CN112720568A

CN112720568A - Dual-module integrated joint with force perception

Info

Publication number: CN112720568A
Application number: CN202110176741.5A
Authority: CN
Inventors: 杨奇能; 吴洪德; 苏潮; 陈志广; 欧学国; 邵立伟; 黄德皇; 陈庆武
Original assignee: Zhongshan Research Institute Beijing Institute Of Technology; Zhongshan Waseda Technology Co ltd
Current assignee: Zhongshan Research Institute Beijing Institute Of Technology; Zhongshan Waseda Technology Co ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-04-30

Abstract

The invention discloses a dual-mode set integrated joint with a force sensor, which comprises a joint shell and two joint modules arranged in the joint shell, wherein the two joint modules are arranged at two ends of the joint shell, the output ends of the two joint modules are arranged outwards, each joint module comprises a harmonic speed reducer, a torque sensor, a motor shell, a motor stator, a motor rotor, a brake, an encoder and a driver, the harmonic speed reducer is arranged at one side of the motor shell, the torque sensor is arranged between the harmonic speed reducer and the motor shell and is connected with the harmonic speed reducer, the brake, the encoder and the driver are arranged at the other side of the motor shell, the encoder and the motor rotor are respectively connected with the harmonic speed reducer, the size and the weight of a mechanical arm are reduced, the assembly and the later maintenance are convenient, and the accurate feedback of the force can be realized, thereby being suitable for occasions with higher requirements on force control.

Description

Dual-module integrated joint with force perception

Technical Field

The invention relates to the technical field of robots, in particular to a dual-mode set integrated joint with force perception.

Background

Robots are widely used in the automation industry to reduce human labor intensity. In order to reduce the cost, shorten the production period and adapt to mass production, a harmonic reducer, a motor, a brake, an encoder and the like are integrated together to form a joint module, and a shell is independently arranged. In practical application, 2 joint modules with the same size are used in pairs in many cases, and then the 2 joints are connected through connecting pieces such as flanges. Because each joint is provided with a separate shell, the whole mechanical arm is relatively heavy, large in size and poor in rigidity. Meanwhile, most of the joint modules in the market do not have torque sensors, but sense the force through current, and do not have an accurate force sensing function.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a double-module integrated joint with force sensing, which not only reduces the volume and the weight of a mechanical arm and is convenient for assembly and later maintenance, but also can realize accurate feedback of force, thereby being suitable for occasions with higher requirements on force control.

The purpose of the invention is realized by adopting the following technical scheme:

a dual-mode set integrated joint with a force sensor comprises a joint shell and two joint modules arranged in the joint shell, wherein the section of the joint shell is right-angled, the two joint modules are arranged at two ends of the joint shell, the output ends of the two joint modules are outwards arranged, the output ends of the joint modules are respectively arranged outside the end part of the joint shell in a protruding mode, so that the output ends of the two joint modules are perpendicular to each other, each joint module comprises a harmonic speed reducer, a torque sensor, a motor shell, a motor stator, a motor rotor, a brake, an encoder and a driver, wherein the harmonic speed reducer is arranged on one side of the motor shell, the torque sensor is arranged between the harmonic speed reducer and the motor shell and is connected with the harmonic speed reducer, the motor stator is arranged on the inner side wall of the motor shell, and the motor rotor is rotatably arranged on the inner side of the motor, the brake, the encoder and the driver are arranged on the other side of the motor shell, the brake and the driver are respectively connected with the motor rotor, the driver is used for driving the motor rotor to rotate in a magnetic field of a motor stator, and the brake is used for generating braking force to the motor rotor to stop the motor rotor; the encoder and the motor rotor are respectively connected with the harmonic speed reducer, the encoder is used for detecting the position of the output end of the harmonic speed reducer, a driver can conveniently control the rotating speed of the motor rotor, and the motor rotor transmits power to the harmonic speed reducer to reduce the speed and then outputs the power through the output end.

Furthermore, the harmonic speed reducer comprises an output flange, a steel wheel, a crossed roller bearing, a wave generator, a flexible gear and a threading pipe, wherein the output flange is connected with the steel wheel, the crossed roller bearing is arranged on one side, far away from the output flange, of the steel wheel, the outer ring of the crossed roller bearing is connected with the torque sensor, the inner ring of the crossed roller bearing is connected with the steel wheel, the wave generator is rotatably arranged on the inner side of the crossed roller bearing and is connected with the motor rotor, the flexible gear is sleeved on the outer side of the wave generator and is meshed with the steel wheel, the flexible gear is connected with the torque sensor, one end of the threading pipe is connected with the central position of the left end of the steel wheel, and the other end of the threading pipe penetrates through the wave generator;

when the device works, the motor rotor is driven by the driver to drive the wave generator to rotate, the flexible wheel generates periodic elastic deformation waves according to a certain deformation rule through the wave generator, the steel wheel is further driven to rotate according to a certain speed ratio, the output flange is further driven to carry out power output, the encoder is connected with the threading pipe and used for sensing the position of the output end, and therefore the precision of the driver for controlling the motor rotor is improved.

