Modularized robot joint module of integrated sensor speed reducer

Abstract

The utility model relates to an integrated sensor speed reducer modularized robot joint module which comprises a motor, a torque sensor and a speed reducer, the speed reducer comprises a wave generator, a flexible gear, a supporting bearing outer ring, a supporting bearing inner ring and a steel wheel, and the outer ring of the torque sensor is fixed to the supporting bearing outer ring and one end of a motor shell. An inner ring of the torque sensor is fixed to the flexible gear, the steel wheel is fixed to an inner ring of the supporting bearing, the flexible gear is sleeved with the steel wheel, the steel wheel and the flexible gear are in staggered tooth transmission, the wave generator is arranged in the flexible gear and fixed to the rotating shaft through a connecting column, and an end cover and a controller cover are further fixed to the other end of the motor shell. A circuit board assembly is fixed in a containing space formed by the end cover and the controller cover, and a sensor wire harness of the torque sensor penetrates through the end cover in the motor shell and then is connected with the circuit board assembly. According to the utility model, the pulling problem of the sensor wire harness is permanently solved, the sensor induction is more accurate, and the movement of the joint module is more flexible.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, especially relate to a modular robot joint module of integrated sensor reducer. BACKGROUND

[0002] With more and more application of robots, collaborative robots as automation labor working with human beings enter more light industry production. The movement of each degree of freedom of the collaborative robot is generated by the joint module at each joint thereof. The joint module usually comprises a joint shell, an input shaft, an output shaft, a driver, a brake, a motor assembly, an encoder and a harmonic reducer arranged in the joint shell and on the same axis. The harmonic reducer is arranged at a first end of the joint shell, the driver is arranged at a second end of the joint shell, the output shaft is arranged in the joint shell along the axial direction, the input shaft is sleeved on the outer periphery of the output shaft, the first ends of the input shaft and the output shaft are connected with the harmonic reducer, and the second ends extend to the second end of the joint shell along the axial direction.

[0003] The torque sensor is an important sensing component for intelligent devices, which feeds back the torque data of the outside world to the central processing unit through an electrical signal to complete closed-loop sensing. The torque sensor matched with the harmonic reducer module or installed at the output end of the harmonic reducer is one of the key sensing components of the intelligent torque sensing harmonic reducer joint module. In use, the input inner ring is connected with the output end of the harmonic reducer, the output outer ring is connected with the end execution component, the force sensing component generates an electrical signal by sensing the relative deformation of the thin deformation area material and transmits the electrical signal to the processing system to complete the collection of torque data. Due to the movement of the output end, the connection between the sensor and the controller is pulled and twisted, which not only affects the detection accuracy of the torque sensor, but also limits the rotation angle of the joint module. In addition, the existing joint module with a torque sensor needs to assemble the parts of the harmonic reducer with the motor shell first, and each cannot form an independent module, which is complicated to assemble and inconvenient to disassemble and maintain. UTILITY MODEL CONTENTS

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a modular robot joint module of integrated sensor reducer, which has high integration, is convenient to assemble and permanently solves the problem of sensor wire harness pulling.

[0005] In order to achieve the above utility model purposes, the utility model adopts the following technical solutions:

[0006] The utility model provides a kind of integrated sensor reducer modular robot joint module, including motor, torque sensor and reducer, the motor includes motor shell, stator, rotor core and rotating shaft, the stator is fixed in motor shell inner wall, the rotor core is located stator inside, and is fixed in rotating shaft, the rotating shaft is rotatably connected with motor shell, the reducer includes wave generator, flexible wheel, support bearing outer ring, support bearing inner ring and steel wheel, the outer ring of torque sensor is fixed in support bearing outer ring and one end of motor shell, the inner ring of torque sensor is fixed with flexible wheel, the steel wheel is fixed on support bearing inner ring, and steel wheel is set in flexible wheel outer, with flexible wheel gear transmission, the wave generator is arranged in flexible wheel, and is fixed with rotating shaft by connecting column, the other end of motor shell is also fixed with end cover and controller cover, the accommodating space formed by end cover and controller cover is fixed with circuit board assembly, sensor wire harness of torque sensor is connected with circuit board assembly after being through end cover in motor shell.

[0007] As a preferred scheme, it also includes a T-shaped wire harness pipe, which includes a middle pipe and a connecting disc fixed at one end of the middle pipe, the connecting disc is fixed with the steel wheel, the middle pipe penetrates the wave generator, the connecting column and the rotating shaft, and a gap is left between the middle pipe and the wave generator and the connecting column, the other end of the middle pipe is rotatably connected with the rotating shaft through a bearing bush.

