Rotating joint and mechanical arm

Abstract

The utility model discloses a rotational joint and a mechanical arm, the rotational joint comprises a first joint piece, a second joint piece and a rotational connecting piece, and the first joint piece is rotatably connected with the second joint piece through the rotational connecting piece; a motor stator module is arranged on the first joint piece and comprises a plurality of stator coil windings which are arranged in a circle; a motor rotor module is arranged on the second joint piece and comprises a plurality of rotor coil windings which are arranged in a circle; the motor stator module is electrified to generate a first alternating magnetic field, the motor rotor module is electrified to generate a second alternating magnetic field, and the second joint piece is static or rotates relative to the first joint piece under the interaction of the first alternating magnetic field and the second alternating magnetic field. The rotating joint is compact in structure, small in occupied space, high in motion control precision, convenient to disassemble, assemble and maintain, stable in signal transmission and high in transmission speed.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a rotary joint and a mechanical arm. Background Art

[0002] With the development of industry, industrial robots have been widely used. In industrial robots, rotating joints are indispensable components.

[0003] In the prior art, since the motor driving the rotating joint to rotate needs to be mounted outside near the rotating joint, the existing rotating joint is generally large in size and needs to occupy a large space. Utility Model Content

[0004] The technical problem solved by the utility model is to provide a light and thin rotary joint with a compact structure, and a mechanical arm with the rotary joint.

[0005] In order to solve the above technical problems, the first technical solution adopted by the utility model is: a rotary joint, comprising a first joint component, a second joint component and a rotary connecting component, wherein the first joint component and the second joint component are rotatably connected through the rotary connecting component;

[0006] The first joint part is provided with a motor stator module, the motor stator module includes a plurality of stator coil windings arranged in a circle, and the stator coil windings include a stator core and a stator coil wound on the stator core;

[0007] The second joint part is provided with a motor rotor module, the motor rotor module includes a plurality of rotor coil windings arranged in a circle, the rotor coil winding includes a rotor core and a rotor coil wound on the rotor core;

[0008] The motor stator module generates a first alternating magnetic field when powered on, and the motor rotor module generates a second alternating magnetic field when powered on. Under the interaction of the first alternating magnetic field and the second alternating magnetic field, the second joint component is stationary or rotates relative to the first joint component.

[0009] In one embodiment, the first joint component is further provided with a wireless power transmission transmitting coil, and the second joint component is further provided with a second driver and a wireless power transmission receiving coil cooperating with the wireless power transmission transmitting coil, and the second driver is electrically connected to the wireless power transmission receiving coil and the motor rotor module respectively.

[0010] In one embodiment, the first joint component is further provided with a first wireless signal transmission module, the second joint component is further provided with a second wireless signal transmission module for performing wireless signal transmission with the first wireless signal transmission module, and the second wireless signal transmission module is electrically connected to the second driver.

[0011] In one embodiment, the first wireless signal transmission module is disposed at the rotation center axis of the first joint, the wireless power transmission coil is disposed around the first wireless signal transmission module, and the motor stator module is disposed around the wireless power transmission coil.

[0012] In one embodiment, both the first wireless signal transmission module and the second wireless signal transmission module are wireless signal transceiver modules.

[0013] In one embodiment, a winding center axis of the stator coil is perpendicular or parallel to a rotation center axis of the first joint component.

[0014] In one embodiment, a first accommodating groove is provided on a side of the first joint component close to the second joint component, a second accommodating groove is provided on a side of the second joint component close to the first joint component, at least a portion of the motor stator module is provided in the first accommodating groove, and at least a portion of the motor rotor module is provided in the second accommodating groove.

[0015] In one embodiment, a mounting structure is provided on the first joint component and / or the second joint component.

[0016] In order to solve the above technical problems, the second technical solution adopted by the present utility model is: a mechanical arm, including the above-mentioned rotating joint.

[0017] In one embodiment, the first joint component is a base, and the second joint component is connected to an arm structure.

