and less expensive materials, and increased reliability and reduced risk of failure. Furthermore, this disclosure provides simplification of robots, robotic arms, and / or their components.
[0006] Therefore, this disclosure includes a robot comprising a robotic arm extending between a base end and a tool end, and including a base at the base end and a plurality of joints including a first joint and a second joint. This disclosure also relates to a robot joint assembly, such as one of the plurality of joints forming the disclosed robot, such as a first joint and / or a second joint. Furthermore, this disclosure relates to a method for assembling a robot joint assembly (e.g., assembling a robot joint assembly as also disclosed).
[0007] The present invention is further defined by the appended set of claims.
[0008] General description
[0009] A robot is disclosed. The robot includes a robotic arm extending between a base end and a tool end. The robotic arm includes a base at the base end. The robotic arm can be configured to engage with a tool at the tool end. For example, the robotic arm may include a tool flange at the tool end (e.g., for attaching the tool).
[0010] The robotic arm includes multiple joints connecting a base and a tool end. These joints may include a first joint and a second joint, and optionally one or more of a third, fourth, fifth, sixth, and seventh joint.
[0011] The first joint is positioned between the base and the second joint. The second joint may be positioned between the first joint and the tool end and / or between the first joint and the third joint. The third joint may be positioned between the second joint and the tool end and / or between the second joint and the fourth joint. The fourth joint may be positioned between the third joint and the tool end and / or between the third joint and the fifth joint. The fifth joint may be positioned between the fourth joint and the tool end and / or between the fourth joint and the sixth joint. The sixth joint may be positioned between the fifth joint and the tool end and / or between the fifth joint and the seventh joint. The seventh joint may be positioned between the sixth joint and the tool end, for example, between the sixth joint and the tool flange at the tool end.
[0012] The robotic arm includes multiple motors to cause movement of the robotic arm relative to multiple axes. The multiple motors include a first motor and a second motor, and optionally one or more of a third, fourth, fifth, sixth, and seventh motor. Any or all of the multiple motors may be a permanent magnet AC motor. Any or all of the multiple motors may include or be integrated with a gear assembly, such as an integral gear, like a strain wave gear. Therefore, any or all of the multiple motors may be part of a geared motor.
[0013] The first motor causes the first joint to move relative to the first axis. The second motor causes the second joint to move relative to the second axis. The third motor causes the third joint to move relative to the third axis. The fourth motor causes the fourth joint to move relative to the fourth axis. The fifth motor causes the fifth joint to move relative to the fifth axis. The sixth motor causes the sixth joint to move relative to the sixth axis. The seventh motor causes the seventh joint to move relative to the seventh axis.
[0014] A robotic arm may include multiple motor controllers, i.e., processing units adapted to control multiple motors. For example, the multiple motor controllers may include a first motor controller, a second motor controller, a third motor controller, a fourth motor controller, a fifth motor controller, a sixth motor controller, and / or a seventh motor controller. The first motor controller may be adapted to control a first motor. The second motor controller may be adapted to control a second motor. The third motor controller may be adapted to control a third motor. The fourth motor controller may be adapted to control a fourth motor. The fifth motor controller may be adapted to control a fifth motor. The sixth motor controller may be adapted to control a sixth motor. The seventh motor controller may be adapted to control a seventh motor.
[0015] This disclosure also relates to a robot joint assembly, for example, to form one of a plurality of joints of the disclosed robot, such as a first joint and / or a second joint. Thus, a robot may include a plurality of such robot joint assemblies, for example, including a first joint assembly and a second joint assembly, and optionally including one or more of a third joint assembly, a fourth joint assembly, a fifth joint assembly, a sixth joint assembly, and a seventh joint assembly. For example, the first joint assembly may form a first joint. The second joint assembly may form a second joint. The third joint assembly may form a third joint. The fourth joint assembly may form a fourth joint. The fifth joint assembly may form a fifth joint. The sixth joint assembly may form a sixth joint. The seventh joint assembly may form a seventh joint.
[0016] A first joint assembly may include a first motor and optionally a first motor controller. A second joint assembly may include a second motor and optionally a second motor controller. A third joint assembly may include a third motor and optionally a third motor controller. A fourth joint assembly may include a fourth motor and optionally a fourth motor controller. A fifth joint assembly may include a fifth motor and optionally a fifth motor controller. A sixth joint assembly may include a sixth motor and optionally a sixth motor controller. A seventh joint assembly may include a seventh motor and optionally a seventh motor controller.
[0017] The robot may include a control unit. The control unit may be located at the base end of the robot arm. For example, the control unit may form part of the robot arm's base. The control unit may be positioned between the robot arm and the structure to which the robot arm will be secured. This structure may be a factory floor or another structure from which the robot arm is intended to perform its work. Therefore, the robot arm's base may include the control unit. A first motor controller may be positioned between the control unit and a first motor.
[0018] According to the present disclosure, joint assemblies, such as one or more of a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly, a fifth joint assembly, a sixth joint assembly, and a seventh joint assembly, extend along a joint axis (which may be the axis of the corresponding joint, i.e., the first axis, the second axis, the third axis, the fourth axis, the fifth axis, the sixth axis, or the seventh axis) between a main joint assembly end and a secondary joint assembly end. The joint assembly further includes a housing, an output portion, for example, disposed at the secondary joint assembly end, and a motor, such as the first motor, second motor, third motor, fourth motor, fifth motor, sixth motor, or seventh motor as described above, the motor including a rotor and a stator. The motor is adapted to cause movement (e.g., rotational movement about the joint axis) between the housing and the output portion of the joint assembly. The rotor and stator are coaxially aligned along the joint axis. The rotor may include a rotor magnet and / or a rotor shaft. The rotor magnet may be a permanent magnet.
[0019] The joint assembly further includes a tubular element extending along the joint axis between a main tube end and an auxiliary tube end. The tubular element is coaxially aligned with the rotor and stator, i.e., coaxially aligned along the joint axis. The tubular element has an outer tube diameter and an inner tube diameter. The outer tube diameter and / or the inner tube diameter may be the same along most of the tubular element.
