Robot joint module of integrated wireless transmission torque sensor
By integrating wirelessly transmitted torque sensors into the robot joint module, using wireless transceiver modules and magnetic coupling technology, the problem of easy winding of torque sensor lines is solved, and the service life and stability of the robot joint module is improved.
Patent Information
- Application Number
- CN202421213389.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-30
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-05-30
AI Technical Summary
The existing torque sensors are damaged due to cable tangling when rotating, which affects the normal use of the robot joint module.
The torque sensor robot joint module adopts wireless transmission, connects the motor module and the reducer module through the intermediate fixed shaft, uses a wireless transceiver module for data transmission, and achieves wireless power supply through magnetic coupling.
It solves the problem of vulnerability to wire wound in traditional wired torque sensors, and improves the service life and stability of the joint module.
Smart Images
Figure CN222494344U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robot manufacturing, and in particular relates to a robot joint module with an integrated wireless transmission torque sensor. Background Art
[0002] With the advancement of science and technology, robotics has developed rapidly and has broad prospects for development in many fields such as industry and service. In recent years, many service robots and industrial robots have gradually explored how to achieve force control of robots to improve the working performance of robots. If the interaction force between robots and the environment can be controlled, robots can collaborate with humans. For example, applying robot force control units to industrial manufacturing systems can improve work efficiency and collision safety between humans and robots.
[0003] At present, due to the large friction damping of the robot itself, it is impossible to accurately sense external force directly through the drive motor parameters, so force sensors are mainly integrated at the robot joints and collision-prone areas to achieve robot force control. At present, torque sensors are usually installed at each joint of the robot to directly measure the torque. Combined with the control algorithm, force control of each joint can be achieved. This method is more economical and practical. However, the current torque sensors are mainly strain gauge sensors. When working, the torque sensor rotates with the output wheel of the harmonic reducer. If cables are used for power supply and data transmission, the cables will be entangled due to rotation. After long-term use, it is easy to cause cable damage, affecting the normal use of the entire joint module. Utility Model Content
[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a robot joint module with an integrated wireless transmission torque sensor, which solves the line winding problem, has more stable performance and longer service life.
[0005] In order to achieve the above-mentioned utility model purpose, the utility model adopts the following technical solutions:
[0006] A robot joint module with an integrated wireless transmission torque sensor comprises an intermediate fixed shaft and a motor module, a reducer module and a torque sensor module which are sequentially connected for transmission, wherein a controller circuit board is provided at one end of the motor module, and a protective cover is fixed to the outside of the controller circuit board, the intermediate fixed shaft passes through the motor module and the reducer module, and one end is fixed to the protective cover, and the other end is fixed to a first circuit board assembly, the circuits on the first circuit board assembly are connected to the controller circuit board through the wire holes of the intermediate fixed shaft, a second circuit board assembly is fixed to the torque sensor module, data is transmitted between the second circuit board assembly and the first circuit board assembly via a wireless transceiver module, and wireless power supply is formed between the first circuit board and the second circuit board via magnetic coupling.
[0007] As a preferred solution: the first circuit board includes a first bracket and a circuit board A and a circuit board B fixed on both sides of the first bracket, the first bracket is fixedly sleeved on the end of the middle fixed shaft, and circuit board A is electrically connected to circuit board B; the second circuit board includes a second bracket and a circuit board C and a circuit board D fixed on both sides of the second bracket, the second bracket is fixed in the torque sensor module, circuit board C is electrically connected to circuit board D, and coils are respectively provided on circuit board D and circuit board A, so that circuit board A wirelessly powers circuit board D through magnetic coupling.
[0008] As a preferred solution: the torque sensor module includes a housing C, an outer wall of the housing C is provided with a strain gauge, and the strain gauge is electrically connected to the second circuit board assembly.
[0009] As a preferred solution: the strain gauges are in four groups, which are equidistantly spaced, with two gauges in each group. The housing C is also provided with a groove, and the strain gauges are attached in the groove at an angle of 45°.
[0010] As a preferred solution: the strain gauge is connected to the circuit board C via a wire, and four groups of strain gauges form a Wheatstone full-bridge circuit.
[0011] As a preferred solution: a permanent magnet is also fixed on the torque sensor module, and a magnetic sensor matching the permanent magnet is also provided on the first circuit board assembly.
