Robot joint observation structure and robot
The machine robot joint structure with observation holes and sensors addresses the challenge of monitoring harmonic drives by allowing direct observation and precise parameter measurement, enhancing assembly alignment and lubrication assessment without disassembly.
Patent Information
- Application Number
- CN202422170537.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-09-04
AI Technical Summary
In the prior art, the harmonic reducer is installed in a confined space and cannot directly observe the motion parameters and grease lubrication status, resulting in the inability to monitor the assembly accuracy and lubrication status in a timely manner.
The observation hole is opened on the joint shell, and is equipped with a transparent dust-proof cover and a high-precision displacement sensor. The grease status is directly observed through the observation hole, and the movement parameters of the harmonic reducer are monitored using a T-probe.
The direct observation of the grease status and motion parameters of the harmonic reducer is achieved, the accuracy and consistency of assembly accuracy monitoring is improved, and the maintenance process is simplified.
Smart Images
Figure CN223099257U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of robots, and in particular, to a robot joint observation structure and a robot. Background Technique
[0002] The robot joint module is a mechanism for relative movement between various components of the robot. The harmonic reducer is a structure composed of three basic components (steel wheel, flexible wheel, wave generator), and usually adopts the form of driving the wave generator to rotate by a motor, with the steel wheel fixed and the flexible wheel output.
[0003] Currently in the field of robots, the harmonic reducer is often installed inside the joint as an important transmission component. Since the harmonic reducer is installed in a closed space, it is impossible to directly obtain its motion parameters, nor can it directly observe whether the lubrication state of the grease is still normal, etc. Content of the Utility Model
[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a robot joint observation structure and a robot.
[0005] According to a robot joint observation structure provided by the utility model, it includes a joint housing, a harmonic reducer and a sensor;
[0006] The harmonic reducer is installed inside the joint housing. The harmonic reducer includes a steel wheel, a flexible wheel and a wave generator. The flexible wheel is sleeved on the wave generator, and a first tooth part is arranged circumferentially on the flexible wheel;
[0007] The steel wheel is sleeved on the flexible wheel, and grease is coated between the steel wheel and the flexible wheel; a second tooth part is arranged on the inner ring of the steel wheel. The first tooth part meshes with the second tooth part, and the number of teeth of the first tooth part is less than that of the second tooth part;
[0008] The wave generator is sleeved on the power input component, and the output component is connected to the flexible wheel;
[0009] An observation hole is opened on the joint housing; the observation hole is located on the radial extension line of the flexible wheel;
[0010] The end of the sensor can pass through the observation hole and contact the flexible wheel.
[0011] Preferably, a dust-proof cover is detachably arranged on the observation hole.
[0012] Preferably, the dust-proof cover is a transparent dust-proof cover.
[0013] Preferably, the dust-proof cover is cover-connected to the observation hole through a sealing ring.
[0014] Preferably, the sensor is a displacement sensor.
[0015] Preferably, the end of the sensor is a T-shaped probe structure, and the T-shaped probe structure can contact with the flexspline.
[0016] Preferably, the power input component includes a motor, an input workpiece, and an input end bearing;
[0017] The input workpiece is installed in the joint housing through the bearing, and the wave generator is sleeved on the input workpiece.
[0018] Preferably, the output component includes an output end bearing and an output workpiece;
[0019] The output workpiece is installed in the joint housing through the output end bearing, and the output workpiece is sleeved on the flexspline.
[0020] Preferably, the number of the observation holes is multiple, and the multiple observation holes are circumferentially distributed along the joint housing.
[0021] A robot according to the present invention adopts the robot joint observation structure described above.
[0022] Compared with the prior art, the present invention has the following beneficial effects:
[0023] 1. By providing the observation holes, the present invention can directly observe the state of the grease in the harmonic reducer, and a sensor can also be installed through the observation holes. Through the setting of the sensor, the movement parameters of the harmonic reducer can be accurately monitored.
[0024] 2. The T-shaped measurement probe adopted by the present invention can make the measurement results more consistent. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more apparent:
[0026] Figure 1 is a schematic structural diagram of the present invention;
[0027] Figure 2 is Figure 1 a schematic cross-sectional view of
[0028] Figure 3 is Figure 1 a partial schematic view of
[0029] Figure 4 is a schematic side cross-sectional view of the present invention;
[0030] Figure 5Schematic structural diagram showing the sensor installation position;
[0031] Figure 6 Schematic diagram of the flexspline runout curve.
[0032] As shown in the figure:
[0033]
[0034] Specific embodiments
[0035] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.
[0036] The present invention provides a robot joint observation structure, including a joint housing 1, a harmonic reducer 2, and a sensor 3; the harmonic reducer 2 is installed inside the joint housing 1, the harmonic reducer 2 includes a steel gear 21, a flexspline 22, and a wave generator 23, the flexspline 22 is sleeved on the wave generator 23, and a first tooth portion is arranged circumferentially on the flexspline 22; the steel gear 21 is sleeved on the flexspline 22, and grease is coated between the steel gear 21 and the flexspline 22; a second tooth portion is arranged on the inner circle of the steel gear, the first tooth portion meshes with the second tooth portion, and the number of teeth of the first tooth portion is less than the number of teeth of the second tooth portion; the wave generator 23 is sleeved on the power input component; the output component is connected to the flexspline 22. The power input structure can drive the wave generator 23 to make the flexspline 22 drive the output structure to move.
