Robot joint structure and robot

Abstract

The utility model provides a robot joint structure and a robot, the robot joint structure comprises a motor assembly, a wave generator wheel and an encoder assembly, the wave generator wheel, the motor assembly and the encoder assembly are coaxially distributed, the encoder assembly comprises an encoder, a connecting seat, a first connecting shaft and a coupler, the first connecting shaft sleeves the motor assembly, and the coupler sleeves the motor assembly. One end of the first connecting shaft is connected with the connecting seat, and the other end is connected with the encoder through the coupling. According to the robot joint structure, the encoder assembly, the motor assembly and the wave generator wheel are coaxially distributed, the motor assembly is sleeved with the first connecting shaft, the encoder is connected with the wave generator through the connecting base, the wave generator wheel drives the encoder to rotate, and the size in the axial direction is reduced to the maximum extent; therefore, the size of the joint structure is reduced.

Description

Technical Field

[0001] The utility model relates to the field of nuclear emergency, in particular to a robot joint structure and a robot. Background Art

[0002] At present, nuclear accident rescue is mainly carried out by manual rescue. Operators cannot work for a long time in this environment, resulting in low efficiency and loss of effective rescue time. Due to the particularity and complexity of nuclear accidents, traditional industrial robot technology cannot be directly applied to nuclear power plants. It is very necessary to carry out key technology research on nuclear accident emergency rescue robots. At present, domestic research on nuclear environment working robots started late and is less mature. In addition, since the accident analysis conducted by nuclear power plants during design mainly considers design basis accidents and severe accidents, and does not consider the accident scenarios, accident development processes, and accident development consequences of major accidents, there is a lack of application scenarios and environmental parameter requirements for nuclear emergency rescue robots. Especially for special rescue robots used in underwater environments, on the one hand, the functionality of the robot must be realized, and on the other hand, waterproof sealing must be considered.

[0003] Robot joints are an important component of underwater nuclear emergency response robots. However, current robot joints mostly use an external motor structure, and the motor and reducer are serially connected in space, which increases the overall size of the robot. In addition, many current robots cannot meet the requirements of long-term underwater working environments and cannot be used in rainy days or underwater environments.

[0004] Patent CN116408828A discloses a robot joint and a robot, wherein the robot joint includes: a motor, including a motor stator and a motor rotor rotatably arranged outside the motor stator; a hollow middle shaft fixedly embedded in the motor stator; a reducer, wherein the rigid wheel of the reducer is nested outside the motor and fixedly arranged in the hollow middle shaft, and the wave generator of the reducer is fixedly arranged in the motor rotor to transmit to the flexible wheel of the reducer. By nesting the reducer and the motor, the internal hollow aperture of the hollow middle shaft can be relatively enlarged, increasing the heat dissipation area, which is beneficial to the heat dissipation of the motor and the reducer. In this application, the hollow middle shaft occupies a large space, and the gap between the flexible wheel and the motor assembly is large, and the space is not fully utilized.

[0005] In view of the above technical problems, the present utility model is specially introduced. Summary of the invention

[0006] The main purpose of the utility model is to provide a robot joint structure, in which a motor, a reducer, an encoder and a controller are integrated in a shell, so as to maximize the use of the internal space to meet the needs of a narrow space working environment.

[0007] The joint structure includes a motor assembly, a wave generator wheel, and an encoder assembly. The wave generator wheel, the motor assembly, and the encoder assembly are coaxially distributed.

[0008] The encoder assembly includes an encoder, a connecting seat, a first connecting shaft and a coupling.

[0009] The first connecting shaft is sleeved on the motor assembly, one end of the first connecting shaft is connected to the connecting seat, and the other end is connected to the encoder through a coupling.

[0010] The connecting seat is fixed to the wave generator wheel.

[0011] Preferably, it also includes a flexible wheel, the inner wall of the flexible wheel forms a receiving space, and the motor assembly and the wave generator wheel are at least partially sleeved in the receiving space.

[0012] Preferably, it also includes a rigid wheel, which is sleeved on the circumferential outer side of the flexible wheel, and the teeth of the two are meshed.

[0013] Preferably, it also includes a shell, and the rigid wheel and the shell are an integral structure.

[0014] Preferably, the motor assembly includes a stator, a rotor, and a rotor core shaft. The rotor is sleeved inside the stator, the rotor core shaft is located inside the rotor, and the rotor and the rotor core shaft are interference fit.

[0015] Preferably, the rotor core shaft is connected to the wave generator wheel.

[0016] Preferably, the rotor core shaft is connected to the encoder by threads.

[0017] Preferably, it also includes an inner shell, which is sleeved on the circumferential outer side of the flexible wheel.

[0018] Preferably, support bearings are arranged at both axial ends of the inner shell.

