Robot joint

Abstract

The utility model relates to a robot joint which comprises an encoder and an encoder installation shell, a motor, a brake and a speed reducer are installed in the joint shell, the output end of the motor is connected with the input end of the speed reducer, an output flange is installed at the output end of the speed reducer, and a transmission shaft is installed on the encoder. One end of the transmission shaft is connected with the output flange; due to the fact that the hoop is fixed to the transmission shaft of the encoder, the hoop and the encoder are in a relatively free state, during locking, the three protruding ends are stressed at the same time, it is guaranteed that stress is uniform, the coaxiality of the encoder is not affected, meanwhile, the hoop can generate large fixing force, and therefore the structure can guarantee installation firmness and stability of the encoder while guaranteeing precision.

Description

Technical Field

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

[0002] The current encoder installation structure in robot joints mostly uses a method of fixing the code disc fixing hole to the shaft parts.

[0003] The existing technology often uses set screws to fix the encoder to the rotating shaft from the radial direction. This installation structure has several shortcomings:

[0004] 1. Since the encoder's rotary transmission requires a certain connection strength, the strength of this installation method depends more on the tightening force of the set screw. However, most of the shafts being tightened are hollow and thin-walled, which limits the tightening force from being too large, thus affecting the reliability of the structure.

[0005] 2. The set screw is tightened from the side, and there is also a certain eccentricity, which affects the installation of the encoder and thus affects the accuracy. Utility Model Content

[0006] The problem solved by the utility model is to provide a robot joint, which solves the above-mentioned technical problems.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A robot joint includes an encoder and an encoder mounting shell. A motor, a brake and a reducer are installed in the joint shell. The output end of the motor is connected to the input end of the reducer. The output end of the reducer is installed with an output flange. A transmission shaft is installed on the encoder, and one end of the transmission shaft is connected to the output flange.

[0009] Preferably, the encoder includes a joint housing installed at the end of the encoder mounting shell, and a mounting hole is opened on the joint housing.

[0010] Preferably, the encoder mounting shell is connected to the deformable sleeve of the code disc via a positioning bearing, and a reader is installed on the outside of the code disc.

[0011] Preferably, a plurality of protrusions are provided at equal angles on the deformation sleeve of the code disc, gaps are provided between adjacent protrusions, anti-slip limit protrusions are provided at both ends of the protrusions, and a clamp groove is provided between the two anti-slip limit protrusions.

[0012] Preferably, the other end of the transmission shaft is located in the protrusion and the deformable sleeve, and is connected and fixed by a clamp on the outside of the clamp groove.

[0013] Preferably, the number of the protrusions is 3.

[0014] The utility model discloses the beneficial effect is: through the hoop and encoder drive shaft fixed, the hoop and encoder are relative free state, lock, 3 protruding end force simultaneously, guarantee even force, will not influence encoder coaxiality, simultaneously, the hoop can produce greater fixed force, therefore, structure can guarantee precision simultaneously, guarantee the firmness and stability of encoder installation. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole structure schematic diagram of robot joint of the utility model;

[0016] Figure 2 It is the sectional view of robot joint of the utility model;

[0017] Figure 3 It is the first structure schematic diagram of code disc of the utility model;

[0018] Figure 4 It is the second structure schematic diagram of code disc of the utility model.

[0019] Legend:

[0020] 1, encoder;2, drive shaft;3, code disc;4, joint shell;5, encoder installation shell;6, output flange;7, motor;8, brake;9, speed reducer;10, mounting hole;11, deformation sleeve seat;12, protruding portion;13, hoop groove;14, prevent the limit protruding of falling;15, hoop;16, locating bearing;17, read head. DETAILED DESCRIPTION

[0021] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0022] The specific embodiments are given below.

