CN115070816B - Robot joint module and robot - Google Patents
Robot joint module and robot Download PDFInfo
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- CN115070816B CN115070816B CN202210982913.2A CN202210982913A CN115070816B CN 115070816 B CN115070816 B CN 115070816B CN 202210982913 A CN202210982913 A CN 202210982913A CN 115070816 B CN115070816 B CN 115070816B
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- output shaft
- mounting seat
- annular groove
- joint module
- elastic connecting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The application relates to the technical field of robots, in particular to a robot joint module and a robot. The robot joint module comprises a motor, an output shaft and an encoder assembly, wherein the output shaft is connected to the motor, the encoder assembly is arranged on the output shaft, and the encoder assembly comprises a first mounting seat, a first magnetic ring and an elastic connecting piece. The first mounting seat is provided with a central hole, and the first mounting seat is sleeved on the output shaft through the central hole; the first magnetic ring is arranged on the first mounting seat; the elastic connecting piece is arranged between the output shaft and the first mounting seat, and the elastic connecting piece is in a state with elastic potential energy so that the first mounting seat can rotate along with the rotation of the output shaft. The robot joint module transfers the motion of the output shaft to the encoder assembly by utilizing the static friction force generated between the deformed elastic connecting piece and the first mounting seat and between the deformed elastic connecting piece and the output shaft, the elastic connecting piece buffers the radial runout of the output shaft, and the transmission reliability of the output shaft is improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot joint module and a robot.
Background
At the present stage, with the gradual progress and improvement of the robot technology, the cooperative robot is used as a robot type completely different from the traditional industrial robot in design and application concepts, and is widely applied to various fields such as automobile parts, metal processing, medical appliances, consumer catering, scientific research and education and the like by virtue of the human-computer safety of the cooperative robot, so that the labor operation efficiency is improved, and the consumer life mode is improved.
Due to the accumulation of errors in the machining and manufacturing processes, when the robot joint module is used, the tail end of an output shaft of the robot joint module usually has the problem of radial runout, the radial runout of the output shaft influences the precision of other parts connected to the output shaft, and the transmission reliability of the robot joint module is reduced.
Disclosure of Invention
The embodiment of the application provides a robot joint module, and the embodiment of the application further provides a robot with the robot joint module.
In a first aspect, an embodiment of the application provides a robot joint module, including motor, output shaft and encoder subassembly, output shaft is in motor, and the encoder subassembly sets up in the output shaft, and the encoder subassembly includes first mount pad, first magnetic ring and elastic connection spare. The first mounting seat is provided with a central hole, and the first mounting seat is sleeved on the output shaft through the central hole; the first magnetic ring is arranged on the first mounting seat; the elastic connecting piece is arranged between the output shaft and the first mounting seat, and the elastic connecting piece is in a state with elastic potential energy so that the first mounting seat can rotate along with the rotation of the output shaft.
In a second aspect, an embodiment of the present application further provides a robot, which includes a body and the robot joint module, where the robot joint module is connected to the body.
Compared with the prior art, among the robot joint module that this application embodiment provided, first mount pad passes through elastic connection spare to be connected in the output shaft, elastic connection spare takes place deformation under the extrusion of output shaft and first mount pad for elastic connection spare respectively with produce great stiction between output shaft and the first mount pad, through stiction between each other, realize indirect connection between first mount pad and the output shaft, thereby can transmit the rotation of output shaft for first mount pad, and then drive its rotation. When the output shaft produces the runout or has the trend of runout, elastic connection spare can further be extruded and take place elastic deformation, can cushion the runout range or the impact vibration of output shaft to radial force that produces when reducing the output shaft and beating has improved output shaft transmission's reliability to other components's on first mount pad and the first mount pad influence.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram of a robot according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a robot joint module according to an embodiment of the present disclosure.
Fig. 3 is a schematic cross-sectional view of an example of an encoder assembly and an output shaft of the robot joint module shown in fig. 2.
Fig. 4 is a schematic cross-sectional structure diagram of another example of an encoder assembly of the robot joint module shown in fig. 2.
Fig. 5 is a schematic perspective sectional view of an encoder assembly of the robot joint module shown in fig. 2.
Fig. 6 is an enlarged view of the area a in fig. 3.
