High-precision double-coding synchronous monitoring type robot joint module

Abstract

The utility model belongs to the technical field of robot joints, and particularly discloses a high-precision double-coding synchronous monitoring type robot joint module which comprises an output shaft and a motor, a transmission assembly of the motor is rotationally arranged on the output shaft in a sleeved mode, and the output end of the output shaft is in transmission connection with one end of the transmission assembly through a speed reducer. An output magnetic ring is supported at the control end of the output shaft, an input magnetic ring is supported at the other end of the transmission assembly, the input magnetic ring is coaxially sleeved outside the output magnetic ring in a clearance manner, an input encoder and an output encoder are arranged on a control panel of the motor, and the positions of the input encoder and the output encoder are in one-to-one correspondence with the positions of the input magnetic ring and the output magnetic ring. The double encoders are used for monitoring the rotating speed information of the input end of the motor and the rotating speed information of the output shaft of the whole joint module respectively so as to obtain the dynamic relation between motor driving and actual joint movement in real time, and therefore accurate control and adjustment of the joint movement state are achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot joints, and particularly relates to a high-precision dual-encoding synchronous monitoring type robot joint module. Background Art

[0002] In the rapid development of industrial robots and high-precision automation equipment, the accuracy and stability of robot joints have become the key factors restricting the improvement of their performance.

[0003] Existing robot joint modules often rely on a single encoder (such as an output encoder) to feedback the overall output position or speed. In the face of complex working conditions and high-speed movements, it is difficult to ensure long-term high-precision control. In addition, due to factors such as friction, wear in the mechanical transmission chain, as well as the backlash error and manufacturing error of the reducer itself, the feedback signal of a single encoder often has fluctuations and errors, affecting the overall accuracy of the robot joint.

[0004] Therefore, the inventor is committed to designing a robot joint module to solve the above problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a high-precision dual-encoding synchronous monitoring type robot joint module, which can improve the accuracy and achieve precise control and adjustment of the joint motion state.

[0006] In order to achieve the above purpose, a technical solution adopted by the utility model is:

[0007] A high-precision dual-encoding synchronous monitoring type robot joint module includes an output shaft and a motor. The transmission component of the motor is rotatably sleeved on the output shaft. The output end of the output shaft is in transmission connection with one end of the transmission component through a reducer. An output magnetic ring is supported at the control end of the output shaft, and an input magnetic ring is supported at the other end of the transmission component. The input magnetic ring is coaxially and sleeved outside the output magnetic ring with a gap. An input encoder and an output encoder are provided on the control board of the motor, and the positions of the input encoder and the output encoder correspond one by one to the positions of the input magnetic ring and the output magnetic ring.

[0008] As an improvement of the high-precision dual-encoding synchronous monitoring type robot joint module of the utility model, the input encoder is located between the input magnetic ring and the control board and is spaced from the input magnetic ring, and the output encoder is located between the output magnetic ring and the control board and is spaced from the output magnetic ring.

[0009] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, a control chamber is provided at the control end of the motor, and the output magnetic ring, the input magnetic ring, the input encoder, the output encoder and the control board are all located in the control chamber.

[0010] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the model of the input encoder is IC-MU150, and the model of the output encoder is IC-MU200.

[0011] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the transmission assembly includes a transmission part and a transmission cylinder. The transmission part is rotatably sleeved on the output shaft, and the transmission cylinder is fixedly sleeved on the transmission part and fixedly connected to the rotor of the motor.

[0012] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the end of the transmission cylinder supports the input magnetic ring through an annular input support plate.

[0013] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the control end of the output shaft supports the output magnetic ring through an annular output support plate.

[0014] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, a fixed seat is rotatably sleeved on the transmission assembly. The fixed seat is located between the speed reducer and the rotor of the motor. An outer cushion ring is elastically connected to the end face of the rotor close to the fixed seat. A coil is fixed in the fixed seat. A magnetic conductor and a brake ring are sleeved outside the coil. The brake ring is located between the magnetic conductor and the outer cushion ring. The position of the outer cushion ring corresponds to the position of the coil.