[0020] The joint assembly includes a hollow channel running along the joint axis from the end of the main joint assembly to the end of the auxiliary joint assembly. The hollow channel extends through the motor. Tubular elements are adapted to form part of the hollow channel. Therefore, in the joint assembly, tubular elements can form part of the hollow channel.
[0021] The joint assembly includes a tube fastening element. The tube fastening element is adapted to fasten the tube element to a housing or an output portion. Therefore, the tube fastening element can fasten the tube element to a housing or an output portion. The tube fastening element includes a generally cylindrical channel extending along the joint axis and forming a tube receiver. The tube receiver is adapted to receive, enclose, and secure at least an auxiliary tube end portion of the tube element. Therefore, the tube receiver can enclose and secure at least an auxiliary tube end portion of the tube element. The auxiliary tube end portion can be located near an auxiliary tube end of the tube element. The auxiliary tube end portion may include an auxiliary tube end.
[0022] The generally cylindrical channel forming the tube receiver may have one or more inwardly projecting protrusions. These inwardly projecting protrusions may include or may be ridges extending along the length of the tube receiver (e.g., along the entire length of the tube receiver and / or along most of its length). Alternatively or additionally, the inwardly projecting protrusions may include or be more point-like protrusions, for example, applied only along a finite length of the tube receiver or at certain axial locations. In a preferred example, the tube receiver may include three inwardly projecting protrusions, preferably at the same axial location. Where more than one inwardly projecting protrusion is present, the protrusions may be angularly and substantially equally spaced within the tube receiver. For example, the tube receiver may include three inwardly projecting protrusions angularly spaced at approximately 120 degrees. The tube receiver may include more than three inwardly projecting protrusions, such as four, five, or six inwardly projecting protrusions, which may be angularly and substantially equidistant.
[0023] For example, by having one or more inwardly projecting protrusions, the pipe receiving portion can have at least a main inner radius and an auxiliary inner radius different from the main inner radius at a first axial position (e.g., in the middle of the pipe receiving portion). For example, the main inner radius can be larger than the auxiliary inner radius. The main inner radius can be larger than (e.g., between 5% and 15%, such as 10%) half of the outer pipe diameter, and wherein the auxiliary inner radius is smaller than (e.g., between 5% and 15%, such as 10%) half of the outer pipe diameter.
[0024] The pipe receiving section can extend from the main pipe receiving section opening to the auxiliary pipe receiving section opening. The pipe receiving section may include, for example, an inner enlarged section between the main pipe receiving section opening and the auxiliary pipe receiving section opening. The pipe receiving section may have a main opening inner diameter at the main pipe receiving section opening. The pipe receiving section may have an auxiliary opening inner diameter at the auxiliary pipe receiving section opening. The pipe receiving section may have an enlarged inner diameter at the inner enlarged section. The enlarged inner diameter may be larger than the auxiliary opening inner diameter and / or the enlarged inner diameter may be larger than the main opening inner diameter. Where the cross-section of the pipe receiving section is not perfectly circular, for example, if it includes one or more protrusions, the diameter can be measured as the inscribed circle or circumscribed circle of the pipe receiving section at the corresponding axial position.
[0025] The distance between the main tube receiving section and the auxiliary tube receiving section (e.g., along the axial direction, such as along the joint axis) can be between the enlarged section and the main tube receiving section opening. The distance between the auxiliary tube receiving section and the auxiliary tube receiving section opening (e.g., along the axial direction, such as along the joint axis) can be between the enlarged section and the auxiliary tube receiving section opening. The main tube receiving section distance can be longer than the auxiliary tube receiving section distance. The main tube receiving section distance can be greater than 60% of the total tube receiving section length from the main tube receiving section opening to the auxiliary tube receiving section opening. The auxiliary tube receiving section distance can be less than 40% of the total tube receiving section length, such as less than 20% of the total tube receiving section length. The auxiliary tube receiving section distance can be between 2 mm and 10 mm, such as between 3 mm and 5 mm.
[0026] The tube element may have a wall thickness. The wall thickness may be less than half the difference between the enlarged inner diameter of the tube receiving section and the inner diameter of the auxiliary opening. The wall thickness may be between 0.1 mm and 1 mm, for example, between 0.2 mm and 0.5 mm.
[0027] The tubular element can preferably be made of aluminum or brass. However, in other examples, the tubular element can be made of other materials, such as other metals or alloys.
[0028] The tube fastening element can be fastened to the output section, for example, thereby effectively fastening the tube element to the output section. In other examples, the tube fastening element can be fastened to the housing, for example, thereby effectively fastening the tube element to the housing.
[0029] The joint assembly may further include gears, such as a strain wave gear drive system. A strain wave gear drive system includes a wave generator, a flexspline, and a circular spline. The flexspline can be fastened to one of the output section and the housing, and the circular spline can be fastened to the other. For example, the flexspline can be fastened to the output section, and the circular spline can be fastened to the housing. Alternatively, the flexspline can be fastened to the housing, and the circular spline can be fastened to the output section. The wave generator is rotated by a rotor, for example, by means of a rotor shaft. Thus, the motor can provide rotational motion of the output section relative to the housing.
[0030] In some examples, the tube fastening element can be fastened to the flexible wheel, effectively fastening the tube element to the flexible wheel. In other examples, the tube fastening element can be fastened to the rigid wheel, effectively fastening the tube element to the rigid wheel.
[0031] One or more wires may extend through the hollow channel of the joint assembly, such as extending through a tubular element. In particular, in the disclosed robot, for example when the joint assembly forms part of the disclosed robot, one or more wires may extend through the hollow channel of the joint assembly, for example to conduct electrical signals from a proximal portion of the robot arm to a more distal portion of the robot arm.
[0032] A method for assembling robot joint assemblies (such as the previously described joint assemblies) is also disclosed. The method includes providing a tube element, providing a tube fastening element, and inserting an auxiliary tube end of the tube element into a tube receiver such that the auxiliary tube end portion is surrounded by and secured to the tube receiver.
