Integrated robot joint speed reducer
By incorporating incremental and absolute encoders into the robot joint reducer, the problem of insufficient positional accuracy of traditional robot joints is solved, thereby improving the precision and weight of robot joints and meeting the integration needs of the robotics field.
Patent Information
- Application Number
- CN202520851475.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-04-30
AI Technical Summary
Traditional robot joints suffer from insufficient positional accuracy due to mechanical structure and assembly errors. Single encoders result in increased errors, while dual encoders lead to excessive size and weight, failing to meet the requirements for high integration, flattening, and lightweight robot joints.
The robot adopts an integrated joint reducer with built-in incremental and absolute encoders. The incremental encoder is located between the output flange and the housing, while the absolute encoder is located between the tail end of the motor rotor and the housing, realizing a dual encoder structure to eliminate position errors. The connection stability is ensured through the multi-functional connection hole of the output flange.
This has improved the positional accuracy of robot joints while reducing their size and weight, thus meeting the integration and lightweight requirements of the robotics field.
Smart Images
Figure CN223854765U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to an integrated robot joint speed reducer. BACKGROUND
[0002] With the continuous progress of science and technology and the rapid growth of automation demand, robot technology is being widely applied in various fields, and they become indispensable important equipment in modern manufacturing industry with their efficient, accurate and stable characteristics; Robot joint is the core component of robot, has very important function, and the robot joint mainly includes driving motor and speed reducer, and the traditional robot joint usually adopts single encoder or double encoder, and the double encoder is usually configured with feedback shaft at the output end for feedback position; due to the existence of the error of the geometric parameters of the mechanical structure, the assembly process error and the like, there is a slight difference between the position precision of the robot joint and the theoretical value, and with the passage of time, the position error of the robot joint when working will be larger and larger, and the performance and application field of the robot will be influenced and limited to a certain extent; and the traditional robot joint adopting double encoders is too large in size and weight, and cannot meet the high integration, flattening and light weight demand of the robot joint in the current robot field. SUMMARY
[0003] In order to solve the defects of the prior art, the utility model provides a kind of integrated robot joint speed reducer.
[0004] The utility model technical scheme is as follows:
[0005] Integrated robot joint speed reducer, comprising:
[0006] Shell;
[0007] Harmonic reducer is arranged in the shell inside;
[0008] Output flange is connected with the flexspline of harmonic reducer, and the outer circumferential surface of the output flange is rotatably connected with the shell through crossed roller bearing, and the incremental encoder is arranged between the outer circumferential surface of the output flange inside the shell and the shell.
[0009] Motor is arranged in the shell inside, the rotor head of the motor is connected with the wave generator of harmonic reducer, the rotor tail end of the motor is rotatably connected with the stand column arranged in the shell inside through bearing, and the absolute encoder is arranged between the rotor tail end of the motor and the shell.
[0010] As preferred in the utility model, the incremental encoder includes a reading head and a magnetic ring that work together, the reading head is embedded and installed on the shell, and the magnetic ring is installed on the outer circumferential surface of the output flange inside the shell.
[0011] As the preferred of the utility model, the absolute encoder includes detection element and encoder code disc of cooperation work, detection element is connected with the casing, the encoder code disc is installed at the rotor tail end of motor.
[0012] As the preferred of the utility model, the casing includes the end cap, the front end casing, the intermediate casing and the rear end casing connected in turn, the front end casing and intermediate casing are cylindrical tubular structure, the rear end casing forms the circular recess structure, the column is arranged at the center position of the circular recess structure of rear end casing, and the axis of column is consistent with the axis of casing.
[0013] Further, the cross roller bearing inner ring is fixedly connected with the output flange, the cross roller bearing outer ring is located between the end cap and the front end casing, and the cross roller bearing outer ring is keyed connected with the front end casing, and the end cap is connected with the front end casing through screw.
[0014] Further, the flexspline of the harmonic reducer is located inside the front end casing, the rigid wheel of the harmonic reducer is located between the front end casing and the intermediate casing, and the front end casing and the intermediate casing are respectively screw connected with the outer circumferential surface of the rigid wheel.
[0015] Further, the motor is located inside the intermediate casing, the stator of the motor is connected with the intermediate casing, the intermediate casing is screw connected with the rear end casing, and the through hole is arranged on the rear end casing.
