Robot joint with overload protection function
By setting an elastic ring between the inner ring of the cross roller bearing of the robot joint and the steel wheel, the overload energy is converted into friction heat energy and protecting the harmonic reducer, the problem of damage to the robot joint under overload is solved, and the equipment recovery work after the overload is lifted is achieved.
Patent Information
- Application Number
- CN202421536768.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-02
- Publication Date
- 2025-04-25
- Estimated Expiration
- 2034-07-02
AI Technical Summary
The robot joints are prone to damage under overload conditions, and the prior art is difficult to effectively protect the harmonic reducer, and it is difficult to restore work after the overload is lifted.
A robot joint with overload protection function is designed. By setting an elastic ring between the inner ring and the steel wheel of the cross roller bearing, when the external load exceeds the allowable value, relative sliding occurs between the elastic ring and the inner ring and the rigid wheel of the cross roller bearing, converting the load energy into frictional heat energy to protect the harmonic reducer; after the overload is released, the elastic ring is reset and the harmonic reducer resumes work.
Effectively protect the harmonic reducer from damage, ensure that the robot joints do not fail under overload, and return to normal operation after the overload is lifted, extending the service life of the equipment.
Smart Images
Figure CN222792102U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of robot joints, and specifically relates to a robot joint with an overload protection function. Background Art
[0002] Robot joints are widely used in machine tool turntables, industrial robots, collaborative robots, humanoid robots, quadruped robots and other fields. Robot joints generally include drive motors and harmonic reducers. When the robot joints are subjected to external forces exceeding the buckling torque of the harmonic reducer, the harmonic reducer will be damaged. How to solve the problem of robot joints not failing under overload conditions and still being able to resume work after the overload is removed is a technical problem that needs to be solved urgently. Summary of the invention
[0003] The present application provides a robot joint with an overload protection function. In the event of an overload, the elastic ring rubs against the inner ring of the cross-roller bearing, converting the external load into heat energy and consuming it, thereby protecting the harmonic reducer from damage. In the event of an overload, the rigid wheel and the inner ring of the cross-roller bearing are clutched. After the overload is relieved, the elastic ring is reset and the harmonic reducer can resume working, effectively solving the problems mentioned in the background technology.
[0004] In order to solve the above technical problems, the technical solution of this application is:
[0005] A robot joint with an overload protection function, comprising:
[0006] A power body including a rotating shaft;
[0007] A harmonic reducer comprises a connecting shaft, a wave generator, a rigid wheel, a flexible wheel, an elastic ring and a cross roller bearing, wherein one end of the connecting shaft is fixed to the rotating shaft, and the other end is fixed to the wave generator; the rigid wheel ring is arranged at the periphery of the wave generator and is spaced apart from the wave generator, the input end of the flexible wheel is sleeved on the wave generator, and the output end is fixed to the power body together with the outer ring of the cross roller bearing; the outer surface of the rigid wheel is concave to form an annular groove, the elastic ring is assembled in the groove, and is sandwiched between the rigid wheel and the inner ring of the cross roller bearing.
[0008] As an improvement, the elastic ring is a non-closed annular structure, and two ends are spaced apart to form an opening.
[0009] As an improvement, the surface of the elastic ring is further provided with a protrusion or groove structure to roughen the surface of the elastic ring.
[0010] As an improvement, the inner surface of the elastic ring is punched toward the outer surface to form a protruding structure.
[0011] As an improvement, the harmonic reducer also includes a limit flange, which is fixed to the outer ring of the cross roller bearing and abuts against the end of the rigid wheel away from the power body in the axial direction to limit the axial displacement of the rigid wheel.
[0012] As an improvement, the power body is a motor, which also includes a shell, a stator and a rotor. The shell forms a receiving space, and the stator and the rotor are encapsulated in the receiving space. The stator is fixed to the shell, and the rotor is fixed to the rotating shaft. The stator drives the rotor to rotate, thereby driving the rotating shaft to rotate.