[0033] The method further includes providing a housing, an output section, and a motor, as well as one or more additional elements optionally for the joint assembly, and arranging the tube fastening element, the tube element, the motor, the housing, and the output section such that the tube element is coaxially aligned with the rotor and stator along the joint axis, and such that the tube element forms part of a hollow channel along the joint axis of the joint assembly.
[0034] The method further includes fastening the tube fastening element to the housing or output section.
[0035] The auxiliary pipe end can be inserted into the pipe receiving section through the opening of the main pipe receiving section.
[0036] Inserting the auxiliary tube end of the tube element into the tube receiving portion may further include providing a press-fitting tool. The press-fitting tool may extend along its axis and have a collar portion and a protrusion extending from the collar portion along the axis of the press-fitting tool. The protrusion and optionally the collar portion may be rotationally symmetrical about the axis of the press-fitting tool. The protrusion may have a first diameter at a first axial position and a second diameter at a second axial position, wherein the first axial position is located between the second axial position and the collar portion, and wherein the second diameter is smaller than the first diameter. The protrusion of the press-fitting tool may have a diameter that gradually increases from the second diameter at the second axial position to the first diameter at the first axial position. The protrusion of the press-fitting tool may have a substantially uniform diameter between the first axial position and the collar portion. The first diameter of the protrusion of the press-fitting tool may be between 95% and 100% of the inner diameter of the auxiliary opening.
[0037] Inserting the auxiliary tube end of the tube element into the tube receiving portion may further include: positioning a pressing tool at the opening of the auxiliary tube receiving portion such that the protrusion of the pressing tool extends into the tube receiving portion through the opening of the auxiliary tube receiving portion, and the collar portion rests on the edge of the opening of the auxiliary tube receiving portion; and advancing the tube element into the tube receiving portion by applying an axial force to the pressing tool.
[0038] The tube element may have an inner tube diameter, for example, at the auxiliary tube end before being inserted into the tube receiving section. The first diameter of the protrusion of the pressing tool may be larger than the inner tube diameter. The second diameter of the protrusion of the pressing tool may be smaller than the inner tube diameter.
[0039] The enlarged inner diameter of the inner enlarged section of the tube receiving part can be larger than the first diameter of the protrusion of the pressing tool. Attached Figure Description
[0040] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. The drawings illustrate one mode of implementing this disclosure and should not be construed as limiting oneself to other possible embodiments falling within the scope of the appended claims.
[0041] Figure 1 This is a schematic diagram illustrating an exemplary robot. Figure 2 This is a schematic diagram illustrating an exemplary joint. Figure 3 The illustration schematically shows half of a cross-sectional view of an exemplary robot joint assembly. Figure 4 An end view of an exemplary tubular element is schematically illustrated. Figure 5 An end view of an exemplary tube fastening element is schematically illustrated. Figure 6 A cross-sectional view of an exemplary tube fastening element is schematically illustrated. Figure 7 It is a block diagram of an exemplary method, and Figure 8 Some steps of the exemplary method are illustrated schematically in cross-sectional view. Detailed Implementation
[0042] Various exemplary embodiments and details will be described below with reference to the accompanying drawings. It should be noted that the drawings may be drawn to scale or not, and elements with similar structures or functions are indicated by the same reference numerals throughout the drawings. It should also be noted that the drawings are intended only to facilitate the description of embodiments. They are not intended as an exhaustive description of the invention or as a limitation on the scope of the invention. Furthermore, the illustrated embodiments do not need to have all the aspects or advantages shown. Aspects or advantages described in connection with a particular embodiment are not necessarily limited to that embodiment and may be practiced in any other embodiment even if not so illustrated or so explicitly described.
[0043] Figure 1 This is a schematic diagram illustrating an exemplary robot 2, which in this example includes a robotic arm 3, and more specifically, a seven-axis robotic arm.
[0044] Robotic arm 3 extends between base end 20 and tool end 22 and includes a base 4 located at base end 20. A tool flange for attachment to a tool may preferably be arranged at tool end 22 of the robotic arm. Robotic arm 3 further includes a plurality of joints 6, 8, 10, 12, 14, 16, and 18. The plurality of joints 6, 8, 10, 12, 14, 16, and 18 connect base 4 and tool end 22. In the illustrated example, the plurality of joints is seven joints, namely, a first joint 6, a second joint 8, a third joint 10, a fourth joint 12, a fifth joint 14, a sixth joint 16, and a seventh joint 18. However, in other examples, the robotic arm may include fewer or more joints. For example, in another configuration, robotic arm 3 may include only three joints, such as a first joint 6, a second joint 8, and a third joint 10.
[0045] The first joint 6 is positioned between the base 4 and the second joint 8. The second joint 8 is positioned between the first joint 6 and the third joint 10. The third joint 10 is positioned between the second joint 8 and the fourth joint 12. The fourth joint 12 is positioned between the third joint 10 and the fifth joint 14. The fifth joint 14 is positioned between the fourth joint 12 and the sixth joint 16. The sixth joint 16 is positioned between the fifth joint 14 and the seventh joint 18. The seventh joint 18 is positioned between the sixth joint 16 and the tool end 22.
[0046] Multiple joints 6, 8, 10, 12, 14, 16, and 18 cause movement of the robotic arm 3, such as movement of the tool end 22 relative to the base end 20. Each joint provides rotation about a corresponding axis. The first joint 6 provides rotation about a first axis Ax1. The second joint 8 provides rotation about a second axis Ax2. The third joint 10 provides rotation about a third axis Ax3. The fourth joint 12 provides rotation about a fourth axis Ax4. The fifth joint 14 provides rotation about a fifth axis Ax5. The sixth joint 16 provides rotation about a sixth axis Ax6. The seventh joint 18 provides rotation about a seventh axis Ax7.
[0047] The robotic arm 3 can be positioned in some configurations where none of the seven axes Ax1-Ax7 are parallel. However, in other configurations, two or more of the seven axes Ax1-Ax7 can be parallel. As illustrated, the second axis Ax2 may not be parallel to the first axis Ax1. The third axis Ax3 may not be parallel to the second axis Ax2. The fourth axis Ax4 may not be parallel to the third axis Ax3. The fifth axis Ax5 may not be parallel to the fourth axis Ax4. The sixth axis Ax6 may not be parallel to the fifth axis Ax5. The seventh axis Ax7 may not be parallel to the sixth axis Ax6.
