Robot joint module

Abstract

A robot joint module comprises a joint shell, and a speed reduction disc is arranged at one end of the joint shell; a hollow main shaft is arranged in the joint shell, one end of the main shaft is connected with the speed reduction disc, the other end of the main shaft extends out of the joint shell, and the axis of the main shaft and the axis of the joint shell are collinear. A joint input shaft sleeves the spindle, a harmonic speed reducer, a driving motor and a high-speed magnetic ring base are sequentially arranged in the joint shell from the speed reduction disc in the extending direction of the joint input shaft, a high-speed end magnetic ring is mounted outside the high-speed magnetic ring base, one end of the joint input shaft is connected with the input end of the harmonic speed reducer, and the other end of the joint input shaft is connected with the output end of the driving motor. The other end of the harmonic speed reducer is connected with the high-speed magnetic ring base, and the speed reduction disc is connected with the output end of the harmonic speed reducer. The high-speed end magnetic ring and the low-speed end magnetic ring are installed on the same side of the circuit board module through embedded matching of the high-speed magnetic ring base and the low-speed magnetic ring base, the embedded design greatly saves the space for installing the magnetic rings, the overall size of the whole joint is reduced, and the structure in the joint is more compact.

Description

Technical Field

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

[0002] The robot joint module is one of the core structures in robot movement, which determines the robot's movement ability and flexibility. At present, collaborative robots have become the focus of research in the field of robotics. System controls such as mechanical control, electronic control and intelligent control algorithms have been widely used in the field of collaborative robots, and most of them are small robots. This requires the joints to have high precision, small size, high torque and high control frequency.

[0003] The operation of robot joints requires high precision, so two magnetic encoders are usually set in the joints. The magnetic encoders are customized into magnetic rings, which are connected to the output end of the motor to obtain the output information of the high-speed end of the motor, and connected to the output end of the reducer to obtain the output information of the low-speed end. At present, the high-speed and low-speed magnetic rings are usually set on both sides of the main board inside the existing joints. Although it is convenient to install with the motor and reducer, it will occupy a larger space inside the joint. On the one hand, it increases the volume of the joint, and on the other hand, the structure inside the joint is not compact enough. Long-term rotation will cause the magnetic ring or the main board to be misaligned, affecting the normal use of the joint. Utility Model Content

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present utility model provides a robot joint module.

[0005] The technical solution of this utility model is as follows:

[0006] A robot joint module comprises a joint housing, one end of which is provided with a speed reduction disc;

[0007] A hollow main shaft is provided in the joint housing, one end of the main shaft is connected to the speed reduction plate, and the other end extends outside the joint housing, and the axis of the main shaft is collinear with the axis of the joint housing;

[0008] The spindle outer sleeve is provided with a joint input shaft, and the joint housing is arranged with a harmonic reducer, a drive motor, and a high-speed magnetic ring base in sequence from the reduction disc along the extension direction of the joint input shaft, and a high-speed end magnetic ring is installed outside the high-speed magnetic ring base, one end of the joint input shaft is connected to the input end of the harmonic reducer, and the other end is connected to the high-speed magnetic ring base, and the reduction disc is connected to the output end of the harmonic reducer;

[0009] The rotor of the drive motor is fixed to the joint input shaft, the low-speed magnetic ring base is embedded in the outer end surface of the high-speed magnetic ring base and is fixed to the main shaft, and the low-speed end magnetic ring is installed on its outer end surface, and a circuit board module is provided on the outside of the low-speed end magnetic ring.

[0010] In order to facilitate the installation of the high-speed magnetic ring base and the low-speed magnetic ring base, the length of the joint input shaft is shorter than the length of the main shaft.

[0011] The specific design of the high-speed magnetic ring base is as follows: the high-speed magnetic ring base includes a first ring body and a second ring body, the inner diameter of the second ring body is consistent with the outer diameter of the first ring body, and is located outside the first ring body. The two are connected by a connecting portion, and the high-speed end magnetic ring is installed outside the second ring body;

[0012] A collar portion is provided on a side of the first ring body away from the connecting portion, and the collar portion is connected to the end of the joint input shaft.

