CN115319793A - Fully-sealed large-load joint structure, joint structure installation method and robot - Google Patents

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to a fully-sealed heavy-load joint structure, a joint structure mounting method and a robot. The invention has strong loading capacity, rigidity, precision and impact resistance.

Description

Fully-sealed large-load joint structure, joint structure installation method and robot

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to a fully-sealed heavy-load joint structure, a joint structure installation method and a robot.

Background

With the development of industrial robot technology, the market demand for industrial robots is gradually changed from being available to being high-speed, high-rigidity, high-precision and the like, and one of the important factors restricting the speed, rigidity and precision of the robots is the joints of the robots. The development direction of the robot joint is to simplify the transmission chain and improve the transmission rigidity. To simplify the transmission chain and improve the transmission rigidity, an integrated joint route of the cooperative robot is most suitable from the technical route viewpoint: the motor and the input shaft of the speed reducer are fixedly connected without a transmission link; the harmonic speed reducer is a first-level speed reducer, and 1-2 levels of speed reducing mechanisms are reduced compared with an RV speed reducer; however, the integrated joints of the existing cooperative robots all face the problems of insufficient load capacity, insufficient rigidity, relatively poor precision, high noise, low transmission efficiency, poor impact resistance and the like.

Disclosure of Invention

In order to solve the technical problems, the invention provides a fully-sealed heavy-load joint structure, a joint structure installation method and a robot.

The invention is realized in such a way, and provides a fully-sealed large-load joint structure which comprises a speed reducer, a motor, a bearing, a band-type brake, an encoder and a shell, wherein two ends of an input shaft of the speed reducer extend out of a speed reducer body, the motor comprises a motor rotor and a motor stator, the motor rotor is fixedly connected to the input side of the input shaft of the speed reducer, the shell is of a cylindrical structure, the motor stator is fixedly connected to the inner wall of the shell, the motor stator is sleeved outside the motor rotor, one side of the shell, which is far away from the speed reducer, is provided with a mounting hole, the side wall of the mounting hole extends for a certain distance towards the inside of the shell, one end of the motor rotor, which is far away from the speed reducer, is a rotor shaft, the rotor shaft extends into the mounting hole, the bearing is fixedly sleeved on the rotor shaft, the side of the bearing, which is far away from the speed reducer, is provided with a first sealing ring between the mounting hole and the rotor shaft, the encoder comprises an encoder rotor and an encoder stator, the encoder rotor which is fixedly arranged on the rotor shaft, the rotor shaft of the first sealing ring-type brake is arranged on one side of the bearing, the stator is fixedly arranged on the inner wall of the mounting hole, the stator, the encoder and the encoder rotor and the encoder is coaxial, the encoder rotor and the encoder, the band-type brake comprises a band-type brake main body and the band-type brake, and the outer side of the band-type brake.

Preferably, the motor rotor and the motor stator are flush with each other at one end close to the speed reducer and are located on the inner side of the shell, and the speed reducer extends into the shell and is fixedly connected with the shell.

Further preferably, a second seal ring is provided between the inner wall of the housing and the speed reducer.

More preferably, the speed reducer is an RV speed reducer, the length of the input side of the speed reducer extending out of the speed reducer is greater than the length of the input side of the speed reducer extending out of the speed reducer, and a threaded hole is formed in the input shaft on the output side.

Preferably, the first sealing ring is a lip-shaped sealing ring, a spacer is arranged between the first sealing ring and the bearing, and the bearing is a deep groove ball bearing.

Further preferably, the shell the mounting hole inner wall is equipped with encoder stator mounting bracket, the encoder stator sets up on encoder stator mounting bracket.

