CN111702804A

CN111702804A - Driving joint and robot

Info

Publication number: CN111702804A
Application number: CN202010600463.7A
Authority: CN
Inventors: 王慰军; 杨桂林; 陈庆盈; 陈进华; 方灶军; 张驰; 舒鑫东
Original assignee: Ningbo Institute of Material Technology and Engineering of CAS
Current assignee: Ningbo Institute of Material Technology and Engineering of CAS
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2020-09-25
Also published as: WO2022001296A1

Abstract

The invention discloses a driving joint and a robot. The driving joint comprises a motor, a planetary gear reducer integrated in the motor, and an encoder, a brake, a driving card and a control card integrated on the motor, wherein the planetary gear reducer is installed on a motor shaft of the motor, the motor shaft comprises an input rear end and an output front end which are opposite, the input rear end and the output front end of the motor shaft are respectively provided with the encoder, the brake is installed at the input rear end of the motor shaft, and the input end face and the output end face of the driving joint are respectively provided with the driving card and the control card. The planetary gear reducer is applied to drive joint transmission, and integrated design is carried out through components such as a high-performance torque motor, a servo drive controller, a brake, a torque sensor and the like, so that the drive joint has the advantages of high efficiency, high load-weight ratio, support of reverse drive, high response speed, compliance force control, real-time bus communication and the like.

Description

Driving joint and robot

Technical Field

The invention belongs to the technical field of driving joints of robots, and particularly relates to a driving joint and a robot.

Background

The driving joint is a core component of the robot and has a decisive influence on the kinematic performance and the dynamic behavior of the operation arm system. At present, a driving joint of a cooperative robot generally adopts a transmission mode such as a harmonic reducer or an RV reducer, so that the working efficiency of the robot is generally low, the robot cannot be driven reversely, the rigidity is low or the size is large, and the driving efficiency, the dynamic response speed and the man-machine response performance of the driving joint can be reduced.

How to provide a high-efficiency high-load-weight ratio and support reverse driving is an urgent problem to be solved.

Disclosure of Invention

The main object of the present invention is to provide a drive joint, overcoming the drawbacks of the prior art.

Another object of the present invention is to provide a robot.

In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps: a drive joint comprises a motor, a planetary gear reducer integrated in the motor, an input encoder, an output encoder, a brake, an input drive card, an output drive card, an input control card and an output control card which are integrated on the motor, the planetary gear reducer is arranged on a motor shaft of the motor, the motor shaft comprises an input rear end and an output front end which are opposite, the input encoder is arranged at the input rear end of the motor shaft, the output encoder is arranged at the output front end of the motor shaft, the brake is arranged at the input rear end of the motor shaft, the driving joint comprises an input end surface close to the input rear end of the motor shaft and an output end surface close to the output front end of the motor shaft, the input driving card and the output driving card are respectively arranged on the input end surface and the output end surface of the driving joint, the input control card and the output control card are also respectively arranged on the input end face and the output end face of the drive joint.

In a preferred embodiment, the motor further comprises a rotor and a stator, the rotor is mounted on the motor shaft, and the stator is mounted outside the rotor.

In a preferred embodiment, the planetary gear reducer is integrated between the motor shaft and the rotor of the motor.

In a preferred embodiment, the planetary gear reducer includes a sun gear, a planet carrier, a first planet gear, a second planet gear, a first ring gear, and a second ring gear, the sun gear is mounted on the motor shaft, the planet carrier is rotatably connected with the motor shaft, the first planet gear is mounted on the planet carrier and is externally engaged with the sun gear, the second planet gear is mounted on the first planet gear, the first ring gear is fixedly connected with the stator, the second ring gear is fixedly mounted on a ring gear mounting seat, the first planet gear is internally engaged with the first ring gear, and the second planet gear is internally engaged with the second ring gear.

In a preferred embodiment, the drive joint further comprises a torque sensor disposed between the second ring gear and the output end surface of the drive joint.

In a preferred embodiment, the output encoder is connected to the second ring gear.

In a preferred embodiment, the input rear end is provided with an input bearing seat and a brake mounting seat fixedly connected with the input bearing seat, and the brake is mounted on the brake mounting seat.

In a preferred embodiment, the drive joint further comprises an output shaft bearing cover and an output shaft bearing seat, wherein the output shaft bearing cover is located at the front end of the output shaft and is fixedly connected with the output shaft bearing seat.