[0012] As a preferred solution: the motor module includes a shell A, a stator, a rotor core and a rotating shaft, the stator is fixed in the shell A, the rotor core is fixed on the rotating shaft, a front end cover is also fixed to one end of the shell A, the rotating shaft is a hollow shaft, and both ends are respectively rotatably connected to the shell A and the front end cover, the middle fixed shaft is passed through the rotating shaft, and a supporting bearing is provided between the middle fixed shaft and the rotating shaft.
[0013] As a preferred solution: the reducer module is a harmonic reducer module or a planetary gear reducer module.
[0014] As a preferred solution: the reducer module includes an input cam, a flexible wheel, a housing B and an output wheel. A through hole is provided in the middle of the input cam for the intermediate fixed shaft to pass through. The input cam is fixed to the rotating shaft. The flexible wheel is arranged outside the input cam through a bearing, and one end of the flexible wheel is fixed to the housing B. The output wheel is arranged in the housing B through a bearing and is driven by the flexible wheel.
[0015] As a preferred solution: the protective cover is fixed to one end of the shell A, and the protective cover and the end surface of the shell A form a protective cavity for installing the controller circuit board.
[0016] The structure of the utility model is mainly used in robot arm joints. A first circuit board and a second circuit board are fixed on a motor module and a torque sensor module respectively, and the first circuit board and the second circuit board are respectively connected to a controller circuit board and a torque sensor module by wire. The first circuit board and the controller circuit board are connected by a fixed intermediate shaft that passes through the motor module and the reducer module, and the inner wall of the fixed intermediate shaft is grooved to facilitate line routing. Wireless power is supplied between the first circuit board and the second circuit board, and data is transmitted through a wireless transceiver module, which solves the problem of easy entanglement and damage of traditional wired torque sensor lines and greatly improves the overall service life of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.
[0018] Figure 1 and Figure 2 It is a schematic diagram of the overall structure of the utility model at two different angles;
[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the utility model;
[0020] Figure 4 and Figure 5 It is a schematic diagram of the disassembled structure of the utility model at two different angles;
[0021] Figure 6 It is a schematic diagram of the circuit principle structure of the utility model.
[0022] The accompanying drawings are marked as follows: 1. Motor module; 11. Shell A; 12. Stator; 13. Rotor core; 14. Rotating shaft; 15. Front cover; 16. Controller circuit board; 17. Protective cover; 2. Reducer module; 21. Input cam; 22. Flexible wheel; 23. Shell B; 24. Output wheel; 3. Torque sensor module; 31. Shell C; 32. First bracket; 33. Circuit board A; 34. Circuit board B; 35. Second bracket; 36. Circuit board C; 37. Circuit board D; 4. Intermediate fixed shaft; 41. Wire hole; 42. Support bearing. DETAILED DESCRIPTION
[0023] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.
[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0025] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.
[0027] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like 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 a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection 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 invention can be understood according to specific circumstances.
[0028] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
[0029] The utility model is further described below in conjunction with the accompanying drawings and embodiments:
[0030] like Figures 1 to 5 The robot joint module with integrated wireless transmission torque sensor shown in the figure includes an intermediate fixed shaft 4 and a motor module 1, a reducer module 2, and a torque sensor module 3 which are sequentially connected to the transmission.
[0031] The motor module 1 includes a shell A11, a stator 12, a rotor core 13 and a rotating shaft 14. The stator 12 is fixed in the shell A11, and the rotor core 13 is fixed on the rotating shaft 14. A front end cover 15 is also fixed to one end of the shell A11. The rotating shaft 14 is a hollow shaft, and its two ends are respectively rotatably connected to the shell A11 and the front end cover 15. The intermediate fixed shaft 4 is passed through the rotating shaft 14, and a supporting bearing 42 is provided between the intermediate fixed shaft 4 and the rotating shaft 14.
[0032] A controller circuit board 16 is provided at one end of the motor module 1, and a protective cover 17 is also fixed to the outside of the controller circuit board 16. The protective cover 17 is fixed to one end of the housing A11, and the protective cover 17 and the end surface of the housing A11 form a protective cavity for installing the controller circuit board 16. The intermediate fixed shaft 4 passes through the motor module 1 and the reducer module 2, and one end is fixed to the protective cover 17, and the other end is fixed with a first circuit board assembly. The circuit on the first circuit board assembly is connected to the controller circuit board 16 through the wire hole 41 of the intermediate fixed shaft 4. A second circuit board assembly is fixed on the torque sensor module 3. The second circuit board assembly and the first circuit board assembly are used for data transmission through a wireless transceiver module, and wireless power supply is formed between the first circuit board and the second circuit board through magnetic coupling.