[0013] The specific design of the low-speed magnetic ring base is that the low-speed end magnetic ring includes a mounting ring body, the mounting ring body is located between the second ring body and the main shaft, and the low-speed end magnetic ring is installed outside the mounting ring body;

[0014] A sleeve portion is installed on the inner end surface of the mounting ring body, and the sleeve portion is connected to the main shaft.

[0015] The collar portion and the sleeve portion are installed in such a manner that the collar portion is threadedly connected to the end portion of the joint input shaft, and the sleeve portion is threadedly connected to the main shaft.

[0016] In order to improve the installation stability of the collar part and the sleeve part, a positioning step is provided between the inner end surface of the collar part and the joint input shaft, and a positioning step is also provided between the sleeve part and the main shaft.

[0017] In order to facilitate the installation of the circuit board module, a clamping column is installed at one end of the joint housing away from the speed reducer, and a clamping groove for clamping with the clamping column is opened on the edge of the circuit board module.

[0018] In order to protect the circuit board module, an end cover is provided at one end of the joint housing away from the speed reduction disc, and the circuit board module is located inside the end cover.

[0019] The beneficial effects of the present invention are as follows: the present invention is a robot joint module, which firstly, by arranging a driving motor in the joint housing, can drive the joint input shaft to rotate at high speed, and then drive the main shaft to rotate at low speed through the output end of the reducer, thereby realizing the rotation and speed control of the entire joint, so that the joint can move; secondly, by arranging a circuit board module on the outside of the high-speed end magnetic ring and the low-speed end magnetic ring, high-precision position information of the driving motor control and the main shaft output is obtained, thereby realizing accurate measurement and feedback control of the joint motion state, and improving the motion accuracy and stability of the robot system; finally, through the embedded cooperation of the high-speed magnetic ring base and the low-speed magnetic ring base, the high-speed end magnetic ring and the low-speed end magnetic ring are respectively installed on the same side of the circuit board module, and the embedded design greatly saves the space for installing the magnetic ring, reduces the overall volume of the entire joint, and makes the structure inside the joint more compact, and the two bases are respectively connected to the corresponding positions by means of threads, and cooperate with the positioning steps, which makes the installation of the base faster on the one hand, and improves the stability of the base installation on the other hand, and can effectively reduce the probability of dislocation of the magnetic ring base. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By reading the detailed description of the preferred embodiment below, the solutions and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only used to illustrate the preferred embodiment and are not to be considered as limiting the present invention.

[0021] In the attached figure:

[0022] Figure 1 This is the overall structure diagram of the joint;

[0023] Figure 2 It is a cross-sectional view of the joint;

[0024] Figure 3 Exploded view for joints;

[0025] Figure 4 This is a schematic diagram of the magnetic ring installation;

[0026] The components represented by the reference numerals in the figure are:

[0027] 1. Joint housing; 2. Speed reducer; 3. Main shaft; 4. Joint input shaft; 5. Harmonic reducer; 6. Drive motor; 61. Rotor; 7. High-speed magnetic ring base; 71. First ring body; 72. Second ring body; 73. Connecting part; 74. Sleeve part; 8. High-speed end magnetic ring; 9. Low-speed magnetic ring base; 91. Mounting ring body; 92. Sleeve part; 10. Low-speed end magnetic ring; 11. Circuit board module; 12. Positioning step; 13. Snap-in column; 14. Snap-in groove; 15. End cover. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0029] Example

[0030] As mentioned in the background technology, existing robot joints usually set two high-speed and low-speed magnetic rings on both sides of the circuit main board, and respectively feedback the operating status of the high-speed end of the motor and the low-speed end of the reducer to the circuit main board. Although this method is more convenient during installation, and the inventor has previously designed a joint of the above type and applied for a patent, there are many deficiencies in use. The two magnetic rings and the circuit main board on both sides occupy a lot of space in the joint, making the entire joint larger in size, which is not conducive to the use of small robots, and the internal space is not compact enough, which makes the components easy to dislocate. Therefore, the inventor has made improvements on the existing joint and designed a new joint module, which is explained in detail below with reference to the diagram.