The embodiment of the invention provides a robot which comprises a plurality of connected driving joints, wherein the input end surface and the output end surface of each driving joint are respectively connected with an input rod piece and an output rod piece of the robot.

In a preferred embodiment, motor shafts of a plurality of driving joints are arranged in a horizontal and vertical alternating mode, driving cards and control cards are arranged on the input end face and the output end face of each driving joint with the motor shafts arranged horizontally, and the driving joint with the motor shafts arranged vertically is provided with the driving card and the control card on the input end face of one of the driving joints at the extreme end.

Compared with the prior art, the invention has the beneficial effects that: the planetary gear reducer is applied to drive joint transmission, and integrated design is carried out through components such as a high-performance torque motor, a servo drive controller, a brake, a torque sensor and the like, so that the drive joint has the advantages of high efficiency, high load-weight ratio, support of reverse drive, high response speed, compliance force control, real-time bus communication and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the internal structure of a drive joint according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a 7-degree-of-freedom articulated robot according to an embodiment of the present invention;

reference numerals: 1. a drive joint, 11, an input end face, 12, an output end face, 10, a motor, 101, a motor shaft, 102, a rotor, 103, a stator, 104, a stator mounting seat, 105, an inner gear ring mounting seat, 106, an input rear end, 107, an output front end, 108, an input bearing seat, 109, an output bearing seat, 110, a second bearing, 111, a brake mounting seat, 112, an output bearing cover, 113, a stopper, 20, a planetary gear reducer, 201, a sun gear, 202, a planet carrier, 203, a first planet gear, 204, a second planet gear, 205, a first inner gear ring, 206, a second inner gear ring, 207, a first bearing, 30, an input encoder, 40, an output encoder, 50, a brake, 60, an input drive card, 70, an output drive card, 80, an input control card, 90, an output control card, 100, a torque sensor, 2, a robot, 21, a 1 st joint, 22. the 2 nd joint, 23 rd, 3 rd, 24 th, 4 th, 25 th, 5 th, 26 th, 6 th, 27 th, 7 th joint.

Detailed Description

The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.

The driving joint disclosed by the invention is mainly characterized in that a planetary gear reducer is applied to driving joint transmission, and integrated design is carried out through components such as a high-performance torque motor, a servo driving controller, a brake, a torque sensor and the like, so that the driving joint has the advantages of high efficiency, high load-weight ratio, supporting reverse driving, high response speed, flexible force control, real-time bus communication and the like.

The invention discloses a driving joint 1, which specifically comprises a motor 10, a planetary gear reducer 20, an input encoder 30, an output encoder 40, a brake 50, an input drive card 60, an output drive card 70, an input control card 80, an output control card 90 and a torque sensor 100, wherein the motor 10 comprises a motor shaft 101, a rotor 102 and a stator 103, the rotor 102 is mounted on the motor shaft 101 and specifically can be connected to the motor shaft 101 through a flat key (not shown), the stator 103 is mounted outside the rotor 102 through a stator mounting seat 104, specifically, a stator receiving hole (not shown) is formed in the stator mounting seat 104 and at least one fastening screw (not shown) is arranged on the circumferential surface of the stator receiving hole, the stator 103 is specifically mounted in the stator receiving hole of the stator mounting seat 104 and fastened through the fastening screws distributed on the circumference of the stator mounting seat 104. In addition, a ring gear mounting seat 105 is also provided in the motor 10.

The planetary gear reducer 20 is integrated in the motor 10, specifically, between the motor shaft 101 and the rotor 102 of the motor 10, and the motion of the motor 10 is transmitted through the planetary gear reducer 20. The planetary gear reducer 20 specifically includes a sun gear 201, a planet carrier 202, a first planet gear 203, a second planet gear 204, a first ring gear 205, and a second ring gear 206, wherein the sun gear 201 is mounted on the motor shaft 101, the planet carrier 202 is rotatably connected to the motor shaft 101 through a first bearing 207, the first planet gear 203 is mounted on the planet carrier 202 and is engaged with the sun gear 201, the second planet gear 204 is mounted on the first planet gear 203 through a flat key (not shown), the first ring gear 205 is mounted on the stator mounting base 104 through a fixing member (e.g., a screw, not shown), the second ring gear 206 is mounted on the ring gear mounting base 105 through a fixing member (e.g., a screw, not shown), the first planet gear 203 is engaged with the first ring gear 205, and the second planet gear 204 is engaged with the second ring gear 206.