[0033] The reducer module 2 is a harmonic reducer module or a planetary gear reducer module. As a preferred solution, a harmonic reducer module is used in this embodiment, and the specific structure is as follows: the harmonic reducer module includes an input cam 21, a flexible wheel 22, a housing B23 and an output wheel 24, the middle of the input cam 21 is provided with a through hole for the intermediate fixed shaft 4 to pass through, the input cam 21 is fixed to the rotating shaft 14, the flexible wheel 22 is arranged outside the input cam 21 through a bearing, and one end of the flexible wheel 22 is fixed to the housing B23, the output wheel 24 is arranged in the housing B23 through a bearing, and is driven by the flexible wheel 22.
[0034] The first circuit board includes a first bracket 35 and a circuit board A36 and a circuit board B37 fixed on both sides of the first bracket 35. The first bracket 35 is fixedly sleeved on the end of the intermediate fixed shaft 4, and the circuit board A36 is electrically connected to the circuit board B37; the second circuit board includes a second bracket 32 and a circuit board C33 and a circuit board D34 fixed on both sides of the second bracket 32. The second bracket 32 is fixed in the torque sensor module 3, and the circuit board C33 is electrically connected to the circuit board D34. Coils are respectively provided on the circuit board D34 and the circuit board A36, and the circuit board A36 wirelessly powers the circuit board D34 through magnetic coupling.
[0035] The torque sensor module 3 includes a housing C31, and a strain gauge is provided on the outer wall of the housing C31. The strain gauge is electrically connected to the second circuit board assembly. The strain gauges are in four groups, and the four groups of strain gauges are arranged at equal intervals, each group of two strain gauges. The housing C31 is also provided with a groove, and the strain gauge is attached to the groove at an angle of 45 degrees. The strain gauge is connected to the circuit board C33 through a wire, and the four groups of strain gauges form a Wheatstone full bridge circuit, such as Figure 6 shown.
[0036] The circuit board C33 connected to the strain gauge receives the voltage signal generated by the deformation of the strain gauge and transmits it to the circuit board D34 through the line. The circuit board D34 is equipped with a wireless transmission module to transmit the torque data to the circuit board A36, and then transmits the data through the wire between the circuit board A36 and the circuit board B37. The circuit board B37 then uses the line passing through the middle fixed shaft to transmit the signal to the controller circuit board to realize the wireless transmission of the torque signal. At the same time, the circuit board A36 is energized to generate a magnetic field, and the circuit board D34 rotates relatively, causing the change of the electromagnetic induction coefficient, generating an induced current through the coil, which is transmitted to the circuit board C33 to power the measurement circuit.
[0037] During operation, the motor rotor rotates, inputs the torque into the harmonic reducer module, and transmits the torque to the housing of the torque sensor module through the output wheel. The second circuit board assembly connected to the housing of the torque sensor module rotates, and the stationary first circuit board assembly generates a corresponding torque signal through the wireless transceiver module, and transmits the signal to the controller circuit board through the wire through the wire groove of the middle fixed shaft, thereby realizing the wireless transmission of the torque signal. At the same time, the components in the structure will move in three states: first, the first circuit board assembly and the middle fixed shaft and the stator, controller circuit board and other main bodies of the motor module are in a relatively static state; second, the motor rotor assembly and the input cam of the harmonic reducer module are in a high-speed rotation state; third, the output wheel of the harmonic reducer module, the housing of the torque sensor module and the second circuit board assembly are in a low-speed rotation state.
[0038] A permanent magnet is also fixed on the torque sensor module 3, and a magnetic sensor that matches the permanent magnet is also provided on the first circuit board assembly. The magnetic sensor detects the change of the magnetic field to obtain position information and converts it into an electrical signal for output. The permanent magnet rotates with the torque sensor, and the magnetic sensor detects the change of the magnetic field direction, thereby obtaining the rotation position and rotation speed of the output wheel of the harmonic reducer.
[0039] The structure of the utility model is mainly used in robot arm joints. The main body consists of four parts: motor module, controller circuit board, reducer module, and torque sensor module. The torque sensor module and the controller circuit board are connected by a fixed intermediate shaft. The fixed intermediate shaft is fixed by a protective cover and a bearing bush on the inner wall of the motor shaft, and the inner wall is grooved to facilitate line routing. This structure realizes the wireless transmission function of the torque sensor.