[0048] The robotic arm may include multiple motors, as described in more detail with reference to the following figures, such as motors for each of multiple joints 6, 8, 10, 12, 14, 16, 18. Each of the multiple motors can cause movement of a corresponding joint among the multiple joints 6, 8, 10, 12, 14, 16, 18. For example, a first motor can cause movement of a first joint 6 relative to a first axis Ax1. A second motor can cause movement of a second joint 8 relative to a second axis Ax2. A third motor can cause movement of a third joint 10 relative to a third axis Ax3, and so on.
[0049] The robotic arm 3 is fastened to structure 1 at base end 20. Structure 1 can be a factory floor or another structure from which the robotic arm 3 is intended to perform its work. In some examples, structure 1 can be part of a movable unit (such as a mobile robot or vehicle), which would allow the robot 2 or at least the robotic arm 3 to move between different positions. The robotic arm 3 can be fastened to structure 1 by fastening bolts 24.
[0050] As illustrated, robot 2 further includes control unit 200, which in this example may be integral with the base 4 of robot arm 3, or may be disposed between base 4 and structure 1.
[0051] Although a robotic arm 3 operable relative to seven axes has been described, this disclosure can alternatively be applied to robots having only six axes or even fewer. For example, regarding... Figure 1 The illustrated example can omit the motion around the third axis Ax3 to obtain a robot that can operate relative to six axes.
[0052] Figure 2 This is a schematic diagram illustrating two exemplary joints 92, 94 (e.g., primary joint 92 and secondary joint 94). Exemplary joints 92, 94 may be... Figure 1 Two consecutive joints from the plurality of joints 6, 8, 10, 12, 14, 16, and 18 shown. For example, the main joint 92 could be... Figure 1 The first joint 6 and the accessory joint 94 can be Figure 1 The second joint 8.
[0053] Example also shows a main motor 102 for rotating the main joint 92. An auxiliary motor 104 is provided for rotating the auxiliary joint 94. Thus, the main motor 102 can be used to rotate the first joint 6 relative to... Figure 1 The first motor is the one that moves the first axis Ax1. The auxiliary motor 104 can be used to cause the second joint 8 relative to... Figure 1The second motor is responsible for the movement of the second axis Ax2. The main motor 102 and / or the auxiliary motor 104 may be permanent magnet AC motors. Furthermore, the main motor 102 and / or the auxiliary motor 104 may include or be integrated with gear assemblies, such as integral gears, like strain wave gears. Therefore, the main motor 102 and / or the auxiliary motor 104 may be geared motors or may form part of a geared motor.
[0054] One or more motor controller units 108, 110 may be provided and adapted to control motors 102, 104. The main motor controller unit 108 may be adapted to control the main motor 102. The auxiliary motor controller unit 110 may be adapted to control the auxiliary motor 104.
[0055] Figure 3 The illustration schematically shows half of a cross-sectional view of an exemplary robot joint assembly 300, which is used to form a joint of a robot arm, for example... Figure 1 Any one of joints 6, 8, 10, 12, 14, 16, and 18 of the robotic arm 3, and / or Figure 2 The primary joint 92 or the secondary joint 94. This sectional view is taken with the joint axis AxJ of the joint assembly 300 extended in the left-right direction in the figure. The joint assembly 300 is approximately symmetrical along the joint axis AxJ, therefore only half of the sectional view is shown.
[0056] The joint assembly 300 extends along the joint axis AxJ between the main joint assembly end 302 and the auxiliary joint assembly end 304. The joint assembly 300 includes a housing 306 and an output portion 308. In the illustrated example, the output portion 308 is arranged at the auxiliary joint assembly end 304.
[0057] The joint assembly 300 includes a motor 310 having a rotor 312 and a stator 314. As illustrated, the rotor 312 may include a rotor shaft 312a and a rotor magnet 312b. The rotor 312 and stator 314 are coaxially aligned along the joint axis AxJ. The motor causes movement between the housing 306 and the output 308. In the illustrated example, the joint assembly 300 includes a strain wave gear transmission system 360 for converting the motor's movement into movement between the housing 306 and the output 308. However, other gear transmission systems known in the art may be alternatively or additionally utilized. The strain wave gear transmission system 360 includes a wave generator 362, a flexible gear 364, and a rigid gear 366. The wave generator 362 is rotated by the rotor 312, and for example, the wave generator 362 may be attached to the rotor shaft 312a as illustrated. In the illustrated example, the flexible gear 364 is secured to the output 308, and the rigid gear 366 is secured to the housing 306. Alternatively, the flexible wheel 364 may be secured to the housing 306 and the rigid wheel 366 may be secured to the output section 308.
[0058] The joint assembly 300 includes a tubular element 316. The tubular element 316 extends along the joint axis AxJ between the main tube end 318 and the auxiliary tube end 320. The tubular element 316 is coaxially aligned with the rotor 312 and the stator 314. The joint assembly 300 includes a hollow channel 350 extending along the joint axis AxJ from the main joint assembly end 302 through the motor 310 to the auxiliary joint assembly end 304. The tubular element 316 forms a portion of the hollow channel 350. The hollow channel 350 allows wires 370 to extend through the joint assembly 300, for example, to transmit electrical signals and / or power to a more distal joint assembly or to a tool coupled to a tool end of the robot. Thus, as shown, one or more wires 370 may extend through the hollow channel 350, including extending through the tubular element 316.
[0059] The joint assembly 300 includes a tube fastening element 330. The tube fastening element 330 fastens the tube element 316 to the output portion 308. However, it may alternatively be fastened to the housing 306. In the illustrated example, the tube fastening element 330 is fastened to the flexible wheel 364. However, it may alternatively be fastened to the rigid wheel 366. The tube fastening element 330 includes a tube receiving portion 332. The tube receiving portion 332 is formed by a generally cylindrical channel extending along the joint axis AxJ. The tube receiving portion 332 surrounds and secures at least the auxiliary tube end portion 322 of the tube element 316.