Further, the harmonic reducer machine also comprises a flexible bearing, wherein the flexible bearing is arranged on the inner side wall of the steel wheel, and the inner ring of the flexible bearing is connected with the wave generator.

Furthermore, the joint shell is far away from the positions of the two end portions and is fixed with the joint rear cover through screws, when the joint module needs to be inspected or maintained, the joint module can be maintained through disassembling the joint shell, the joint module does not need to be disassembled from the joint shell, the maintenance is more convenient, furthermore, the joint rear cover is made of transparent plastic, the joint rear cover does not need to be disassembled, and the working state of the joint module can also be observed.

Compared with the prior art, the invention has the beneficial effects that:

(1) be provided with the joint shell, be in the same place two joint module integrations, reduced the volume and the weight of arm, reduced some connecting pieces simultaneously, effectively increased the rigidity of arm, be convenient for equipment and later maintenance.

(2) The torque sensor is arranged, the output force is detected in real time through the torque sensor, accurate feedback of the force is achieved, and the torque sensor can adapt to occasions with high requirements on force control.

The invention not only reduces the volume and the weight of the mechanical arm, is convenient for assembly and later maintenance, but also can realize accurate feedback of the force, thereby being suitable for occasions with higher requirements on force control.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a cross-sectional view of an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a joint module according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a harmonic reducer according to an embodiment of the present invention;

fig. 5 is a sectional view of a harmonic reducer in an embodiment of the present invention.

In the figure: 1. a joint housing; 2. a posterior articular cover; 3. a joint module; 31. a harmonic speed reducer; 311. an output flange; 312. a steel wheel; 313. a crossed roller bearing; 314. a wave generator; 315. a flexible gear; 316. a compliant bearing; 317. a threading tube; 32. a torque sensor; 33. a motor housing; 34. a motor stator; 35. a motor rotor; 36. a brake; 37. an encoder; 38. a driver.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

As shown in fig. 1-5, a dual-mode set integrated joint with a force sensor comprises a joint housing 1 and two joint modules 3 disposed in the joint housing 1, the section of the joint housing 1 is right-angled, the two joint modules 3 are disposed at two ends of the joint housing 1, and output ends of the two joint modules 3 are disposed outward, output ends of the joint modules 3 are disposed outside the end portion of the joint housing 1 in a protruding manner, so that output ends of the two joint modules 3 are perpendicular to each other, the joint module 3 comprises a harmonic reducer 31, a torque sensor 32, a motor housing 33, a motor stator 34, a motor rotor 35, a brake 36, an encoder 37 and a driver 38, wherein the harmonic reducer 31 is disposed at one side of the motor housing 33, the torque sensor 32 is disposed between the harmonic reducer 31 and the motor housing 33 and connected to the harmonic reducer 31, the motor stator 34 is disposed at an inner side wall of the motor housing 33, the motor rotor 35 is rotatably, a brake 36, an encoder 37 and a driver 38 are arranged on the other side of the motor housing 33, the brake 36 and the driver 38 are respectively connected with the motor rotor 35, wherein the driver 38 is used for driving the motor rotor 35 to rotate in the magnetic field of the motor stator 34, and the brake 36 is used for generating braking force to the motor rotor 35 to stop rotating; the encoder 37 and the motor rotor 35 are respectively connected with the harmonic speed reducer 31, the encoder 37 is used for detecting the position of the output end of the harmonic speed reducer 31, the driver 38 is convenient to control the rotating speed of the motor rotor 35, and the motor rotor 35 transmits power to the harmonic speed reducer 31 to reduce the speed and then outputs the power through the output end.

In this embodiment, the harmonic reducer 31 includes an output flange 311, a steel wheel 312, a cross roller bearing 313, a wave generator 314, a flexible gear 315, and a threading pipe 317, the output flange 311 is fixedly connected to the steel wheel 312 through screws, the cross roller bearing 313 is disposed on a side of the steel wheel 312 away from the output flange 311, an outer ring of the cross roller bearing 313 is fixedly connected to the torque sensor 32 through screws, and an inner ring of the cross roller bearing is fixedly connected to the steel wheel 312 through screws, the wave generator 314 is rotatably disposed inside the cross roller bearing 313 and is fixedly connected to the motor rotor 35 through screws, the flexible gear 315 is disposed outside the wave generator 314 and is engaged with the steel wheel 312, the flexible gear 315 is fixedly connected to the torque sensor 32 through screws, one end of the threading pipe 317 is fixedly connected to a center position of a left end of the steel wheel 312 through screws, and the other end of the; when the device works, the driver 38 drives the motor rotor 35 to drive the wave generator 314 to rotate, the wave generator 314 enables the flexible gear 315 to generate periodic elastic deformation waves according to a certain deformation rule, so as to drive the steel wheel 312 to rotate according to a certain speed ratio, so as to drive the output flange 311 to carry out power output, wherein the encoder 37 is connected with the threading pipe 317 and used for sensing the position of an output end, and further the precision of the driver 38 for controlling the motor rotor 35 is improved.