The motor shaft 101 has opposite input and output

rear ends

106 and 107, wherein the input rear end 106 is provided with an input bearing seat 108 connected with the stator mounting seat 104, and the output front end 107 is provided with an output bearing seat 109, and the output bearing seat 109 is rotatably connected with the stator mounting seat 104 through a second bearing 110. The input encoder 30 is installed at the input rear end of the motor shaft 101 for detecting the position and speed signals input from the motor 10, and in this embodiment, a moving disc (not shown) of the input encoder 30 is installed at the input rear end of the motor shaft 101, while a stationary disc (not shown) is installed on the input bearing housing 108.

An output encoder 40 is installed at the output front end 107 of the motor shaft 101 for detecting speed and position signals of the output end, the output encoder 40 is connected with the second inner gear ring 206 of the planetary gear reducer 20 by a fixing member (such as a screw, not shown), and the input encoder 30 and the output encoder 40 are arranged so as to compensate for speed and position deviations of the input end and the output end of the driving joint 1 and maintain accurate motion accuracy.

The brake 50 is mounted to the input rear end 106 of the motor shaft for controlling braking and holding of the drive joint 1. The brake 50 is specifically mounted to a brake mount 111 at the input rear end 106 of the motor shaft, the brake mount 111 being connected to the input bearing block 108 by fasteners (e.g., screws, not shown), and the brake 50 being mounted to the brake mount 111 by fasteners (e.g., screws, nuts, not shown).

The input drive card 60 and the output drive card 70 are respectively provided on the left end face (i.e., an end face close to the input rear end 106 of the motor shaft, which is the input end face 11 of the drive joint) and the right end face (i.e., an end face close to the output front end 107 of the motor shaft, which is the output end face 12 of the drive joint) of the drive joint 1. The input control card 80 and the output control card 90 are also respectively arranged on the left end surface and the right end surface of the drive joint 1, so that the high integration of the drive joint 1 is realized.

The drive joint 1 further includes an output shaft bearing cap 112 at the output front end of the motor shaft. The output bearing cap 112 is connected to the output bearing seat 109 by a fixing member (e.g., a screw, not shown), and the torque sensor 100 is disposed between the second ring gear 206 of the planetary gear reducer 20 and the output end surface 12 for detecting the external load condition of the drive joint 1. Specifically, the torque sensor 100 is connected to the ring gear mounting base 105 through a fixing member (e.g., a screw, not shown) and an output shaft bearing cover 112. Specifically, the ring gear mounting seat 105 is connected to the torque sensor 100 by a fixing member (e.g., a screw, not shown), the torque sensor 100 is connected to the output shaft bearing cap 112 by a fixing member (e.g., a screw, not shown), and the output shaft bearing cap 112 is connected to the output bearing seat 109 by a fixing member (e.g., a screw, not shown). The torque sensor 100 can realize the flexible motion control of the driving joint 1 and the operation arm, thereby realizing the safety of the co-fusion operation with people.

The input end face 11 and the output end face 12 are connected with the robot 2, specifically, the input end face 11 can be connected with an input rod of the robot 2, and the output end face 12 can be connected with an output rod of the robot 2.

Preferably, internal wiring (such as signal lines, control lines and power lines, not shown) of the driving joint 1 can be wired through a hollow wiring pipe (not shown) inside the driving joint 1, so that a cable can be prevented from being exposed, the cable is prevented from being wound, the overall appearance is kept, and the robot can safely and stably operate.

In addition, considering that the robot may be out of control during the debugging process, the rotatable range of the driving joint may be mechanically limited, and specifically, a limit block 113 may be disposed on the input rear end of the driving joint, as shown in fig. 2.

The planetary gear reducer is mainly integrated in the motor, so that the whole driving joint is more compact in structure and smaller in size, a larger size space is reserved for the driving motor, the motor stator is contained in the shell, the heat dissipation performance of the motor is improved, the higher output power of the motor is ensured, the requirement of the driving joint on the transmission ratio of the reducer is reduced, the transmission ratio of the reducer can be correspondingly reduced, and the transmission efficiency of the reducer is improved.

The robot driving joint provided by the invention is mainly applied to an articulated robot, a lightweight and highly integrated joint product can be obtained through an integrated technology and an optimized design, and a solution is provided for the design of the robot driving joint. The robot with various forms and degrees of freedom can be constructed by driving the joints, and can be widely applied to the manufacturing industry and the service industry.