[0015] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the speed reducer is sleeved on the transmission assembly, and the speed reducer is a harmonic speed reducer.

[0016] As an improvement of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, the output end of the output shaft extends and bends coaxially outwards to form an annular output part. The wave generator of the harmonic speed reducer is sleeved on the transmission assembly, and the output part is fixedly connected to the rigid gear of the harmonic speed reducer.

[0017] Compared with the prior art, in the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model, an output magnetic ring is supported at the control end of the output shaft, and an input magnetic ring is supported at the other end of the transmission component. The two are coaxial and sleeved with a gap, forming a non-contact measurement environment. An input encoder and an output encoder corresponding to the positions of the input magnetic ring and the output magnetic ring one by one are provided on the control board of the motor. The input encoder obtains the input speed information of the motor in real time by detecting the rotational speed change of the input magnetic ring; while the output encoder reflects the actual rotational speed of the output shaft after passing through the reducer by detecting the rotational speed change of the output magnetic ring. The two encoders work synchronously, which can improve the precision and achieve precise control and adjustment of the joint motion state. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a three-dimensional enlarged view of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model;

[0019] Figure 2 FIG. is a three-dimensional enlarged view of another perspective of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model;

[0020] Figure 3 FIG. is a sectional enlarged view of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model;

[0021] Figure 4 FIG. is Figure 3 an enlarged view of part A in FIG.

[0022] Figure 5 FIG. is a three-dimensional exploded view of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model;

[0023] Figure 6 FIG. is a three-dimensional exploded view of another perspective of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model;

[0024] Figure 7 FIG. is a three-dimensional enlarged exploded view of the control board and two magnetic rings of the present utility model;

[0025] Figure 8 FIG. is the control schematic diagram of the dual encoder of the present utility model.

[0026] Illustration:

[0027] 1. Motor; 11. Body; 12. Stator; 121. Outer cushion ring; 13. Rotor; 2. Harmonic reducer; 21. Wave generator; 22. Rigid gear; 23. Flexible gear; 24. Housing; 3. Output shaft; 31. Output support plate; 32. Output magnetic ring; 33. Output part; 4. Cover body; 41. Control chamber; 5. Control board; 51. Input encoder; 52. Output encoder; 6. Transmission part; 61. Input support plate; 62. Input magnetic ring; 63. Transmission cylinder; 64. Transmission assembly; 7. Fixed seat; 71. Coil; 72. Magnetic conductor; 73. Brake ring. Detailed implementation manners

[0028] The following combines with the attached drawings to specifically clarify the implementation manners of the present utility model. The attached drawings are only for reference and illustration, and do not constitute a limitation on the patent protection scope of the present utility model.

[0029] Refer to Figures 1 to 8 , a high-precision dual-coding synchronous monitoring type robot joint module, including an output shaft 3, a speed reducer and a motor 1. The speed reducer and the motor 1 are both sleeved on the output shaft 3.

[0030] Refer to Figure 3 and Figure 5 , the output shaft 3 is in a long cylindrical shape. The left end of the output shaft 3 is its output end, and the right end of the output shaft 3 is its control end. The output end of the output shaft 3 extends and bends coaxially outward to form an annular output part 33. The output part 33 is coaxially arranged with the output shaft 3. A circular output support plate 31 is fixed at the control end of the output shaft 3, and a circular output magnetic ring 32 is fixedly sleeved on the output support plate 31 so that the output magnetic ring 32 is supported on the output support plate 31 at the control end of the output shaft 3.