[0016] As the preferred of the utility model, the output flange is provided with a plurality of connecting holes in the circumferential direction, the connecting holes include the platform stage connecting hole and the threaded segment connecting hole which are coaxially arranged and mutually penetrated, the hole diameter of the threaded segment connecting hole is larger than the hole diameter of the platform stage connecting hole, the platform stage connecting hole is used for connecting with the flexspline of the harmonic reducer, and the threaded segment connecting hole is used for connecting with the external structure, so that the connecting hole of the output flange has a dual-purpose function.
[0017] Further, the flexspline of the harmonic reducer is provided with the threaded hole corresponding to the platform stage connecting hole, the output flange is connected with the flexspline of the harmonic reducer through the screw, the screw is located inside the platform stage connecting hole, and the screw is screw connected with the threaded hole, when the threaded segment connecting hole is connected with the external structure, the screw end of the external structure is just in contact with the screw cap inside the platform stage connecting hole, so that the screw inside the platform stage connecting hole can be prevented from loosening, and the connection stability of the output flange and the flexspline of the harmonic reducer is ensured.
[0018] Further, in order to improve the connection strength of the output flange and the flexspline of the harmonic reducer, the reinforcing structure layer is arranged on the inner side of the flexspline of the harmonic reducer, the reinforcing structure layer is provided with the reinforcing threaded hole corresponding to the threaded hole, and the screw is screw connected with the threaded hole and the reinforcing threaded hole.
[0019] The utility model discloses the beneficial effect lies in:
[0020] The absolute encoder is arranged between the rotor tail end of the motor and the shell as the input end encoder to obtain the input end position information, thereby realizing the double-encoder structure and eliminating the position error existing between the motor output end and the harmonic reducer output end;The output flange can be used as the output shaft of the robot joint reducer output end and the feedback shaft of the robot joint reducer output end;Meanwhile, the connecting hole of the output flange also has a dual-purpose function, which not only ensures the connection stability of the output flange and the flexspline of the harmonic reducer, but also simplifies the structure of the robot joint reducer output end, further reduces the volume and weight of the robot joint, and meets the current demand for high integration, flatness and light weight of the robot joint in the robot field. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is the structural schematic diagram of the utility model.
[0022] Meaning of reference signs in the drawing:
[0023] 1 - shell;
[0024] 11 - end cover, 12 - front end shell, 13 - intermediate shell, 14 - rear end shell, 15 - stand column, 16 - through hole;
[0025] 2 - harmonic reducer;
[0026] 21 - wave generator, 22 - flexible bearing, 23 - flexspline, 24 - rigid wheel, 25 - threaded hole, 26 - reinforcing structure layer, 27 - reinforcing threaded hole;
[0027] 3 - motor, 31 - rotor, 32 - stator;
[0028] 4 - output flange, 40 - connecting hole, 401 - first stage connecting hole, 402 - threaded section connecting hole, 41 - screw;
[0029] 5 - cross roller bearing, 6 - bearing, 7 - reading head, 8 - magnetic ring, 9 - detection element, 10 - encoder disc. DETAILED DESCRIPTION
[0030] The utility model will be specifically introduced below in combination with the drawings and specific embodiment.
[0031] For example, Figure 1As shown, the embodiment is a kind of integrated robot joint reducer, including shell 1 and the harmonic reducer 2 and motor 3 being arranged in the shell 1 inside, wherein the flexspline 23 of harmonic reducer 2 is connected with output flange 4, the outer circumferential surface of output flange 4 is rotatably connected with shell 1 by cross roller bearing 5, and the outer circumferential surface of output flange 4 inside shell 1 and shell 1 are provided with incremental encoder;The rotor 31 of motor 3 first end is connected with wave generator 21 of harmonic reducer 2, and the rotor 31 of motor 3 tail end is rotatably connected with stand 15 arranged in the shell 1 by bearing 6, and absolute encoder is arranged between the rotor 31 of motor 3 tail end and shell 1.
[0032] When motor 3 starts working, the rotor 31 of motor 3 drives wave generator 21 of harmonic reducer 2 to rotate, and wave generator 21 of harmonic reducer 2 makes flexspline 23 produce controllable elastic deformation through flexible bearing 22, flexspline 23 of harmonic reducer 2 is engaged with rigid wheel 24 to transmit motion and power, so as to drive output flange 4 to rotate;In this process, incremental encoder is used as output encoder to obtain output position information, and absolute encoder is used as input encoder to obtain input position information, so as to realize double-encoder structure and eliminate the position error existing between the output end of motor 3 and the output end of harmonic reducer 2.
