Robot joint

Abstract

The utility model discloses a robot joint, and relates to the technical field of robots. The robot joint comprises a joint shell assembly, and a speed reducer assembly, a stator and a rotor assembly which are arranged in the joint shell assembly; wherein the joint shell assembly comprises a joint shell, a rotor shell and an end cover which are connected in sequence to form an integrated structure shell; the speed reducer assembly comprises a speed reducer and a planet carrier; the speed reducer is fixedly connected with the joint shell through a hot jacket process; the stator is fixedly connected with the joint shell; two ends of the rotor assembly are respectively positioned on the planet carrier and the rotor shell; the rotor assembly is in transmission connection with the reducer assembly; the stator, the rotor assembly, the speed reducer assembly and the joint shell assembly are coaxially arranged. The speed reducer assembly, the stator and the rotor assembly are arranged in the integrated structure shell, the installation precision of the speed reducer is improved through the shrinkage fit technology, then the transmission precision between the motor and the speed reducer is improved, the assembly technology is simplified, the manufacturing cost is reduced, and damping and noise reduction are effectively achieved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot joint. Background Art

[0002] Most legged robots are equipped with motors and reducers at the joints to drive the movement of the leg links. The structure and performance of the joint power unit directly affect the power performance of the robot. At present, the joint structure of robots mostly adopts a series connection, that is, the motor rotor output shaft is connected to the reducer input end, the reducer output flange is connected to the load, and the drive link rotates.

[0003] In the prior art, the motor and reducer are mostly two independent units, each using a separate housing or mounting frame. During the assembly and connection process, installation errors will occur, which will cause transmission accuracy errors. In order to ensure the coaxiality of the motor and reducer transmission and achieve high-efficiency motor output, the dimensional accuracy and fit requirements of the joint structural parts are high, resulting in increased processing costs. In addition, the existing design mostly uses clearance fit and locating pins to install the reducer, resulting in high dimensional accuracy requirements for the pin hole of the joint housing, high assembly process requirements, and high manufacturing costs. Utility Model Content

[0004] The purpose of the present application is to provide a robot joint for driving a leg-type robot, so as to achieve higher transmission accuracy between the motor and the reducer, reduce manufacturing costs, and simplify the assembly process.

[0005] To achieve the above-mentioned purpose, the present application provides a robot joint, which adopts an integrated structural shell, and uses threaded pins, a shrink-fit process and a gluing process to install the reducer and the stator in the integrated shell.

[0006] The technical solution of this application is as follows:

[0007] A robot joint comprises a joint housing component and a reducer component, a stator and a rotor component arranged therein; wherein:

[0008] The joint housing assembly comprises a joint housing, a rotor housing and an end cover which are connected in sequence to form an integrated structural housing;

[0009] The reducer assembly comprises a reducer and a planet carrier connected thereto, and the reducer is fixedly connected to the joint housing by a shrink-fit process;

[0010] The stator is fixedly connected to the joint housing;

[0011] The two ends of the rotor assembly are respectively positioned on the planet carrier and the rotor housing; the rotor assembly is transmission-connected to the reducer assembly;

[0012] The stator, the rotor assembly, the reducer assembly and the joint housing assembly are coaxially arranged.

[0013] In the above-mentioned robot joint, the joint housing and the rotor housing are respectively provided with a matching first positioning groove and a first positioning boss for positioning the joint housing and the rotor housing; the rotor housing and the end cover are respectively provided with a second positioning groove and a second positioning boss for positioning the rotor housing and the end cover.

[0014] In the above-mentioned robot joint, after the joint housing, the rotor housing and the end cover are positioned, they are fastened by connecting pieces to form the integrated structural housing; the connecting pieces are threaded pins or screws.

[0015] In the above-mentioned robot joint, the joint housing is provided with a plurality of threaded holes, and the reducer is provided with a corresponding plurality of positioning holes; after the reducer is assembled with the joint housing, a connecting piece is used to position and fix the reducer through the corresponding threaded holes and the positioning holes; the connecting piece is a threaded pin.

[0016] In the above-mentioned robot joint, a step is provided inside the joint housing, the stator is positioned at the step, and the stator is fixed by a gluing process.