[0018] The beneficial effects of the utility model are:

[0019] The present rotary joint has a compact and novel structure. The motor stator module and the motor rotor module of the motor are integrated on the first rotating member and the second rotating member respectively. By controlling the direction of the current passing through the motor stator module and the motor rotor module, the stator coil winding and the rotor coil winding can form the polarity required for movement, thereby enabling the rotary joint to complete the specified action without an external motor, greatly reducing the overall volume of the rotary joint and reducing the space occupied by the rotary joint. Moreover, compared with the existing rotary joint with a built-in motor, the present rotary joint has no motor output shaft, which can flatten the rotary joint, thereby enabling the rotary joint to achieve a small size. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the internal structure of the first rotary joint of the first embodiment of the utility model;

[0022] Figure 2 A top view of a first joint component in a first type of rotary joint according to a first embodiment of the present utility model;

[0023] Figure 3 A bottom view of the second joint component in the first rotary joint of the first embodiment of the utility model;

[0024] Figure 4 This is a simplified schematic diagram of the structure of the first rotary joint of the first embodiment of the utility model;

[0025] Figure 5 This is a simplified schematic diagram of the structure of the second rotary joint of the first embodiment of the utility model;

[0026] Figure 6 This is a simplified schematic diagram of the structure of the third rotary joint of the first embodiment of the utility model;

[0027] Figure 7 This is a simplified schematic diagram of the structure of the first mechanical arm of the second embodiment of the utility model;

[0028] Figure 8 This is a simplified schematic diagram of the structure of the second mechanical arm of the second embodiment of the utility model;

[0029] Fig. 9 This is a simplified schematic diagram of the structure of the third mechanical arm of the second embodiment of the present utility model;

[0030] Fig.10 This is a simplified schematic diagram of the structure of the fourth mechanical arm of the second embodiment of the utility model;

[0031] Fig.11 This is a simplified schematic diagram of the structure of the fifth mechanical arm of the second embodiment of the utility model;

[0032] Fig.12 This is a simplified schematic diagram of the structure of the sixth type of mechanical arm of the second embodiment of the utility model.

[0033] Description of Figure Numbers:

[0034] 1. a first joint component; 11. a first receiving groove;

[0035] 2. a second joint member; 21. a second receiving groove;

[0036] 3. A first wireless signal transmission module;

[0037] 4. A second wireless signal transmission module;

[0038] 5. Wireless power transmission coil;

[0039] 6. Wireless power transmission receiving coil;

[0040] 7. stator coil winding; 71. stator core; 72. stator coil;

[0041] 8. rotor coil winding; 81. rotor core; 82. rotor coil;

[0042] 9. Rotate the connecting piece;

[0043] 10. Installation structure;

[0044] 20. Base;

[0045] 30. Arm structure. DETAILED DESCRIPTION

[0046] The purpose, features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

[0047] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0048] It should be noted that if the embodiments of the present invention involve directional indications such as up, down, left, right, front, back, etc., then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0050] In addition, if the meaning of "and / or" appears in the full text is to include three parallel solutions, taking "and / or" as an example, it includes solutions, or solutions, or solutions that are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0051] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] Embodiment 1

[0053] Please refer to Figures 1 to 6 , Embodiment 1 of the present utility model is: a rotary joint, comprising a first joint component 1, a second joint component 2 and a rotary connection component 9, wherein the first joint component 1 and the second joint component 2 are rotatably connected via the rotary connection component 9;

[0054] The first joint part 1 is provided with a motor stator module, and the motor stator module includes a plurality of stator coil windings 7 arranged in a circle, and each of the stator coil windings 7 includes a stator core 71 and a stator coil 72 wound on the stator core 71. Figure 2 As shown;

[0055] The second joint 2 is provided with a motor rotor module, which includes a plurality of rotor coil windings 8 arranged in a circle, each of which includes a rotor core 81 and a rotor coil 82 wound on the rotor core 81. Figure 3 As shown;

[0056] The motor stator module is energized to generate a first alternating magnetic field, and the motor rotor module is energized to generate a second alternating magnetic field. Under the interaction of the first alternating magnetic field and the second alternating magnetic field, the second joint component 2 is stationary or rotates relative to the first joint component 1. Figure 1 , Figures 4 to 6 .

[0057] In detail, a plurality of stator coil windings 7 are arranged on the end surface of the first joint 1 close to the second joint 2 in a circle around the rotation center axis of the first joint 1, and a plurality of rotor coil windings 8 are arranged on the end surface of the second joint 2 close to the first joint 1 in a circle around the rotation center axis of the second joint 2. In more detail, a plurality of stator coil windings 7 form a first ring structure, and a plurality of rotor coil windings 8 form a second ring structure, and the first ring structure can be located inside the second ring structure (such as Figure 6 ), or it may be located outside the second ring structure (as shown Figure 4 As shown), it can also be the same diameter as the second ring structure (as shown Figure 5 shown).