[0008] As a preferred scheme, the connecting disc is annular, the middle pipe is hollow tubular, and one end of the middle pipe is integrally formed with the connecting disc, and a wire passing hole is formed in the middle part.

[0009] As a preferred scheme, the outer edge of the connecting disc is provided with a flange, the steel wheel is provided with an annular groove, and the flange is clamped and fixed in the annular groove.

[0010] As a preferred scheme, the end cover is provided with a through hole, the rotating shaft is fixed with a magnetic ring A through a magnetic ring seat A at one end of the through hole, the middle pipe is fixed with a magnetic ring B through a magnetic ring seat B at one end close to the through hole, the magnetic ring A and the magnetic ring B are located in the same plane, and the magnetic ring A is located outside the magnetic ring B, and they are concentrically arranged.

[0011] As a preferred scheme, the circuit board assembly includes two circuit boards stacked and spaced apart, and a magnetic sensor and a signal processor are arranged on one circuit board close to the motor shell to cooperate with the magnetic ring A and the magnetic ring B respectively.

[0012] As a preferred scheme, the wave generator includes an oval hub and a thin-wall bearing sleeved outside the oval hub, and the outer ring of the thin-wall bearing is embedded in the flexible wheel.

[0013] As a preferred scheme, the end of the connecting column is provided with a convex ring, one side of the convex ring is tapered, the oval hub is annular, and the inner wall is provided with a circular convex edge, and the convex ring and the convex edge are fixed by bolts.

[0014] As a preferred scheme, the support bearing outer ring and the support bearing inner ring are further provided with a sealing ring.

[0015] As a preferred scheme, the end cover is further provided with a via hole for the three-phase line of the motor to pass through.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] The utility model discloses a torque sensor and motor are fixed together, and the function is not influenced, and sensor wire harness is directly inserted and fixed on the controller from the motor side, and the sensor wire harness pulling problem is permanently solved, the sensor sensing is more accurate, and the whole joint module can realize 360 ° rotation because the torque sensor is fixed, and movement is more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings accompanying the specification provide further understanding of the present application, the illustrative embodiments thereof, and constitute a part of the specification, which illustrate the present application, and do not limit the present application.

[0019] Figure 1 And Figure 2 It is the overall structure schematic diagram of two different angles of the utility model, and

[0020] Figure 3 It is the cut structure schematic diagram of the utility model, and

[0021] Figure 4 And Figure 5 It is the explosion structure schematic diagram of two different angles of the utility model.

[0022] The figure signs are: 11, motor shell, 12, end cover, 13, stator, 14, rotor core, 15, connecting column, 17, three-phase line, 21, oval hub, 22, flexible gear, 23, support bearing outer ring, 24, support bearing inner ring, 25, steel wheel, 26, sealing ring, 3, torque sensor, 31, sensor wire harness, 4, T-shaped wire harness pipe fitting, 40, wire hole, 41, connecting disc, 42, intermediate pipe, 43, bearing pad, 5, controller cover, 6, circuit board assembly, 71, magnetic ring seat A, 72, magnetic ring A, 81, magnetic ring seat B, 82, magnetic ring B. DETAILED DESCRIPTION

[0023] It should be noted that the following detailed description is illustrative only, and is intended to provide further description in connection with the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs.

[0024] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0025] In addition, in the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0026] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "multiple" is two or more, unless otherwise explicitly limited.

[0027] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] In the utility model, unless another definite provision and limitation, first feature is in second feature "on" or "under" can include that first and second features are in direct contact, also can include that first and second features are not in direct contact but contact through other feature between them.Moreover, first feature is on, above and on the second feature includes that first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of first feature is higher than the second feature.First feature is below, under and under the second feature includes that first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of first feature is less than the second feature.

[0029] The utility model is further described below in connection with the drawings and examples:

[0030] As Figures 1 to 5 The utility model discloses a modular robot joint module of integrated sensor reducer, including motor, torque sensor 3 and reducer, the motor includes motor casing 11, stator 13, rotor core 14 and rotating shaft 15, the stator 13 is fixed in the inner wall of motor casing 11, the rotor core 14 is located inside the stator, and is fixed on rotating shaft 15 with the sleeve, and the rotating shaft 15 is rotatably connected with motor casing 11.