[0031] This embodiment provides a robot joint module, see Figure 1-Figure 3 , including a joint housing 1, a speed reduction disc 2 is provided at one end, the joint housing 1 is cylindrical as a whole, and is open at both ends. A hollow main shaft 3 is provided in the joint housing 1, and the hollow position of the main shaft 3 is used for wiring. One end of the main shaft 3 is connected to the speed reduction disc 2 for input of the rotation of the main shaft 3, and the other end extends to the outside of the joint housing 1 for output of the rotation of the main shaft 3, and the axis of the main shaft 3 is collinear with the axis of the joint housing 1, that is, the main shaft 3 is located in the middle position inside the joint housing 1.

[0032] In this embodiment, combined with Figure 2 and Figure 3The main shaft 3 is provided with a joint input shaft 4, and the length of the joint input shaft 4 is less than the length of the main shaft 3, and the joint input shaft 4 does not exceed the joint housing 1. There is a certain gap between the main shaft 3 and the joint input shaft 4, and they will not contact each other during the rotation process. The joint housing 1 is arranged with a harmonic reducer 5, a drive motor 6, and a high-speed magnetic ring base 7 in sequence from the reduction disc 2 along the extension direction of the joint input shaft 4. The joint housing 1 is designed in sections, and the drive motor 6 and the harmonic reducer 5 are wrapped respectively for protection, that is, the joint input shaft 4 extends to the harmonic reducer The inside of the machine 5, but not exceeding it, one end of the joint input shaft 4 is connected to the input end of the harmonic reducer 5. The joint input shaft 4 is the power source for the rotation of the input end of the harmonic reducer 5, and the starting end of the joint input shaft 4 has a larger diameter, and a bearing is provided between the main shaft 3. In addition, the rotor 61 of the drive motor 6 is fixed to the joint input shaft 4. The drive motor 6 is a frameless type, and the rotor 61 and the joint input shaft 4 are fixed by glue. The rotation of the rotor 61 of the drive motor 6 drives the joint input shaft 4 to rotate at high speed, and then the input end of the harmonic reducer 5 rotates. In addition, the reduction disc 2 is connected to the output end of the harmonic reducer 5. The output end adjusts the speed through the harmonic reducer 5 and drives the reduction disc 2 to rotate, and then drives the main shaft 3 to rotate at low speed, completing the rotation drive of the robot joint.

[0033] Based on the above structure, combined with Figure 3 , it is necessary to monitor the speed of the high-speed end of the drive motor 6 and the low-speed end of the reducer. First, the joint input shaft 4 passes through the drive motor 6 and is connected to the high-speed magnetic ring base 7. The joint input shaft 4 can drive the high-speed magnetic ring base 7 to rotate, and a high-speed end magnetic ring 8 is installed on the outside of the high-speed magnetic ring base 7, that is, on the side away from the drive motor 6, and the design of the high-speed magnetic ring base 7 should make the high-speed end magnetic ring 8 located outside the joint shell 1, and the low-speed magnetic ring base 9 is embedded in the outer end surface of the high-speed magnetic ring base 7 and fixed to the main shaft 3. The main shaft 3 can drive the low-speed magnetic ring base 9 to rotate, and a low-speed end magnetic ring 10 is installed on its outer end surface. The low-speed end magnetic ring 10 is flush with the outer end surface of the high-speed end magnetic ring 8. A circuit board module 11 is provided on the outside of the low-speed end magnetic ring 10. Two chips are provided on the circuit board module 11, which are respectively used to read the rotation parameters of the high-speed end magnetic ring 8 and the low-speed end magnetic ring 10. This technology is the existing technology in this field, and the content of the circuit part will not be redundantly described.