[0019] The robot joint structure proposed in this utility model achieves the following technical effects:

[0020] 1. The encoder assembly, the motor assembly and the wave generator wheel are coaxially distributed, which reduces the size of the joint structure in the direction perpendicular to the axial direction; and the first connecting shaft is sleeved on the motor assembly, and the encoder is connected to the wave generator through the connecting seat. The wave generator wheel drives the encoder to rotate, which minimizes the size in the axial direction, thereby reducing the volume of the joint structure.

[0021] 2. A split motor is used to reduce the motor packaging size. The rotor is arranged on the inner side of the stator and the rotor is connected to the wave generator wheel, thereby reducing the space occupied by the rotor and the wave generator wheel in the direction perpendicular to the axial direction.

[0022] 3. The split motor assembly is integrated into the cup-shaped flexible wheel to save space for motor layout, further reduce the size of the joint components, and achieve compactness.

[0023] In another aspect of the present application, a robot is proposed, including a joint structure and a motion arm, wherein the motion arm is connected to a shell of the joint structure.

[0024] Preferably, it also includes a fixed arm, which is fixedly connected to the inner shell.

[0025] Preferably, it further comprises a first end cover and a second end cover, wherein the first end cover and the second end cover are fixedly connected to the inner shell and the fixed arm respectively.

[0026] The robot proposed by the utility model achieves the following technical effects:

[0027] 1. This application designs sealing for the stationary end face and the moving end face of the robot to ensure the sealing of the robot in underwater environment.

[0028] 2. The robot's moving arm, fixed arm, joint housing and rotating end cover adopt radiation protection design, which increases the life of electrical components in irradiated environment.

[0029] 3. The compact joint structure is used to drive the moving arm to move around the axis, reducing the overall size of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0031] Figure 1 A cross-sectional view of the robot joint structure in an embodiment of the present application is shown;

[0032] Figure 2 A partial cross-sectional view of the robot joint structure in an embodiment of the present application is shown;

[0033] Figure 3 A schematic diagram of the robot structure in an embodiment of the present application is shown;

[0034] The above drawings include the following reference numerals:

[0035] 120, stator; 140, rotor; 160, rotor core shaft; 130, motor driver; 121, stator fixing seat; 122, pressing plate; 161, rotor bearing;

[0036] 300, wave generator wheel; 400, flexible wheel; 500, rigid wheel; 600, outer shell; 700, inner shell; 720, support bearing; 721, bearing retainer; 740, static seal ring; 760, dynamic seal ring;

[0037] 220, encoder; 240, connecting seat; 260, first connecting shaft; 280, coupling;

[0038] 10. Moving arm; 20. Fixed arm; 30. First end cover; 40. Second end cover. DETAILED DESCRIPTION

[0039] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] The present invention is further described in detail below in conjunction with specific embodiments, and these embodiments cannot be understood as limiting the scope of protection claimed by the present invention. The term "including" when used indicates the existence of a feature, but does not exclude the existence or addition of one or more other features; the orientation or position relationship indicated by the terms "lateral", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0041] In the description, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, in the description of the present utility model, unless otherwise specified, "plurality" means two or more.

[0042] Embodiment 1:

[0043] The present application proposes a robot joint structure, which is particularly suitable for nuclear emergency rescue work in nuclear power plants. It takes into account the particularities of nuclear accidents, maximizes the use of internal space, achieves compactness, and ensures sealing and radiation protection.

[0044] Combined with Figure 1 and attached Figure 2As shown, the joint structure includes a motor assembly, a wave generator wheel 300, and an encoder assembly. The wave generator wheel 300, the motor assembly, and the encoder assembly are coaxially distributed, and the encoder assembly includes an encoder 220, a connecting seat 240, a first connecting shaft 260, and a coupling 280. The first connecting shaft 260 is sleeved on the motor assembly, one end of the first connecting shaft 260 is connected to the connecting seat 240, and the other end is connected to the encoder 220 through the coupling 280, and the connecting seat 240 is fixed to the wave generator wheel 300. In this application, the encoder assembly, the motor assembly, and the wave generator wheel are coaxially distributed, which reduces the size of the joint structure in the axial vertical direction; and the first connecting shaft is sleeved on the motor assembly, and the encoder is connected to the wave generator through the connecting seat. The wave generator wheel drives the encoder to rotate, which minimizes the size in the axial direction, thereby reducing the volume of the joint structure. In addition, the rotor core shaft 160 and the encoder 220 are threadedly connected, and the two ends are fixed to ensure the stability of the encoder rotation.