[0058] The winding center axis of the stator coil 72 is perpendicular to the rotation center axis of the first joint component 1 (eg Figure 2 and Figure 4 The winding center axis of the rotor coil 82 is perpendicular to the rotation center axis of the second joint 2 (as shown in FIG. Figure 3 and Figure 4 Alternatively, the winding center axis of the stator coil 72 is parallel to the rotation center axis of the first joint component 1, and the winding center axis of the rotor coil 82 is parallel to the rotation center axis of the second joint component 2 (as shown in Figure 5 and Figure 6 shown).

[0059] It should be noted that there is no clear correspondence between the number of the stator coil windings 7 and the number of the rotor coil windings 8. It is acceptable for the two numbers to be equal or unequal. The specific number of the stator coil windings 7 and the specific number of the rotor coil windings 8 can be determined based on the requirements for the control accuracy of the rotational joint motion.

[0060] Please combine Figures 4 to 6 In order to make the rotating joint lighter and thinner, a first accommodating groove 11 is provided on the side of the first joint component 1 close to the second joint component 2, and a second accommodating groove 21 is provided on the side of the second joint component 2 close to the first joint component 1. At least a portion of the motor stator module is arranged in the first accommodating groove 11, and at least a portion of the motor rotor module is arranged in the second accommodating groove 21.

[0061] In order to further reduce the volume of the rotary joint, preferably, part of the motor stator module is located in the second receiving groove 21, and part of the motor rotor module is located in the first receiving groove 11 (such as Figure 4 and Figure 6Such an arrangement can make the revolute joint flatter, thereby further reducing the overall volume of the revolute joint, while ensuring that the revolute joint has sufficient driving force.

[0062] Optionally, a first driver (not shown) is further provided on the first joint component 1 , and the first driver is electrically connected to the motor stator module, and the first driver is used to control the magnitude and direction of the current passed into the stator coil 72 .

[0063] The first joint component 1 is also provided with a wireless power transmission transmitting coil 5, and the second joint component 2 is also provided with a second driver (not shown in the figure) and a wireless power transmission receiving coil 6 that cooperates with the wireless power transmission transmitting coil 5, and the second driver is electrically connected to the wireless power transmission receiving coil 6 and the motor rotor module respectively. The wireless power transmission transmitting coil 5 and the wireless power transmission receiving coil 6 cooperate to form a wireless power transmission module. The wireless power transmission module is a commonly used technology in the field of wireless charging technology, and its working principle is not described here. The electric energy generated by the wireless power transmission receiving coil 6 is transmitted to the second driver, and the second driver can control the size and direction of the current passed into the rotor coil 82. This rotating joint uses wireless means to transmit electricity, and there is no need to set up a power transmission line, which is conducive to simplifying the rotating joint structure and making the rotating joint easy to disassemble and maintain.

[0064] Preferably, the first joint part 1 is also provided with a first wireless signal transmission module 3, and the second joint part 2 is also provided with a second wireless signal transmission module 4 for wireless signal transmission with the first wireless signal transmission module 3, the second wireless signal transmission module 4 is electrically connected to the second driver, and the second driver receives the control signal of the second wireless signal transmission module 4 to control the current passing into the rotor coil 82. This rotary joint adopts wireless signal transmission, and there is no need to set up a signal transmission line, which is conducive to further simplifying the rotary joint structure and ensuring that the rotary joint is easy to disassemble and maintain.

[0065] Since this rotating joint has no motor output shaft, the first wireless signal transmission module 3 can be arranged at the rotation center axis of the first joint component 1, and correspondingly, the second wireless signal transmission module 4 is arranged at the rotation center axis of the second joint component 2, so that the first wireless signal transmission module 3 and the second wireless signal transmission module 4 can achieve stable signal transmission.

[0066] Preferably, the first wireless signal transmission module 3 and the second wireless signal transmission module 4 are both wireless signal transceiver modules, that is, the first wireless signal transmission module 3 and the second wireless signal transmission module 4 can both realize full-duplex communication, and can both receive and send signals. In this embodiment, the wireless signal transceiver module is a millimeter wave antenna transceiver module, which uses a millimeter wave antenna transceiver module for signal transmission, and has the advantages of strong anti-interference ability and high information transmission rate.

[0067] In this embodiment, the wireless power transmission coil 5 is arranged around the first wireless signal transmission module 3, and the motor stator module is arranged around the wireless power transmission coil 5; the wireless power transmission receiving coil 6 is arranged around the second wireless signal transmission module 4, and the motor rotor module is arranged around the wireless power transmission receiving coil 6. This arrangement allows the first ring structure / the second ring structure to be arranged larger, so that the number of stator coil windings 7 / rotor coil windings 8 built into the rotating joint can be set more, thereby allowing the rotating joint to have higher motion control accuracy. At the same time, it can also make more full use of the internal space of the motor rotor module / electronic rotor module, so that the rotating joint structure is more compact.