[0031] The reducer includes wave generator, flexible gear 22, support bearing outer ring 23, support bearing inner ring 24 and steel wheel 25, the outer ring of torque sensor 3 is fixed in support bearing outer ring 23 and one end of motor casing 11, the inner ring of torque sensor 3 is fixed with flexible gear 22, the steel wheel 25 is fixed on support bearing inner ring 24, and the steel wheel 25 is sleeved on flexible gear 22, and is driven with flexible gear 22 with the gear tooth difference, and the support bearing outer ring 23 and support bearing inner ring 24 are also provided with sealing ring 26 between.

[0032] The wave generator includes oval hub 21 and thin-wall bearing that is sleeved on the outside of oval hub 21, and the outer ring of thin-wall bearing is embedded in flexible gear 22.The end of connecting column 16 is provided with convex ring, and the side of convex ring is trumpet-shaped and is closed, and the oval hub 21 is annular, and the inner wall is provided with circular ring convex edge, and the convex ring and convex edge are fixed through bolt.

[0033] The other end of motor casing 11 is also fixed with end cover 12 and controller cover 5, and the accommodating space formed by end cover 12 and controller cover 5 is fixed with circuit board assembly 6, and the sensor wire harness 31 of torque sensor 3 is connected with circuit board assembly 6 after being through end cover 12 in motor casing 11.The end cover 12 is also provided with via for the three-phase line 17 of motor to pass through.

[0034] The utility model discloses joint module's harmonic reducer in the steel wheel as the output, realizes the speed ratio 101:1, and the flexible wheel is fixed on the motor casing through the torque sensor, and the sensor wire harness is directly inserted and fixed on the controller from the motor side, and the sensor wire harness pulling problem is permanently solved, and the sensor induction is more accurate, and the whole joint module can realize 360 ° rotation, and the movement is more flexible.

[0035] The utility model discloses joint module still includes T wire harness pipe fittings 4, T wire harness pipe fittings 4 includes intermediate pipe 42 and the connecting disc 41 fixed in intermediate pipe one end, the connecting disc 41 is fixed with steel wheel 25, the intermediate pipe 42 is through wave generator, connecting column 16 and pivot 15, and has the gap between wave generator, connecting column 16, another end of intermediate pipe 42 is through the bearing 43 and pivot 15 rotation connection.

[0036] The connecting disc 41 is annular, the intermediate pipe 42 is hollow tubular, and one end of the intermediate pipe 42 is integrally formed with the connecting disc 41, and a wire hole 40 is formed in the middle. The outer edge of the connecting disc 41 is provided with a flange, and the steel wheel 25 is provided with an annular groove. The flange is clamped and fixed in the annular groove. The power lines and signal lines between the plurality of joint modules can be arranged through the wire hole 40, making the overall wiring more neat, and also minimizing the impact of wire harness pulling, twisting and other effects during joint module movement.

[0037] The end cover 12 is provided with a through hole, and the pivot 15 is fixed with a magnetic ring A72 through a magnetic ring seat A71 at one end of the through hole. The intermediate pipe 42 is fixed with a magnetic ring B82 through a magnetic ring seat B81 at one end close to the through hole. The magnetic ring A72 and the magnetic ring B82 are located in the same plane, and the magnetic ring A71 is located outside the magnetic ring B82, and the two are concentrically arranged.

[0038] The circuit board assembly includes two circuit boards stacked and spaced apart, and a magnetic sensor and a signal processor are provided on one of the circuit boards close to the motor housing 11 and cooperate with the magnetic ring A72 and the magnetic ring B82 respectively.

[0039] The utility model discloses motor one end is equipped with the controller cover, and the double encoder inside and outside concentricity side by side arrangement in the controller cover meets the requirement that the encoder is arranged respectively at the output end and the input end, makes the axial space of whole joint module save 5mm above, has improved the reading control precision of encoder.

[0040] The utility model discloses satisfy accurate direct fixing on the reducer at the output and input end, and the sensor and the reducer form module assembly after installation, and finally install the module to the one end of motor, and such structure makes motor stator part can be individually hot sleeve assembly, and can satisfy not to destroy the shell part for replacement spare part and dismounting, and the replacement is high, and assembly, disassembly are more convenient.