[0031] Refer to Figures 3 to 7, the motor 1 includes a body 11, a cover 4, a control board 5, a transmission assembly 64, a rotor 13 and a stator 12. The body 11 is cylindrical. The stator 12 is fixed to the inner wall of the body 11. The rotor 13 is located inside the stator 12. The transmission assembly 64 includes a transmission member 6 and a transmission cylinder 63. Both the transmission member 6 and the transmission cylinder 63 are cylindrical. The transmission member 6 is rotatably sleeved on the output shaft 3. The transmission cylinder 63 is fixedly sleeved on the transmission member 6 and fixedly connected to the rotor 13. The transmission member 6 is located between the rotor 13 and the transmission member 6. The rotor 13, the transmission member 6 and the transmission cylinder 63 can rotate together around the output shaft 3. The end of the transmission cylinder 63 is located outside the rotor 13 and fixedly connected with an annular input support plate 61. The inner walls of the transmission cylinder 63 and the input support plate 61 are rotatably connected to the output support plate 31 through a bearing together. The outer walls of the transmission cylinder 63 and the input support plate 61 are rotatably connected to the body 11 through another bearing. An input magnetic ring 62 is fixedly sleeved on the input support plate 61 so that the input magnetic ring 62 is supported on the input support plate 61 of the transmission assembly 64. The input magnetic ring 62 is coaxially and spacedly sleeved outside the output magnetic ring 32. The cover 4 is covered on the control end face of the body 11 to form a control chamber 41. The control board 5 is provided with an input encoder 51 and an output encoder 52. Among them, the model of the input encoder 51 is IC-MU150, and the model of the output encoder 52 is IC-MU200. The output magnetic ring 32, the input magnetic ring 62, the input encoder 51, the output encoder 52 and the control board 5 are all located in the control chamber 41. The positions of the input encoder 51 and the output encoder 52 correspond to the positions of the input magnetic ring 62 and the output magnetic ring 32 one by one (that is: the position of the input encoder 51 corresponds to the position of the input magnetic ring 62, and the position of the output encoder 52 corresponds to the position of the output magnetic ring 32). The input encoder 51 is located between the input magnetic ring 62 and the control board 5 and is spaced from the input magnetic ring 62 so that the input encoder 51 is disposed opposite to the input magnetic ring 62 and there is a certain gap between the input encoder 51 and the input magnetic ring 62. The output encoder 52 is located between the output magnetic ring 32 and the control board 5 and is spaced from the output magnetic ring 32 so that the output encoder 52 is disposed opposite to the output magnetic ring 32 and there is a certain gap between the output encoder 52 and the output magnetic ring 32.

[0032] Refer to Figure 3 , Figure 5 and Figure 6, the output end of the output shaft 3 is drivingly connected to one end of a transmission assembly 64 through a speed reducer. Specifically, the speed reducer in this embodiment is a harmonic speed reducer 2, which includes a wave generator 21, a rigid gear 22, a flexible gear 23, and a housing 24. The wave generator 21, the rigid gear 22, and the flexible gear 23 are all located inside the housing 24. The housing 24 is covered on the end face of the machine body 11 away from the control board 5. The wave generator 21 is sleeved on the transmission member 6. One end of the flexible gear 23 is clamped and fixed by the housing 24 and the machine body 11. The other end of the flexible gear 23 is sleeved outside the wave generator 21. The rigid gear 22 is sleeved on the flexible gear 23 and meshes with the flexible gear 23. The output part 33 is superposed and fixed on the outer end face of the rigid gear 22. A ring-shaped member is fixed on the inner end face of the rigid gear 22. The outer wall of the ring-shaped member is rotatably connected to the inner wall of the housing 24 through a bearing.

[0033] Referring to Figure 3 , in order to reduce the downtime of the motor 1, a ring-shaped fixing seat 7 is also rotatably sleeved on the transmission member 6 of the transmission assembly 64. The fixing seat 7 is rotatably connected to the transmission member 6 through a bearing. The fixing seat 7 is located between the harmonic speed reducer 2 and the rotor 13 of the motor 1. The end face of the fixing seat 7 facing the motor 1 is hollowed out to form a ring-shaped groove. A ring-shaped coil 71 is fixed in the groove. An annular magnetic conductor 72 and an annular brake ring 73 are fixedly sleeved outside the coil 71. An outer cushion ring 121 is elastically connected to the end face of the rotor 13 of the motor 1 close to the fixing seat 7. An inner cushion ring is fixed on the end face of the rotor 13 close to the fixing seat 7. The inner cushion ring is elastically connected to the outer cushion ring 121 through a spring piece. The brake ring 73 is located between the magnetic conductor 72 and the outer cushion ring 121. The position of the outer cushion ring 121 corresponds to the position of the coil 71. And both the brake ring 73 and the outer cushion ring 121 are magnetically adsorbed by the magnetic conductor 72 (when the coil 71 is in the non-energized state). The coil 71, the magnetic conductor 72, the outer cushion ring 121, and the output shaft 3 are all coaxially arranged.

