Torque measurement system and rotating shaft structure of robot

Abstract

This utility model relates to the field of robotics technology, and discloses a torque measurement system and a rotating shaft structure for a robot. The rotating shaft structure includes: a drive motor, a first gear, a second gear, an input hyperbolic gear, and an output hyperbolic gear connected in sequence; the second gear and the input hyperbolic gear are mounted on the same mounting shaft; the torque measurement system includes: a magnet surrounding the mounting shaft; torque sensors spaced around the magnet; a fixed magnet inside the torque sensor; and leads of the torque sensor connected to an external signal device; when the input hyperbolic gear rotates, the mounting shaft undergoes torsional deformation, the magnet experiences strain, and the magnetic field lines between the magnet and the fixed magnet twist. By measuring the relative torsional angle of the magnetic field lines, the torque is obtained in real time through the signal device. This application obtains torque in real time through a torque sensor and a magnet, facilitating timely shutdown of the drive motor when it is about to be overloaded, thus preventing damage.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a torque measurement system and a rotating shaft structure for a robot. Background Technology

[0002] Patent CN107263458A discloses a rotating axis structure 1 for a robot. For example... Figure 1 and Figure 2 As shown, the robot's rotation axis structure 1 includes: a base 2 fixed to the ground; a rotating body 3 supported on the upper part of the base 2 in a manner that allows it to rotate around a vertical axis; a drive motor 4 that generates driving force; and a reduction mechanism 5 that reduces the rotation of the drive motor 4 and transmits the force to the rotating body 3. An outer ring 7a of a bearing 7 is fixed in a through hole 6 formed in the upper part of the base 2, and the bearing 7 supports the rotating body 3 in a manner that allows it to rotate around a vertical axis (rotation center). Furthermore, a motor mounting portion 8 for fixing the drive motor 4 is provided on the inner surface of the base 2, and a motor opening 9 and a line body opening 11a are provided on the base 2. The motor opening 9 is used to remove and insert the drive motor 4 mounted on the motor mounting portion 8 into the base 2, and the line body opening 11a is used to allow lines 10a and 10b to pass through the inside and outside of the base 2. An opening 11a for the linear body is provided on one side of the base 2, and an opening 9 for the motor is provided on the side opposite to the opening 11a, which is separated from the rotation center of the rotating body 3. A plate 12 is fixed to the opening 11a to block it. Lines 10a, such as a cable 18 for controlling the motor, which is relayed by a connector 13, are fixed to the plate 12. Through the through hole 11b of the plate 12, the lines 10b for peripheral devices can pass through the inside and outside of the base 2 without relaying. The lines 10b for peripheral devices can be individual lines or... Figure 1As shown, multiple linear bodies 14a, 14b, 14c, and 14d are gathered together using a flexible conduit 15 made of resin or aramid fiber. The rotating body 3 has a fixing part 16 fixed to the inner ring 7b of the bearing 7, the outer ring 7a of the bearing 7 being fixed to the base 2. A through hole 17 extending vertically is provided in the fixing part 16, positioned inside the inner ring 7b of the bearing 7. A robot arm (not shown), its drive motor, and peripheral devices are supported on the upper part of the rotating body 3. The reduction mechanism 5 includes: a pinion 19, which is composed of a spur gear fixed to the shaft of the drive motor 4; a large gear 20, which is composed of a spur gear meshing with the pinion 19; an input hyperbolic gear 21, integrally formed with the large gear 20; and an output hyperbolic gear 22, which meshes with the input hyperbolic gear 21. The output hyperbolic gear 22 is formed by a gear ring fixed to the lower surface of the inner ring 7b of the bearing 7, which is fixed to the rotating body 3. Thus, the output hyperbolic gear 22 is fixed to the rotating body 3 via the inner ring 7b of the bearing 7. The input hyperbolic gear 21 and the large gear 20 are integrated into a single component and supported by a support bearing 30 on a cover component 23 fixed to the side of the base 2, allowing rotation about a horizontal axis. The integrated component of the input hyperbolic gear 21 and the large gear 20 is rotatably mounted on the cover component 23. When the cover component 23 is mounted on the side of the base 2, the large gear 20 is housed within a closed first space 24 formed between the base 2 and the cover component 23. A small gear 19, fixed to the shaft of the drive motor 4, is also disposed within this first space 24. The drive motor 4 is mounted on the base 2, thereby causing the large gear 20 to mesh with the small gear 19. A second space 27, enclosed by a sealing member 26, is formed around the output hypoid gear 22. The sealing member 26 is disposed between a cylindrical member 25 and the inner surface of a cylinder within the base 2. The cylindrical member 25 is fixed to the inner ring 7b of the bearing 7 and the inner surface of the output hypoid gear 22. The cylindrical member 25 is configured to extend vertically downwards such that the central hole of the inner ring 7b of the bearing 7 extends vertically downwards. This forms a hollow portion 31 that connects the space within the base 2 to the upper part of the rotating body 3. Figure 2As shown, the drive motor 4 for the rotating shaft is positioned horizontally offset from the vertical below the hollow portion 31. This prevents the hollow portion 31 from being blocked by the drive motor 4, allowing cables for the robot's drive motor or wires 10b for peripheral devices to be guided from the wires through the opening 11a into the hollow portion 31 without obstruction by the drive motor 4. Wiring can then be easily routed to the upper part of the rotating body 3 via the hollow portion 31. A through hole 28 is formed in the wall between the first space 24 and the second space 27, connecting the two spaces. The input hypoid gear 21 passes through this through hole 28 and extends into the second space 27, meshing with the output hypoid gear 22. The outer ring 7a and inner ring 7b of the bearing 7 are sealed by a sealing member 29. Therefore, the space between the outer ring 7a and the inner ring 7b of the bearing 7, the second space 27 where the output hyperbolic gear 22 meshes with the input hyperbolic gear 21, the first space 24 where the large gear 20 meshes with the small gear 19, and the space where the support bearing 30 supporting the input hyperbolic gear 21 is disposed are all sealed relative to the outside and filled with lubricating oil.