[0060] The tube element 316 may include a main tube end portion 321, for example, a portion of the tube element 316 that is different from the auxiliary tube end portion 322. The main tube end portion 321 may not be surrounded by the tube receiving portion 332. The main end portion 321 may be located between the main tube end 320 and the auxiliary tube end portion 322.
[0061] Figure 4 An exemplary tube element 316 (such as) is schematically illustrated. Figure 3 An end view of the tube element 316. In some examples, the tube element 316 may be made of aluminum or brass. However, other convenient materials may be used alternatively, such as other metals or alloys known in the art.
[0062] Tube element 316 has an outer diameter 316d1. Tube element 316 has an inner diameter 316d2. Tube element 316 has a wall thickness 316t1, which is essentially half the difference between the inner diameter 316d2 and the outer diameter 316d1. An exemplary wall thickness 316t1 can be between 0.05 mm and 0.5 mm. The outer diameter 316d1 and the inner diameter 316d2 can be the same along most of the tube element 316, such as more than 50% of the length of the tube element, or more than 80% of the length of the tube element 316. In some examples, as will be further explained below, tube element 316 can be slightly deformed near the auxiliary tube end 320 (e.g., within the auxiliary tube end portion 322) to engage with the tube fastening element 330. Therefore, the pipe diameters 316d1, 316d2 and the wall thickness 316t1 can be the dimensions of the undeformed portion of the pipe element 316 (e.g., the main end portion 321).
[0063] Figure 5 An exemplary tube fastening element 330 (such as...) is schematically illustrated. Figure 3 The tube fastening element 330 is shown as an end view. As mentioned above, the tube fastening element is adapted to fasten the tube element 316 to the housing 306 or the output portion 308. The tube fastening element 330 forms a tube receiving portion 332 that is substantially a cylindrical channel. The tube receiving portion 332 is adapted to receive and surround the auxiliary tube portion 322 of the tube element 316. The tube receiving portion 332 is further adapted to secure the auxiliary tube end portion 322 when received within the tube receiving portion 332. Securement of the auxiliary tube end portion 322 within the tube receiving portion 332 can be accomplished by slight deformation of the auxiliary tube end portion 322 when received within the tube receiving portion 332.
[0064] For example, the tube receiver 332 may include one or more inwardly projecting protrusions 334. In other words, the generally cylindrical channel forming the tube receiver 332 may include one or more inwardly projecting protrusions 334. In this example, the tube receiver includes three inwardly projecting protrusions 334 that are substantially equidistant. To aid understanding of the principle, the dimensions of the illustrated inwardly projecting protrusions 334 have been enlarged. Thus, at least at some axial location, the tube receiver has different radii, such as a primary inner radius 332R1 and a secondary inner radius 332R2. The primary inner radius 332R1 is larger than the secondary inner radius 332R2. For example, the primary inner radius 332R1 may be at least 1% larger than the secondary inner radius 332R2, for example, at least 2.5%, for example, at least 5%. In some examples, the primary inner radius 332R1 may be between 0.5 mm and 1 mm larger than the secondary inner radius 332R2, for example, 0.75 mm. The protrusion 334 may be a ridge extending along the length of the tube receiver 332 (e.g., along the entire length of the tube receiver 332) and / or along most of the length of the tube receiver 332. In other examples, the protrusion 334 may be a more point-like protrusion, i.e., applied only along a limited length of the tube receiver 332 or at certain axial locations.
[0065] The inwardly protruding protrusions 334 can facilitate the fixation of the auxiliary tube end portion 322 when it is received in the tube receiving portion 332 by restricting the space within the tube receiving portion 332. Therefore, the main inner radius 332R1 can be greater than (e.g., 10% larger) half of the outer tube diameter 316d1, i.e., providing sufficient space for the tube element in the tube receiving portion. However, the auxiliary inner radius 332R2 can be less than (e.g., 10% smaller) half of the outer tube diameter 316d1, i.e., effectively requiring a certain deformation of the auxiliary tube end portion 322 for it to be received in the tube receiving portion 332. The main inner radius 332R1 can be large enough to allow the tube to bulge in the space between the inwardly protruding protrusions 334, caused by the required compression of the tube at the location of the inwardly protruding protrusions 334. To facilitate the insertion of the auxiliary tube end portion 322 into the tube receiving portion 332, the inwardly protruding protrusion 334 may be omitted near the opening of the tube receiving portion (e.g., the opening of the main tube receiving portion, which will be described later). Thus, the auxiliary tube end 320 can be initially received in the tube receiving portion 332 without deformation, and the auxiliary tube end portion 322 can be guided into the tube receiving portion 332, where it can be centered and secured to the tube receiving portion 332 by the inwardly protruding protrusion 334.
[0066] Figure 6 An exemplary tube fastening element 330 (such as...) is schematically illustrated. Figure 3 and / or Figure 5 A cross-sectional view of the tube fastening element 330.
[0067] The pipe receiving section 332 extends from the main pipe receiving section opening 336 to the auxiliary pipe receiving section opening 338. The pipe receiving section 332 has a main opening inner diameter 336d1 at the main pipe receiving section opening 336. The pipe receiving section 332 has an auxiliary opening inner diameter 338d1 at the auxiliary pipe receiving section opening 338. For example... Figure 6 As shown, the tube receiving section may include an inner enlargement section 340. The tube receiving section 332 has an enlarged inner diameter 340d1 at the inner enlargement section 340. The enlarged inner diameter 340d1 is larger than the inner diameter of the auxiliary opening 338d1. As illustrated, the enlarged inner diameter 340d1 may also be larger than the inner diameter of the main opening 336d1. The inner enlargement section 340 may be adapted to receive the wall of the tube element 316 (see [reference]). Figure 3 This makes the inner surface of the tube receiving portion at the auxiliary opening 338 flush with the inner surface of the tube element, in order to avoid edges (e.g., sharp edges) inside the hollow channel 350 that could potentially damage the wires extending through it. Therefore, the tube wall thickness 316t1 (see...) Figure 4 This difference can be less than half the difference between the enlarged inner diameter 340d1 and the auxiliary opening inner diameter 338d1. In other words, the difference between the enlarged inner diameter 340d1 and the auxiliary opening inner diameter 338d1 can be equal to or greater than the difference between the inner pipe diameter 316d2 and the outer pipe diameter 316d1 of the pipe element (see...). Figure 4 ).