In this embodiment, the harmonic reducer 31 further includes a flexible bearing 316, the flexible bearing 316 is disposed on the inner side wall of the steel wheel 312, and an inner ring of the flexible bearing 316 is connected to the wave generator 314.

In this embodiment, joint shell 1 keeps away from the position at both ends and has lid 2 behind the joint through the screw fixation, when needs inspection or maintenance, the accessible is dismantled joint shell 2 and is maintained joint module 3, need not to dismantle joint module 3 wholly from joint shell 1, and it is more convenient to maintain, and lid 2 can select for use transparent plastic behind the joint to make, need not to dismantle behind the joint lid 2, also can observe joint module 3's operating condition.

The working principle of the invention is as follows:

in operation, under the action of the driver 38, the motor rotor 35 drives the wave generator 314 to rotate together, the steel wheel 312 engaged with the flexible wheel 315 rotates at a certain speed ratio by the action of the wave generator 314 on the flexible wheel 315, thereby driving the output flange 311 to output, and at the same time, the threading pipe 317 rotates along with the output flange 311, because the encoder 37 is arranged at the end part of the threading pipe 317, the rotating position of the output flange 311 is sensed through the encoder 37 and is transmitted to the driver 38, so that the driver 38 can better control the rotating speed of the motor rotor 35, meanwhile, because the flexible wheel 315 and the steel wheel 312 are meshed with each other, the forces between the two wheels are equal in magnitude and opposite in direction, and the flexspline 315 is connected to the torque sensor 32, the structure detected by the torque sensor 32 is the output force of the rigid spline, accurate force feedback is achieved by real-time transmission of torque sensor 32 to driver 38.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. The utility model provides a take force sensor's bimodulus group to integrate joint, includes joint shell (1) and sets up two joint module (3) in joint shell (1), its characterized in that: the cross section of the joint shell (1) is right-angled, the two joint modules (3) are arranged at two ends of the joint shell (1) and output ends of the two joint modules are arranged outwards, so that the output ends of the two joint modules (3) are perpendicular to each other, each joint module (3) comprises a harmonic speed reducer (31), a torque sensor (32), a motor shell (33), a motor stator (34), a motor rotor (35), a brake (36), an encoder (37) and a driver (38), wherein the harmonic speed reducer (31) is arranged on one side of the motor shell (33), the torque sensor (32) is arranged between the harmonic speed reducer (31) and the motor shell (33) and is connected with the harmonic speed reducer (31), the motor stator (34) is arranged on the inner side wall of the motor shell (33), and the motor rotor (35) is rotatably arranged on the inner side of the motor stator (34), the brake (36), the encoder (37) and the driver (38) are arranged on the other side of the motor shell (33), the brake (36) and the driver (38) are respectively connected with the motor rotor (35), and the encoder (37) and the motor rotor (35) are respectively connected with the harmonic reducer (31).

2. The dual-modulus set integrated joint with force sensor of claim 1, wherein: harmonic speed reducer machine (31) is including output flange (311), steel wheel (312), cross roller bearing (313), wave generator (314), flexbile gear (315) and threading pipe (317), output flange (311) links to each other with steel wheel (312), cross roller bearing (313) set up steel wheel (312) are kept away from one side of output flange (311), the outer lane of cross roller bearing (313) with torque sensor (32) link to each other and the inner circle with steel wheel (312) link to each other, wave generator (314) rotate set up cross roller bearing (313) inboard and with motor rotor (35) link to each other, flexbile gear (315) cover is established the wave generator (314) outside and meshes with steel wheel (312) mutually, flexbile gear (315) link to each other with torque sensor (32), threading pipe (317) one end with the central point of steel wheel (312) left end links to each other, the other end of the wave generator passes through the wave generator (314) and is connected with the encoder (37).

3. The dual-modulus set integrated joint with force sensor of claim 2, wherein: the harmonic speed reducer (31) further comprises a flexible bearing (316), the flexible bearing (316) is arranged on the inner side wall of the steel wheel (312), and the inner ring of the flexible bearing (316) is connected with the wave generator (314).

4. The dual-modulus set integrated joint with force sensor of claim 1, wherein: and joint rear covers (2) are fixed on the positions, far away from the two end parts, of the joint shell (1) through screws.