Double-magnet-ring encoder integrated robot joint and robot

Abstract

The utility model provides a double-magnet-ring encoder integrated robot joint and a robot. The double-magnet-ring encoder integrated robot joint comprises a speed reducer assembly, a driving assembly, a double-magnet-ring encoder assembly and an end cover assembly. Wherein the speed reducer assembly is fixedly connected with the driving assembly, and the double-magnetic-ring encoder assembly is fixedly connected with the end cover assembly through the driving assembly; the double-magnetic-ring encoder assembly comprises an outer magnetic ring rotor seat 9, an inner magnetic ring rotor seat 13, a driving plate 14, an inner magnetic ring 15, an outer magnetic ring 16 and a stator seat 17; compared with an integrated joint in the prior art, under the same size, the rotation precision is higher, position sensors are arranged at the input end and the output end, closed-loop control is achieved, and a control panel sends out instructions more accurately; the double-magnet-ring encoder is very compact in assembly, and is convenient for automatic installation after mass production; according to the utility model, the encoder part and the motor part are more modularized, the independence of the encoder part and the motor part is stronger, and higher interchangeability can be realized when customer orders are dealt with on a production line.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot joint integrated with double magnetic ring encoders and a robot. Background Art

[0002] The robotics industry and precision machinery field are in a rapid development stage, and the demand for small robots and precision machinery applications is increasing. In particular, the rapid growth in demand for future humanoid robots and collaborative robotic arms in home scenarios has reflected a strong demand for integrated joints with high precision, small size, high torque and high control frequency.

[0003] The dual encoder mounting structure of existing joint modules in the prior art generally has two code disks mounted opposite each other, with a common encoder circuit board disposed between the two code disks. A reading chip is soldered to each side of the circuit board, corresponding to the two code disks. For example, the utility model patent with patent publication number CN219649941U discloses a dual encoder robot joint and a robot. The dual encoder robot joint includes a housing, a motor, a reducer, and two encoders. The housing has a receiving cavity. The motor includes a motor housing and a motor shaft rotatably disposed within the motor housing. The motor housing is disposed within the receiving cavity. The motor shaft extends through the top wall of the housing. The reducer includes a fixed end, an input end, and an output end, and is provided with a through hole extending through the center of the reducer. The fixed end is fixedly connected to the housing, and the input end is fixedly connected to the motor shaft. The motor shaft extends through the through hole and extends to the output end of the robot joint. The two encoders have corresponding read heads and rotors. The two read heads are mounted on the side of the housing close to the motor housing and the fixed end is mounted on the side away from the motor housing. The two rotors are mounted on opposite ends of the motor shaft, simplifying the joint structure and reducing weight and cost.

[0004] This technical solution has technical problems such as large space occupation, many parts, low rotation accuracy, and difficult installation. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the present utility model is to provide a dual magnetic ring encoder integrated robot joint and a robot.

[0006] The dual-magnetic ring encoder integrated robot joint provided by the utility model includes: a reducer assembly, a drive assembly, a dual-magnetic ring encoder assembly and an end cover assembly;

[0007] Wherein, the reducer assembly is fixedly connected to the drive assembly, and the dual magnetic ring encoder assembly is fixedly connected to the end cover assembly through the drive assembly;

[0008] The dual magnetic ring encoder assembly includes: an outer magnetic ring rotor seat 9, an inner magnetic ring rotor seat 13, a drive plate 14, an inner magnetic ring 15, an outer magnetic ring 16, and a stator seat 17;

[0009] The outer magnetic ring rotor seat 9 is sleeved on the outside of the motor shaft 8, the front end of the outer magnetic ring 16 is sleeved on the outer magnetic ring rotor seat 9, and the rear end of the outer magnetic ring 16 is sleeved on the inner magnetic ring rotor seat 13 through the inner magnetic ring 15. The inner magnetic ring rotor seat 13 is sleeved on the flexible spline cover 1 of the reducer assembly, and the stator seat 17 is sleeved on the outer surface of the outer magnetic ring 16; the drive plate 14 is sleeved on the outside of the inner magnetic ring rotor seat 13, and the outer ring of the drive plate 14 is fixedly connected to the inner ring of the stator seat 17;

[0010] The motor shaft 8 is sleeved on the outside of the flexspline cover 1 .