[0041] The utility model discloses a reducer, sensor, motor, controller integration, whole integration degree is high, product modular degree is high, in addition, the joint module of the utility model uses wide range, and the replaceability is high, only need to change cup type flexible wheel into top hat type flexible wheel can install the reducer of above-mentioned structure in the joint module without sensor,

[0042] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0043] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the utility model. The ordinary skilled in the art can change, modify, replace and modify the above-mentioned embodiments in the range of the utility model without departing from the principles and purposes of the utility model. Any simple modification, equivalent change and modification made according to the technical essence of the utility model to the above-mentioned embodiments still belong to the range of the technical scheme of the utility model.

Claims

1. An integrated sensor reducer modular robot joint module, comprising a motor, a torque sensor (3) and a reducer, the motor comprising a motor housing (11), a stator (13), a rotor core (14) and a rotating shaft (15), the stator (13) being fixed on the inner wall of the motor housing (11), the rotor core (14) being located on the inner side of the stator and sleeved and fixed on the rotating shaft (15), the rotating shaft (15) being rotationally connected with the motor housing (11), the reducer comprising a wave generator, a flexible gear (22), a support bearing outer ring (23), a support bearing inner ring (24) and a steel gear (25), characterized in that: The outer ring of the torque sensor (3) is clamped and fixed at one end of the support bearing outer ring (23) and the motor housing (11), the inner ring of the torque sensor (3) is fixed with the flexible gear (22), the steel gear (25) is fixed on the support bearing inner ring (24), and the steel gear (25) is sleeved on the outside of the flexible gear (22) and is in gear transmission with the flexible gear (22), the wave generator is arranged in the flexible gear (22) and is fixed with the rotating shaft (15) through the connecting column (16), the other end of the motor housing (11) is also fixed with the end cover (12) and the controller cover (5), the circuit board assembly (6) is fixed in the accommodating space formed by the end cover (12) and the controller cover (5), and the sensor wire harness (31) of the torque sensor (3) is connected with the circuit board assembly (6) after penetrating through the end cover (12) in the motor housing (11).

2. The modular robot joint module of claim 1, wherein, A T-shaped wire harness pipe (4) is further included, the T-shaped wire harness pipe (4) includes an intermediate pipe (42) and a connecting disc (41) fixed at one end of the intermediate pipe, the connecting disc (41) is fixed with the steel gear (25), the intermediate pipe (42) penetrates through the wave generator, the connecting column (16) and the rotating shaft (15), and gaps are left between the intermediate pipe (42) and the wave generator and the connecting column (16), and the other end of the intermediate pipe (42) is rotatably connected with the rotating shaft (15) through a bearing bush (43).

3. The modular robot joint module of claim 2, wherein, The connecting disc (41) is annular, the intermediate pipe (42) is a hollow tubular, and one end of the intermediate pipe (42) is integrally formed with the connecting disc (41), and a wire passing hole (40) is formed in the middle part.

4. The modular robot joint module of claim 2, wherein, The outer edge of the connecting disc (41) is provided with a flange, the steel gear (25) is provided with an annular groove, and the flange is clamped and fixed in the annular groove.

5. The modular robot joint module of claim 2, wherein, A through hole is formed in the end cover (12), a magnetic ring A (72) is fixed on one end of the rotating shaft (15) in the through hole through a magnetic ring seat A (71), a magnetic ring B (82) is fixed on one end of the intermediate pipe (42) close to the through hole through a magnetic ring seat B (81), the magnetic ring A (72) and the magnetic ring B (82) are located in the same plane, and the magnetic ring A (72) is located outside the magnetic ring B (82), and the two are concentrically arranged.

6. The modular robot joint module of claim 5, wherein, The circuit board assembly includes two circuit boards stacked and spaced apart, and a magnetic sensor and a signal processor matched with the magnetic ring A (72) and the magnetic ring B (82) respectively are arranged on one circuit board close to the motor housing (11).

7. The modular robot joint module of claim 1, wherein, The wave generator includes an oval hub (21) and a thin wall bearing sleeved outside the oval hub (21), and the outer ring of the thin wall bearing is embedded in the flexible gear (22).

8. The modular robot joint module of claim 7, wherein, The end of the connecting column (16) is provided with a convex ring, one side of the convex ring is trumpet-shaped and is closed, the oval hub (21) is annular, and the inner wall is provided with a circular convex edge, and the convex ring and the convex edge are fixed by bolts.

9. The modular robot joint module of claim 1, wherein, The support bearing outer ring (23) and the support bearing inner ring (24) are further provided with a sealing ring (26).

10. The modular robot joint module of claim 1, wherein, The end cover (12) is further provided with a via hole through which three-phase lines (17) of the motor penetrate.

Images