Compact RV robot joint module

Abstract

The utility model provides a compact type RV robot joint module which comprises a joint installation shell, a torque motor assembly, a speed reducer input gear, an RV speed reducer assembly, a wire passing pipe, an encoder, a detection sensor assembly and a control host. The output end of the torque motor assembly is in driving connection with the RV speed reducer assembly through a speed reducer input gear, an encoder and a detection sensor assembly which are used for detecting rotation data of a rotor of the torque motor assembly are further installed in the joint installation shell, and a control host is installed at the rear end of the joint installation shell. The whole machine is smaller, more compact and lighter, aiming at a large-load industrial robot, the installation is simpler and more convenient, the weight of the whole machine of the robot is reduced, when the robot is installed on a moving trolley, the load of the AGV is lighter, the transportation carrying capacity of the AGV is larger, and faults can be detected in real time and fed back.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joint structures, in particular to a compact RV robot joint module. Background Art

[0002] The existing robot joints have relatively long dimensions. The motor is connected to the reducer through a connecting part, occupying a large space, having a long joint part, a large weight, and requiring an external large distribution box and controller, which is inconvenient to use. When it is necessary to place the robot joint on an AGV mobile trolley for use, most of the mobile robots on the market that can bear a load of more than 30 kg rely on heavy industrial robots to complete, which brings huge energy consumption to the bearing AGV chassis; resulting in problems such as short voyage, inflexibility, and large volume of the mobile robot.

[0003] Moreover, when the existing robot joint modules operate for a long time, the motor components and the reducer are prone to wear or other failure situations, and there is currently a lack of joint modules for timely fault detection of equipment.

[0004] There is a need for a new type of more flexible and lightweight robot joint module that can perform fault detection to solve the above-mentioned problems. Content of the Utility Model

[0005] The utility model provides a compact RV robot joint module, which solves the problems of large space occupation, large weight, inconvenience, and inability to perform real-time fault detection of the existing robot joint module through technical transformation of the existing robot joint structure.

[0006] To achieve the above object, the technical solution adopted by the utility model is:

[0007] A compact RV robot joint module includes a joint mounting housing, a torque motor assembly, a reducer input gear, an RV reducer assembly, a wire conduit, an encoder, a detection sensor assembly, and a control host. The torque motor assembly, the RV reducer assembly, and the wire conduit are installed in the joint mounting housing. The wire conduit passes through the central positions of the torque motor assembly and the RV reducer assembly, and the output end of the torque motor assembly is drivingly connected to the RV reducer assembly through the reducer input gear. An encoder for detecting the rotation data of the rotor of the torque motor assembly and a detection sensor assembly for detecting the operating states of the torque motor assembly and the RV reducer assembly are also installed in the joint mounting housing. A control host is installed at the rear end of the joint mounting housing, and a servo driver is arranged in the control host. The detection sensor assembly, the servo driver, and the torque motor assembly are electrically connected to the encoder.

[0008] Preferably, the joint mounting housing includes a speed reducer housing, a motor housing, and a drive fixing plate. The RV speed reducer assembly is installed in the speed reducer housing, and the torque motor assembly is installed in the motor housing. The speed reducer housing and the motor housing are detachably connected by fixing screws. A drive fixing plate is fixedly installed on the back of the motor housing, and the control host is fixedly installed on the drive fixing plate.

[0009] Preferably, the torque motor assembly includes a motor stator, a motor rotor, a motor shaft, motor bearings, and a motor flange. The RV speed reducer assembly includes a planetary gear set. A motor flange is fixedly installed in the motor housing. The motor stator is fixedly connected to the motor flange. A motor rotor is movably installed in the motor stator. The inner side of the motor rotor is fixedly connected to the motor shaft, and the motor shaft is supported by motor bearings in the motor housing. The front end of the motor shaft is fixedly connected to the input gear of the speed reducer, and the input gear of the speed reducer meshes with the planetary gear set. The motor shaft and the input gear of the speed reducer are sleeved on the outer side of the through-wire tube.

[0010] Preferably, the motor rotor shaft is made of lightweight aluminum material.