[0003] In the process of the rotating shaft structure 1 of the robot, the drive motor 4 is subjected to a large force during the process of outputting rotational power through the small gear 19, the large gear 20, the input hyperbolic gear 21, the output hyperbolic gear 22 and the rotating body 3. This can easily cause the drive motor 4 to be overloaded, thereby damaging the drive motor 4 and causing the rotating shaft structure 1 of the robot to malfunction. Utility Model Content

[0004] In view of this, the present invention provides a torque measurement system to solve the problem that in the existing rotating shaft structure of a robot, the drive motor is subjected to a large force during the process of outputting rotational power through the small gear, large gear, input hyperbolic gear, output hyperbolic gear and rotating body, which can easily cause the drive motor to overload and damage the drive motor, resulting in the robot's rotating shaft structure becoming inoperable.

[0005] In a first aspect, this utility model provides a torque measurement system applied to the rotating shaft structure of a robot. The rotating shaft structure includes: a drive motor, a first gear, a second gear, an input hyperbolic gear, an output hyperbolic gear, and a rotating body connected in sequence; the second gear and the input hyperbolic gear are mounted on the same mounting shaft; the drive motor, the first gear, the second gear, the input hyperbolic gear, and the output hyperbolic gear are all located within a cavity of a base; the torque measurement system includes:

[0006] A magnet is arranged around the mounting shaft;

[0007] A torque sensor is located within the base, positioned near the magnet; the torque sensor is spaced around the magnet; a fixed magnet is arranged around the torque sensor; the lead wire of the torque sensor is connected to a signal device located outside the base via a lead wire hole on the base; the torque measurement system is adapted to generate torque on the mounting shaft when the input hypoid gear rotates, causing the magnet to rotate with the mounting shaft, resulting in relative rotation between the magnet and the fixed magnet, torsional deformation of the mounting shaft, strain in the magnet, and distortion of the magnetic field lines between the magnet and the fixed magnet. The torque sensor measures the relative torsional angle of the magnetic field lines, and the signal device obtains the torque value in real time. Beneficial effects: This application adopts the above technical solution, obtaining torque values ​​in real time through the torque sensor and magnet, facilitating timely stopping of the drive motor when it is about to be overloaded, preventing damage to the drive motor, protecting the drive motor, and ensuring the normal operation of the robot's rotating shaft structure. Simultaneously, the lead wire is spaced apart from the rotating magnet to prevent the lead wire from winding onto the rotating mounting shaft.

[0008] Optionally, a sealing structure is provided at the location where the lead wire passes through the lead wire hole.

[0009] Secondly, this utility model also provides a rotating axis structure for a robot, comprising:

[0010] The torque measurement system described above;

[0011] The base has a cavity; a first opening is provided at the top of the cavity;

[0012] A rotating body is rotatably connected to the first opening; the rotating body is adapted to rotate about a vertical axis.

[0013] The drive motor has an output shaft adapted to rotate about a horizontal axis;

[0014] The first gear is mounted on the output shaft of the drive motor;

[0015] The second gear meshes with the first gear;

[0016] The input hyperbolic gear is mounted on the same mounting shaft as the second gear.