Fig. 7 is a schematic cross-sectional view illustrating another example of an encoder assembly of the robot joint module of fig. 2.
Description of the reference symbols: 100. a joint module; 10. a joint main body; 11. a brake assembly; 112. a main body; 114. a stationary case; 12. a motor; 121. an input shaft; 123. a rotor; 125. a stator; 20. an output shaft; 30. an encoder assembly; 31. a first mounting seat; 311. a central bore; 3112. a limiting step; 312. a first mounting portion; 314. a second mounting portion; 3142. a limiting baffle; 316. mounting grooves; 3161. a first annular groove; 3163. a second annular groove; 32. a first magnetic ring; 33. an elastic connecting member; 332. a first end; 334. a second end; 34. a second mounting seat; 35. a second magnetic ring; 36. a bearing; 37. a compression member; 372. a connecting portion; 374. a pressing part; 200. a robot; 201. a body; 203. and an execution end.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present invention and to simplify the description, but are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted", "connected" and "connected" are to be construed broadly and may be, for example, a fixed connection, a detachable connection or an integral connection unless otherwise specifically stated or limited. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a robot joint module 100 is provided in the present embodiment, and the robot joint module 100 is applied to a robot 200.
The present specification does not limit the specific type of the robot 200, for example, the robot 200 may be an industrial robot or a traveling robot, or may be a cooperative robot, and in the present embodiment, the robot 200 is a cooperative robot. The robot 200 may include a body 201, an execution end 203, and a robot joint module 100. The robot joint module 100 is connected between the actuating end 203 and the body 201, and is used for driving the actuating end 203 to move relative to the body 201. In some embodiments, the robot 200 may include a plurality of execution ends 203, and accordingly, the robot 200 also includes a robot joint module 100 corresponding to the plurality of execution ends 203 one by one, and each execution end 203 is connected to the body 201 through the corresponding robot joint module 100.
Referring to fig. 2, the robot joint module 100 includes a joint body 10, an output shaft 20, and an encoder assembly 30. The output shaft 20 is inserted through the joint body 10, and the encoder unit 30 is provided on the output shaft 20 and is arranged in parallel with the joint body 10 in the axial direction of the output shaft 20.
The specification does not limit the specific structure of the joint body 10, for example, the joint body 10 may include a brake assembly 11, a motor 12, and the like, the motor 12, the brake assembly 11, and the encoder assembly 30 are sequentially arranged in parallel along the axial direction of the output shaft 20, and the brake assembly 11 is connected to the output shaft 20 and is located between the encoder assembly 30 and the motor 12.
In the present embodiment, the motor 12 includes an input shaft 121, a rotor 123, and a stator 125. The rotor 123 is rotatably received in the stator 125, and the input shaft 121 is disposed through the rotor 123 and is connected to the rotor 123. The rotation-stop connection between the input shaft 121 and the rotor 123 should be understood as that the input shaft 121 and the rotor 123 are relatively fixed, and the input shaft 121 can rotate along with the rotation of the rotor 123. The present specification does not limit the manner of connection between the input shaft 121 and the rotor 123, and for example, the input shaft 121 and the rotor 123 may be connected by a spline.
The brake assembly 11 includes a main body 112 and a fixing shell 114, wherein the main body 112 is sleeved on the input shaft 121; the fixing shell 114 is connected to an end of the main body 112 away from the motor 12, and the input shaft 121 is sleeved with the fixing shell 114. The specification is not limited to the specific structure of the brake assembly 11, for example, the brake assembly 11 may be an electromagnetic band-type brake mechanism, and the main body 112 may include a brake electromagnet and a brake shoe brake. When the motor 12 is running, the brake electromagnet is energized, the brake shoe brake is released, and when the motor 12 is deenergized, the brake shoe brake holds the input shaft 121 tightly, so that the motor 12 is forced to stop or decelerate as soon as possible. In other embodiments, the brake assembly 11 may also be an unexcited brake, the fixing shell 114 is a brake fixing shell, the main body 112 includes a brake rotor connected to the input shaft 121 in a rotation-stopping manner, a brake stator sleeved outside the brake rotor, and an elastic element, and the unexcited brake is operated by using elastic potential energy of the elastic element when not powered.