[0034] It should be noted that, combined with Figure 4This solution mainly designs the high-speed magnetic ring base 7 and the low-speed magnetic ring base 9, and realizes that the high and low speed magnetic rings are installed on the same side of the circuit board module 11. First, the high-speed magnetic ring base 7 includes a first ring body 71 and a second ring body 72. The inner diameter of the second ring body 72 is consistent with the outer diameter of the first ring body 71 and is located outside the first ring body 71. The two are connected by a connecting portion 73. The connecting portion 73 is arranged horizontally, so that the first ring body 71 and the second ring body 72 form a stepped shape. The first ring body 71 is located inside the edge of the joint housing 1. The second ring body 72 is located outside the edge of the joint housing 1, and the high-speed end magnetic ring 8 is installed on the outside of the second ring body 72. The first ring body 71 is provided with a collar portion 74 on the side away from the connecting portion 73, and it is connected to the end of the joint input shaft 4, and the two are connected by threads. Threads are provided on the outer edge surface of the end of the joint input shaft 4 and the inner edge surface of the collar portion 74, and the two are matched and connected, and the end surfaces of the two contacting each other are provided with a positioning step 12. In order to limit the end of the threaded connection position, the collar portion 74 can be limited.

[0035] On the basis of the above structure, a convex ring is provided inwardly at the opening position of the end of the joint housing 1, and a sealing ring is provided between the convex ring and the connecting portion 73 of the high-speed magnetic ring base 7, which can seal the joint housing 1 and improve the sealing performance.

[0036] The low-speed magnetic ring base 9 is matched with the structure of the high-speed magnetic ring base 7, wherein the low-speed end magnetic ring 10 includes a mounting ring body 91, and the mounting ring body 91 is located between the second ring body 72 and the main shaft 3, that is, because the second ring body 72 is located outside the first ring body 71, an annular groove is formed below the second ring body 72, and the mounting ring body 91 is arranged in the groove, but does not contact the high-speed magnetic ring base 7, and there is a gap between them. The low-speed end magnetic ring 10 is installed on the outside of the mounting ring body 91, and the low-speed end magnetic ring 10 and the high-speed end magnetic ring 8 are connected. The outer end surface is flush with that of the mounting ring body 91, and the inner end surface of the mounting ring body 91 is provided with a sleeve portion 92, and the sleeve portion 92 is connected to the main shaft 3. The sleeve portion 92 extends toward both sides of the mounting ring body 91, and the length of the end away from the joint housing 1 is much greater than the length close to the end of the joint housing 1. Threads are provided on the inner end surface of the sleeve portion 92 and the outer end surface of the main shaft 3, and the two are threadedly connected. A positioning step 12 is provided in the sleeve portion 92 near the end of the joint housing 1, which is adapted to the positioning step 12 opened on the main shaft 3 to limit the sleeve portion 92.

[0037] It should be noted that due to the design of the high-speed magnetic ring base 7 and the low-speed magnetic ring base 9, the high-speed end magnetic ring 8 and the low-speed end magnetic ring 10 are staggered in the vertical direction, and the high-speed receiving chip and the low-speed receiving chip of the circuit board module 11 should also correspond to the high-speed end magnetic ring 8 and the low-speed end magnetic ring 10 respectively in the vertical direction.

[0038] Moreover, this solution is designed for fixing the circuit board module 11. A clamping post 13 is installed at the end of the joint housing 1 away from the speed reducer 2, and a clamping groove 14 is provided on the edge of the circuit board module 11 to be clamped with the clamping post 13. The circuit board module 11 is fixed to the outside of the high-speed end magnetic ring 8 and the low-speed end magnetic ring 10. In this solution, there are multiple clamping posts 13, which are fixedly connected to the joint housing 1. Correspondingly, multiple clamping grooves 14 are provided on the edge of the circuit board module 11, and the clamping grooves 14 are in the shape of open circular holes. During installation, the clamping grooves 14 are aligned with the clamping posts 13, and the circuit board module 11 is inserted between the multiple clamping posts 13.