[0017] An output hyperbolic gear meshes with the input hyperbolic gear; the axis of the output hyperbolic gear is perpendicular to the axis of the input hyperbolic gear; the axis of the output hyperbolic gear is a vertical axis; the output hyperbolic gear is fixedly connected to the rotating body, which is adapted to rotate with the rotation of the output hyperbolic gear. Beneficial effects: This application adopts the above technical solution, obtaining torque values ​​in real time through a torque sensor and a magnet, facilitating timely stopping of the drive motor when it is about to be overloaded, preventing damage to the drive motor, protecting the drive motor, and ensuring the normal operation of the robot's rotating axis structure. Simultaneously, the lead wire is spaced apart from the rotating magnet to prevent the lead wire from winding onto the rotating mounting shaft.

[0018] Optionally, the portion of the mounting shaft located between the input hyperbolic gear and the second gear is rotatably connected to the base via a first crossed roller bearing. Beneficial effects: By employing the above technical solution and incorporating the first crossed roller bearing, this application can withstand larger radial and axial forces.

[0019] Optionally, the outer end of the mounting shaft extends to the outer side of the base and has a second opening. An end cap is sealed and installed at the second opening, and an annular platform is provided on the inner side of the end cap. The outer end of the mounting shaft is rotatably connected to the annular platform via a deep groove ball bearing. Beneficial effects: This application adopts the above technical solution, which, combined with the fact that the first crossed roller bearing can withstand large radial and axial forces, reduces the stress on the deep groove ball bearing installed on the end cap, ensuring a seal between the end cap and the base.

[0020] Optionally, the rotating body is rotatably connected to the first opening via a second crossed roller bearing. Beneficial effects: By employing the above technical solution and incorporating a second crossed roller bearing, this application can withstand larger radial and axial forces.

[0021] Optionally, the fixing part of the rotating body is fixedly installed on the inner ring of the second crossed roller bearing; the outer ring of the second crossed roller bearing is fixed on the base.

[0022] Optionally, a first skeleton oil seal is provided between the inner ring and the outer ring of the second crossed roller bearing.

[0023] Optionally, the output hyperbolic gear adopts a gear ring structure, and the end face of the gear ring structure is fixedly connected to the end face of the inner ring of the second crossed roller bearing.

[0024] Optionally, it also includes:

[0025] The connecting body is fixedly connected to the inner ring of the second crossed roller bearing and the inner side of the gear ring structure; a second skeleton oil seal is provided between the outer periphery of the connecting body and the inner wall of the base; the height of the connecting body is lower than the height of the input hypoid gear. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a longitudinal sectional view of the rotation axis structure of a robot in the prior art;

[0028] Figure 2 For illustration purposes in the prior art Figure 1 A partial side view of the wiring of the line body in the rotating axis structure of the robot;

[0029] Figure 3 This is a cross-sectional view of the rotation axis structure of the robot provided in this embodiment of the utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Rotating shaft structure; 2. Base; 3. Rotating body; 4. Drive motor; 5. Reduction mechanism; 6. Through hole; 7. Bearing; 7a. Outer ring; 7b. Inner ring; 8. Motor mounting part; 9. Motor opening; 10a. Linear body; 10b. Linear body; 11a. Opening for linear body; 11b. Through hole; 12. Plate; 13. Connector; 14a. Linear body; 14b. Linear body; 14c. Linear body; 15. Conduit; 16. Fixing part; 17. Through hole; 18. Cable; 19. Pinion; 20. Large gear; 21. Input hypoid gear; 22. Output hypoid gear 23. Curved gear; 24. Cover component; 25. First space; 26. Cylindrical component; 27. Sealing component; 28. Second space; 29. ​​Through hole; 30. Sealing component; 31. Support bearing; 32. Hollow part; 33. First gear; 34. Second gear; 35. Torque sensor; 36. Magnet; 37. Lead wire; 38. First crossed roller bearing; 39. End cap; 40. Deep groove ball bearing; 41. Second crossed roller bearing; 42. Bearing inner ring; 43. Bearing outer ring; 44. First skeleton oil seal; 45. Connector; 46. Second skeleton oil seal; 47. Pipeline and cable component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] like Figure 3 This diagram illustrates a specific embodiment of a torque measurement system applied to the rotary axis structure of a robot. The rotary axis structure includes: a drive motor 4, a first gear 32, a second gear 33, an input hyperbolic gear 21, an output hyperbolic gear 22, and a rotating body 3, connected sequentially. The second gear 33 and the input hyperbolic gear 21 are mounted on the same mounting shaft. The drive motor 4, the first gear 32, the second gear 33, the input hyperbolic gear 21, and the output hyperbolic gear 22 are all located within a cavity in the base 2. The first gear 32 has fewer teeth than the second gear 33.