[0013] As an improvement, it also includes an output shaft, which includes a shaft body and a shaft end cover plate. The head end of the shaft body is accommodated in the accommodating space, and the end end passes through the shell and is connected to the shaft end cover plate. The rotating shaft and the connecting shaft are both annularly fixed on the periphery of the shaft body. The rotating shaft drives the shaft body to rotate and outputs power outward. The shaft end cover plate is fixed to the inner ring of the cross roller bearing, and the inner ring of the cross roller bearing rotates synchronously with the shaft body.
[0014] The beneficial effects of this application are:
[0015] An elastic ring is arranged between the inner ring of the cross roller bearing and the steel wheel. When the external impact load borne by the robot joint is greater than the allowable value, relative sliding occurs between the elastic ring and the inner ring of the cross roller bearing and / or the steel wheel, converting the energy of the external impact load into frictional heat energy and consuming it, thereby protecting the harmonic accelerator from damage. When the external impact load disappears, the elastic ring resets under its own elastic action and returns to normal working conditions. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:
[0017] Figure 1 A three-dimensional structural diagram showing a robot joint with an overload protection function provided by the present application;
[0018] Figure 2 express Figure 1 An exploded structural diagram of a robot joint with an overload protection function is shown;
[0019] Figure 3 express Figure 2 The exploded structure diagram of the harmonic reducer shown;
[0020] Figure 4 express Figure 3 A three-dimensional structural diagram of the elastic ring shown;
[0021] Figure 5 express Figure 1 A cross-sectional view of a robot joint with an overload protection function is shown;
[0022] Figure 6 express Figure 5 Magnified view of region A is shown. DETAILED DESCRIPTION
[0023] 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 ordinary technicians in this field without creative work are within the scope of protection of this application.
[0024] Please refer to Figure 1-Figure 6 The present application provides a robot joint with an overload protection function, including a power body 10, a harmonic reducer 20 and an output shaft 30.
[0025] The power body 10 is a motor, including a housing 11 , a stator 12 , a rotor 13 and a rotating shaft 14 .
[0026] The housing 11 forms a receiving space, and the stator 12 and the rotor 13 are enclosed in the receiving space. The stator 12 is fixed to the housing 11, and the rotor 13 is fixed to the rotating shaft 14. The stator 12 drives the rotor 13 to rotate, thereby driving the rotating shaft 14 to rotate.
[0027] The harmonic reducer 20 includes a connecting shaft 21 , a wave generator 22 , a rigid wheel 23 , a flexible wheel 24 , an elastic ring 25 , a cross roller bearing 26 and a limiting flange 27 .
[0028] One end of the connecting shaft 21 is fixed to the rotating shaft 14 , and the other end is fixed to the wave generator 22 , so as to transmit the driving force of the rotating shaft 14 to the wave generator 22 , so as to drive the wave generator 22 to rotate.
[0029] The rigid wheel 23 is arranged around the periphery of the wave generator 22 and is spaced apart from the wave generator 22. The input end of the flexible wheel 24 is sleeved on the wave generator 22, and the output end is fixed to the housing 11 together with the outer ring of the cross roller bearing. The driving force generated by the wave generator 22 acts on the flexible wheel 24, causing the flexible wheel 24 to deform and periodically engage and disengage with the rigid wheel 23, thereby achieving a reduction transmission effect.
[0030] The outer surface of the rigid wheel 23 is recessed to form an annular groove 230. The elastic ring 25 is assembled in the groove 230 and is clamped between the rigid wheel 23 and the inner ring of the cross roller bearing 26. The rigid wheel 23, the elastic ring 25, and the inner ring of the cross roller bearing 26 are arranged in sequence from the inside to the outside along the radial direction.
[0031] The elastic ring 25 is a non-closed annular structure, and two ends are spaced apart to form an opening 250. The setting of the opening 250 enables the elastic ring 25 to have a certain degree of elasticity in the radial direction.
[0032] The limiting flange 27 is fixed to the outer ring of the cross roller bearing 26 and abuts against the end of the rigid wheel 23 away from the power body 10 in the axial direction, so as to limit the axial displacement of the rigid wheel 23 and prevent the elastic ring 25 from popping out from between the rigid wheel 23 and the inner ring of the cross roller bearing 26 due to the axial displacement of the rigid wheel 23.