[0040] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0041] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A robot joint module with an integrated wireless transmission torque sensor, characterized in that: The invention comprises an intermediate fixed shaft (4) and a motor module (1), a reducer module (2) and a torque sensor module (3) which are sequentially connected for transmission. A controller circuit board (16) is provided at one end of the motor module (1), and a protective cover (17) is fixed to the outer side of the controller circuit board (16). The intermediate fixed shaft (4) passes through the motor module (1) and the reducer module (2), and one end is fixed to the protective cover (17), and the other end is fixed to a first circuit board assembly. The circuit on the first circuit board assembly is connected to the controller circuit board (16) through a wire hole (41) of the intermediate fixed shaft (4). A second circuit board assembly is fixed to the torque sensor module (3). Data is transmitted between the second circuit board assembly and the first circuit board assembly via a wireless transceiver module, and wireless power supply is formed between the first circuit board and the second circuit board via magnetic coupling.
2. The robot joint module with integrated wireless transmission torque sensor according to claim 1, characterized in that: The first circuit board comprises a first bracket (35) and a circuit board A (36) and a circuit board B (37) fixed on both sides of the first bracket (35); the first bracket (35) is fixedly sleeved on the end of the intermediate fixed shaft (4); the circuit board A (36) is electrically connected to the circuit board B (37); the second circuit board comprises a second bracket (32) and a circuit board C (33) and a circuit board D (34) fixed on both sides of the second bracket (32); the second bracket (32) is fixed in the torque sensor module (3); the circuit board C (33) is electrically connected to the circuit board D (34); the circuit board D (34) and the circuit board A (36) are respectively provided with coils, and the circuit board A (36) wirelessly powers the circuit board D (34) through magnetic coupling.
3. The robot joint module with integrated wireless transmission torque sensor according to claim 2, characterized in that: The torque sensor module (3) comprises a housing C (31), an outer wall of which is provided with a strain gauge, and the strain gauge is electrically connected to the second circuit board assembly.
4. The robot joint module with integrated wireless transmission torque sensor according to claim 3, characterized in that: The strain gauges are arranged in four groups at equal intervals, each group having two gauges. The housing C (31) is also provided with a groove, and the strain gauges are attached in the groove at an angle of 45 degrees.
5. The robot joint module with integrated wireless transmission torque sensor according to claim 3, characterized in that: The strain gauges are connected to the circuit board C (33) via wires, and four groups of strain gauges form a Wheatstone full-bridge circuit.
6. The robot joint module with integrated wireless transmission torque sensor according to claim 1, characterized in that: A permanent magnet is also fixed on the torque sensor module (3), and a magnetic sensor matching the permanent magnet is also provided on the first circuit board assembly.
7. The robot joint module with integrated wireless transmission torque sensor according to claim 1, characterized in that: The motor module (1) comprises a housing A (11), a stator (12), a rotor core (13) and a rotating shaft (14); the stator (12) is fixed in the housing A (11); the rotor core (13) is fixed on the rotating shaft (14); a front end cover (15) is also fixed to one end of the housing A (11); the rotating shaft (14) is a hollow shaft, and its two ends are rotatably connected to the housing A (11) and the front end cover (15) respectively; the intermediate fixed shaft (4) is passed through the rotating shaft (14), and a support bearing (42) is provided between the intermediate fixed shaft (4) and the rotating shaft (14).
8. The robot joint module with integrated wireless transmission torque sensor according to claim 1, characterized in that: The reducer module (2) is a harmonic reducer module or a planetary gear reducer module.
9. The robot joint module with integrated wireless transmission torque sensor according to claim 7, characterized in that: The reducer module comprises an input cam (21), a flexible wheel (22), a housing B (23) and an output wheel (24); a through hole for the intermediate fixed shaft (4) to pass through is provided in the middle of the input cam (21); the input cam (21) is fixed to the rotating shaft (14); the flexible wheel (22) is arranged outside the input cam (21) via a bearing, and one end of the flexible wheel (22) is fixed to the housing B (23); the output wheel (24) is arranged in the housing B (23) via a bearing and is driven by the flexible wheel (22).
10. The robot joint module with integrated wireless transmission torque sensor according to claim 1, characterized in that: The protective cover (17) is fixed to one end of the housing A (11), and the protective cover (17) and the end surface of the housing A (11) form a protective cavity for mounting a controller circuit board (16).