[0033] In the embodiment, incremental encoder includes reading head 7 and magnetic ring 8 working together, reading head 7 is embedded and installed on shell 1, and magnetic ring 8 is installed on the outer circumferential surface of output flange 4 inside shell 1, which can be specifically glued;Absolute encoder includes detection element 9 and encoder code disc 10 working together, detection element 9 is connected with shell 1, and encoder code disc 10 is installed on the tail end of rotor 31 of motor 3;Absolute encoder adopts photoelectric encoder.
[0034] The housing 1 of the embodiment comprises a cover 11, a front-end housing 12, an intermediate housing 13 and a rear-end housing 14 connected in sequence, the front-end housing 12 and the intermediate housing 13 are both cylindrical tube structures, the rear-end housing 14 is formed with a circular groove structure, a column 15 is arranged at the center position of the circular groove structure of the rear-end housing 14, and the axis of the column 15 is consistent with the axis of the housing 1; the reading head 7 of the incremental encoder is embeddedly installed on the front-end housing 12 and fixed by screws (not shown in the figure); the detection element 9 of the absolute encoder is located inside the circular groove structure of the rear-end housing 14 and fixedly connected with the rear-end housing 14 by screws (not shown in the figure); the inner ring of the cross-roller bearing 5 is fixedly connected with the output flange 4, the outer ring of the cross-roller bearing 5 is located between the cover 11 and the front-end housing 12, and the outer ring of the cross-roller bearing 5 is key-connected with the front-end housing 12, the cover 11 is connected with the front-end housing 12 by screws (not shown in the figure); the flexspline 23 of the harmonic reducer 2 is located inside the front-end housing 12, the rigid wheel 24 of the harmonic reducer 2 is located between the front-end housing 12 and the intermediate housing 13, and the front-end housing 12 and the intermediate housing 13 are respectively threadedly connected with the outer circumferential surface of the rigid wheel 24; the motor 3 is located inside the intermediate housing 13, the stator 32 of the motor 3 is connected with the intermediate housing 13, the intermediate housing 13 is threadedly connected with the rear-end housing 14, a through hole 16 is arranged on the rear-end housing 14, and the through hole 16 can be used for wiring.
[0035] In the embodiment, a plurality of connection holes 40 are arranged circumferentially on the output flange 4, the connection holes 40 include coaxially arranged and mutually penetrating platform stage connection holes 401 and threaded section connection holes 402, the inner wall of the platform stage connection holes 401 is smooth, the inner wall of the threaded section connection holes 402 is formed with threads, the hole diameter of the threaded section connection holes 402 is larger than the hole diameter of the platform stage connection holes 401, the platform stage connection holes 401 are used for connecting with the flexspline 23 of the harmonic reducer 2, and the threaded section connection holes 402 are used for connecting with external structures; the connection holes 40 of the output flange 4 have a dual-purpose function; the flexspline 23 of the harmonic reducer 2 is provided with a threaded hole 25 corresponding to the platform stage connection hole 401, the output flange 4 is connected with the flexspline 23 of the harmonic reducer 2 through a screw 41, the screw 41 is located inside the platform stage connection hole 401, and the screw 41 is threadedly connected with the threaded hole 25; when the threaded section connection hole 402 is connected with an external structure, the end of a screw (not shown in the figure) of the external structure is in contact with the screw cap of the screw 41 inside the platform stage connection hole 401, so that loosening of the screw 41 inside the platform stage connection hole 401 can be prevented, and the connection stability of the output flange 4 and the flexspline 23 of the harmonic reducer 2 is ensured; in order to improve the connection strength of the output flange 4 and the flexspline 23 of the harmonic reducer 2, a reinforcing structure layer 26 is arranged inside the flexspline 23 of the harmonic reducer 2 in the embodiment, the reinforcing structure layer 26 is provided with a reinforcing threaded hole 27 corresponding to the threaded hole 25, and the screw 41 is threadedly connected with the threaded hole 25 and the reinforcing threaded hole 27.
[0036] The output flange can be used as an output shaft of a robot joint reducer output end and a feedback shaft of the robot joint reducer output end, and the connecting hole of the output flange has a dual-purpose function, which not only ensures the connection stability of the output flange and the flexspline of the harmonic reducer, but also simplifies the structure of the robot joint reducer output end, so that the volume and weight of the robot joint are further reduced, and the current demand for high integration, flatness and light weight of the robot joint in the robot field is met.
