Multifunctional integrated robot joint module

Abstract

A multifunctional integrated robot joint module, comprising: a motor, a torque sensor (3) and a reducer; the reducer comprises a wave generator, a flexible spline(23), a bearing inner ring (24) and a bearing outer ring (25); an outer ring of the torque sensor is sandwiched and fixed between the bearing outer ring and a motor housing (11), and an inner ring of the torque sensor is fixed to the flexible spline; the wave generator is arranged in the flexible spline, a gear ring is further arranged on the inner wall of one end of the bearing inner ring, and the bearing inner ring is sleeved outside the flexible spline and is in staggered-tooth transmission with the flexible spline. In the multifunctional integrated robot joint module , the gear ring is provided on the bearing inner ring for transmission with the flexible spline, and a circular spline is omitted, thereby improving the transmission accuracy, reducing the weight, and reducing mounting errors.

Description

Multifunctional integrated robot joint module

[0001] The present application claims priority to the Chinese patent application No. 202510190521.6, filed on February 20, 2025, and entitled "Multifunctional integrated robot joint module", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the field of robot technology, and particularly relates to a multifunctional integrated robot joint module. BACKGROUND

[0003] With the increasing application of robots, collaborative robots as automation labor working with humans have entered more light industrial production. The movement of each degree of freedom of the collaborative robot is generated by the joint module at each joint. The joint module is composed of multiple key components, among which the harmonic reducer is one of the core components. The torque sensor as a sensing element is usually installed at the output end of the harmonic reducer for torque data collection, but its connecting line is easily affected by pulling to affect the accuracy and rotation angle.

[0004] In addition, since the existing joint module integrates many components such as motors, harmonic reducers and torque sensors, the overall volume is large, the components cannot form independent modules, the assembly is complicated, and the disassembly and maintenance are inconvenient; and in the general joint module, the output end can move freely in the case of sudden power failure, which may cause safety hazards. SUMMARY

[0005] In order to solve the above technical problems, the purpose of the present application is to provide a multifunctional integrated robot joint module, which has higher integration, is convenient to assemble and solves the problem of wire harness pulling.

[0006] In order to achieve the above application purpose, the present application adopts the following technical scheme:

[0007] The utility model provides a multifunctional integrated robot joint module, including motor, torque sensor and speed reducer, the motor includes motor casing, stator subassembly, rotor core and rotating shaft, the stator subassembly is fixed in the inner wall of motor casing, the rotor core is located inside the stator, and is fixed on the rotating shaft, the rotating shaft is rotatably connected with the motor casing, the speed reducer includes wave generator, flexible wheel, bearing inner ring and bearing outer ring, the outer ring of torque sensor is fixed between bearing outer ring and one end of motor casing, the inner ring of torque sensor is fixed with flexible wheel, the wave generator is arranged in the flexible wheel and drives the flexible wheel to deform, one end of the rotating shaft penetrates torque sensor and flexible wheel and is fixed with wave generator, the inner wall on one end of bearing inner ring is further provided with a gear ring, the bearing inner ring is sleeved on the outside of the flexible wheel and is driven by the flexible wheel with a gear.

[0008] As a preferred scheme, a T-shaped wire harness pipe is further included, the T-shaped wire harness pipe is hollow inside to form a wire hole, the T-shaped wire harness pipe penetrates the wave generator and the rotating shaft and has a gap between the wave generator and the rotating shaft, one end of the T-shaped wire harness pipe is fixed with the bearing inner ring and rotatably connected with the wave generator through a support, the other end of the T-shaped wire harness pipe is rotatably connected with the rotating shaft through a support.

[0009] As a preferred scheme, one end of the rotating shaft close to the control circuit board is further fixed with a magnetic ring A, and the control circuit board is further provided with a magnetic sensor and a signal processor matched with the magnetic ring A.