[0033] The output shaft 30 includes a shaft body 31 and a shaft end cover plate 32 . The head end of the shaft body 31 is received in the receiving space, and the tail end passes through the housing 11 and is connected to the shaft end cover plate 32 .
[0034] The rotating shaft 14 and the connecting shaft 21 are both fixedly arranged around the outer periphery of the shaft body 31. The rotating shaft 14 drives the shaft body 31 to rotate and outputs power outward. The shaft end cover plate 32 is fixed to the inner ring of the cross roller bearing 26. The inner ring of the cross roller bearing 26 rotates synchronously with the shaft body 31.
[0035] When the external impact load on the robot joint is greater than the allowable value, relative sliding occurs between the elastic ring 25 and the inner ring of the cross roller bearing 26 and / or the rigid wheel 23, converting the energy of the external impact load into frictional heat energy and consuming it, thereby protecting the harmonic accelerator from damage. When the external impact load disappears, the elastic ring 25 resets under its own elasticity and returns to normal working conditions.
[0036] Furthermore, in order to increase the friction energy dissipation effect of the elastic ring 25, the surface of the elastic ring 25 is also provided with a protrusion or groove structure, so that the surface of the elastic ring 25 is roughened to increase the friction resistance. Preferably, the inner surface of the elastic ring 25 is punched toward the outer surface to form a protrusion structure, so that the outer surface of the elastic ring 25 is formed with a protrusion structure, and the inner surface is formed with a groove structure, which can increase the roughness of both the inner and outer surfaces at the same time.
[0037] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.
Claims
1. A robot joint with an overload protection function, characterized in that: include: A power body, including a rotating shaft; A harmonic reducer comprises a connecting shaft, a wave generator, a rigid wheel, a flexible wheel, an elastic ring and a cross roller bearing, wherein one end of the connecting shaft is fixed to the rotating shaft, and the other end is fixed to the wave generator; the rigid wheel ring is arranged at the periphery of the wave generator and is spaced apart from the wave generator, the input end of the flexible wheel is sleeved on the wave generator, and the output end is fixed to the power body together with the outer ring of the cross roller bearing; the outer surface of the rigid wheel is concave to form an annular groove, the elastic ring is assembled in the groove, and is sandwiched between the rigid wheel and the inner ring of the cross roller bearing.
2. The robot joint with overload protection function according to claim 1, characterized in that: The elastic ring is a non-closed annular structure, and two ends are spaced apart to form an opening.
3. The robot joint with overload protection function according to claim 1, characterized in that: The surface of the elastic ring is also provided with a protrusion or a groove structure to roughen the surface of the elastic ring.
4. The robot joint with overload protection function according to claim 3, characterized in that: The inner surface of the elastic ring is punched toward the outer surface to form a protruding structure.
5. The robot joint with overload protection function according to claim 1, characterized in that: The harmonic reducer also includes a limiting flange, which is fixed to the outer ring of the cross roller bearing and abuts against one end of the rigid wheel away from the power body in the axial direction, so as to limit the axial displacement of the rigid wheel.
6. The robot joint with overload protection function according to claim 1, characterized in that: The power body is a motor, which also includes a shell, a stator and a rotor. The shell forms a receiving space, and the stator and the rotor are encapsulated in the receiving space. The stator is fixed to the shell, and the rotor is fixed to the rotating shaft. The stator drives the rotor to rotate, thereby driving the rotating shaft to rotate.
7. The robot joint with overload protection function according to claim 6, characterized in that: It also includes an output shaft, which includes a shaft body and a shaft end cover plate. The head end of the shaft body is accommodated in the accommodating space, and the tail end passes through the shell and is connected to the shaft end cover plate. The rotating shaft and the connecting shaft are both annularly fixed on the periphery of the shaft body. The rotating shaft drives the shaft body to rotate and outputs power outward. The shaft end cover plate is fixed to the inner ring of the cross roller bearing, and the inner ring of the cross roller bearing rotates synchronously with the shaft body.