[0034] The torque measurement system described in this application includes a magnet 35 and a torque sensor 34. The magnet 35 is arranged around the mounting shaft. The torque sensor 34 is located inside the base 2 and is positioned on the base 2 near the magnet 35; the torque sensor 34 is also spaced around the magnet 35. A fixed magnet is arranged around the torque sensor 34; the lead wire 36 of the torque sensor 34 is connected to a signal device located outside the base 2 through a lead wire hole provided on the base 2. The torque measurement system is adapted to generate torque on the mounting shaft when the input hypoid gear 21 rotates. The magnet 35 rotates with the mounting shaft, and a relative rotation occurs between the magnet 35 and the fixed magnet. The mounting shaft undergoes torsional deformation, and the magnet 35 experiences strain, causing the magnetic field lines between the magnet 35 and the fixed magnet to twist. The relative twist angle of the magnetic field lines is then measured by the torque sensor 34, and the torque value is obtained in real time by the signal device. When the real-time torque value is about to overload the drive motor 4, the operation of the drive motor 4 is stopped in time to prevent accidents.

[0035] Furthermore, a sealing structure is provided at the location where the lead wire 36 passes through the lead wire hole.

[0036] like Figure 3As shown, this application also proposes a rotating axis structure for a robot, including: the aforementioned torque measurement system, a base 2, a rotating body 3, a drive motor 4, a first gear 32, a second gear 33, an input hyperbolic gear 21, and an output hyperbolic gear 22. The rotating axis structure of the robot described in this application is an improvement upon the technical solution of the patent with publication number CN107263458A.

[0037] The base 2 has a cavity; a first opening is provided at the top of the cavity. The rotating body 3 is rotatably connected to the first opening; the rotating body 3 is adapted to rotate about a vertical axis. The output shaft of the drive motor 4 is adapted to rotate about a horizontal axis. The first gear 32 is mounted on the output shaft of the drive motor 4. The second gear 33 meshes with the first gear 32. The input hyperbolic gear 21 and the second gear 33 are mounted on the same mounting shaft. The output hyperbolic gear 22 meshes with the input hyperbolic gear 21; the axis of the output hyperbolic gear 22 is perpendicular to the axis of the input hyperbolic gear 21; the axis of the output hyperbolic gear 22 is a vertical axis; the output hyperbolic gear 22 is fixedly connected to the rotating body 3, and the rotating body 3 is adapted to rotate with the rotation of the output hyperbolic gear 22.

[0038] Furthermore, such as Figure 3 As shown, the portion of the mounting shaft located between the input hyperbolic gear 21 and the second gear 33 is rotatably connected to the base 2 via a first crossed roller bearing 37.

[0039] Specifically, such as Figure 3 As shown, the outer end of the mounting shaft extends to the outer side of the base 2 and has a second opening. An end cap 38 is sealed and installed at the second opening. An annular platform is provided on the inner side of the end cap 38. The outer end of the mounting shaft is rotatably connected to the annular platform through a deep groove ball bearing 39.

[0040] Specifically, such as Figure 3 As shown, the rotating body 3 is rotatably connected to the first opening via a second crossed roller bearing 40.

[0041] Specifically, such as Figure 3 As shown, the fixing part 16 of the rotating body 3 is fixedly installed on the inner ring 41 of the second crossed roller bearing 40; the outer ring 42 of the second crossed roller bearing 40 is fixed on the base 2.

[0042] Furthermore, such as Figure 3 As shown, a first skeleton oil seal 43 is provided between the inner ring 41 and the outer ring 42 of the second crossed roller bearing 40.

[0043] Specifically, such as Figure 3 As shown, the output hyperbolic gear 22 adopts a gear ring structure, and the end face of the gear ring structure is fixedly connected to the end face of the bearing inner ring 41 of the second crossed roller bearing 40.

[0044] Furthermore, such as Figure 3 As shown, the rotating shaft structure of the robot described in this application further includes: a connecting body 44, which is fixedly connected to the inner ring 41 of the second crossed roller bearing 40 and the inner side of the gear ring structure; a second skeleton oil seal 45 is provided between the outer periphery of the connecting body 44 and the inner wall of the base 2; the height of the connecting body 44 is lower than the height of the input hypoid gear 21.