The output shaft 20 is used to drive the actuating end 203 to move relative to the body 201. In the present embodiment, the output shaft 20 is coaxially disposed through the input shaft 121, and both ends of the output shaft 20 extend out of the input shaft 121. The output shaft 20 is drivingly (e.g., rotatably) connected to the input shaft 121. The output shaft 20 may be connected to the input shaft 121 through a speed reduction mechanism or other transmission mechanism, and connected to the motor 12 through the input shaft 121 to rotate under the driving of the motor 12, so as to realize the movement of part of joints of the robot 200.
Referring to fig. 3 and fig. 4, the encoder assembly 30 is disposed on the output shaft 20, and is used for collecting the motion parameters of the output shaft 20 in cooperation with the driving and controlling assembly of the robot joint module 100. In the embodiment of the present application, the encoder assembly 30 includes a first mounting seat 31, a first magnetic ring 32, and an elastic connector 33. The first mounting seat 31 is connected to the output shaft 20 through the elastic connecting piece 33, the output shaft 20 transfers motion to the first mounting seat 31 by using static friction force generated between the deformed elastic connecting piece 33 and the first mounting seat 31 and the output shaft 20, and the elastic connecting piece 33 realizes indirect connection between the first mounting seat 31 and the output shaft 20. The first magnetic ring 32 is disposed on the first mounting seat 31.
Referring to fig. 4 and fig. 5, in the present embodiment, the first mounting seat 31 includes a first mounting portion 312 and a second mounting portion 314 that are connected to each other, and the first mounting portion 312 and the second mounting portion 314 are sequentially connected along the axial direction of the output shaft 20. Further, the first mounting seat 31 is provided with a center hole 311, the center hole 311 is coaxial with the output shaft 20, and the center hole 311 penetrates the first mounting portion 312 and the second mounting portion 314 in the axial direction. The first mounting portion 312 and the second mounting portion 314 are both substantially annular in cross section perpendicular to the plane of the output shaft 20, and the outer diameter of the first mounting portion 312 is smaller than that of the second mounting portion 314, so that the first mounting seat 31 has a stepped structure.
The first mounting portion 312 is used for mounting the first magnetic ring 32, the outer diameter of the second mounting portion 314 is larger than that of the first mounting portion 312, a limit baffle 3142 for abutting against the first magnetic ring 32 is arranged on one side, facing the first mounting portion 312, of the second mounting portion 314, and the limit baffle 3142 protrudes out of the first mounting portion 312 in the radial direction of the output shaft 20 to axially limit the first magnetic ring 32 and reduce the possibility that the first magnetic ring 32 deviates to affect the precision.
The first magnetic ring 32 is disposed on the first mounting portion 312, and is used for feeding back the rotation speed and rotation angle information of the output shaft 20. The first magnetic ring 32 is coaxially sleeved on the periphery of the first mounting portion 312, one side of the first magnetic ring 32 facing the second mounting portion 314 is overlapped on the limit baffle 3142, and one side of the first magnetic ring 32 far away from the second mounting portion 314 is coplanar with the end surface of the first mounting portion 312 far away from the second mounting portion 314. The specification does not limit the specific connection manner between the first magnetic ring 32 and the first mounting portion 312, for example, the first magnetic ring 32 may be fixed to the first mounting portion 312 by gluing, or the first magnetic ring 32 may be fixed by providing a limiting structure on the first mounting portion 312; in the present embodiment, the first magnetic ring 32 is glued to the first mounting portion 312.
In this embodiment, the encoder assembly 30 further includes a second mounting seat 34 and a second magnetic ring 35, the second mounting seat 34 is connected to the input shaft 121, the second mounting seat 34 is rotatably sleeved outside the second mounting portion 314, and one side of the second mounting seat 34 is connected to the fixing shell 114 and the input shaft 121. In some embodiments, the encoder assembly 30 further includes a bearing 36, and the second mount 34 is rotatably coupled to the second mount 314 via the bearing 36. Further, the limit baffle 3142 protrudes out of the second mounting portion 314 in the radial direction of the output shaft 20, one side of the bearing 36 abuts against the limit baffle 3142, the other side of the bearing 36 abuts against the second mounting seat 34, the limit baffle 3142 and the second mounting seat 34 perform axial limit on the bearing 36 together, and therefore the mounting stability of the bearing 36 is improved and the precision of the bearing 36 is guaranteed to a certain extent.