[0010] As a preferred scheme, the accommodating space formed by the end cover and the controller cover is further fixed with a brake, the brake includes a base, a connecting flange, a moving plate, a friction plate and a shaft sleeve, the base is annular, the inner ring of the base is provided with a stop edge, the connecting flange is located on one side of the stop edge, the moving plate is fixed with the connecting flange through bolts penetrating the stop edge, the friction plate is arranged between the moving plate and the stop edge and fixed on the rotating shaft through the shaft sleeve, the base is provided with a ring groove, the ring groove is provided with a magnetic pole, a spring is further arranged between the magnetic pole and the connecting flange, the connecting flange is compressed to be close to the stop edge when the magnetic pole is electrified, so that the moving plate is separated from the friction plate to ensure the normal rotation of the rotating shaft, and the connecting flange is away from the stop edge when the magnetic pole is deenergized, so that the moving plate presses the friction plate on the stop edge to stop the rotation of the rotating shaft.

[0011] As a preferred scheme, one side of the shaft sleeve close to the control circuit board is further fixed with a magnetic ring B, and the control circuit board is further provided with a magnetic sensor and a signal processor matched with magnetic ring B.

[0012] As a preferred scheme, the wave generator comprises an elliptical hub and a flexible bearing sleeved outside the elliptical hub, an outer ring of the flexible bearing is embedded in the flexible gear, and the elliptical hub is sleeved on the rotating shaft and is driven by the spline.

[0013] As a preferred scheme, two rows of limiting convex rings are further arranged on the rotating shaft in an axial direction, and the elliptical hub is located between the two rows of limiting convex rings.

[0014] As a preferred scheme, a first sealing ring is arranged between the bearing inner ring and the bearing outer ring, and a second sealing ring is further arranged between the bearing outer ring and the torque sensor.

[0015] As a preferred scheme, a signal processing circuit on the torque sensor is integrated on a control circuit board, and the signal processing circuit is connected with the strain gauges on the torque sensor through a wire harness.

[0016] As a preferred scheme, the T-shaped wire harness pipe comprises a middle pipe and a connecting disc fixed at one end of the middle pipe, the connecting disc is fixed with the bearing inner ring, the middle pipe penetrates through the wave generator and the rotating shaft and has a gap with the wave generator and the rotating shaft, both ends of the middle pipe are rotatably connected with the rotating shaft and the wave generator through bearing bushes, the connecting disc is annular, the middle pipe is a hollow pipe, and one end of the middle pipe is integrally formed with the connecting disc.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] The harmonic reducer of the joint module cancels the rigid wheel, sets a gear ring on the bearing inner ring and drives the flexible gear, improves the transmission accuracy, reduces the weight, and reduces the installation error; and the torque sensor is fixed with the motor, without affecting the function; at the same time, the sensor wire harness is directly inserted and fixed on the controller from the motor side, permanently solves the problem of pulling the sensor wire harness, makes the sensor sensing more accurate, and at the same time, since the torque sensor is fixed, the entire joint module can realize multi-turn rotation, and the movement is more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings accompanying the specification are used to provide a further understanding of the present application, the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute a limitation on the present application.

[0020] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0021] Fig. 2 is a schematic diagram of the cross-sectional structure of the present application;

[0022] Fig. 3 and Fig. 4 are schematic diagrams of the exploded structure of the present application at two different angles.

[0023] The reference signs are: 11, motor housing; 12, stator assembly; 13, rotor core; 14, rotating shaft; 15, limiting convex ring; 21, oval hub; 22, flexible bearing; 23, flexible gear; 24, bearing inner ring; 25, bearing outer ring; 26, first sealing ring; 3, torque sensor; 31, second sealing ring; 4, T-shaped wire harness pipe; 40, wire hole; 41, support; 42, magnetic ring A; 51, base; 52, connecting flange; 53, moving plate; 54, friction plate; 55, shaft sleeve; 56, magnetic ring B; 6, control circuit board; 7, controller cover. DETAILED DESCRIPTION

[0024] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of 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 this application belongs.

[0025] It is to be noted 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.

[0026] In addition, in the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship 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 do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0027] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can include one or more of the features explicitly or implicitly. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more, unless otherwise explicitly limited.

[0028] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "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 it can be 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 connected inside two elements. 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.

[0029] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0030] The present application will be further described below in conjunction with the drawings and embodiments:

[0031] As shown in FIGS. 1-4, a multifunctional integrated robot joint module includes a motor, a torque sensor 3 and a reducer, the motor includes a motor housing 11, a stator assembly 12, a rotor core 13 and a rotating shaft 14, the stator assembly 12 is fixed on the inner wall of the motor housing 11, the rotor core 13 is located inside the stator, and is sleeved and fixed on the rotating shaft 14, and the rotating shaft 14 is rotatably connected with the motor housing 11.