[0039] Next, an end cap 15 is installed at the opening of the joint housing 1 away from the speed reducer 2, with the circuit board module 11 located inside the end cap 15. In this embodiment, the end cap 15 is snap-fitted to the end of the joint housing 1 away from the speed reducer 2, protecting the circuit board module 11, the high-speed end magnetic ring 8, and the low-speed end magnetic ring 10. Furthermore, the end cap 15 is snap-fitted and fixed to the joint housing 1.

Claims

1. A robot joint module, characterized in that: It comprises a joint housing (1), one end of which is provided with a speed reduction disc (2); A hollow main shaft (3) is provided in the joint housing (1), one end of the main shaft (3) is connected to the speed reduction plate (2), and the other end extends outside the joint housing (1), and the axis of the main shaft (3) is collinear with the axis of the joint housing (1); The main shaft (3) is provided with a joint input shaft (4) on its outer sleeve. A harmonic reducer (5), a drive motor (6), and a high-speed magnetic ring base (7) are arranged in sequence in the joint housing (1) along the extension direction of the joint input shaft (4) from the reduction disc (2). A high-speed end magnetic ring (8) is installed outside the high-speed magnetic ring base (7). One end of the joint input shaft (4) is connected to the input end of the harmonic reducer (5), and the other end is connected to the high-speed magnetic ring base (7). The reduction disc (2) is connected to the output end of the harmonic reducer (5). The high-speed magnetic ring base (7) comprises a first ring body (71) and a second ring body (72), wherein the inner diameter of the second ring body (72) is consistent with the outer diameter of the first ring body (71) and is located outside the first ring body (71), and the two are connected via a connecting portion (73), and the high-speed end magnetic ring (8) is installed outside the second ring body (72); A collar portion (74) is provided on a side of the first ring body (71) away from the connecting portion (73), and is connected to the end of the joint input shaft (4); The rotor (61) of the drive motor (6) is fixed to the joint input shaft (4), the low-speed magnetic ring base (9) is embedded in the outer end surface of the high-speed magnetic ring base (7), and is fixed to the main shaft (3), and the low-speed end magnetic ring (10) is installed on the outer end surface thereof, and a circuit board module (11) is provided on the outer side of the low-speed end magnetic ring (10).

2. The robot joint module according to claim 1, characterized in that: The joint input shaft The length of (4) is less than the length of the main axis (3).

3. The robot joint module according to claim 1, characterized in that: The low-speed end magnetic ring (10) includes a mounting ring body (91), wherein the mounting ring body (91) is located between the second ring body (72) and the main shaft (3), and the low-speed end magnetic ring (10) is installed outside the mounting ring body (91); A sleeve portion (92) is installed on the inner end surface of the mounting ring body (91), and the sleeve portion (92) is connected to the main shaft (3).

4. The robot joint module according to claim 3, characterized in that: The collar portion (74) is threadedly connected to the end of the joint input shaft (4), and the sleeve portion (92) is threadedly connected to the main shaft (3).

5. The robot joint module according to claim 4, characterized in that: A positioning step (12) is provided between the inner end surface of the collar portion (74) and the joint input shaft (4), and a positioning step (12) is also provided between the sleeve portion (92) and the main shaft (3).

6. The robot joint module according to claim 1, characterized in that: A clamping column (13) is installed at one end of the joint housing (1) away from the speed reduction disc (2), and a clamping groove (14) is provided on the edge of the circuit board module (11) for clamping with the clamping column (13).

7. The robot joint module according to claim 6, characterized in that: An end cover (15) is provided at one end of the joint housing (1) away from the speed reduction disc (2), and the circuit board module (11) is located inside the end cover (15).

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