[0034] Referring to Figures 1 to 8 , the working principle of the high-precision dual-coding synchronous monitoring type robot joint module of the present utility model is as follows:

[0035] When the stator 12 of the motor 1 is energized, the stator 12 will generate a rotating magnetic field. The rotating magnetic field interacts with the rotor 13 of the motor 1 to generate an induced electromotive force and an induced current. The induced current interacts with the rotating magnetic field to generate an electromagnetic force, and this electromagnetic force drives the rotor 13 to rotate.

[0036] The rotor 13 drives the transmission cylinder 63, the transmission member 6, the input support plate 61 and the input magnetic ring 62 to rotate together around the output shaft 3. At this time, the input encoder 51 monitors the rotation speed of the input magnetic ring 62. At the same time, the transmission member 6 drives the harmonic reducer 2 to operate (the harmonic reducer 2 is assembled through the wave generator 21, so that the flexible wheel 23 produces controllable elastic deformation and meshes with the rigid wheel 22, thereby transmitting motion and power). The harmonic reducer 2 drives the output shaft 3 to rotate, so that the output support plate 31 and the output magnetic ring 32 rotate together with the output shaft 3. At this time, the output encoder 52 monitors the rotation speed of the output magnetic ring 32. The input encoder 51 and the output encoder 52 work synchronously and feed back their respective measurement data to the control system of the control board 5. The control system performs comprehensive analysis and processing based on these data, and finally realizes precise control and adjustment of the joint motion state;

[0037] When the motor 1 is working normally, the coil 71 is in a powered state, and the coil 71 forms a reverse magnetic field to disengage the outer gasket 121 attracted by the magnetic conductor 72. At this time, there is a certain gap between the brake ring 73 and the coil 71 and the outer gasket 121, and the outer gasket 121 rotates together with the rotor 13 of the motor 1.

[0038] When the motor 1 stops supplying power, the rotor 13 will further rotate due to its own inertia. At this time, the coil 71 is in a power-off state, and the magnetizer 72 uses its own magnetic force to attract the outer gasket 121, so that the outer gasket 121 elastically presses against the brake ring 73 to achieve the purpose of braking.

[0039] The high-precision dual-encoding synchronous monitoring robot joint module of the utility model innovatively introduces a dual encoder system, namely an input encoder 51 and an output encoder 52, which are respectively used to monitor the rotational speed information of the input end of the motor 1 and the output shaft 3 of the entire joint module. By synchronously monitoring the rotational speed of these two key points, the dynamic relationship between the motor 1 drive and the actual movement of the joint can be obtained in real time, thereby realizing precise control of the joint movement state.

[0040] The high-precision dual-encoding synchronous monitoring robot joint module of the present invention, the transmission component 64 of the motor 1 is rotatably sleeved on the output shaft 3, realizing effective transmission of power. The output end of the output shaft 3 is connected to one end of the transmission component 64 through a precision reducer, realizing torque amplification and speed reduction. In order to realize accurate monitoring of the input speed of the motor 1 and the output speed of the entire module, the utility model supports an output magnetic ring 32 at the control end of the output shaft 3, and supports an input magnetic ring 62 at the other end of the transmission component 64, and the two are coaxial and spaced to form a non-contact measurement environment. This design not only reduces mechanical wear, but also improves the stability and accuracy of the measurement.