[0032] The reducer includes a wave generator, a flexible gear 23, a bearing inner ring 24 and a bearing outer ring 25, the outer ring of the torque sensor 3 is clamped and fixed between the bearing outer ring 25 and one end of the motor housing 11, the inner ring of the torque sensor 3 is fixed with the flexible gear 23, the wave generator is arranged in the flexible gear 22 and drives the flexible gear 22 to deform, one end of the rotating shaft 14 penetrates through the torque sensor 3 and the flexible gear 22 and is fixed with the wave generator, the inner wall of one end of the bearing inner ring 24 is further provided with a gear ring, the bearing inner ring 24 is sleeved outside the flexible gear 22 and is in cross-tooth transmission with the flexible gear 22; the other end of the motor housing 11 is provided with an end cover, the end cover is further buckled and fixed with a controller cover 7, the end cover and the controller cover 7 form a containing space in which a control circuit board 6 is fixed, and the wire harness of the torque sensor 3 penetrates through the end cover after penetrating through the motor housing 11 and is connected with the control circuit board 6.

[0033] The wave generator comprises an elliptical hub 21 and a flexible bearing 22 sleeved outside the elliptical hub 21, the outer ring 22 of the flexible bearing is embedded in a flexible gear 23, the elliptical hub 21 is sleeved on the rotating shaft 14 and is driven by the spline. The wave generator of the harmonic reducer and the rotating shaft are connected by the spline, which can meet the disassembly and assembly requirements and reduce the bolt space. Two rows of limiting convex rings 15 are arranged on the rotating shaft 14 in the axial direction, and the elliptical hub 21 is located between the two rows of limiting convex rings 15. The above structure makes the torque sensor and the harmonic reducer modular design, and realizes the replaceable design of the force control joint and the joint without force control.

[0034] The first sealing ring 26 is arranged between the bearing inner ring 24 and the bearing outer ring 25, and the second sealing ring 31 is further arranged between the bearing outer ring 25 and the torque sensor 3. The signal processing circuit on the torque sensor 3 is integrated on the control circuit board 6, and the signal processing circuit is connected with the strain gauge on the torque sensor 3 through a wire harness. The above structure makes the torque sensor realize the external amplifier, reduces the rigid part of the sensor, and shortens the overall shutdown module.

[0035] In the harmonic reducer in the joint module of the application, the steel wheel and the bearing inner ring are integrated, and the bearing inner ring is used as an output end, so that the speed ratio is 101:1; meanwhile, the flexible gear is fixed on the motor housing through the torque sensor, the sensor wire harness is directly inserted and fixed on the controller from the motor side, the problem of pulling the sensor wire harness is permanently solved, the sensor sensing is more accurate; meanwhile, due to the fixation of the torque sensor, the whole joint module can realize multi-turn, and the movement is more flexible.

[0036] The brake is further fixed in the accommodating space formed by the end cover and the controller cover 7, the brake comprises a base 51, a connecting flange plate 52, a moving plate 53, a friction plate 54 and a shaft sleeve 55, the base 51 is annular, an inner ring of the base 51 is provided with a stop edge, the connecting flange plate 52 is located on one side of the stop edge, the moving plate 53 is fixed with the connecting flange plate 52 through a bolt penetrating the stop edge, the friction plate 54 is arranged between the moving plate 53 and the stop edge, and the friction plate 54 is fixed on the rotating shaft 14 through the shaft sleeve 55; the base 51 is provided with a ring groove, a magnetic pole is arranged in the ring groove, a spring is further arranged between the magnetic pole and the connecting flange plate 52, the magnetic pole is electrified to make the connecting flange plate 52 compress the spring and approach the stop edge, so that the moving plate 53 is separated from the friction plate 54, and the normal rotation of the rotating shaft 14 is ensured; after the magnetic pole is de-energized, the connecting flange plate 52 is away from the stop edge under the action of the spring, so that the moving plate 53 presses the friction plate 54 on the stop edge, and the rotating shaft 14 stops rotating. The above structure makes the joint module realize the function of locking after power-off, and improves the safety.