[0011] Preferably, the reducer assembly includes: a flexible spline cover 1, a harmonic reducer 3, and a steel wheel 19;

[0012] The flexspline cover 1 is fixedly connected to the steel wheel 19 , and the flexspline cover 1 is fixedly connected to the harmonic reducer 3 through threaded holes provided on the steel wheel 19 .

[0013] Preferably, the driving assembly comprises: a rotating assembly and a first bearing 7;

[0014] The first bearing 7 is sleeved on the outside of the motor shaft 8, and the outer ring of the first bearing 7 is connected to the motor housing 4; an accommodating space is provided between the motor housing 4 and the motor shaft 8, and the rotating component is placed in the accommodating space;

[0015] The rotating assembly includes a stator 5 and a rotor 6 . The rotor 6 is sleeved inside the stator 5 , and the stator 5 is fixedly connected to the motor housing 4 .

[0016] Preferably, the end cover assembly includes a joint drive plate 10, a rear cover 11, and a second bearing 12;

[0017] The joint driving plate 10 and the second bearing 12 are both provided on the flexible spline cover 1, and the outer ring of the second bearing 12 is fixedly connected to the rear cover 11; the inner ring of the joint driving plate 10 is provided on the inner magnetic ring rotor seat 13, and the outer ring of the joint driving plate 10 is fixedly connected to the rear cover 11.

[0018] Preferably, the front end surface of the joint driving plate 10 is fixedly connected to the motor housing 4 by screws;

[0019] Preferably, the rear cover 11 and the motor housing 4 are fixedly connected.

[0020] Preferably, a wave generator 18 is also included;

[0021] The rear end of the wave generator 18 is fixedly connected to the motor shaft 8 through a threaded hole; the front end of the wave generator 18 is connected to the reducer assembly, and the inner ring of the wave generator 18 is sleeved on the flexible spline cover 1.

[0022] Preferably, a sealing groove is provided on one side of the steel wheel 19 close to the flexible spline cover 1 , and an O-ring 2 is installed in the sealing groove.

[0023] Preferably, the motor housing 4 is sleeved on the outer surface of the stator seat 17 .

[0024] The utility model also provides a robot adopting the dual magnetic ring encoder integrated robot joint.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. Compared with the integrated joints of the existing technology, the rotation accuracy is higher under the same volume. There are position sensors at both the input and output ends to achieve closed-loop control, and the instructions issued by the control board are more accurate;

[0027] 2. The double magnetic ring encoder of this utility model is very compact and easy to install automatically after mass production;

[0028] 3. The utility model makes the encoder part and the motor part more modular, and the two are more independent, which can achieve higher interchangeability when responding to customer orders on the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0030] Figure 1 A half-section schematic diagram of the present utility model;

[0031] Figure 2 This is an explosion diagram of the utility model;

[0032] Figure 3 This is a schematic diagram of the assembled structure of the utility model;

[0033] Figure 4 Schematic diagram of the assembly of the drive plate 14, the inner magnetic ring 15 and the outer magnetic ring 16 of the present invention;

[0034] The figure shows:

[0035] Flexspline cover 1 First bearing 7 Inner magnetic ring rotor seat 13

[0036] O-ring 2 Motor shaft 8 Drive plate 14

[0037] Harmonic reducer 3 outer magnetic ring rotor seat 9 inner magnetic ring 15

[0038] Motor housing 4 Joint drive plate 10 External magnetic ring 16

[0039] Stator 5 Back cover 11 Stator seat 17

[0040] Rotor 6 Second bearing 12 Wave generator 18

[0041] Steel wheel 19 DETAILED DESCRIPTION

[0042] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various variations and improvements without departing from the scope of the present invention. Such variations and improvements are all within the scope of protection of the present invention.

[0043] The utility model provides a dual-magnetic ring encoder integrated robot joint; comprising: a reducer assembly, a drive assembly, a dual-magnetic ring encoder assembly and an end cover assembly;

[0044] The reducer assembly is fixedly connected to the drive assembly, and the dual magnetic ring encoder assembly is fixedly connected to the end cover assembly through the drive assembly;

[0045] The reducer assembly includes: flexible wheel cover 1, harmonic reducer 3, steel wheel 19

[0046] The flexspline cover 1 is fixedly connected to the steel wheel 19. The flexspline cover 1 is fixedly connected to the harmonic reducer 3 through the threaded holes provided on the steel wheel 19. A sealing groove is provided on the side of the steel wheel 19 close to the flexspline cover 1. An O-ring 2 is installed in the sealing groove to achieve sealing between the steel wheel 19 and the flexspline cover 1.