The second magnetic ring 35 is disposed on a side of the second mounting seat 34 departing from the fixing shell 114, and a side of the second magnetic ring 35 departing from the second mounting seat 34 and a side of the first magnetic ring 32 departing from the first mounting seat 31 are coplanar, so that stability of information acquisition can be improved. The specification does not limit the specific connection manner of the second magnetic ring 35 and the second mounting seat 34, for example, the second magnetic ring 35 may be fixed to the second mounting seat 34 by using an adhesive, or the second magnetic ring 35 may be fixed by providing a limiting structure on the second mounting seat 34; in the present embodiment, the first magnetic ring 32 is glued to the second mounting seat 34.
Therefore, in this embodiment, the second magnetic ring 35 is connected to the second mounting seat 34, and the second mounting seat 34 and the first magnetic ring 32 are connected to the first mounting seat 31, so that the encoder assembly 30 is in a basic integrated module structure, which can be connected to the output shaft 20 through the first mounting seat 31 and/or connected to the input shaft 121 through the second mounting seat 34, thereby improving the efficiency of assembling and disassembling the components and facilitating later debugging and maintenance.
Referring to fig. 4 and 6, the encoder assembly 30 is connected to the output shaft 20 through the first mounting seat 31, the elastic connecting member 33 is disposed between the first mounting seat 31 and the output shaft 20, and the elastic connecting member 33 is in a state of having elastic potential energy so that the first mounting seat 31 can rotate along with the rotation of the output shaft 20. Further, the first mounting seat 31 is sleeved on the output shaft 20 through the central hole 311, and the elastic connecting member 33 is located between the inner wall of the central hole 311 and the output shaft 20. The inner wall of the central hole 311 is provided with a mounting groove 316, the mounting groove 316 is arranged along the circumferential direction of the inner wall of the central hole 311, and the elastic connecting piece 33 is embedded in the mounting groove 316.
The specific shape of the elastic connecting element 33 is not limited in this specification, and for example, the elastic connecting element 33 may be a ring shape, a sleeve shape, or other elastic elements that can transmit motion by forming static friction force through compression deformation. The elastic connection member 33 may also adopt a plurality of discrete elastic elements distributed in the mounting groove 316 along the circumferential direction of the central hole 311; alternatively, the elastic connector 33 may be a notched annular elastic member or the like. In this embodiment, the elastic connection member 33 employs a closed annular elastic member (e.g., an O-ring) to increase the contact area between the elastic connection member 33 and the output shaft 20 and the inner wall of the mounting groove 316, thereby increasing the static friction force and improving the connection stability. Accordingly, the shape of the mounting groove 316 adopts a structure that can be adapted to the shape of the elastic connection member 33 according to the specific shape of the elastic connection member 33. In this embodiment, the mounting groove 316 is an annular groove adapted to the annular elastic member, the mounting groove 316 is coaxial with the central hole 311, and the elastic connection member 33 is coaxially inserted into the mounting groove 316.
The outer circumferential wall of the elastic connecting element 33 abuts against the bottom of the mounting groove 316, the inner circumferential wall thereof protrudes out of the mounting groove 316, i.e. protrudes out of the inner wall of the central hole 311, and the inner circumferential wall of the elastic connecting element 33 abuts against the circumferential wall of the output shaft 20. Under the extrusion of the output shaft 20 and the groove bottom of the mounting groove 316, the elastic connecting piece 33 deforms, so that a large static friction force is generated between the surface of the elastic connecting piece 33 and the peripheral wall of the output shaft 20 and the bottom wall of the mounting groove 316 respectively, and the indirect connection between the first mounting seat 31 and the output shaft 20 is realized through the static friction force between the elastic connecting piece 33 and the peripheral wall of the output shaft 20, so that the rotation of the output shaft 20 can be transmitted to the first mounting seat 31, and then the first mounting seat 31 is driven to rotate.