The invention also provides an installation method of the fully-sealed heavy-load joint structure, which comprises the following steps:

1) Integrally cooling the speed reducer to-80 ℃, heating the motor rotor to 180 ℃, after the temperature is stable, mounting the motor rotor on the input shaft of the speed reducer through a press machine, and completing fixed connection when the temperature of the speed reducer and the temperature of the motor rotor are the same as the room temperature;

2) Heating the shell to 150 ℃, keeping the temperature of the motor stator at room temperature, installing the motor stator on the inner side of the shell through a press machine after the temperature of the shell is stable, and fixedly connecting the motor stator and the shell after the temperature of the motor stator is reduced to the room temperature;

3) Inserting the speed reducer-motor rotor assembly assembled in the step 1) into a shell-motor stator assembly, fixedly connecting the speed reducer with the shell, and enabling the motor rotor and the motor stator to be in a coaxial state;

4) The bearing sleeve is arranged on a rotor shaft of the electronic rotor, a bearing inner ring is fixed on the rotor shaft, and a bearing outer ring is matched with the mounting hole wall of the shell;

5) The first sealing ring is arranged on a rotor shaft of the motor rotor, and at the moment, a sealing cavity is formed among the speed reducer, the shell, the first sealing ring and the motor rotor;

6) Fixing the encoder rotor to a rotor shaft of a motor rotor;

7) Fixing the encoder stator on the shell, wherein the encoder stator and the encoder rotor are in a coaxial state and can rotate relatively;

8) The band-type brake main body is arranged on a shell, and the band-type brake rotor is fixedly connected with a rotor shaft of a motor rotor;

9) And (4) filling the sealed cavity in the step 5) with lubricating oil until the assembly is finished.

The invention also provides a robot, and the fully-sealed heavy-load joint structure is arranged at the joint.

Compared with the prior art, the invention has the advantages that:

1. the RV reducer is adopted, and the performances of the RV reducer such as load capacity, rigidity, precision, impact resistance and the like are higher than those of a harmonic reducer and a planetary reducer. The maximum output torque of the RV reducer can reach 4000NM, and the maximum motor power of the super-harmonic reducer matched with the reducer can reach more than 6 kw;

2. when being installed, a rotor of the motor is connected with an input shaft of the speed reducer in an interference mode, so that the processing and manufacturing difficulty and the cost can be reduced, and the precision loss caused by conventional screw connection, particularly the circumferential runout and the coaxiality of a rotating shaft, can be reduced;

3. the region where the speed reducer and the motor are located is a grease lubrication region, when the speed reducer and the motor normally operate, grease can soak a transmission part inside the speed reducer and a stator rotor of the motor, and under the working conditions of high speed and high torque output, on one hand, a good lubrication condition of the speed reducer can be ensured, on the other hand, a good heat dissipation environment can be provided for the frameless motor and the speed reducer, so that the temperature of the whole system is more balanced, and the condition of local overheating can not occur;

4. the input shaft of speed reducer has the band-type brake installation interface in the reservation of output power side, keeps away from the speed reducer side at electric motor rotor simultaneously and also has the band-type brake installation interface in reservation, can carry out rational arrangement according to actual conditions in the in-service use, and structural flexibility is higher.

Drawings

FIG. 1 is a perspective view of the joint structure provided by the present invention;

FIG. 2 is a general cross-sectional view of a joint structure provided by the present invention;

FIG. 3 is a perspective view of a reducer;

FIG. 4 is a cross-sectional view of a reducer;

FIG. 5 is a perspective view of the motor rotor;

FIG. 6 is a cross-sectional view of a rotor of the motor;

FIG. 7 is a perspective view of a motor stator;

FIG. 8 is a cross-sectional view of a stator of the motor;

FIG. 9 is a perspective view of the housing;

FIG. 10 is a cross-sectional view of the housing;

FIG. 11 is a perspective view of the bearing;

FIG. 12 is a view showing the structure of a first seal ring;

FIG. 13 is an encoder stator mounting bracket;

FIG. 14 is a view showing a coupling structure of an encoder stator and an encoder rotor;

fig. 15 is a perspective view of the band-type brake main body;

FIG. 16 is a perspective view of the spacer;

fig. 17 shows a robot provided with the joint structure according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Examples 1,