[0047] The driving assembly includes: a rotating assembly, a first bearing 7, and a motor shaft 8;

[0048] The first bearing 7 is sleeved on the outside of the motor shaft 8, and the outer ring of the first bearing 7 is connected to the motor housing 4. A receiving space is provided between the motor housing 4 and the motor shaft 8, and the receiving space is used to place the rotating assembly. The rotating assembly includes a stator 5 and a rotor 6. The rotor 6 is sleeved inside the stator 5, and the stator 5 is fixedly connected to the motor housing 4.

[0049] The double magnetic ring encoder assembly includes: an outer magnetic ring rotor seat 9, an inner magnetic ring rotor seat 13, a drive plate 14, an inner magnetic ring 15, an outer magnetic ring 16, and a stator seat 17;

[0050] The outer magnetic ring rotor seat 9 is sleeved on the outside of the motor shaft 8, the front end of the outer magnetic ring 16 is sleeved on the outer magnetic ring rotor seat 9, and the rear end of the outer magnetic ring 16 is sleeved on the inner magnetic ring rotor seat 13 through the inner magnetic ring 15. The inner magnetic ring rotor seat 13 is sleeved on the flexible spline cover 1, and the stator seat 17 is sleeved on the outer surface of the outer magnetic ring 16; the motor housing 4 is sleeved on the outer surface of the stator seat 17; the drive plate 14 is sleeved on the outside of the inner magnetic ring rotor seat 13, and the outer ring of the drive plate 14 is fixedly connected to the inner ring of the stator seat 17. Through this structure, position sensors can be provided at both the input and output ends, realizing closed-loop control and making the instructions issued by the control board more accurate;

[0051] The motor shaft 8 is connected to the outer magnetic ring rotor seat 9 through a threaded hole; the outer magnetic ring rotor seat 9 is connected to the outer magnetic ring 16 through a threaded hole;

[0052] Also includes: the end cover assembly includes a rear cover 11, a second bearing 12,

[0053] The joint drive plate 10 and the second bearing 12 are sleeved on the flexible wheel cover 1, and the outer ring of the second bearing 12 is fixedly connected to the rear cover 11; the rear cover 11 is fixedly connected to the motor housing 4;

[0054] The inner ring of the joint driving plate 10 is sleeved on the inner magnetic ring rotor seat 13, and the outer ring of the joint driving plate 10 is fixed to the back cover 11;

[0055] The front end surface of the joint driving plate 10 is fixedly connected to the motor housing 4 by screws;

[0056] The motor shaft 8 is fixedly connected to the rear end of the wave generator 18 through a threaded hole; the front end of the wave generator 18 is connected to the reducer assembly, and the inner ring of the wave generator 18 is sleeved on the flexible spline cover 1.

[0057] The utility model also provides a robot adopting the dual magnetic ring encoder integrated robot joint.

[0058] Working principle: After the joint drive board 10 is powered, the program is started to generate alternating current, which is supplied to the stator 5. After the stator 5 generates an alternating magnetic field, the rotor 6 is caused to rotate. The motor housing 4 and the outer ring of the first bearing 7 remain stationary, and the motor shaft 8 and the inner ring of the first bearing 7 rotate synchronously, thereby driving the outer magnetic ring rotor seat 9 and the outer magnetic ring 16 to rotate. The speed of the outer magnetic ring is equivalent to the speed of the high-speed rotation of the rotor end; because the motor shaft 8 and the wave generator 18 are fixedly connected, the wave is decelerated by the reducer assembly and then transmitted to the steel wheel 19, and the flexible wheel cover 1 As the steel wheel 19 rotates, the inner magnetic ring rotor seat 13 follows, and the inner magnetic ring 15 follows. The speed of the inner magnetic ring 15 is equal to the speed of the output disk of the flexible spline cover, which is the speed of the low-speed end; the drive board 14 receives the speed of the inner magnetic ring 15 and the outer magnetic ring 16, and then feeds back to the joint drive board 10. The joint drive board 10 sends an alternating current based on the actual speed of the two high-speed ends and the low-speed end, combined with the reduction ratio of the harmonic reducer, and circulates it, so that the speed of the controlled output end (steel wheel 19, flexible spline cover 1) is closer to the ideal value.