[0037] In the description of the utility model, it is understood that: the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are all based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, structure and operation, therefore, it cannot be understood as a limitation on the utility model.
[0038] In the description of the utility model, it is understood that: unless otherwise explicitly specified and limited, the terms "installation", "connection", "setting", "formation" should be understood broadly; for example: it can be fixedly connected, set, or can be detachably connected, set, or can be an integral structure; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements; for those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.
[0039] The above embodiments are only used to illustrate the technical scheme of the utility model, and those skilled in the art should understand that the above embodiments do not limit the utility model in any form, and any technical scheme obtained by equivalent replacement or equivalent transformation falls within the protection scope of the utility model.
Claims
1. An integrated robot joint reducer characterized by, The shell comprises: a harmonic reducer arranged inside the shell; an output flange connected with the flexspline of the harmonic reducer, the outer circumferential surface of the output flange is rotationally connected with the shell through a cross roller bearing, and an incremental encoder is arranged between the outer circumferential surface of the output flange inside the shell and the shell; a motor arranged inside the shell, the front end of the rotor of the motor is connected with the wave generator of the harmonic reducer, the tail end of the rotor of the motor is rotationally connected with a stand arranged inside the shell through a bearing, and an absolute encoder is arranged between the tail end of the rotor of the motor and the shell. The incremental encoder comprises a reading head and a magnetic ring arranged in cooperation, the reading head is embeddedly arranged on the shell, and the magnetic ring is arranged on the outer circumferential surface of the output flange inside the shell.
2. The integrated robotic joint reducer of claim 1, wherein, The absolute encoder comprises a detection element and an encoder disc arranged in cooperation, the detection element is connected with the shell, and the encoder disc is arranged on the tail end of the rotor of the motor.
3. The integrated robotic joint reducer of claim 1, wherein, The shell comprises a front end cover, a front end shell, a middle shell and a rear end shell connected in sequence, the front end shell and the middle shell are both cylindrical tubular structures, the rear end shell is formed with a circular groove structure, the stand is arranged at the center position of the circular groove structure of the rear end shell, and the axis of the stand is consistent with the axis of the shell.
4. The integrated robotic joint reducer of any one of claims 1-3, wherein, The inner ring of the cross roller bearing is fixedly connected with the output flange, the outer ring of the cross roller bearing is located between the front end cover and the front end shell, the outer ring of the cross roller bearing is key-connected with the front end shell, and the front end cover is connected with the front end shell through screws.
5. The integrated robotic joint reducer of claim 4, wherein, The flexspline of the harmonic reducer is located inside the front end shell, the rigid wheel of the harmonic reducer is located between the front end shell and the middle shell, and the front end shell and the middle shell are respectively threadedly connected with the outer circumferential surface of the rigid wheel.
6. The integrated robotic joint reducer of claim 4, wherein, The motor is located inside the middle shell, the stator of the motor is connected with the middle shell, the middle shell is threadedly connected with the rear end shell, and a through hole is arranged on the rear end shell.
7. The integrated robotic joint reducer of claim 4, wherein, The output flange is provided with a plurality of connecting holes in the circumferential direction, the connecting holes comprise coaxially arranged and mutually penetrating platform stage connecting holes and threaded segment connecting holes, the hole diameter of the threaded segment connecting holes is larger than the hole diameter of the platform stage connecting holes, the platform stage connecting holes are used for being connected with the flexspline of the harmonic reducer, and the threaded segment connecting holes are used for being connected with external structures.
8. The integrated robotic joint reducer of claim 1, wherein, The flexspline of the harmonic reducer is provided with a threaded hole corresponding in cooperation with the platform stage connecting hole, the output flange is connected with the flexspline of the harmonic reducer through screws, the screws are located inside the platform stage connecting hole, and the screws are threadedly connected with the threaded hole.
9. The integrated robotic joint reducer of claim 8, wherein, A reinforcing structure layer is arranged on the inner side of the flexspline of the harmonic reducer, the reinforcing structure layer is provided with a reinforcing threaded hole corresponding in cooperation with the threaded hole, and the screws are threadedly connected with the threaded hole and the reinforcing threaded hole.
10. The integrated robotic joint reducer of claim 9, wherein,