[0041] On the control board 5 of the motor 1 of the present utility model, there are an input encoder 51 and an output encoder 52 which are in one-to-one correspondence with the positions of the input magnetic ring 62 and the output magnetic ring 32. By detecting the rotational speed change of the input magnetic ring 62, the input encoder 51 can obtain the input speed information of the motor 1 in real time; while the output encoder 52 reflects the actual rotational speed of the output shaft 3 after passing through the speed reducer by detecting the rotational speed change of the output magnetic ring 32. These two encoders work synchronously, and feedback their respective measurement data to the control system. The control system conducts comprehensive analysis and processing based on these data, and finally realizes the precise control and adjustment of the joint motion state.

[0042] By adopting the dual-encoder synchronous monitoring technology, the present utility model has achieved remarkable improvements in terms of accuracy and stability. On the one hand, the introduction of the dual encoders increases the redundancy and reliability of the measurement data, and reduces the impact of a single encoder failure on the system accuracy; on the other hand, by synchronously monitoring the rotational speed information at the input and output ends, the errors and fluctuations in the mechanical transmission chain can be detected and compensated in real time, thereby realizing the precise tracking and control of the joint motion state. These advantages enable the robot joint structure of the present invention to have broad application prospects and important technical values in the fields of industrial automation, precision manufacturing, medical robots, etc.

[0043] The above-disclosed are only the preferred embodiments of the present utility model, and the scope of the patent protection of the present utility model cannot be limited thereby. Therefore, the equivalent changes made according to the scope of the patent application of the present utility model still fall within the scope covered by the present utility model.

Claims

1. A high-precision dual-encoding synchronous monitoring robot joint module, comprising an output shaft and a motor, characterized in that: The transmission component of the motor is rotatably sleeved on the output shaft, the output end of the output shaft is transmission-connected to one end of the transmission component through a reducer, the control end of the output shaft supports an output magnetic ring, the other end of the transmission component supports an input magnetic ring, the input magnetic ring is coaxial and gap-sleeved outside the output magnetic ring, an input encoder and an output encoder are provided on the control panel of the motor, and the positions of the input encoder and the output encoder correspond one-to-one to the positions of the input magnetic ring and the output magnetic ring.

2. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: The input encoder is located between the input magnetic ring and the control board and is spaced apart from the input magnetic ring. The output encoder is located between the output magnetic ring and the control board and is spaced apart from the output magnetic ring.

3. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: A control compartment is provided at the control end of the motor, and the output magnetic ring, the input magnetic ring, the input encoder, the output encoder and the control board are all located in the control compartment.

4. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: The model of the input encoder is IC-MU150, and the model of the output encoder is IC-MU200.

5. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: The transmission assembly includes a transmission member and a transmission cylinder. The transmission member is rotatably sleeved on the output shaft, and the transmission cylinder is fixedly sleeved on the transmission member and fixedly connected to the rotor of the motor.

6. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 5 is characterized in that: The end of the transmission cylinder supports the input magnetic ring through an annular input supporting plate.

7. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: The control end of the output shaft supports the output magnetic ring through an annular output supporting plate.

8. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1 is characterized in that: A rotating sleeve is provided on the transmission assembly with a fixed seat, and the fixed seat is located between the reducer and the rotor of the motor. An outer gasket is elastically connected to the end face of the rotor close to the fixed seat. A coil is fixed in the fixed seat, and a magnetizer and a brake ring are provided outside the coil sleeve. The brake ring is located between the magnetizer and the outer gasket, and the position of the outer gasket corresponds to the position of the coil.

9. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 1, characterized in that: The reducer is sleeved on the transmission assembly, and the reducer is a harmonic reducer.

10. The high-precision dual-encoding synchronous monitoring robot joint module according to claim 9, characterized in that: The output end of the output shaft is coaxially expanded and bent outward to form a ring-shaped output portion. The wave generator of the harmonic reducer is sleeved on the transmission component, and the output portion is fixedly connected to the rigid wheel of the harmonic reducer.

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