[0011] Preferably, the detection sensor assembly includes a motor torque sensor and a speed reducer torque sensor. The motor torque sensor is installed inside the motor housing opposite the motor shaft, and the motor torque sensor is used to detect the input torque parameter of the motor shaft and send it to the control host. The speed reducer torque sensor is installed inside the speed reducer housing opposite the output end of the RV speed reducer assembly, and the speed reducer torque sensor is used to detect the output torque parameter of the RV speed reducer assembly and send it to the control host.

[0012] Preferably, an electromagnetic brake for emergency braking when the motor is powered off is also installed inside the motor housing.

[0013] Preferably, an alarm module is installed on the external machine platform of the joint module, and the alarm module is electrically connected to the control host.

[0014] Preferably, the alarm module includes a warning light and a buzzer.

[0015] Preferably, a wireless communication module is installed on the control host, and the control host is wirelessly connected to the remote control terminal through the wireless communication module.

[0016] Preferably, the torque motor assembly uses a low-voltage DC motor.

[0017] The beneficial effects of the present utility model are as follows:

[0018] This application integrates a large-sized motor and motor connection components, compactly connects the output shaft of the torque motor to the speed reducer, forms an independent unit module, simplifies the installation process, shortens the overall structure, makes the whole machine smaller, more compact and lighter in weight. For industrial robots with large loads, the installation is more convenient, the weight of the whole robot is reduced, the occupied space is greatly reduced, and the overall weight of the equipment is reduced. When installed on a mobile trolley, the load of the AGV trolley is lighter and the transportation and carrying capacity of the AGV trolley is greater.

[0019] The utility model adopts low-voltage DC power supply, eliminates the energy loss caused by voltage conversion, improves the endurance time of the robot, and cooperates with the direct power supply of the AGV mobile trolley, so the endurance ability is stronger.

[0020] In the joint installation housing of the utility model, a motor torque sensor and a reducer torque sensor are installed and set, which can detect the input and output torque parameters of the torque motor assembly and the RV reducer assembly in real time. When a running fault is detected, the control host gives an alarm in time through the alarm module. Description of the Drawings

[0021] Figures 1-2 is a schematic diagram of the robot joint structure of the utility model;

[0022] Figure 3 is a sectional schematic diagram of the robot joint structure of the utility model;

[0023] Figures 4-5 is a schematic diagram of the disassembled structure of the utility model;

[0024] Explanation of the reference numerals in the drawings: Joint installation housing 1, Reducer housing 11, Motor housing 12, Driving fixing plate 13, Fixing screw 14, Torque motor assembly 2, Motor stator 21, Motor rotor 22, Motor shaft 23, Motor bearing 24, Motor flange 25, Reducer input gear 3, RV reducer assembly 4, Planetary gear set 41, Wiring pipe 5, Encoder 6, Detection sensor assembly 7, Motor torque sensor 71, Reducer torque sensor 72, Control host 8, Second encoder 9. Detailed Embodiment

[0025] The following will describe the specific content of the utility model in detail with reference to the drawings and embodiments.

[0026] Please refer to Figures 1-5As shown in the figure, the present utility model provides a compact RV robot joint module, which includes a joint mounting housing 1, a torque motor assembly 2, a reducer input gear 3, an RV reducer assembly 4, a wire conduit 5, an encoder 6, a detection sensor assembly 7 and a control host 8. The torque motor assembly 2, the RV reducer assembly 4 and the wire conduit 5 are installed in the joint mounting housing 1. The wire conduit 5 penetrates through the central positions of the torque motor assembly 2 and the RV reducer assembly 4. And the output end of the torque motor assembly 2 is drivingly connected to the RV reducer assembly 4 through the reducer input gear 3. An encoder 6 for detecting the rotation data of the rotor of the torque motor assembly 2 and a detection sensor assembly 7 for detecting the operating states of the torque motor assembly 2 and the RV reducer assembly 4 are also installed in the joint mounting housing 1. A control host 8 is installed at the rear end of the joint mounting housing 1. A servo driver is arranged in the control host 8. The detection sensor assembly 7, the servo driver and the torque motor assembly 2 are electrically connected to the encoder 6.

[0027] Further, the joint mounting housing 1 includes a reducer housing 11, a motor housing 12 and a drive fixing plate 13. The RV reducer assembly 4 is installed in the reducer housing 11, and the torque motor assembly 2 is installed in the motor housing 12. The reducer housing 11 and the motor housing 12 are detachably connected by fixing screws 14. A drive fixing plate 13 is fixedly installed on the back of the motor housing 12. The control host 8 is fixedly installed on the drive fixing plate 13.