[0017] In the above-mentioned robot joint, the rotor assembly includes a rotor main shaft, and two ends of the rotor main shaft are respectively arranged on the planet carrier and the rotor housing through a first bearing and a second bearing.

[0018] In the above-mentioned robot joint, the rotor main shaft is fixedly connected to the first bearing and the second bearing by a shrink fitting process.

[0019] In the above-mentioned robot joint, an O-ring is provided at the fitting place between the planet carrier and the outer ring of the first bearing, and an O-ring is provided at the fitting place between the rotor housing and the outer ring of the second bearing, so as to reduce the radial circular runout of the rotor main shaft.

[0020] In the above-mentioned robot joint, a corrugated washer is provided at the mating position between the rotor housing and the side wall of the second bearing, so as to reduce the axial movement of the rotor main shaft.

[0021] The above-mentioned robot joint also includes an encoder, which is fixed on the rotor housing and is used to detect the rotor rotation angle of the rotor assembly.

[0022] The robot joint of the present application arranges the reducer assembly, stator and rotor assembly in an integrated structural housing, and uses the shrink-fit process to improve the installation accuracy of the reducer, thereby improving the transmission accuracy between the motor and the reducer, simplifying the assembly process, reducing manufacturing costs, and effectively reducing vibration and noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0024] Figure 1 It is a cross-sectional schematic diagram of the robot joint of the present application.

[0025] Figure 2 It is a schematic cross-sectional view of a joint housing assembly of the robot joint of the present application.

[0026] Figure 3 It is a structural schematic diagram of the reducer assembly of the robot joint of the present application.

[0027] Figure 4 It is a structural schematic diagram of the rotor assembly of the robot joint of the present application.

[0028] Reference numerals:

[0029] 1. Joint housing assembly; 101. Joint housing; 1011. Threaded hole; 1012. First positioning groove; 102. Rotor housing; 1021. Protrusion; 1022. First positioning boss; 1023. Second positioning groove; 103. End cover; 1031. Second positioning boss; 104. O-ring; 105. Wave washer; 106. Threaded pin; 107. Screw;

[0030] 2. Reducer assembly; 201. Reducer; 2011. Positioning hole; 202. Planet carrier; 203. Third bearing;

[0031] 3. Stator;

[0032] 4. rotor assembly; 401. rotor main shaft; 402. first bearing; 403. second bearing; 404. rotor;

[0033] 5. Encoder. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] Example

[0036] like Figure 1 As shown, the robot joint of the present application includes a joint housing assembly 1 and a reducer assembly 2, a stator 3, a rotor assembly 4 and an encoder 5 arranged therein.

[0037] The reducer assembly 2 is fixedly connected to the joint housing assembly 1. The stator 3 is fixedly connected to the joint housing assembly 1 by gluing. The rotor assembly 4 is arranged inside the stator 3, and is positioned between the planet carrier 202 of the reducer assembly 2 and the joint housing assembly 1 through the first bearing 402 and the second bearing 403 at both ends. The stator 3, the rotor assembly 4, the reducer assembly 2 and the joint housing assembly 1 are coaxially arranged. The encoder 5 is fixed on the rotor housing assembly 1 and is used to detect the rotation angle of the rotor.

[0038] like Figure 2 As shown, the joint housing assembly 1 includes a joint housing 101 , a rotor housing 102 and an end cover 103 which are connected in sequence to form an integrated housing structure.

[0039] A first positioning groove 1012 is provided at one end of the joint housing 101, and a first positioning boss 1022 matching the first positioning groove 1012 is provided at the opposite end of the rotor housing 102, which is used to position the joint housing 101 and the rotor housing 102; a second positioning groove 1023 is provided at the other end of the rotor housing 102, and a second positioning boss 1031 matching the second positioning groove 1023 is provided at the opposite end of the end cover 103, which is used to position the rotor housing 102 and the end cover 103. After the joint housing 101 and the rotor housing 102 are positioned, they are fastened by threaded pins; after the rotor housing 102 and the end cover 103 are positioned, they are fastened by screws 107. After the joint housing 101, the rotor housing 102 and the end cover 103 are positioned and connected and fastened in sequence, an integrated housing structure is formed.

