A robot force-controlled joint

Abstract

The utility model relates to the field of robot technology, and discloses a force control joint for a robot, including a reducer and a servo motor, the reducer including a cup-type flexible wheel, a cross roller bearing and a steel wheel, the cross roller bearing and the steel wheel are connected to the outside of the cup-type flexible wheel, the steel wheel is fixedly connected to the cross roller bearing, a wave generator is arranged inside the steel wheel, a force sensor is arranged between the steel wheel and the servo motor, and a plurality of threaded holes are arranged circumferentially on the force sensor, and a plurality of the threaded holes penetrate the force sensor. The utility model realizes modularization of components by making the force sensor and the servo motor into a split structure. During assembly, only the servo motor with an integrated force sensor needs to be connected to the reducer, and the circumferential threaded hole of the force sensor adopts a through structure, so that the flange can be installed from both the reducer side and the motor side. The structure is simple and effective, and the difficulty of mass production of force control joints is reduced at the lowest cost.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a force-controlled joint of a robot. Background Art

[0002] A robot with a mechanical arm relies on joints to control the relative motion between the components of the mechanical arm. Currently, the robot force control joints on the market usually use independent cross roller bearings to connect the reduction mechanism to the servo motor, but this connection method also requires a separate installation structure for the independent cross roller bearings to ensure the normal operation of the harmonic reduction components. The structure is complex and the degree of customization is high, which is not conducive to production. Utility Model Content

[0003] The purpose of the utility model is to provide a robot force control joint to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a force-controlled joint for a robot, comprising a reducer and a servo motor, the reducer comprising a cup-type flexible wheel, a cross-roller bearing and a steel wheel, the cross-roller bearing and the steel wheel are connected to the outside of the cup-type flexible wheel, the steel wheel is fixedly connected to the cross-roller bearing, a wave generator is arranged in the steel wheel, the servo motor is connected to the steel wheel by a fixing screw to drive the wave generator to rotate, a force sensor is arranged between the steel wheel and the servo motor, a plurality of threaded holes are circumferentially arranged on the force sensor, and a plurality of the threaded holes penetrate the force sensor.

[0005] The following improvements are made in the present application: the cup-type flexible wheel adopts the cup-type flexible wheel of the CS series national standard harmonic reducer, and the cross roller bearing and steel wheel adopt the national standard HS-I type harmonic assembly.

[0006] The following improvements are made in the solution of the present application: the servo motor is provided with a motor shaft, and the force sensor and the cup-type flexible wheel are both provided with motor shaft positioning holes.

[0007] The following improvement is made in the solution of the present application: an output cable is provided on the force sensor, and the input end of the force sensor is cooperatively connected with the outer contact end of the cup-type flexible wheel.

[0008] The following improvement is made in the present application: a PCB drive circuit and an encoder are connected to the end of the servo motor away from the force sensor, the PCB drive circuit is a ring hole structure, and the encoder is located at the center of the PCB drive circuit.

[0009] The following improvements are made in the present application: the encoder adopts a single-sided multi-turn absolute encoder inductive encoder, an anti-interference metal shielding shell is provided on the outside, and the encoder rotor is a magnet structure.

[0010] The following improvement is made in the present application: the force control joint also includes a front oil chamber cover, and the front oil chamber cover is buckled to the outer end of the steel wheel.

[0011] Compared with the prior art, the utility model provides a robot force control joint with the following

[0012] Beneficial effects:

[0013] The utility model realizes component modularization by making the force sensor and the harmonic into a split structure. During assembly, it is only necessary to connect the servo motor with the integrated force sensor to the top-hat type harmonic reducer, and the input end of the force sensor is matched and connected with the outer contact end of the cup-type flexible wheel to realize standard interface installation without customization. In addition, the circumferential threaded hole of the force sensor adopts a through structure, and the flange can be installed from both the reducer side and the motor side. The structure is simple and effective. At the same time, the motor shaft is fixed to the harmonic wave generating input interface, and the front oil chamber cover is fastened to form a force control joint with a double fixed flange function. The difficulty of mass production of the force control joint is reduced at a minimum cost, and the cost reduction and efficiency improvement of the force control joint for robots are achieved, so as to meet the growing needs of the robot industry for force control joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a cross-sectional view of the utility model;

[0016] Figure 3 It is a cross-sectional view of the reducer;

[0017] Figure 4 A cross-sectional view of the force sensor.

[0018] In the figure: 1. reducer; 11. cup-type flexible wheel; 12. cross roller bearing; 13. steel wheel; 14. wave generator; 2. servo motor; 21. motor shaft; 3. force sensor; 31. threaded hole; 32. output cable; 4. PCB drive circuit; 5. encoder; 51. anti-interference metal shielding shell. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the present invention will be described below in conjunction with the accompanying drawings in the embodiment of the present invention:

[0020] like Figure 1-4As shown, a force control joint for a robot is mainly composed of a reducer 1, a servo motor 2 and a front oil chamber cover 7. When in use, the servo motor 2 with an integrated force sensor is connected and fixed to the fixed flexible wheel screw hole of the top hat type harmonic reducer through screws, the motor shaft is fixed to the input interface of the harmonic wave generator, and the front oil chamber cover 7 is fastened to form a force control joint with double fixed flange function.