Due to the accumulation of errors during the manufacturing process, when the robot joint module 100 is used, the end of the output shaft 20 has a problem of radial run-out, which generates radial forces that can affect the accuracy and the integrity of other parts on the output shaft 20, such as the bearing 36 between the first mounting seat 31 and the second mounting seat 34. In the embodiment, when the output shaft 20 generates radial run-out or has a tendency of radial run-out, the elastic connecting piece 33 can be further pressed by the output shaft 20 and the groove bottom of the mounting groove 316 to generate elastic deformation, so that the radial run-out amplitude or impact vibration of the output shaft 20 is buffered, the influence of radial force generated when the output shaft 20 jumps on the bearing 36 between the first mounting seat 31 and the second mounting seat 34 is reduced, the service life of the bearing 36 is prolonged, and meanwhile, the transmission reliability of the output shaft 20 is improved.
The specific material of the elastic connecting piece 33 is not limited in the specification, and the elastic connecting piece 33 can be made of an elastic material with good heat resistance and aging resistance, and the material can prolong the service life of the elastic connecting piece 33; or the elastic material with higher hardness is selected to improve the static friction force of the contact of the elastic connecting piece 33, so as to ensure the reliability of motion transmission as much as possible. In this embodiment, the elastic connection member 33 is made of rubber having high heat resistance, heat radiation, and hardness.
The number of the elastic connection members 33 is not limited in the present specification, the elastic connection members 33 may be provided in plurality, and the number of the mounting grooves 316 may be adjusted according to the number of the elastic connection members 33. In this embodiment, a plurality of elastic connection members 33 are provided, a plurality of mounting grooves 316 are also provided, the plurality of mounting grooves 316 are sequentially arranged at intervals along the axial direction of the central hole 311, and the plurality of elastic connection members 33 are respectively embedded in the plurality of mounting grooves 316 in a one-to-one correspondence manner. The plurality of mounting grooves 316 should be understood as two or more mounting grooves 316, and the same applies to the plurality of elastic connection members 33. The plurality of elastic connecting pieces 33 increase the static friction force between the output shaft 20 and the first mounting seat 31, and improve the reliability of the motion transmission between the output shaft 20 and the first mounting seat 31.
The plurality of elastic connection members 33 elastically abut between the bottom wall of the mounting groove 316 and the peripheral wall of the output shaft 20, so that the inner wall of the center hole 311 is spaced apart from the peripheral wall of the output shaft 20 in the radial direction. The present specification does not limit the distance between the inner wall of the central hole 311 and the peripheral wall of the output shaft 20, and in this embodiment, the distance between the inner wall of the central hole 311 and the peripheral wall of the output shaft 20 ranges from 0.05mm to 0.3mm (inclusive). The inner wall of the center hole 311 does not directly contact the peripheral wall of the output shaft 20, reducing the possibility of abrasion between the two affecting the transmission accuracy.
In the embodiment shown in fig. 4, the plurality of mounting grooves 316 includes a first annular groove 3161 and a second annular groove 3163, the first annular groove 3161 and the second annular groove 3163 are oppositely disposed at intervals in the axial direction of the output shaft 20, the first annular groove 3161 is located on a side of the second annular groove 3163 away from the motor 12, and the first annular groove 3161 has a diameter smaller than that of the second annular groove 3163. The inner diameter of the elastic connector 33 in the first annular groove 3161 is smaller than or equal to the inner diameter of the elastic connector 33 in the second annular groove 3163, i.e., the elastic connector 33 in the first annular groove 3161 is thicker than the elastic connector 33 in the second annular groove 3163, or both are as thick. The second annular groove 3163 is closer to the motor 12 than the first annular groove 3161, the output shaft 20 passes through the second annular groove 3163 when being installed, and the diameter of the second annular groove 3163 is larger, so that the output shaft 20 can be conveniently extruded and installed; the first annular groove 3161 is far away from the motor 12, the diameter of the first annular groove 3161 is small, the elastic connecting piece 33 in the first annular groove 3161 is thick, and the contact area between the elastic connecting piece 33 in the first annular groove 3161 and the bottom wall of the first annular groove 3161 during deformation is increased, so that the static friction force between the elastic connecting piece 33 and the bottom wall of the first annular groove 3161 is increased, and the transmission stability of the output shaft 20 is improved.