[0045] The joint structure also includes a flexible wheel 400, the inner wall of which forms a receiving space, and the motor assembly and the wave generator wheel 300 are at least partially sleeved in the receiving space. Preferably, the flexible wheel 400 is a cup-shaped structure, and by arranging the motor assembly in the space formed by the flexible wheel, the flexible wheel space is fully utilized, and the volume of the joint structure is further reduced.

[0046] The joint structure further includes a rigid wheel 500 and a housing 600. The rigid wheel 500 is sleeved on the circumferential outer side of the flexible wheel 400, and the teeth of the two mesh with each other. The rigid wheel 500 and the housing 600 are an integral structure and are connected by screws.

[0047] The wave generator wheel 300, the flexible wheel 400 and the rigid wheel 500 together constitute a harmonic reducer of a joint structure. The rotation of the motor drives the wave generator wheel 300 to rotate. The wave generator wheel 300 and the flexible wheel 400 move in contact with each other. The outer teeth of the flexible wheel 400 mesh with the inner teeth of the rigid wheel 500, driving the rigid wheel 500 to rotate. The rigid wheel 500 is integrated with the joint housing 600, and finally drives the joint housing 600 to rotate.

[0048] On the other hand, the present application adopts a split motor, which effectively saves the larger external dimensions caused by the motor packaging, and the harmonic reducer can achieve a large reduction ratio, high torque output, and low transmission clearance. Specifically, the motor assembly includes a stator 120, a rotor 140, and a rotor core shaft 160. The rotor 140 is sleeved inside the stator 120, and the rotor core shaft 160 is located inside the rotor 140. The flange on the rotor core shaft 160 is connected to the wave generator wheel 300 by screws. By arranging the rotor close to the core shaft, the wave generator wheel is also close to the core shaft, reducing the size of the joint structure in the direction perpendicular to the axis, and further achieving a compact layout.

[0049] In addition, the stator fixing seat 121 adopts a petal-shaped structure, and the stator is fixed in the stator fixing seat 121. At the upper end of the stator fixing seat 121, a circular clamping plate 122 is screwed, and the motor stator can be glued and fixed to the stator fixing seat 121 using a specific glue. The rotor core shaft adopts a circular shaft with a flange structure at one end. The motor rotor and the rotor core shaft adopt an interference fit and are tightened and fixed in the radial direction with set screws. Rotor bearings 161 are installed on the inner side of both ends of the rotor core shaft 160. The rotor core shaft and the rotor and rotor bearings 161 thereon are coaxially installed with the stator fixing seat 121 and installed on the inner side of the stator fixing seat.

[0050] In addition, the joint structure also includes an inner shell 700, which is sleeved on the circumferential outer side of the flexible wheel 400. Preferably, the inner shell adopts a circular rotating body structure. Support bearings 720 are arranged at both axial ends of the inner shell 700, and a bearing retainer 721 is provided between the support bearings 720 to position and install the bearings at both ends.

[0051] In summary, the robot joint structure proposed in this embodiment achieves the following technical effects:

[0052] 1. The encoder assembly, the motor assembly and the wave generator wheel are coaxially distributed, which reduces the size of the joint structure in the direction perpendicular to the axial direction; and the first connecting shaft is sleeved on the motor assembly, and the encoder is connected to the wave generator through the connecting seat. The wave generator wheel drives the encoder to rotate, which minimizes the size in the axial direction, thereby reducing the volume of the joint structure.

[0053] 2. A split motor is used to reduce the motor packaging size. The rotor is arranged on the inner side of the stator and the rotor is connected to the wave generator wheel, thereby reducing the space occupied by the rotor and the wave generator wheel in the direction perpendicular to the axial direction.

[0054] 3. The split motor assembly is integrated into the cup-shaped flexible wheel to save space for motor layout, further reduce the size of the joint components, and achieve compactness.

[0055] Another aspect of the present application proposes a robot using the above-mentioned joint structure, such as Figure 3 As shown, in addition to the joint structure, the robot also includes a moving arm 10 and a fixed arm 20. The moving arm 10 is connected to the outer shell 600 of the joint structure, so that the moving arm is driven to rotate around the joint axis through the movement of the outer shell. Preferably, the moving arm 10 adopts a circular or square structure, and the moving arm is symmetrically arranged in two semicircular structures at a section close to the outer shell of the joint structure, and the other end can be connected to another joint, or other moving parts. The fixed arm 20 is fixedly connected to the inner shell 700, and the fixed arm 20 adopts a circular or square structure, and a concentric circular hole with a semicircle is opened on the fixed arm at one end close to the joint structure.

[0056] In order to ensure underwater sealing, the present application designs sealing for the stationary end face and the moving end face of the robot.