[0037] An observation hole 11 is opened on the joint housing 1; the observation hole is located on the radial extension line of the flexspline 22; the end of the sensor 3 can pass through the observation hole 11 to contact the flexspline 22. In a preferred example, the number of the observation holes 11 is multiple, and the multiple observation holes 11 are distributed circumferentially along the joint housing 1.
[0038] In a preferred example, a dust-proof cover is detachably arranged on the observation hole 11. The dust-proof cover is a transparent dust-proof cover. The dust-proof cover is covered and connected to the observation hole 11 through a sealing ring.
[0039] In a preferred example, the sensor 3 is a high-precision displacement sensor. The end of the sensor 3 is a T-shaped probe structure, and the T-shaped probe structure can contact the flexspline 22. In this preferred example, the displacement sensor can obtain the beating condition of the flexspline 22 in real time, cooperate with an external controller to generate a beating curve, so as to monitor the assembly accuracy of the harmonic reducer and whether the assembly is aligned with the medium parameters.
[0040] In a preferred example, the power input assembly includes a motor 4, an input workpiece 5 and an input end bearing 6; the input workpiece 5 is installed in the joint housing 1 through the bearing 6, the wave generator 23 is sleeved on the input workpiece 5, and the motor 4 drives the wave generator 23 to rotate by driving the input workpiece 5. In a preferred example, the wave generator 23 is sleeved on one end of the input workpiece 5.
[0041] The output assembly includes an output end bearing 7 and an output workpiece 8; the output workpiece 8 is installed in the joint housing 1 through the output end bearing 7, and the output workpiece 8 is sleeved on the flexspline 22. In a preferred example, one end of the output workpiece 8 is sleeved inside the flexspline 22.
[0042] In this utility model, an opening is made on the outer shell of the robot joint (i.e., the observation hole 11), and at the same time, a dust cover and a sealing ring are added at the opening. The internal grease state can be directly observed through the observation hole. In addition, when the cover is opened, the motion parameters can be directly obtained through the sensor, and the beating curve of the flexspline can be measured (as Figure 6 shown), and whether the assembly of the harmonic reducer is aligned can be monitored through the data characteristics of the curve.
[0043] Compared with the traditional harmonic reducer assembled to the robot joint where its assembly accuracy cannot be directly monitored, this utility model can accurately monitor the assembly state of the harmonic reducer through a high-precision displacement sensor. For traditional robot joints, to observe the change of grease, the whole joint needs to be disassembled, while this utility model only needs to open the dust cover (or through a transparent dust cover) to directly observe the change of internal grease. Considering that when a traditional spherical probe contacts a cylindrical measuring surface (the flexspline 22), the measurement results will be different due to different installation positions each time; the T-shaped measuring probe adopted in this utility model makes the consistency of the measurement results better.
[0044] In summary, this utility model can observe the alignment of the internal harmonic reduction mechanism and the grease lubrication state, etc. through the observation hole.
[0045] This utility model also provides a robot adopting the observation structure of the robot joint.
[0046] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.
[0047] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.
Claims
1. A robot joint observation structure, characterized in that, It includes a joint housing (1), a harmonic reducer (2), and a sensor (3). The harmonic reducer (2) is installed inside the joint housing (1). The harmonic reducer (2) includes a steel gear (21), a flexible gear (22), and a wave generator (23). The flexible gear (22) is sleeved on the wave generator (23), and a first tooth part is arranged circumferentially on the flexible gear (22). The steel gear (21) is sleeved on the flexible gear (22), and grease is coated between the steel gear (21) and the flexible gear (22). A second tooth part is arranged on the inner circle of the steel gear (21). The first tooth part meshes with the second tooth part, and the number of teeth of the first tooth part is less than that of the second tooth part. The wave generator (23) is sleeved on a power input component, and an output component is connected to the flexible gear (22). An observation hole (11) is formed in the joint housing (1). The observation hole (11) is located on the radial extension line of the flexible gear (22). The end of the sensor (3) can pass through the observation hole (11) to contact the flexible gear (22).
2. The robot joint observation structure according to claim 1, characterized in that A dust cover is detachably arranged on the observation hole (11).
3. The robot joint observation structure according to claim 2, wherein, The dust cover is a transparent dust cover.
4. The robot joint observation structure according to claim 2, wherein, The dust cover is connected to the observation hole (11) in a covering manner through a sealing ring.
5. The robot joint observation structure according to claim 1, wherein, The sensor (3) is a displacement sensor.
6. The robot joint observation structure according to claim 5, characterized in that, The end of the sensor (3) is a T-shaped probe structure, and the T-shaped probe structure can contact the flexible gear (22).
7. The robot joint observation structure according to claim 1, characterized in that, The power input component includes a motor (4), an input workpiece (5), and an input end bearing (6). The input workpiece (5) is installed inside the joint housing (1) through the bearing (6), and the wave generator (23) is sleeved on the input workpiece (5).
8. The robot joint observation structure according to claim 1, characterized in that, The output component includes an output end bearing (7) and an output workpiece (8). The output workpiece (8) is installed inside the joint housing (1) through the output end bearing (7), and the output workpiece (8) is sleeved on the flexible gear (22).
9. The robot joint observation structure according to claim 1, wherein The number of the observation holes (11) is multiple, and the multiple observation holes (11) are distributed circumferentially along the joint housing (1).
10. A robot, characterized in that, The robot joint observation structure according to any one of claims 1 to 9 is adopted.