[0068] The pipe receiving section 332 has a main pipe receiving distance 332L1 between the enlarged section 340 and the main pipe receiving opening 336. The pipe receiving section 332 also has an auxiliary pipe receiving distance 332L2 between the enlarged section 340 and the auxiliary pipe receiving opening 338. As illustrated, the enlarged section 340 may include a tapered portion, in which case the main pipe receiving distance 332L1 and the auxiliary pipe receiving distance 332L2 may represent the lengths of the pipe receiving sections having substantially constant diameters over the respective distances. The pipe receiving section 332 has a total pipe receiving length 332LT from the main pipe receiving opening 336 to the auxiliary pipe receiving opening 338. In some examples, the auxiliary pipe receiving distance 332L2 may be less than 40% of the total pipe receiving length 332LT. In some examples, the auxiliary pipe receiving distance 332L2 may be less than the main pipe receiving distance 332L1.
[0069] Figure 7 This is a block diagram of an exemplary method 400 for assembling a robot joint assembly 300 (such as the robot joint assembly 300 described with respect to the previous figures). Figure 8 Some steps of method 400 are further schematically illustrated in the cross-sectional view. Therefore, in the following references, [the method will be described in detail]. Figure 7 and Figure 8 Both.
[0070] The method 400 includes providing 402 tube elements 316, such as those related to Figure 3 and Figure 4 The tube element 316 is described.
[0071] The method 400 includes providing a 404 tube fastening element 330, such as regarding Figure 3 , Figure 5 and Figure 6 The tube fastening element 330 is described.
[0072] The method 400 includes inserting the auxiliary tube end 320 of the tube element 316 into the tube receiving portion 332 406, such that the auxiliary tube end portion 322 is surrounded and fixed to the tube receiving portion 332. This part of the operation of inserting the auxiliary tube end 320 of the tube element 316 into the tube receiving portion 332 is performed in Figure 8 Steps A through E are illustrated.
[0073] As also illustrated, inserting the auxiliary tube end 320 of the tube element 316 into the tube receiving portion 332 may include providing an exemplary pressing tool 500 (see also...). Figure 8 (B to D).
[0074] A pressing tool 500 extends along a pressing tool axis AxP. The pressing tool 500 may be substantially rotationally symmetrical. The pressing tool has a collar portion 502 and a protrusion 504. The protrusion 504 extends from the collar portion 502 along the pressing tool axis AxP. The protrusion 504 has a first diameter 504d1 at a first axial position and a second diameter 504d2 at a second axial position. As illustrated, the first axial position of the protrusion 504 with the first diameter 504d1 is between the protrusion 504 with the second diameter 504d2 and the collar portion 502. The second diameter 504d2 is smaller than the first diameter 504d1. The protrusion 504 may have a diameter that gradually increases from the second diameter 504d2 at the second axial position to the first diameter 504d1 at the first axial position. As illustrated, the protrusion 504 may have a substantially uniform diameter (e.g., the first diameter 504d1) between the first axial position, the position where the protrusion 504 has a first diameter 504d1, and the collar portion.
[0075] The first diameter 504d1 of the protrusion 504 is preferably larger than the inner diameter 316d2 of the tube element 316. The second diameter 504d2 of the protrusion 504 is preferably smaller than the inner diameter 316d2 of the tube element. Thus, as further described below, the press-fitting tool 500 can be used to expand the tube element 316, and more specifically, to expand the auxiliary tube end portion 322 of the tube element 316 (see...). Figure 8 (D).
[0076] The enlarged inner diameter 340d1 of the tube receiving portion 332 at the enlarged section 340 is preferably larger than the first diameter 504d1 of the protrusion 504 of the pressing tool. Thus, as further described below, the pressing tool 500 can be used to expand the tube element 316, more specifically, to expand the auxiliary tube end portion 322 of the tube element 316, such that the wall of the tube element 316 can expand into the enlarged section 340 (see...). Figure 8 (D).
[0077] Inserting the auxiliary tube end 320 of the tube element 316 into the tube receiving portion 332 of 406 may further include positioning the pressing tool 500 410 at the opening 338 of the auxiliary tube receiving portion of the tube fastening element 330. This allows the protrusion 504 of the pressing tool 500 to extend through the opening 338 into the tube receiving portion 332, and the collar portion 502 to rest on the edge of the opening 338 (see [link]). Figure 8 (C). The first diameter 504d1 of the protrusion 504 of the press-fitting tool 500 may be slightly smaller than, but preferably close to, the inner diameter 338d1 of the auxiliary opening of the auxiliary tube receiving opening 338. For example, the first diameter 504d1 may be between 95% and 100% of the inner diameter 338d1 of the auxiliary opening.
[0078] Inserting the auxiliary tube end 320 of the tube element 316 into the tube receiving portion 332 may further include: advancing the tube element 316 along its longitudinal axis (e.g., the tube axis) into the tube receiving portion 332 by applying an axial force to the pressing tool 500 (e.g., along the pressing tool axis) and an opposite axial force to the tube element 316 (e.g., along the tube axis), which should be parallel to and preferably coaxial with the pressing tool axis AxR (see [link to documentation]). Figure 8 (D).
[0079] The method 400 includes: providing 414 other elements for the robot joint assembly, such as housing 306, output 308, and motor 310, as per [reference to...]. Figure 3 An exemplary description.
[0080] The method 400 includes arranging the tube fastening element 330 and the tube element 316 together with other elements for the robot joint assembly, such as the motor 310, housing 306, and output section 308, for arrangement 416. The arrangement of the tube fastening element 330 and the tube element 316 together with the other elements is performed such that the tube element 316 is coaxially aligned with the rotor 312 and the stator 314 along the joint axis AxJ, and such that the tube element 316 forms part of the hollow channel 350 of the joint assembly 300 along the joint axis AxJ.
[0081] The method 400 includes fastening a tube fastening element 330 418 to a housing 306 or an output portion 308. In the illustrated example, the tube fastening element 330 is fastened to the output portion 308.