[0040] In other embodiments, the parts of the joint housing assembly 1 may also be positioned in other ways. For example, a boss may be provided on the joint housing, and a groove may be provided on the rotor housing. At the same time, other connectors such as positioning pins may also be used for fastening, which is not limited here.

[0041] like Figure 2As shown, the middle portion of the rotor housing 102 extends toward the inside of the joint housing 101 to form a protrusion 1021 , and a bearing chamber for mounting the second bearing 403 is provided on the protrusion 1021 .

[0042] like Figure 1 and Figure 2 As shown, a step is provided inside the joint housing 101, and the stator 3 is positioned at the step and fixedly connected to the joint housing 101 by gluing. Figure 1 As shown, the encoder 5 is fixed on the rotor housing 102 and is used to detect the rotation angle of the rotor.

[0043] The joint housing assembly 1 of the present application is designed as an integrated housing structure to ensure that the joint housing assembly 1 has good coaxiality, so as to serve as the installation and positioning reference for the reducer assembly 2, the stator 3 and the rotor assembly 4. The stator 3 is fixedly connected to the joint housing assembly 1 by bonding, which simplifies the assembly process, reduces the installation error, and makes it easy to ensure the coaxiality of the stator 3 and the rotor assembly 4.

[0044] like Figure 1 and Figure 3 As shown, the reducer assembly 2 includes a reducer 201 and a planet carrier 202 .

[0045] like Figure 1 As shown, the planet carrier 202 is rotatably connected to the joint housing 101 via the third bearing 203. A bearing chamber for mounting the first bearing 402 is provided in the middle of the planet carrier 202.

[0046] The outer circle of the reducer 201 and the inner wall of the joint housing 101 are designed to be interference fit, and are assembled by a shrink fit process. Figure 2 and Figure 3 As shown, the joint housing 101 is provided with a plurality of threaded holes 1011, and the reducer 201 is provided with a plurality of positioning holes 2011 corresponding to the plurality of threaded holes 1011. After the reducer 201 is assembled with the joint housing 101, the threaded pins 106 are inserted into the corresponding threaded holes 1011 and the positioning holes 2011 to achieve the positioning and fixing of the reducer 201.

[0047] The above-mentioned shrink-fit process refers to an assembly method that utilizes the principle of thermal expansion and contraction to heat the containing part (here, the joint housing 101) to make it expand, and assemble it with the inner part (here, the reducer 201). After the containing part cools and contracts, the two form an interference fit and fixed connection.

[0048] In the present application, the reducer 201 is fixedly connected to the joint housing assembly 1 through a shrink-fit process and is positioned using threaded pins 106, thereby improving the installation accuracy between the reducer assembly 2 and the joint housing assembly 1, and further improving the transmission accuracy between the motor (i.e., the combination of the rotor assembly 4 and the stator 3) and the reducer assembly 2.

[0049] like Figure 1 and Figure 4 As shown, the rotor assembly 4 includes a rotor 404, a rotor main shaft 401, a first bearing 402 and a second bearing 403. The rotor 404 is fixedly connected to the rotor main shaft 401 and is arranged at the axis inside the stator 3. The two ends of the rotor main shaft 401 are respectively installed in the bearing chamber of the planetary carrier 202 and the bearing chamber of the rotor housing 102 through the first bearing 402 and the second bearing 403. The rotor main shaft 401 and the first bearing 402 and the second bearing 403 are interference fit, and are fixedly connected by a shrink sleeve process, which reduces the fit error between the rotor main shaft 401 and the bearings.

[0050] In this embodiment, the sun gear (not shown) of the reducer 201 is arranged on the rotor main shaft 401, and transmits the power of the rotor assembly 4 to the reducer assembly 2, and outputs it through the planet carrier 202. During operation, the motor drives the rotor main shaft 401 to rotate through the rotor 404, and the power is input into the reducer 201 through the sun gear installed on the rotor main shaft 401. After the speed change of the reducer 201, it is transmitted to the actuator through the output mechanism connected to the planet carrier 202, thereby driving the robot to move.

[0051] like Figure 1 and Figure 2 As shown, an O-ring 104 is provided at the fitting position between the planet carrier 202 and the outer ring of the first bearing 402, and an O-ring 104 is provided at the fitting position between the rotor housing 102 and the outer ring of the second bearing 403, which are used to radially position the first bearing 402 and the second bearing 403, thereby reducing the radial circular runout of the rotor main shaft 401; a corrugated washer 105 is provided at the fitting position between the rotor housing 102 and the side wall of the second bearing 403, which is used to axially pre-tighten the second bearing 403, thereby reducing the axial movement of the rotor main shaft 401.