[0037] The T-shaped wire harness pipe 4 is internally hollow to form a wire hole 40, penetrates the wave generator and the rotating shaft 14, and has a gap between the wave generator and the rotating shaft 14, one end of the T-shaped wire harness pipe 4 is fixed with the bearing inner ring 24 and rotationally connected with the wave generator through a support 41, and the other end of the T-shaped wire harness pipe 4 is rotationally connected with the rotating shaft 14 through the support 41.

[0038] The T-shaped wire harness pipe 4 comprises an intermediate pipe and a connecting disc fixed at one end of the intermediate pipe, the connecting disc is fixed with the bearing inner ring 24, the intermediate pipe penetrates the wave generator and the rotating shaft 14, and has a gap between the wave generator and the rotating shaft 14, both ends of the intermediate pipe are rotationally connected with the rotating shaft 14 and the wave generator through bearing bushes respectively, the connecting disc is annular, and the intermediate pipe is a hollow pipe and one end of the intermediate pipe is integrally formed with the connecting disc.

[0039] The rotating shaft 14 is further fixed with a magnetic ring A 42 at one end close to the control circuit board 6, and the control circuit board 6 is further provided with a magnetic sensor and a signal processor matched with the magnetic ring A 42. The shaft sleeve 55 is further fixed with a magnetic ring B 56 at one side close to the control circuit board 6, and the control circuit board 6 is further provided with a magnetic sensor and a signal processor matched with the magnetic ring B 56.

[0040] The input and output of the present application adopt double encoder control, high-precision control can be realized, the encoder and the output shaft and the input shaft are integrated, the magnetic part (magnetic ring A and magnetic ring B) of the encoder is glued at the end position of the shaft, the magnetic ring seat is cancelled, the magnetic encoder is made of stainless steel, the assembly error and the size error are reduced, and the precision is improved, and the control circuit board 6 is a single control board and meets the EtherCAT communication requirement.

[0041] The magnetic ring A and the magnetic ring B can also be concentrically arranged, the double encoders in the controller cover are arranged concentrically and side by side, the requirement that the encoders are arranged at the output end and the input end respectively is met, the axial space of the whole joint module is saved by more than 5mm, and the reading control precision of the encoder is improved.

[0042] The present application meets the requirement that the output end and the input end are accurately and directly fixed on the speed reducer, the sensor and the speed reducer form a module assembly after being installed, and finally the module is installed at one end of the motor, so that the motor stator part can be assembled by hot sleeve alone, replacement parts and disassembly can be carried out without damaging the shell part, the replacement is high, and the assembly and disassembly are more convenient.

[0043] The joint module of the application integrates motor, controller, brake, torque sensor, harmonic reducer, double encoder, has high density and high precision, and is highly modularized. In addition, the joint module of the application has a wide range of applications and high replaceability. The cup-shaped flexspline is only changed into a top hat type flexspline, and the reducer with the above structure can be installed in the joint module without a sensor.

[0044] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. 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.

[0045] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application without departing from the principles and spirit of the present application. Any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiments still belongs to the scope of the technical scheme of the present application.

Claims

1. A multifunctional integrated robot joint module, comprising a motor, a torque sensor (3), and a reducer, wherein the motor comprises a motor housing (11), a stator assembly (12), a rotor core (13), and a rotating shaft (14), the stator assembly (12) being fixed to the inner wall of the motor housing (11), the rotor core (13) being located inside the stator and sleeved and fixed on the rotating shaft (14), the rotating shaft (14) being rotatably connected to the motor housing (11), characterized in that: The reducer includes a wave generator, a flexible wheel (23), an inner bearing ring (24), and an outer bearing ring (25). The outer ring of the torque sensor (3) is clamped and fixed between the outer bearing ring (25) and one end of the motor housing (11). The inner ring of the torque sensor (3) is fixed to the flexible wheel (23). The wave generator is disposed inside the flexible wheel (22) and drives the flexible wheel (22) to deform. One end of the rotating shaft (14) passes through the torque sensor (3) and the flexible wheel (22) and is fixed to the wave generator. The inner wall of one end of the bearing inner ring (24) is also provided with a toothed ring. The bearing inner ring (24) is sleeved on the outside of the flexible wheel (22) and is driven by the flexible wheel (22) with interlocking teeth. The other end of the motor housing (11) is provided with an end cover. A controller cover (7) is also fastened and fixed on the end cover. A control circuit board (6) is fixed in the accommodating space formed by the end cover and the controller cover (7). The wire harness of the torque sensor (3) passes through the end cover inside the motor housing (11) and is connected to the control circuit board (6).