[0082] This disclosure has been described with reference to preferred embodiments. However, the scope of the invention is not limited to the illustrated embodiments, and changes and modifications can be made without departing from the scope of the invention.
[0083] Throughout the specification, the use of terms such as "first," "second," "third," "fourth," "primary," "secondary," and "tertiary" does not imply any specific order or importance, but is included to identify individual elements. Furthermore, the designation of a first element does not imply the presence of a second element, and vice versa.
[0084] List of reference numerals
[0085] 1. Structure
[0086] 2 robots
[0087] 3. Robotic arm
[0088] 4. Base
[0089] 6 First joint
[0090] 8 Second joint
[0091] 10 Third joint
[0092] 12 Fourth joint
[0093] 14. Fifth joint
[0094] 16. Sixth Joint
[0095] 18. Seventh joint
[0096] 20 Base end
[0097] 22 Tool End
[0098] 24 Fastening bolts
[0099] 92 Main Joints
[0100] 94 Accessory joints
[0101] 102 Main Motor
[0102] 104 Auxiliary Motor
[0103] 108 main processing units
[0104] 110 Auxiliary Processing Unit
[0105] 200 control unit
[0106] 300 Robot Joint Components
[0107] 302 Main Joint Assembly End
[0108] 304 auxiliary joint assembly end
[0109] 306 housing
[0110] 308 Output Section
[0111] 310 motor
[0112] 312 Rotor
[0113] 314 Stator
[0114] 316 tube components
[0115] 316d1 outer pipe diameter
[0116] 316d2 inner pipe diameter
[0117] 316t1 pipe wall thickness
[0118] 318 Supervisor's End
[0119] 320 Auxiliary Pipe End
[0120] 321 Supervisor's End Section
[0121] 322 Auxiliary pipe end section
[0122] 330 tube fastening element
[0123] 332 tube receiving section
[0124] 332LT main receiver length
[0125] 332L1 Distance from the supervisor receiving department
[0126] 332L2 Auxiliary pipe receiving section distance
[0127] 332R1 Principal Inner Radius
[0128] 332R2 auxiliary inner radius
[0129] 334 Protrusion
[0130] 336 Supervisor's Receiving Department Opening
[0131] 336d1 Main opening inner diameter
[0132] 338 Auxiliary pipe receiving section opening
[0133] 338d1 Auxiliary opening inner diameter
[0134] 340 Inner Enlargement Section
[0135] 340d1 enlarged inner diameter
[0136] 350 Hollow Channel
[0137] 360° strain wave gear transmission system
[0138] 362 Wave Generator
[0139] 364 Flexible Wheel
[0140] 366 Steel Wheel
[0141] 370 wire
[0142] 400 methods
[0143] 402 provides pipe components
[0144] 404 provides tube fastening elements.
[0145] 406 Insert the tube element into the tube receiving section.
[0146] 408 provides press-fitting tools.
[0147] 410 Positioning and Pressing Tool
[0148] 412 Push the tube element into the tube receiving section.
[0149] 414 Provide other components
[0150] 416 Arrange pipe fasteners and pipe components together with other components.
[0151] 418 Tighten the tube fastening element
[0152] 500 Pressing Tools
[0153] 502 Loop Section
[0154] 504 protrusion
[0155] The first diameter of the 504d1 protrusion
[0156] The second diameter of the 504d2 protrusion
[0157] Ax1 First axis
[0158] Ax2 Second axis
[0159] Ax3 Third axis
[0160] Ax4 Fourth Axis
[0161] Ax5 Fifth Axis
[0162] Ax6 Sixth Axis
[0163] Ax7 Seventh Axis
[0164] AxJ joint axis
[0165] AxP Press Tool Axis
Claims
1. A robot joint assembly for forming joints of a robot arm extending between a base end and a tool end and including a base at the base end and a plurality of joints connecting the base and the tool end, the joint assembly extending along a joint axis between a primary joint assembly end and a secondary joint assembly end and including: - Casing, - Output section, the output section being disposed at the end of the auxiliary joint assembly. - A motor comprising a rotor and a stator for causing movement between the housing and the output section, the rotor and the stator being coaxially aligned along the joint axis. - A tubular element extending along the joint axis between the main tube end and the auxiliary tube end and coaxially aligned with the rotor and the stator, the tubular element having an outer tube diameter. The joint assembly includes a hollow channel that runs along the joint axis and extends from the main joint assembly end through the motor to the auxiliary joint assembly end, wherein the tubular element forms a portion of the hollow channel. The joint assembly includes a tube fastening element that fastens the tube element to the housing or the output portion. The tube fastening element includes a generally cylindrical channel that extends along the joint axis and forms a tube receiving portion that surrounds and secures at least an auxiliary tube end portion of the tube element.
2. The robot joint assembly according to claim 1, wherein, The generally cylindrical channel forming the tube receiving portion has one or more inwardly projecting protrusions, thereby the tube receiving portion having at least a main inner radius and an auxiliary inner radius at a first axial position, wherein the main inner radius is greater than the auxiliary inner radius, wherein the main inner radius is greater than half of the outer tube diameter, and wherein the auxiliary inner radius is less than half of the outer tube diameter.
3. The robot joint assembly according to any one of claims 1 to 2, wherein, The pipe receiving section extends from the opening of the main pipe receiving section to the opening of the auxiliary pipe receiving section, and wherein the pipe receiving section includes an inner enlargement section, wherein the pipe receiving section has a main opening inner diameter at the opening of the main pipe receiving section, an auxiliary opening inner diameter at the opening of the auxiliary pipe receiving section, and an enlarged inner diameter at the inner enlargement section, and wherein the enlarged inner diameter is larger than the auxiliary opening inner diameter.
4. The robot joint assembly according to claim 3, wherein, The distance between the extended section and the opening of the auxiliary pipe receiving section is less than 40% of the length of the main pipe receiving section from the opening of the main pipe receiving section to the opening of the auxiliary pipe receiving section.