Referring to fig. 1-16, this embodiment provides a totally enclosed heavy load joint structure, including speed reducer 1, motor 2, bearing 3, band-type brake 4, encoder 5 and shell 6, the both ends of speed reducer 1's input shaft 101 all stretch out outside the speed reducer 1 body, motor 2 includes motor rotor 201 and motor stator 202, motor rotor 201 fixed connection is on the input side of speed reducer 1 input shaft 101, shell 6 is the barrel-type structure, motor stator 202 fixed connection is at the 6 inner walls of shell, and motor stator 202 cup joints the outside at motor rotor 201, mounting hole 601 has been seted up to one side that speed reducer 1 was kept away from to shell 6, the lateral wall of mounting hole 601 extends one section distance to shell 6 inside, the one end that motor rotor 201 kept away from speed reducer 1 is the rotor shaft, the rotor shaft stretches into mounting hole 601, at the fixed socket joint bearing 3 on the rotor shaft, bearing 3 keeps away from one side of 1, and be located and be equipped with first sealing washer 7 between mounting hole 601 and the rotor shaft, encoder 5 includes rotor encoder 501 and encoder stator 502, the rotor shaft is far away from rotor shaft and encoder 501 on the rotor shaft of rotor 402 of fixed being equipped with the rotor encoder 501 on one side of bearing 3, and the fixed band-type brake rotor shaft 401, and the rotor shaft of rotor 1, and the fixed brake, the brake rotor 401 is located the rotor 402 of rotor is located the rotor 1, and the fixed brake rotor shaft of rotor 402, and the brake rotor is located the brake rotor 402, and the brake rotor shaft of rotor 402, and the brake rotor 402.

The installation of the fully-sealed heavy-load joint structure provided by the embodiment comprises the following steps:

1) The speed reducer 1 is integrally cooled to-80 ℃, the motor rotor 201 is heated to 180 ℃, after the temperature is stable, the motor rotor 201 is installed on the input shaft 101 of the speed reducer 1 through a press machine, and when the temperature of the speed reducer 1 and the temperature of the motor rotor 201 are the same as the room temperature, the fixed connection is completed, so that the coaxiality loss between the motor rotor 201 and the input shaft 101 of the speed reducer 1 is reduced to the maximum extent;

2) Heating the shell 6 to 150 ℃, keeping the temperature of the motor stator 202 at room temperature, mounting the motor stator 202 on the inner side of the shell 6 through a press machine after the temperature of the shell 6 is stable, and fixedly connecting the motor stator 202 and the shell 6 after the temperature of the motor stator 202 and the shell 6 are all reduced to the room temperature so as to reduce the loss of coaxiality between the assembled motor stator 202 and the assembled motor rotor 201 to the maximum extent;

3) Inserting the speed reducer-motor rotor assembly assembled in the step 1) into the shell-motor stator assembly assembled in the step 2), fixedly connecting the speed reducer 1 with the shell 6, and optionally fixing the speed reducer by using screws, wherein the motor rotor 201 and the motor stator 202 are in a coaxial state;

4) Sleeving the bearing 3 on a rotor shaft of the electronic rotor 201, fixing an inner ring of the bearing 3 on the rotor shaft, and matching an outer ring of the bearing 3 with the mounting hole wall of the shell 6;

5) The first sealing ring 7 is installed on a rotor shaft of the motor rotor 201, and at the moment, a sealing cavity is formed among the speed reducer 1, the shell 6, the first sealing ring 7 and the motor rotor 201;

6) The encoder rotor 501 is fixed on the rotor shaft of the motor rotor 201 and can be fixedly connected through glue or screws;

7) The encoder stator 502 is fixed to the housing 6, and at this time, the encoder stator 502 and the encoder rotor 501 are in a coaxial state and can relatively rotate;

8) The band-type brake main body 401 is installed on the shell 6, and the band-type brake rotor 402 is fixedly connected with a rotor shaft of the motor rotor 201;

9) And (3) filling the sealing cavity in the step 5) with lubricating oil until the assembly is finished.