As shown in fig. 2, in order to apply the driving joint of the present invention, a 7-degree-of-freedom articulated robot can be realized by a combination of 7 driving joints. The input end face and the output end face of each driving joint are respectively connected with an input rod piece and an output rod piece of the robot. Specifically, in this embodiment, motor shafts of 7 driving joints of the 7-degree-of-freedom articulated robot are arranged in a horizontal and vertical alternating manner, and in this embodiment, from bottom to top, the 1 st joint 21 is a vertical shaft, the 2 nd joint 22 is a horizontal shaft, the 3 rd joint 23 is a vertical shaft, the 4 th joint 24 is a horizontal shaft, the 5 th joint 25 is a vertical shaft, the 6 th joint 26 is a horizontal shaft, and the 7 th joint 27 is a vertical shaft. The end of the 7 th joint 27 may be provided with a different end effector (not shown) for performing various desired tasks. The driving cards and the control cards are arranged at the left end and the right end of the joint of the horizontal shaft, the driving card and the control card are arranged at the lower end of the vertical shaft of the 1 st joint, the driving cards and the control cards are not arranged at the two ends of the joints of the other vertical shafts, the driving cards and the control cards are arranged on the joints of the horizontal shaft, namely the driving cards and the control cards are arranged at the two ends of the joint of the horizontal shaft respectively, and the driving card and the control card at one end face are used by the joint of the vertical shaft.

The aspects, embodiments, features and examples of the present invention should be considered as illustrative in all respects and not intended to be limiting of the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.

The use of headings and chapters in this disclosure is not meant to limit the disclosure; each section may apply to any aspect, embodiment, or feature of the disclosure.

Unless specifically stated otherwise, use of the terms "comprising", "including", "having" or "having" is generally to be understood as open-ended and not limiting.

While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A driving joint is characterized by comprising a motor, a planetary gear reducer integrated in the motor, an input encoder, an output encoder, a brake, an input driving card, an output driving card, an input control card and an output control card integrated on the motor, wherein the planetary gear reducer is installed on a motor shaft of the motor, the motor shaft comprises an input rear end and an output front end which are opposite, the input encoder is installed at the input rear end of the motor shaft, the output encoder is installed at the output front end of the motor shaft, the brake is installed at the input rear end of the motor shaft, the driving joint comprises an input end surface close to the input rear end of the motor shaft and an output end surface close to the output front end of the motor shaft, the input driving card and the output driving card are respectively arranged on the input end surface and the output end surface of the driving joint, and the input control card, the output control, The output control card is also respectively arranged on the input end surface and the output end surface of the drive joint.

2. The drive joint of claim 1, wherein the motor further comprises a rotor and a stator, the rotor being mounted on the motor shaft and the stator being mounted externally of the rotor.

3. A drive joint according to claim 2, wherein the planetary gear reducer is integrated between the motor shaft and the rotor of the motor.

4. The drive joint of claim 3, wherein the planetary gear reducer comprises a sun gear, a planet carrier, a first planet gear, a second planet gear, a first ring gear and a second ring gear, the sun gear is mounted on the motor shaft, the planet carrier is rotatably connected with the motor shaft, the first planet gear is mounted on the planet carrier and is externally engaged with the sun gear, the second planet gear is mounted on the first planet gear, the first ring gear is fixedly connected with the stator, the second ring gear is fixedly mounted on a ring gear mounting base, the first planet gear is internally engaged with the first ring gear, and the second planet gear is internally engaged with the second ring gear.

5. The drive joint according to claim 4, further comprising a torque sensor disposed between the second ring gear and the output end surface of the drive joint.

6. The drive joint of claim 4, wherein the output encoder is coupled to the second ring gear.

7. The drive joint of claim 1, wherein the input rear end is provided with an input bearing seat and a brake mount fixedly connected with the input bearing seat, and the brake is mounted on the brake mount.

8. The drive joint of claim 4, further comprising an output bearing cap and an output bearing seat at the front end of the output, wherein the output bearing cap is fixedly connected to the output bearing seat.

9. A robot comprising a plurality of connected drive joints according to any of claims 1 to 8, wherein the input end face and the output end face of each drive joint are connected to an input rod member and an output rod member of the robot, respectively.

10. The robot of claim 9, wherein the motor shafts of the plurality of driving joints are arranged alternately horizontally and vertically, and the driving card and the control card are arranged on both the input end surface and the output end surface of the driving joint with the motor shaft horizontally arranged, and the driving joint with the motor shaft vertically arranged is provided with the driving card and the control card on the input end surface of one of the driving joints at the extreme end.