2. The multifunctional integrated robot joint module according to claim 1, characterized in that, It also includes a T-shaped wire harness tube (4), which has a hollow interior forming a wire passage hole (40). The T-shaped wire harness tube (4) passes through the wave generator and the rotating shaft (14) and leaves a gap between it and the wave generator and the rotating shaft (14). One end of the T-shaped wire harness tube (4) is fixed to the inner ring (24) of the bearing and is rotatably connected to the wave generator through a support member (41). The other end of the T-shaped wire harness tube (4) is rotatably connected to the rotating shaft (14) through the support member (41).

3. The multifunctional integrated robot joint module according to claim 1, characterized in that, A magnetic ring A (42) is fixed at one end of the rotating shaft (14) near the control circuit board (6). The control circuit board (6) is also equipped with a magnetic sensor and a signal processor that cooperate with the magnetic ring A (42).

4. The multifunctional integrated robot joint module according to claim 1, characterized in that, A brake is also fixed within the accommodating space formed by the end cover and the controller cover (7). The brake includes a base (51), a connecting flange (52), a moving plate (53), a friction plate (54), and a bushing (55). The base (51) is annular, and the inner ring of the base (51) is provided with a retaining edge. The connecting flange (52) is located on one side of the retaining edge. The moving plate (53) is fixed to the connecting flange (52) by bolts passing through the retaining edge. The friction plate (54) is disposed between the moving plate (53) and the retaining edge, and the friction plate (54) is... The bushing (55) is fixed on the rotating shaft (14); the base (51) is provided with an annular groove, the annular groove is provided with a magnetic pole, and a spring is provided between the magnetic pole and the connecting flange (52). When the magnetic pole is energized, the connecting flange (52) compresses the spring and approaches the stop edge, thereby causing the moving plate (53) to disengage from the friction plate (54) to ensure the normal rotation of the rotating shaft (14); when the magnetic pole is de-energized, the connecting flange (52) moves away from the stop edge under the action of the spring, thereby causing the moving plate (53) to press the friction plate (54) onto the stop edge, thereby causing the rotating shaft (14) to stop rotating.

5. A multifunctional integrated robot joint module according to claim 4, characterized in that, A magnetic ring B (56) is fixed on the side of the bushing (55) near the control circuit board (6). The control circuit board (6) is also provided with a magnetic sensor and a signal processor that cooperate with the magnetic ring B (56).

6. A multifunctional integrated robot joint module according to claim 1, characterized in that, The wave generator includes an elliptical hub (21) and a flexible bearing (22) sleeved on the elliptical hub (21). The outer ring (22) of the flexible bearing is embedded in the flexible wheel (23). The elliptical hub (21) is sleeved on the rotating shaft (14) and driven by splines.

7. A multifunctional integrated robot joint module according to claim 6, characterized in that, Two retaining rings (15) are also provided axially at intervals on the rotating shaft (14), and the elliptical hub (21) is located between the two retaining rings (15).

8. A multifunctional integrated robot joint module according to claim 1, characterized in that, A first sealing ring (26) is provided between the inner ring (24) and the outer ring (25) of the bearing, and a second sealing ring (31) is also provided between the outer ring (25) of the bearing and the torque sensor (3).

9. A multifunctional integrated robot joint module according to claim 1, characterized in that, The signal processing circuit on the torque sensor (3) is integrated on the control circuit board (6), and the signal processing circuit is connected to the strain gauge on the torque sensor (3) through a wiring harness.

10. A multifunctional integrated robot joint module according to claim 1, characterized in that, The T-shaped wire harness fitting (4) includes an intermediate tube and a connecting plate fixed at one end of the intermediate tube. The connecting plate is fixed to the inner ring (24) of the bearing. The intermediate tube passes through the wave generator and the rotating shaft (14) and leaves a gap between it and the wave generator and the rotating shaft (14). The two ends of the intermediate tube are rotatably connected to the rotating shaft (14) and the wave generator respectively through bearing bushes. The connecting plate is annular, the intermediate tube is hollow, and one end of the intermediate tube is integrally formed with the connecting plate.

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