In other embodiments, the diameter of the first annular groove 3161 may be larger than the diameter of the second annular groove 3163, and the inner diameter of the elastic connector 33 in the first annular groove 3161 may be smaller than or equal to the inner diameter of the elastic connector 33 in the second annular groove 3163, i.e., the elastic connector 33 in the first annular groove 3161 may be thicker than the elastic connector 33 in the second annular groove 3163. The end of the output shaft 20 has a greater magnitude of run-out and the first annular groove 3161 is located further from the motor 12 and closer to the end of the output shaft 20 than the second annular groove 3163. Compared with the second annular groove 3163 and the elastic connecting piece 33 in the second annular groove 3163, the diameter of the first annular groove 3161 is larger, the elastic connecting piece 33 in the first annular groove 3161 is thicker, and the deformation degree of the elastic connecting piece 33 in the first annular groove 3161 is larger, so that the end bounce of the output shaft 20 is effectively buffered, and the transmission stability of the output shaft 20 is improved.
Referring to fig. 7, in other embodiments, the elastic connection member 33 may also be implemented by using a rubber member with a tapered outer peripheral wall, and the tapered elastic connection member 33 increases a contact area with the output shaft 20, further increases a static friction force between the output shaft 20 and the first mounting seat 31, and improves a connection stability between the output shaft 20 and the first mounting seat 31, compared with the closed ring-shaped elastic connection member 33.
In the embodiment shown in fig. 7 in particular, the resilient coupling 33 includes opposing first and second ends 332, 334, the first end 332 being located on a side of the second end 334 facing the motor 12. The resilient coupling 33 has an internal bore through which the output shaft 20 passes, the internal bore of the resilient coupling 33 being coaxial with the output shaft 20 and extending through the first end 332 and the second end 334 along the axis of the output shaft 20. The inner diameters of the first end 332 and the second end 334 are the bore diameters of the inner bores of the elastic connecting elements 33, the inner diameters of the first end 332 and the second end 334 are the same, the outer diameter of the first end 332 is smaller than the outer diameter of the second end 334, and in some embodiments, the outer diameter of the elastic connecting elements 33 increases in the direction from the first end 332 to the second end 334. Since the inner diameters of the first end 332 and the second end 334 are the same, the outer diameters increase from the first end 332 to the second end 334, and the wall thickness of the flexible connector 33 increases from the first end 332 to the second end 334.
Therefore, in this embodiment, when the output shaft 20 is installed, the first end 332 is extruded through the first end 332, the wall thickness of the first end 332 is smaller, so that the output shaft 20 is conveniently extruded and installed, the output shaft 20 is installed in the elastic connecting member 33, the increasing wall thickness of the elastic connecting member 33 increases the elastic potential energy generated by the extrusion of the output shaft 20, and the transmission stability of the output shaft 20 is improved.
To facilitate the installation of the tapered elastic connector 33, the wall of the central hole 311 is engaged with the peripheral wall of the elastic connector 33, and the diameter of the central hole 311 increases from the first end 332 to the second end 334. In this embodiment, in order to define the installation position of the elastic connection element 33, the first installation seat 31 further includes a limiting step 3112, the limiting step 3112 is disposed in the central hole 311 and connected to the inner wall of the central hole 311, specifically, the inner wall of the end of the central hole 311 close to the first end 332 is protruded toward the axis of the central hole 311 to form the limiting step 3112, the limiting step 3112 is located on the side of the first end 332 far from the second end 334, and the first end 332 overlaps the limiting step 3112.
In order to cooperate with the limit step 3112 to compress the elastic connection member 33, the encoder assembly 30 further includes a compressing member 37, and the compressing member 37 includes a connection portion 372 and a compressing portion 374. The connecting portion 372 is fixedly mounted on a side of the first mounting portion 312 away from the motor 12. The pressing portion 374 is connected to a side of the connecting portion 372 away from the first mounting portion 312, and protrudes relative to the connecting portion 372 at a side of the connecting portion 372 facing the axis of the central hole 311, the protruding portion of the pressing portion 374 abuts against the second end 334, and the elastic connector 33 is located between the limiting step 3112 and the pressing portion 374 and is further compressed. The elastic connecting piece 33 is further elastically deformed under the extrusion of the pressing part 374 and the limiting step 3112, so that the contact area between the elastic connecting piece and the output shaft 20 and the inner wall of the central hole 311 is increased, a larger static friction force is generated, and the connection between the output shaft 20 and the first mounting seat 31 is more reliable. In a specific application example, the pressing member 37 may be a threaded fastener such as a screw or a bolt.