[0028] Further, the torque motor assembly 2 includes a motor stator 21, a motor rotor 22, a motor shaft 23, a motor shaft bearing and a motor flange 25. The RV reducer assembly 4 includes a planetary gear set 41. A motor flange 25 is fixedly installed in the motor housing 12. The motor stator 21 is fixedly connected to the motor flange 25. The motor rotor 22 is movably installed in the motor stator 21. The inner side of the motor rotor 22 is fixedly connected to the motor shaft 23. And the motor shaft 23 is supported in the motor housing 12 through the motor shaft bearing. The front end of the motor shaft 23 is fixedly connected to the reducer input gear 3. The reducer input gear 3 meshes with the planetary gear set 41. And the motor shaft 23 and the reducer input gear 3 are sleeved on the outer side surface of the wire conduit 5.

[0029] During use, the motor shaft 23 drives the encoder 6 to rotate. The encoder 6 measures the rotor speed and rotation position and transmits the data to the DC servo driver. The DC servo driver controls the rotation of the output shaft of the torque motor assembly 2 through the control host 8.

[0030] In another Embodiment 2, a second encoder 9 is further installed on the outer side of the right end of the solenoid tube 5 inside the motor housing 12. The second encoder 9 is used to measure the rotational speed and rotational position of the solenoid tube 5 and send them to the DC servo driver.

[0031] The motor shaft 23 and the input gear are fixedly arranged by bonding with adhesive. In another Embodiment 3, the motor shaft 23 and the input gear can be fixedly installed by welding or riveting, etc., saving production costs.

[0032] Furthermore, in order to reduce the weight of the whole machine, the shaft of the motor rotor 22 is made of lightweight aluminum material. After the weight of the whole machine is reduced, a greater load capacity can be obtained at the end.

[0033] Furthermore, in order to detect the input and output torques in real time, the detection sensor assembly 7 includes a motor torque sensor 71 and a reducer torque sensor 72. The motor torque sensor 71 is installed inside the motor housing 12 opposite to the motor shaft 23, and the motor torque sensor 71 is used to detect the input torque parameter of the motor shaft 23 and send it to the control host 8. The reducer torque sensor 72 is installed inside the reducer housing 11 opposite to the output end of the RV reducer assembly 4, and the reducer torque sensor 72 is used to detect the output torque parameter of the RV reducer assembly 4 and send it to the control host 8.

[0034] An adaptive control algorithm is integrated in the control host 8. According to the parameters such as torque and rotational speed detected in real time, the motor output is automatically adjusted to optimize the operation efficiency and reduce energy consumption.

[0035] This application also has the ability of fault diagnosis and prediction. By using machine learning algorithms to deeply analyze the sensor data, early diagnosis of faults and predictive maintenance are realized, reducing the downtime.

[0036] Furthermore, a power-off brake for emergency braking when the motor is powered off is also installed inside the motor housing 12. When the motor is powered on, the electromagnetic force makes the brake in a released state, allowing the motor to run normally; when the motor is powered off, the brake automatically enters the braking state, and the motor stops quickly through the frictional torque.

[0037] Furthermore, in order to give an alarm in time, an alarm module is installed on the external machine table of the joint module, and the alarm module is electrically connected to the control host 8.

[0038] Furthermore, the alarm module includes a warning light and a buzzer. The alarm module receives the alarm information sent by the control host 8 and gives an audible and visual alarm through the warning light and the buzzer.

[0039] Further, a wireless communication module is installed on the control host 8, and the control host 8 is wirelessly connected to a remote control terminal through the wireless communication module. The remote control terminal is selected as a mobile device such as a mobile phone or a mobile tablet, which can conveniently view the running status of the machine in real time remotely.

[0040] Further, the torque motor assembly 2 adopts a low-voltage DC motor, which eliminates the energy loss caused by voltage conversion, improves the battery life of the robot, and is directly powered in cooperation with the AGV mobile trolley, so the battery life is stronger.

[0041] Further, a wire slot is arranged inside the machine table, and the circuit connection wires are arranged through the inside of the machine table without being exposed, so the overall appearance is more smooth and beautiful, and the circuit connection wires will not be knocked and damaged.