[0023] Reference Figure 1 And Figure 2A robot joint includes an encoder 1 and an encoder mounting shell 5. A motor 7, a brake 8 and a reducer 9 are installed in the joint housing 4. The output end of the motor 7 is connected to the input end of the reducer 9. The output end of the reducer 9 is installed with an output flange 6. A transmission shaft 2 is installed on the encoder 1. One end of the transmission shaft 2 is connected to the output flange 6. The robot joint includes a brake 8, a motor 7, a reducer 9, an output flange 6 and a joint housing 4. The motor 7 transmits power to the reducer 9. The reducer 9 is connected to the output flange 6 as the joint output power. The output flange 6 is fixed to the transmission shaft 2 and transmits the end rotational motion to the other end of the joint. The transmission shaft 2 is connected to the encoder 1, and then the motion state of the joint end flange is read.

[0024] See also Figure 3 and Figure 4 A robot joint, an encoder 1 includes a joint housing 4 mounted on the end of an encoder mounting shell 5, a mounting hole 10 is opened on the joint housing 4, the encoder mounting shell 5 is connected to the deformable sleeve 11 of the code disc 3 through a positioning bearing 16, a reader 17 is installed on the outside of the code disc 3, a plurality of protrusions 12 are provided at equal angles on the deformable sleeve 11 of the code disc 3, a notch is provided between adjacent protrusions 12, anti-slip limit protrusions 14 are provided at both ends of the protrusion 12, and a clamp groove 13 is provided between the two anti-slip limit protrusions 14, the other end of the transmission shaft 2 is located in the protrusion 12 and the deformable sleeve 11, and through the clamp groove 1 3 is connected and fixed with the clamp 15 on the outside. There are three protrusions 12. The encoder 1 and the transmission shaft 2 have a certain matching length to ensure the coaxiality of the installation. The encoder 1 is provided with a protruding end to be fixed to the transmission shaft 2. The encoder 1 is provided with an anti-escape limit to prevent the clamp 15 from falling off in a relaxed state. The encoder 1 has at least three notches so that the deformation area can be deformed under the action of the clamp 15. The encoder 1 is fixed to the encoder mounting shell 5 through a positioning bearing 16. The reader 17 is also fixed on the encoder mounting shell 5. The encoder mounting shell 5 is provided with a mounting hole 10 for screw locking of the clamp 15.

[0025] The robot joint includes a brake 8, a motor 7, a reducer 9, an output flange 6 and a joint housing 4. The motor 7 transmits power to the reducer 9. The reducer 9 is connected to the output flange 6 to output power to the joint. The output shaft 2 of the output flange 6 is fixed to transmit the end rotational motion to the other end of the joint. The transmission shaft 2 is connected to the encoder 1 to read the motion state of the end flange of the joint.

[0026] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot joint, characterized in that: The invention comprises an encoder (1) and an encoder mounting shell (5); a motor (7), a brake (8) and a reducer (9) are installed in a joint housing (4); the output end of the motor (7) is connected to the input end of the reducer (9); the output end of the reducer (9) is installed with an output flange (6); a transmission shaft (2) is installed on the encoder (1); and one end of the transmission shaft (2) is connected to the output flange (6).

2. A robot joint according to claim 1, characterized in that: The encoder (1) comprises a joint housing (4) mounted on the end of an encoder mounting shell (5), and a mounting hole (10) is provided on the joint housing (4).

3. A robot joint according to claim 2, characterized in that: The encoder mounting shell (5) is connected to the deformable sleeve (11) of the code disc (3) via a positioning bearing (16), and a reader (17) is installed on the outside of the code disc (3).

4. A robot joint according to claim 3, characterized in that: A plurality of protrusions (12) are provided at equal angles on the deformation sleeve (11) of the code disk (3), and gaps are provided between adjacent protrusions (12). Anti-slip limit protrusions (14) are provided at both ends of the protrusions (12), and a clamp groove (13) is provided between the two anti-slip limit protrusions (14).

5. A robot joint according to claim 4, characterized in that: The other end of the transmission shaft (2) is located inside the protruding portion (12) and the deformable sleeve (11), and is connected and fixed via a hoop (15) outside the hoop groove (13).

6. A robot joint according to claim 5, characterized in that: The number of the protrusions (12) is 3.

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