In the robot joint module 100 provided by the embodiment of the present application, the first mounting seat 31 is connected to the output shaft 20 through the elastic connection member 33, the outer circumferential wall of the elastic connection member 33 abuts against the bottom of the mounting groove 316 (or the inner wall of the central hole 311), and the inner circumferential wall abuts against the circumferential wall of the output shaft 20; under the extrusion of the output shaft 20 and the groove bottom of the mounting groove 316 (or the inner wall of the central hole 311), the elastic connecting piece 33 deforms, so that a large static friction force is generated between the surface of the elastic connecting piece 33 and the peripheral wall of the output shaft 20 and the bottom wall of the mounting groove 316 (or the inner wall of the central hole 311), and the indirect connection between the first mounting seat 31 and the output shaft 20 is realized through the static friction force between the elastic connecting piece 33 and the peripheral wall of the output shaft 20 and the bottom wall of the mounting groove 316, so that the rotation of the output shaft 20 can be transmitted to the first mounting seat 31, and the first mounting seat 31 is driven to rotate. When the output shaft 20 generates radial run-out or has a tendency of radial run-out, the elastic connecting piece 33 can be further extruded by the output shaft 20 and the groove bottom of the mounting groove 316 to generate elastic deformation, so that the radial run-out amplitude or impact vibration of the output shaft 20 is buffered, the influence of radial force generated when the output shaft 20 jumps on the bearing 36 between the first mounting seat 31 and the second mounting seat 34 is reduced, the service life of the bearing 36 is prolonged, and meanwhile, the transmission reliability of the output shaft 20 is improved.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. Such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A robot joint module, comprising:
a motor;
an output shaft connected to the motor;
and an encoder assembly disposed at the output shaft; the encoder assembly includes:
the first mounting seat is provided with a center hole, and the first mounting seat is sleeved on the output shaft through the center hole; a first annular groove and a second annular groove are formed in the inner wall of the central hole, the second annular groove is located between the first annular groove and the motor, and the diameter of the first annular groove is larger than that of the second annular groove;
the first magnetic ring is arranged on the first mounting seat;
the two elastic connecting pieces are respectively embedded in the first annular groove and the second annular groove in a one-to-one correspondence manner and are arranged between the output shaft and the first mounting seat, and the elastic connecting pieces are in a state of having elastic potential energy so that the first mounting seat can rotate along with the rotation of the output shaft; the inner diameter of the elastic connecting piece in the first annular groove is smaller than or equal to the inner diameter of the elastic connecting piece in the second annular groove.
2. The robotic joint module of claim 1, wherein the first annular groove and the second annular groove each extend along a circumferential direction of the central bore.
3. The robot joint module of claim 1, wherein the elastic connection member elastically abuts between the bottom wall of the corresponding first annular groove or the second annular groove and the output shaft, so that the inner wall of the central hole and the output shaft are spaced apart in a radial direction of the output shaft, and a distance between the inner wall of the central hole and the output shaft is greater than or equal to 0.05mm and less than or equal to 0.3 mm.
4. The robot joint module of claim 1, wherein the encoder assembly is disposed at one end of the output shaft and spaced from the motor.
5. A robot joint module as claimed in any one of claims 1 to 4, wherein the motor is provided with an input shaft, and the input shaft is sleeved outside the output shaft; the encoder assembly further comprises a second mounting seat and a second magnetic ring, the second mounting seat is connected to the input shaft and is rotatably sleeved outside the first mounting seat, and the second magnetic ring is arranged on the second mounting seat.
6. The robot joint module of claim 5, wherein the encoder assembly further comprises a bearing, the first mount being rotatably coupled to the second mount via the bearing.