[0042] In this application, a large-sized motor and motor connection components are integrated together, the output shaft of the torque motor is compactly connected to the speed reducer to form an independent unit module, which simplifies the installation process, shortens the overall structure, makes the whole machine more compact and lighter in weight. For industrial robots with large loads, the installation is more convenient, the weight of the whole robot is reduced, the occupied space is greatly reduced, and the overall weight of the equipment is reduced. When installed on a mobile trolley, the load on the AGV trolley is lighter and the transportation and carrying capacity of the AGV trolley is larger.

[0043] In this application, a motor torque sensor and a reducer torque sensor are installed in the joint installation housing, which can detect the input and output torque parameters of the torque motor assembly and the RV reducer assembly in real time. When a running fault is detected, the control host gives an alarm in time through the alarm module.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

[0045] The standard parts used in the present invention can all be purchased from the market, the special-shaped parts can be customized according to the description in the specification and the drawings, the specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art, the machines, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0046] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "installation", "connection", "attachment", and "fixation" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or a connection through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. A compact RV robot joint module, characterized in that, It includes a joint mounting housing, a torque motor assembly, a reducer input gear, an RV reducer assembly, a through-wire tube, an encoder, a detection sensor assembly, and a control host. The torque motor assembly, the RV reducer assembly, and the through-wire tube are installed inside the joint mounting housing. The through-wire tube passes through the central positions of the torque motor assembly and the RV reducer assembly. The output end of the torque motor assembly is drivingly connected to the RV reducer assembly through the reducer input gear. An encoder for detecting the rotation data of the rotor of the torque motor assembly and a detection sensor assembly for detecting the operating states of the torque motor assembly and the RV reducer assembly are also installed inside the joint mounting housing. A control host is installed at the rear end of the joint mounting housing. A servo driver is provided inside the control host. The detection sensor assembly, the servo driver, and the torque motor assembly are electrically connected to the encoder.

2. The compact RV robot joint module according to claim 1, wherein The joint mounting housing includes a reducer housing, a motor housing, and a drive fixing plate. The RV reducer assembly is installed inside the reducer housing, and the torque motor assembly is installed inside the motor housing. The reducer housing and the motor housing are detachably connected by fixing screws. A drive fixing plate is fixedly installed on the back of the motor housing. The control host is fixedly installed on the drive fixing plate.

3. A compact RV robot joint module according to claim 1, characterized in that, The torque motor assembly includes a motor stator, a motor rotor, a motor shaft, motor bearings, and a motor flange. The RV reducer assembly includes a planetary gear set. A motor flange is fixedly installed inside the motor housing. The motor stator is fixedly connected to the motor flange. The motor rotor is movably installed inside the motor stator. The inner side of the motor rotor is fixedly connected to the motor shaft. The motor shaft is supported by the motor bearings inside the motor housing. The front end of the motor shaft is fixedly connected to the reducer input gear. The reducer input gear meshes with the planetary gear set. The motor shaft and the reducer input gear are sleeved on the outer side of the through-wire tube.

4. A compact RV robot joint module according to claim 3, wherein, The motor rotor shaft is made of lightweight aluminum material.

5. A compact RV robot joint module according to claim 1, wherein, The detection sensor assembly includes a motor torque sensor and a reducer torque sensor. The motor torque sensor is installed inside the motor housing opposite the motor shaft and is used to detect the input torque parameter of the motor shaft and send it to the control host. The reducer torque sensor is installed inside the reducer housing opposite the output end of the RV reducer assembly and is used to detect the output torque parameter of the RV reducer assembly and send it to the control host.

6. A compact RV robot joint module according to claim 2, characterized in that, A power-off brake for emergency braking when the motor is powered off is also installed inside the motor housing.

7. A compact RV robot joint module according to claim 1, characterized in that, An alarm module is installed on the external machine table of the joint module. The alarm module is electrically connected to the control host.

8. A compact RV robot joint module according to claim 7, characterized in that, The alarm module includes a warning light and a buzzer.

9. The compact RV robot joint module according to claim 1, characterized in that, A wireless communication module is installed on the control host. The control host is wirelessly connected to a remote control terminal through the wireless communication module.

10. A compact RV robot joint module according to claim 1, characterized in that, The torque motor assembly uses a low-voltage DC motor.

Images