[0059] The motor rotor of the utility model has a position sensor at the high-speed end, and the output end of the integrated joint also has a position sensor. Both the input and output ends have position sensors, which realizes closed-loop control and makes the control board issue instructions more accurately. Compared with the single magnetic ring encoder integrated joint in the prior art, the rotation accuracy is higher under the same volume. It has high interchangeability, shares many parts with the single magnetic ring encoder integrated joint in the prior art, and has strong modularity, which can support customers to choose single encoding or dual encoding to configure the integrated joint.

[0060] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0061] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A dual magnetic ring encoder integrated robot joint, characterized in that: include: Reducer assembly, drive assembly, dual magnetic ring encoder assembly and end cover assembly; Wherein, the reducer assembly is fixedly connected to the drive assembly, and the dual magnetic ring encoder assembly is fixedly connected to the end cover assembly through the drive assembly; The dual magnetic ring encoder assembly comprises: an outer magnetic ring rotor seat (9), an inner magnetic ring rotor seat (13), a drive plate (14), an inner magnetic ring (15), an outer magnetic ring (16), and a stator seat (17); The outer magnetic ring rotor seat (9) is sleeved on the outside of the motor shaft (8), the front end of the outer magnetic ring (16) is sleeved on the outer magnetic ring rotor seat (9), the rear end of the outer magnetic ring (16) is sleeved on the inner magnetic ring rotor seat (13) through the inner magnetic ring (15), the inner magnetic ring rotor seat (13) is sleeved on the flexible wheel cover (1) of the reducer assembly, and the stator seat (17) is sleeved on the outer surface of the outer magnetic ring (16); the driving plate (14) is sleeved on the outside of the inner magnetic ring rotor seat (13), and the outer ring of the driving plate (14) is fixedly connected to the inner ring of the stator seat (17); The motor shaft (8) is sleeved on the outside of the flexible wheel cover (1).

2. The dual magnetic ring encoder integrated robot joint according to claim 1, characterized in that: The speed reducer assembly comprises: a flexible wheel cover (1), a harmonic speed reducer (3), and a steel wheel (19); The flexible pulley cover (1) is fixedly connected to the steel pulley (19), and the flexible pulley cover (1) is fixedly connected to the harmonic reducer (3) through a threaded hole provided on the steel pulley (19).

3. The dual magnetic ring encoder integrated robot joint according to claim 1, characterized in that: The driving assembly comprises: a rotating assembly and a first bearing (7); The first bearing (7) is sleeved on the outside of the motor shaft (8), and the outer ring of the first bearing (7) is connected to the motor housing (4); an accommodating space is provided between the motor housing (4) and the motor shaft (8), and a rotating component is placed in the accommodating space; The rotating assembly comprises a stator (5) and a rotor (6), wherein the rotor (6) is sleeved inside the stator (5), and the stator (5) is fixedly connected to the motor housing (4).

4. The dual magnetic ring encoder integrated robot joint according to claim 1, characterized in that: The end cover assembly comprises a joint drive plate (10), a rear cover (11), and a second bearing (12); The joint drive plate (10) and the second bearing (12) are both sleeved on the flexible wheel cover (1), and the outer ring of the second bearing (12) is fixedly connected to the rear cover (11); the inner ring of the joint drive plate (10) is sleeved on the inner magnetic ring rotor seat (13), and the outer ring of the joint drive plate (10) is fixedly connected to the rear cover (11).

5. The dual magnetic ring encoder integrated robot joint according to claim 4, characterized in that: The front end surface of the joint drive plate (10) is fixedly connected to the motor housing (4) via screws.

6. The dual magnetic ring encoder integrated robot joint according to claim 4, characterized in that: The rear cover (11) and the motor housing (4) are fixedly connected.

7. The dual magnetic ring encoder integrated robot joint according to claim 1, characterized in that: Also included is a wave generator (18); The rear end of the wave generator (18) is fixedly connected to the motor shaft (8) through a threaded hole; the front end of the wave generator (18) is connected to the reducer assembly, and the inner ring of the wave generator (18) is sleeved on the flexible wheel cover (1).

8. The dual magnetic ring encoder integrated robot joint according to claim 2, characterized in that: A sealing groove is provided on one side of the steel wheel (19) close to the flexible wheel cover (1), and an O-ring (2) is installed in the sealing groove.

9. The dual magnetic ring encoder integrated robot joint according to claim 3, characterized in that: The motor housing (4) is sleeved on the outer surface of the stator seat (17).

10. A robot, characterized in that: A robot joint integrated with a dual magnetic ring encoder as claimed in any one of claims 1 to 9.

Images