[0057] The robot also includes a first end cover 30 and a second end cover 40. The outer side of the first end cover 30 is connected to the inner hole of the joint inner shell 700 by screws, and a sealing ring groove is provided on the outer surface of the first end cover 30, and a static sealing ring 740 is installed to play a static sealing role. The second end cover 40 tightens the bearing on the fixed arm 20, and the supporting strength of the entire joint structure is increased by the bearing. Two dynamic sealing grooves are processed on the circumference of the matching of the moving arm 10 and the joint inner shell 700, and the dynamic sealing grooves are installed with dynamic sealing rings 760 to ensure the dynamic sealing of relative rotation between the moving arm 10 and the joint inner shell 700. Multiple static sealing rings are installed between the rigid wheel 500, the joint outer shell 600 and the moving arm 10 to ensure the sealing between them. A dynamic sealing ring is installed between the moving arm 10 and the fixed arm 20, and a static sealing ring is installed between the second end cover 40 and the fixed arm 20 to ensure the sealing between them.

[0058] In order to achieve the radiation protection function, the moving arm, fixed arm, joint housing and rotating end cover in this application are all made of tungsten alloy material, and the motor encoder and motor driver are integrated inside the joint, which increases the life of electrical components in the radiation environment.

[0059] The working principle of the robot in this application is: the motor rotor rotates to drive the wave generator wheel to rotate, the wave generator wheel contacts the flexible wheel, the flexible wheel outer teeth mesh with the inner ring teeth of the rigid wheel, and finally drives the rigid wheel to rotate, the rigid wheel is integrated with the joint housing, and the two ends of the joint housing are screwed to the two ends of one side of the motion arm, thereby driving the motion arm to rotate around the joint axis. When the motor rotor rotates, the encoder connector on the wave generator wheel drives the encoder shaft to rotate, thereby generating a motor rotation motion encoding value.

[0060] In summary, the robot proposed in this embodiment achieves the following technical effects:

[0061] 1. This application designs sealing for the stationary end face and the moving end face of the robot to ensure the sealing of the robot in underwater environment.

[0062] 2. The robot's moving arm, fixed arm, joint housing and rotating end cover adopt radiation protection design, which increases the life of electrical components in irradiated environment.

[0063] 3. The compact joint structure is used to drive the moving arm to move around the axis, reducing the overall size of the robot.

[0064] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A robot joint structure, characterized in that: It comprises a motor component, a wave generator wheel (300), and an encoder component, wherein the wave generator wheel (300), the motor component, and the encoder component are coaxially distributed. The encoder assembly comprises an encoder (220), a connecting seat (240), a first connecting shaft (260) and a coupling (280). The first connecting shaft (260) is sleeved on the motor assembly, one end of the first connecting shaft (260) is connected to the connecting seat (240), and the other end is connected to the encoder (220) through the coupling (280). The connecting seat (240) is fixed to the wave generator wheel (300).

2. The robot joint structure according to claim 1, characterized in that: It also includes a flexible wheel (400), the inner wall of which forms a receiving space, and the motor assembly and the wave generator wheel (300) are at least partially sleeved in the receiving space.

3. The robot joint structure according to claim 2, characterized in that: It also includes a rigid wheel (500), which is sleeved on the circumferential outer side of the flexible wheel (400), and the teeth of the two wheels are meshed with each other.

4. The robot joint structure according to claim 3, characterized in that: It also includes a shell (600), and the rigid wheel (500) and the shell (600) are an integral structure.

5. The robot joint structure according to any one of claims 1 to 4, characterized in that: The motor assembly comprises a stator (120), a rotor (140), and a rotor core shaft (160); the rotor (140) is sleeved inside the stator (120); the rotor core shaft (160) is located inside the rotor (140); and the rotor (140) and the rotor core shaft (160) are interference fit.

6. The robot joint structure according to claim 5, characterized in that: The rotor core shaft (160) is connected to the wave generator wheel (300).

7. The robot joint structure according to claim 5, characterized in that: The rotor core shaft (160) and the encoder (220) are connected by threads.

8. The robot joint structure according to any one of claims 2 to 4, characterized in that: It also includes an inner shell (700), wherein the inner shell (700) is sleeved on the circumferential outer side of the flexible wheel (400).

9. The robot joint structure according to claim 8, characterized in that: Support bearings (720) are arranged at both axial ends of the inner shell (700).

10. A robot comprising the joint structure according to any one of claims 1 to 9, characterized in that: It also includes a motion arm (10), wherein the motion arm (10) is connected to the housing (600) of the joint structure.

11. The robot according to claim 10, characterized in that: It also comprises a fixed arm (20), wherein the fixed arm (20) is fixedly connected to the inner shell (700) of the joint structure.

12. The robot according to claim 11, characterized in that: It also includes a first end cover (30) and a second end cover (40), wherein the first end cover (30) and the second end cover (40) are fixedly connected to the inner shell (700) and the fixed arm (20) respectively.

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