5. The robot joint assembly according to any one of claims 3 to 4, wherein, The tube element has a tube wall thickness, wherein the tube wall thickness is less than half the difference between the enlarged inner diameter and the inner diameter of the auxiliary opening.
6. The robot joint assembly according to any one of claims 1 to 5, wherein, The tubular element is made of aluminum or brass, and / or the wall thickness is between 0.05 mm and 0.5 mm.
7. The robot joint assembly according to any one of claims 1 to 6, further comprising a strain wave gear transmission system, the strain wave gear transmission system comprising: - Wave generator, - A flexible wheel, which is fastened to one of the output section and the housing, and - A rigid wheel, which is fastened to either the output section or the housing. The wave generator is rotated by the rotor, and the tube fastening element is fastened to the flexible wheel.
8. A robot comprising a robotic arm extending between a base end and a tool end and including a base at the base end and a plurality of joints including a first joint and a second joint, the plurality of joints connecting the base and the tool end, the first joint being positioned between the base and the second joint. The robotic arm includes multiple motors, including a first motor and a second motor. These motors cause movement of the robotic arm relative to multiple axes. The first motor causes movement of the first joint relative to a first axis, and the second motor causes movement of the second joint relative to a second axis. The robotic arm includes a first joint assembly extending along the first axis between a first primary joint assembly end and a first secondary joint assembly end, and includes: - First shell, - A first output section, which is located at the end of the first auxiliary joint assembly. The first motor includes a first rotor and a first stator for causing movement between the first housing and the first output section, the first rotor and the first stator being coaxially aligned along the first axis. - A first tube element, extending along the first axis between a first main tube end and a first auxiliary tube end and coaxially aligned with the first rotor and the first stator, the first tube element having a first outer tube diameter. The first joint assembly includes a hollow channel that runs along the first axis and extends from the first main joint assembly end through the first motor to the first auxiliary joint assembly end, wherein the first tubular element forms a portion of the hollow channel. The first joint assembly includes a first tube fastening element that fastens the first tube element to the first housing or the first output portion. The first tube fastening element includes a generally cylindrical channel that extends along the first axis and forms a first tube receiving portion that surrounds and secures at least a first auxiliary tube end portion of the first tube element.
9. The robot according to claim 8, wherein, The robotic arm includes a second joint assembly extending along the second axis between a second primary joint assembly end and a second secondary joint assembly end, and includes: - Second shell, - Second output section, the second output section is arranged at the end of the second auxiliary joint assembly. - The second motor includes a second rotor and a second stator for causing movement between the second housing and the second output section, the second rotor and the second stator being coaxially aligned along the second axis. - A second tube element, extending along the second axis between the second main tube end and the second auxiliary tube end and coaxially aligned with the second rotor and the second stator, the second tube element having a second outer tube diameter. The second joint assembly includes a hollow channel that runs along the second axis and extends from the second main joint assembly end through the second motor to the second auxiliary joint assembly end, wherein the second tubular element forms a portion of the hollow channel. The second joint assembly includes a second tube fastening element that fastens the second tube element to the second housing or the second output portion. The second tube fastening element includes a generally cylindrical channel that extends along the second axis and forms a second tube receiving portion that surrounds and secures at least a second auxiliary tube end portion of the second tube element.
10. The robot according to any one of claims 8 to 9, wherein, One or more wires extend through the hollow channel of the first joint assembly, including extending through the first tubular element.
11. A method for assembling a robot joint assembly, the method comprising the following steps: - Provides a pipe element extending along a pipe axis between a main pipe end and an auxiliary pipe end, the pipe element having an outer pipe diameter. - A tube fastening element is provided, the tube fastening element including a generally cylindrical channel forming a tube receiving portion adapted to receive at least an auxiliary tube end portion of the tube element. - Insert the auxiliary tube end of the tube element into the tube receiving part, such that the auxiliary tube end is surrounded and fixed to the tube receiving part. - Provides a housing, an output section, and a motor, the motor comprising a coaxially aligned rotor and stator. - The tube fastening element, the tube element, the motor, the housing, and the output section are arranged such that the tube element is coaxially aligned with the rotor and the stator along the joint axis, and the tube element forms part of the hollow channel of the joint assembly, the hollow channel extending along the joint axis from the main joint assembly end through the motor to the auxiliary joint assembly end, and - Secure the tube fastening element to the housing or the output section.
12. The method according to claim 11, wherein, The tube receiving section extends from the main tube receiving section opening to the auxiliary tube receiving section opening, wherein the tube receiving section has an auxiliary opening inner diameter at the auxiliary tube receiving section opening, wherein the auxiliary tube end is inserted into the tube receiving section through the main tube receiving section opening, and wherein inserting the auxiliary tube end of the tube element into the tube receiving section includes: - A pressing tool is provided, the pressing tool extending along a pressing tool axis and having a collar portion and a protrusion extending from the collar portion along the pressing tool axis, wherein the protrusion has a first diameter at a first axial position and a second diameter at a second axial position, wherein the first axial position is located between the second axial position and the collar portion, and wherein the second diameter is smaller than the first diameter. Position the pressing tool at the opening of the auxiliary pipe receiving section, such that the protrusion of the pressing tool extends into the pipe receiving section through the opening of the auxiliary pipe receiving section, and the collar rests on the edge of the opening of the auxiliary pipe receiving section. - The tube element is pushed into the tube receiving section by applying an axial force to the pressing tool.
13. The method according to claim 12, wherein, The tube element has an inner diameter, and wherein the first diameter of the protrusion of the pressing tool is larger than the inner diameter, and wherein the second diameter of the protrusion of the pressing tool is smaller than the inner diameter.
14. The method according to any one of claims 12 to 13, wherein, The tube receiving portion includes an inner enlarged section, wherein the tube receiving portion has an enlarged inner diameter at the inner enlarged section, and wherein the enlarged inner diameter is larger than the first diameter of the protrusion of the pressing tool.
15. The method according to any one of claims 12 to 14, wherein, The protrusion of the pressing tool has a diameter that gradually increases from the second diameter at the second axial position to the first diameter at the first axial position, and / or wherein the protrusion of the pressing tool has a substantially uniform diameter between the first axial position and the collar portion.