[0045] like Figure 3 As shown, a pipeline penetration opening is provided near the bottom of the base 2. The pipeline penetration opening is suitable for inserting the pipeline cable component 46 into the base 2 from the outside. The pipeline cable component 46 passes upward sequentially through the hollow connector 44, the toothed ring structure, and the hollow rotating body 3, extending to the outside of the base 2.

[0046] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A torque measurement system applied to a rotating shaft structure of a robot, the rotating shaft structure of the robot comprising: A drive motor (4), a first gear (32), a second gear (33), an input hyperbolic gear (21), an output hyperbolic gear (22), and a rotating body (3) are connected in sequence; the second gear (33) and the input hyperbolic gear (21) are mounted on the same mounting shaft; the drive motor (4), the first gear (32), the second gear (33), the input hyperbolic gear (21), and the output hyperbolic gear (22) are all located in the cavity of the base (2); characterized in that the torque measurement system includes: A magnet (35) is arranged around the mounting shaft; A torque sensor (34) is located inside the base (2). The torque sensor (34) is set on the base (2) near the magnet (35). The torque sensors (34) are arranged around the magnet (35) at intervals. A fixed magnet is arranged around the torque sensor (34). The lead wire (36) of the torque sensor (34) is connected to a signal device located outside the base (2) through a lead wire hole provided on the base (2). The torque measurement system is adapted to generate torque on the mounting shaft when the input hypoid gear (21) rotates. The magnet (35) rotates with the mounting shaft, and a relative rotation occurs between the magnet (35) and the fixed magnet. The mounting shaft is torsional and deformed, and the magnet (35) is strained, causing the magnetic induction lines between the magnet (35) and the fixed magnet to twist. The relative torsional angle of the magnetic induction lines is measured by the torque sensor (34), and the torque value is obtained in real time by the signal device.

2. The torque measurement system according to claim 1, characterized in that, A sealing structure is provided at the location where the lead wire (36) passes through the lead wire hole.

3. A rotating axis structure for a robot, characterized in that, include: The torque measurement system according to claim 1 or 2; The base (2) has a cavity; a first opening is provided at the top of the cavity; A rotating body (3) is rotatably connected to the first opening; the rotating body (3) is adapted to rotate about a vertical axis; The drive motor (4) has an output shaft adapted to rotate around a horizontal axis; The first gear (32) is mounted on the output shaft of the drive motor (4); The second gear (33) meshes with the first gear (32); The input hyperbolic gear (21) is mounted on the same mounting shaft as the second gear (33); An output hyperbolic gear (22) meshes with the input hyperbolic gear (21); the axis of the output hyperbolic gear (22) is perpendicular to the axis of the input hyperbolic gear (21); the axis of the output hyperbolic gear (22) is a vertical axis; the output hyperbolic gear (22) is fixedly connected to the rotating body (3), and the rotating body (3) is adapted to rotate with the rotation of the output hyperbolic gear (22).

4. The robot's rotating axis structure according to claim 3, characterized in that, The portion of the mounting shaft located between the input hyperbolic gear (21) and the second gear (33) is rotatably connected to the base (2) via a first crossed roller bearing (37).

5. The robot's rotating axis structure according to claim 4, characterized in that, The outer end of the mounting shaft extends to the outer side of the base (2) and has a second opening. An end cap (38) is sealed and installed at the second opening. An annular platform is provided on the inner side of the end cap (38). The outer end of the mounting shaft is rotatably connected to the annular platform through a deep groove ball bearing (39).

6. The robot's rotating axis structure according to claim 3, characterized in that, The rotating body (3) is rotatably connected to the first opening via a second crossed roller bearing (40).

7. The robot's rotating axis structure according to claim 6, characterized in that, The fixing part (16) of the rotating body (3) is fixedly installed on the inner ring (41) of the second crossed roller bearing (40); the outer ring (42) of the second crossed roller bearing (40) is fixed on the base (2).

8. The rotating axis structure of the robot according to claim 7, characterized in that, A first skeleton oil seal (43) is provided between the inner ring (41) and the outer ring (42) of the second crossed roller bearing (40).

9. The rotating axis structure of the robot according to claim 7, characterized in that, The output hyperbolic gear (22) adopts a gear ring structure, and the end face of the gear ring structure is fixedly connected to the end face of the bearing inner ring (41) of the second crossed roller bearing (40).

10. The robot's rotary axis structure according to claim 9, characterized in that, Also includes: The connecting body (44) is fixedly connected to the inner ring (41) of the second crossed roller bearing (40) and the inner side of the gear ring structure; a second skeleton oil seal (45) is provided between the outer periphery of the connecting body (44) and the inner wall of the base (2); the height of the connecting body (44) is lower than the height of the input hypoid gear (21).

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