[0021] The reducer 1 is a harmonic reducer of the flexible wheel fixed steel wheel output type, which is a new type of reducer that uses some parts of the top hat type harmonic HS-I type harmonic to match the cup type flexible wheel of the corresponding specification code CS series national standard harmonic reducer. It mainly includes a cup type flexible wheel 11, a cross roller bearing 12 and a steel wheel 13. The cross roller bearing 12 and the steel wheel 13 are connected to the outside of the cup type flexible wheel 11, and the inner wall of the steel wheel 13 and the outer wall of the cup type flexible wheel 11 are provided with teeth that match each other, so that the cup type flexible wheel 11 can drive the steel wheel 13 to move. The steel wheel 13 is fixedly connected to the cross roller bearing 12, and a wave generator 14 is provided in the steel wheel 13. The combination of the cup type flexible wheel 11, the steel wheel 13 and the wave generator 14 has the function of amplifying torque. Its structure and connection relationship are common knowledge and will not be repeated here. The servo motor 2 and the steel wheel 1 3 is provided with corresponding fixing screw holes, and the servo motor 2 is connected to the steel wheel 13 through the fixing screws 6 to drive the wave generator 14 to rotate, and then the wave generator 14 transmits it to the cup-type flexible wheel 11 and the steel wheel 13. At the same time, a force sensor 3 is provided between the steel wheel 13 and the servo motor 2. A plurality of threaded holes 31 are arranged circumferentially on the force sensor 3, and the plurality of threaded holes 31 penetrate the force sensor 3. The input end of the force sensor 3 is matched and connected with the outer contact end of the cup-type flexible wheel 11 to realize standard interface installation and facilitate assembly. It can be flange-mounted from both the reducer side and the motor side. At the same time, an output cable 32 is provided on the force sensor 3, and the input end of the force sensor 3 is matched and connected with the outer contact end of the cup-type flexible wheel 11; a motor shaft 21 is provided on the servo motor 2, and a motor shaft positioning hole 211 is provided on the force sensor 3 and the cup-type flexible wheel 11.

[0022] The end of the servo motor 2 away from the force sensor 3 is connected to a PCB drive circuit 4 and an encoder 5. The PCB drive circuit 4 is a ring hole structure, which compresses the axial space. The encoder 5 is located at the center of the PCB drive circuit 4, which effectively reduces the installation space. The encoder 5 adopts a single-sided multi-turn absolute value encoder inductive encoder to realize the determination of multi-turn absolute values. An anti-interference metal shielding shell 51 is provided on the outside, and the encoder 5 rotor is a magnet structure.

[0023] Working principle: The load transmits force to the harmonic steel wheel 13, and the harmonic steel wheel 13 and the cup-type flexible wheel 11 are meshed with teeth to transmit the force to the force sensor 3, and the force sensor 3 obtains the real-time load change.

[0024] The above embodiments are only some embodiments of the utility model, not all 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.

Claims

1. A robot force-controlled joint, characterized in that: The invention comprises a reducer (1) and a servo motor (2), wherein the reducer (1) comprises a cup-type flexible wheel (11), a cross roller bearing (12) and a steel wheel (13), wherein the cross roller bearing (12) and the steel wheel (13) are connected to the outer side of the cup-type flexible wheel (11), the steel wheel (13) is fixedly connected to the cross roller bearing (12), a wave generator (14) is arranged inside the steel wheel (13), the servo motor (2) is connected to the steel wheel (13) by a fixing screw (6) to drive the wave generator (14) to rotate, a force sensor (3) is arranged between the steel wheel (13) and the servo motor (2), and a plurality of threaded holes (31) are arranged circumferentially on the force sensor (3), and the plurality of threaded holes (31) penetrate the force sensor (3).

2. A robot force control joint according to claim 1, characterized in that: The cup-type flexible wheel (11) adopts the cup-type flexible wheel of the CS series national standard harmonic reducer, and the cross roller bearing (12) and the steel wheel (13) adopt the national standard HS-I type harmonic assembly.

3. A robot force control joint according to claim 1, characterized in that: The servo motor (2) is provided with a motor shaft (21), and the force sensor (3) and the cup-shaped flexible wheel (11) are both provided with a motor shaft positioning hole (211).

4. A robot force control joint according to claim 3, characterized in that: The force sensor (3) is provided with an output cable (32), and the input end of the force sensor (3) is cooperatively connected with the outer contact end of the cup-shaped flexible wheel (11).

5. A robot force control joint according to claim 1, characterized in that: One end of the servo motor (2) away from the force sensor (3) is connected to a PCB drive circuit (4) and an encoder (5); the PCB drive circuit (4) is a ring hole structure; and the encoder (5) is located at the center of the PCB drive circuit (4).

6. A robot force control joint according to claim 5, characterized in that: The encoder (5) is a single-sided multi-turn absolute value encoder inductive encoder, an anti-interference metal shielding shell (51) is provided on the outside, and the encoder (5) rotor is a magnet structure.

7. A robot force control joint according to claim 1, characterized in that: The force control joint further comprises a front oil chamber cover (7), and the front oil chamber cover (7) is buckled to the outer end of the steel wheel (13).

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