[0068] The rotating connecting member 9 can be a bearing, etc. The bearing needs to be of a suitable type according to the applied stress conditions. In some embodiments, the bearing can be a thrust ball bearing, a thrust cylindrical roller bearing, a thrust spherical roller bearing, etc. In this embodiment, the motor stator module and the motor rotor module are both located inside the bearing, so that the bearing can provide a certain degree of protection for the motor stator module, the motor rotor module, the wireless power transmission coil 5, the wireless power transmission receiving coil 6, the first wireless signal transmission module 3 and the second wireless signal transmission module 4.

[0069] The first joint component 1 and / or the second joint component 2 is provided with a mounting structure 10, so as to facilitate the installation of the rotary joint and the external structure. The mounting structure 10 includes but is not limited to a mounting flange, a mounting hole, etc.

[0070] Embodiment 2

[0071] Please refer to Figures 7 to 12 , Embodiment 2 of the present utility model is: a mechanical arm, and the mechanical arm includes the rotation joint described in Embodiment 1.

[0072] like Figures 7 to 9As shown, in a specific implementation, the first joint component 1 can be connected to the base 20 via the mounting structure 10 thereon, and the second joint component 2 can be connected to the arm structure 30 via the mounting structure 10 thereon. Of course, the first joint component 1 can also be the base 20 itself, and similarly, the second joint component 2 can be the arm structure 30 itself.

[0073] like Figures 10 to 12 As shown, when the mechanical arm is a joint area of ​​a robot, the first joint component 1 and the second joint component 2 are respectively connected with an arm structure 30 .

[0074] The above are only optional embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A rotary joint, characterized in that: It comprises a first joint component, a second joint component and a rotating connection component, wherein the first joint component and the second joint component are rotatably connected via the rotating connection component; The first joint part is provided with a motor stator module, the motor stator module includes a plurality of stator coil windings arranged in a circle, and the stator coil windings include a stator core and a stator coil wound on the stator core; The second joint part is provided with a motor rotor module, the motor rotor module includes a plurality of rotor coil windings arranged in a circle, the rotor coil winding includes a rotor core and a rotor coil wound on the rotor core; The motor stator module generates a first alternating magnetic field when powered on, and the motor rotor module generates a second alternating magnetic field when powered on. Under the interaction of the first alternating magnetic field and the second alternating magnetic field, the second joint component is stationary or rotates relative to the first joint component.

2. The rotary joint according to claim 1, characterized in that: The first joint component is also provided with a wireless power transmission transmitting coil, and the second joint component is also provided with a second driver and a wireless power transmission receiving coil matching the wireless power transmission transmitting coil, and the second driver is electrically connected to the wireless power transmission receiving coil and the motor rotor module respectively.

3. The rotary joint according to claim 2, characterized in that: The first joint component is also provided with a first wireless signal transmission module, and the second joint component is also provided with a second wireless signal transmission module for performing wireless signal transmission with the first wireless signal transmission module, and the second wireless signal transmission module is electrically connected to the second driver.

4. The rotary joint according to claim 3, characterized in that: The first wireless signal transmission module is arranged at the rotation center axis of the first joint, the wireless power transmission coil is arranged around the first wireless signal transmission module, and the motor stator module is arranged around the wireless power transmission coil.

5. The rotary joint according to claim 3, characterized in that: The first wireless signal transmission module and the second wireless signal transmission module are both wireless signal transceiver modules.

6. The rotary joint according to claim 1, characterized in that: The winding center axis of the stator coil is perpendicular or parallel to the rotation center axis of the first joint component.

7. The rotary joint according to claim 1, characterized in that: A first accommodating groove is provided on a side of the first joint component close to the second joint component, a second accommodating groove is provided on a side of the second joint component close to the first joint component, at least a portion of the motor stator module is provided in the first accommodating groove, and at least a portion of the motor rotor module is provided in the second accommodating groove.

8. The rotary joint according to claim 1, characterized in that: The first joint component and / or the second joint component is provided with a mounting structure.

9. A robotic arm, characterized in that: The invention comprises a rotation joint as described in any one of claims 1 to 8.

10. The robotic arm according to claim 9, characterized in that: The first joint component is a base, and the second joint component is connected with an arm structure.

Images