[0052] In this embodiment, the motor part is designed as an outer stator and inner rotor structure. In other embodiments, the motor can also be designed as an outer rotor and inner stator structure, which is not limited here.

[0053] The robot joint of the present application adopts an integrated structural housing. By arranging the reducer assembly, stator and rotor assembly in the integrated housing, the connection and transmission errors caused by the connection method of the reducer and the motor as independent components in the original joint structure are reduced.

[0054] The stator of the present application is fixedly connected to the housing by an adhesive process, and the reducer is connected to the housing by a shrink fit process and fixed with threaded pins, thereby ensuring the assembly accuracy between the reducer, stator and housing. The two ends of the rotor main shaft are respectively installed on the planetary carrier and the housing, thereby ensuring that the reducer, rotor and stator all use the integrated housing as the installation and positioning reference, so that the coaxiality between the rotor main shaft and the reducer is good and the transmission efficiency is high. And by setting O-rings and corrugated washers on the outer ring and side wall of the bearing, the radial and axial movement of the rotor main shaft is effectively reduced to ensure the smooth operation of the motor. The robot joint of the present application reduces the manufacturing cost, simplifies the assembly process and achieves effective shock absorption and noise reduction while ensuring the transmission accuracy.

[0055] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A robot joint, characterized in that: It includes a joint housing assembly and a reducer assembly, a stator and a rotor assembly arranged therein; wherein: The joint housing assembly comprises a joint housing, a rotor housing and an end cover which are connected in sequence to form an integrated structural housing; The reducer assembly comprises a reducer and a planet carrier connected thereto, and the reducer is fixedly connected to the joint housing by a shrink-fit process; The stator is fixedly connected to the joint housing; The two ends of the rotor assembly are respectively positioned on the planet carrier and the rotor housing; the rotor assembly is transmission-connected to the reducer assembly; The stator, the rotor assembly, the reducer assembly and the joint housing assembly are coaxially arranged.

2. The robot joint according to claim 1, characterized in that: The joint housing and the rotor housing are respectively provided with a matching first positioning groove and a first positioning boss for positioning the joint housing and the rotor housing; the rotor housing and the end cover are respectively provided with a second positioning groove and a second positioning boss for positioning the rotor housing and the end cover.

3. The robot joint according to claim 2, characterized in that: After the joint housing, the rotor housing and the end cover are positioned, they are fastened by connecting pieces to form the integrated structural housing; the connecting pieces are threaded pins or screws.

4. The robot joint according to claim 1, characterized in that: The joint housing is provided with a plurality of threaded holes, and the reducer is provided with a corresponding plurality of positioning holes; after the reducer is assembled with the joint housing, a connecting piece is used to position and fix the reducer through the corresponding threaded holes and the positioning holes; the connecting piece is a threaded pin.

5. The robot joint according to claim 1, characterized in that: A step is arranged inside the joint housing, the stator is positioned at the step, and the stator is fixed by a gluing process.

6. The robot joint according to claim 1, characterized in that: The rotor assembly comprises a rotor main shaft, and two ends of the rotor main shaft are respectively arranged on the planet carrier and the rotor housing through a first bearing and a second bearing.

7. The robot joint according to claim 6, characterized in that: The rotor main shaft is fixedly connected to the first bearing and the second bearing through a shrink fitting process.

8. The robot joint according to claim 6, characterized in that: An O-ring is provided at the fitting place between the planet carrier and the outer ring of the first bearing, and an O-ring is provided at the fitting place between the rotor housing and the outer ring of the second bearing, so as to reduce the radial circular runout of the rotor main shaft.

9. The robot joint according to claim 6 or 8, characterized in that: A wave washer is provided at the matching position between the rotor housing and the side wall of the second bearing, so as to reduce the axial movement of the rotor main shaft.

10. The robot joint according to claim 1, characterized in that: It also includes an encoder, which is fixed on the rotor housing and is used to detect the rotor rotation angle of the rotor assembly.

Images