7. A robot joint module, comprising:
a motor;
an output shaft connected to the motor;
the encoder assembly is arranged at one end of the output shaft and is spaced from the motor; the encoder assembly includes:
the first mounting seat is provided with a central hole, the first mounting seat is sleeved on the output shaft through the central hole, and a limiting step is arranged in the central hole;
the first magnetic ring is arranged on the first mounting seat;
the elastic connecting piece is arranged between the output shaft and the first mounting seat, and the elastic connecting piece is in a state of having elastic potential energy so that the first mounting seat can rotate along with the rotation of the output shaft; the elastic connecting piece comprises a first end and a second end which are opposite, the first end is positioned on one side of the second end facing the motor, and the outer diameter of the first end is smaller than that of the second end; the first end is overlapped on the limit step;
the pressing piece comprises a connecting portion and a pressing portion protruding relative to the connecting portion, the connecting portion is connected to the first mounting seat, the pressing portion abuts against the second end, and the elastic connecting piece is located between the limiting step and the pressing portion.
8. The robot joint module of claim 7, wherein the motor has an input shaft, the input shaft being sleeved outside the output shaft; the encoder assembly further comprises a second mounting seat and a second magnetic ring, the second mounting seat is connected to the input shaft and rotatably sleeved outside the first mounting seat, and the second magnetic ring is arranged on the second mounting seat.
9. The robotic joint module of claim 8, wherein the encoder assembly further comprises a bearing, the first mount being rotatably coupled to the second mount by the bearing.
10. A robot, comprising:
a body;
and the robot joint module as claimed in any one of claims 1 to 9, which is connected to the machine body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210982913.2A CN115070816B (en) | 2022-08-16 | 2022-08-16 | Robot joint module and robot |
| PCT/CN2022/135378 WO2024036808A1 (en) | 2022-08-16 | 2022-11-30 | Robot joint module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210982913.2A CN115070816B (en) | 2022-08-16 | 2022-08-16 | Robot joint module and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115070816A CN115070816A (en) | 2022-09-20 |
| CN115070816B true CN115070816B (en) | 2022-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210982913.2A Active CN115070816B (en) | 2022-08-16 | 2022-08-16 | Robot joint module and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115070816B (en) |
| WO (1) | WO2024036808A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070816B (en) * | 2022-08-16 | 2022-11-22 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
| CN115609632B (en) * | 2022-10-08 | 2023-08-25 | 深圳市越疆科技股份有限公司 | Mechanical arm and joint module thereof |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102904365B (en) * | 2012-09-18 | 2014-09-17 | 华创机器人制造有限公司 | Combined harmonic wave reducer of robot |
| EP3275602A1 (en) * | 2016-07-26 | 2018-01-31 | ETH Zurich | Joint unit, joint system, robot for manipulation and/or transportation, robotic exoskeleton system and method for manipulation and/or transportation |
| CN107791242A (en) * | 2017-11-23 | 2018-03-13 | 深圳市优必选科技有限公司 | Steering wheel and robot |
| CN211278472U (en) * | 2019-12-03 | 2020-08-18 | 敬科(深圳)机器人科技有限公司 | Compact structure's cooperation robot modularization joint |
| CN212421351U (en) * | 2020-04-10 | 2021-01-29 | 中山早稻田科技有限公司 | Connection structure between encoder magnetic ring and rotary mechanism |
| CN112737224B (en) * | 2020-12-07 | 2022-05-31 | 深圳市优必选科技股份有限公司 | Steering engine code control structure and steering engine module |
| CN215931283U (en) * | 2021-09-08 | 2022-03-01 | 株洲中达特科电子科技有限公司 | Quick connecting device of robot joint reduction gear test equipment |
| CN114183476B (en) * | 2021-12-15 | 2022-12-09 | 江苏徐工工程机械研究院有限公司 | Coupling and mechanical system |
| CN114193507A (en) * | 2021-12-30 | 2022-03-18 | 上海非夕机器人科技有限公司 | Encoder module for rotary joint, robot arm and robot |
| CN217046472U (en) * | 2022-04-07 | 2022-07-26 | 库卡机器人制造（上海）有限公司 | Joint module and mechanical arm |
| CN115070816B (en) * | 2022-08-16 | 2022-11-22 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
-
2022
- 2022-08-16 CN CN202210982913.2A patent/CN115070816B/en active Active
- 2022-11-30 WO PCT/CN2022/135378 patent/WO2024036808A1/en unknown
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| Publication number | Publication date |
|---|---|
| WO2024036808A1 (en) | 2024-02-22 |
| CN115070816A (en) | 2022-09-20 |
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