The working process of the fully-sealed heavy-load joint structure provided by the embodiment is as follows: an operator sends an electrifying signal to the controller → the controller sends the electrifying signal of the operator to the driver (the controller and the driver are an external device and are not shown in the invention) → the driver energizes the electromagnet coil in the internal brake body 401 → the electromagnet overcomes the elasticity of the spring in the internal brake to loosen the armature → the motor rotor 402 is released → the operator sends a movement signal → the controller sends the movement signal of the operator to the driver → the driver sends the motor movement signal to the motor stator 202 → the motor stator 202 receives the movement signal and outputs the torque by matching with the motor rotor 201 → the speed reducer 1 amplifies and outputs the torque input by the motor 2 through the input shaft 101.

In order to facilitate connection between the housing 6 and the speed reducer 1, the motor rotor 201 and the motor stator 202 are flush with each other at one end close to the speed reducer 1 and are located on the inner side of the housing 6, and the speed reducer 1 extends into the housing 6 and is fixedly connected with the housing 6.

In order to strengthen the sealing, a second sealing ring 8 is arranged between the inner wall of the shell 6 and the speed reducer 1.

In order to improve the load capacity, the rigidity, the precision, the impact resistance and the like, the selected speed reducer 1 is an RV speed reducer, the length of the input side of the input shaft 101 of the speed reducer 1 extending out of the speed reducer 1 is larger than the length of the input side extending out of the speed reducer 1, and a threaded hole is formed in the input shaft 101 of the output side, so that the connection and flexible use are facilitated.

In order to prevent friction and collision between the first sealing ring 7 and the bearing 3, the first sealing ring 7 is a lip-shaped sealing ring, a spacer 10 is arranged between the first sealing ring 7 and the bearing 3, and the bearing 3 is a deep groove ball bearing.

In order to facilitate the connection of the encoder stator 502, an encoder stator mounting frame 9 is arranged on the inner wall of the mounting hole of the housing 6, and the encoder stator 502 is arranged on the encoder stator mounting frame 9.

Examples 2,

The present embodiment provides a robot, and referring to fig. 17, the fully-sealed heavy-load joint structure described in embodiment 1 is provided at the joint.

Claims (8)

1. The fully-sealed large-load joint structure is characterized by comprising a speed reducer (1), a motor (2), a bearing (3), a band-type brake (4), an encoder (5) and a shell (6), wherein two ends of an input shaft (101) of the speed reducer (1) extend out of a body of the speed reducer (1), the motor (2) comprises a motor rotor (201) and a motor stator (202), the motor rotor (201) is fixedly connected to the input side of the input shaft (101) of the speed reducer (1), the shell (6) is of a cylindrical structure, the motor stator (202) is fixedly connected to the inner wall of the shell (6), and the motor stator (202) is sleeved on the outer side of the motor rotor (201), mounting hole (601) have been seted up to one side that speed reducer (1) was kept away from in shell (6), the lateral wall of mounting hole (601) is to the inside one section distance that extends of shell (6), the one end that speed reducer (1) was kept away from in electric motor rotor (201) is the rotor shaft, the rotor shaft stretches into in mounting hole (601), at the epaxial fixed bearing (3) that cup joints of rotor, the one side of speed reducer (1) is kept away from in bearing (3), and be located and be equipped with first sealing washer (7) between mounting hole (601) and the rotor shaft, encoder (5) are including encoder rotor (501) and encoder stator (502), the epaxial fixed code that is equipped with of rotor that bearing (3) one side was kept away from in first sealing washer (7) The device comprises a rotor (501), an encoder stator (502) is fixedly arranged on the inner wall of the mounting hole (601), the encoder rotor (501) and the encoder stator (502) are coaxial, a band-type brake (4) comprises a band-type brake main body (401) and a band-type brake rotor (402), the band-type brake rotor (402) is fixedly connected to a rotor shaft of a motor rotor (201), and the band-type brake main body (401) is fixed on one side, away from a speed reducer (1), of a shell (6) and located on the outer side of the band-type brake rotor (402).

2. The fully-sealed heavy-load joint structure according to claim 1, wherein the motor rotor (201) and the motor stator (202) are flush with each other at one end close to the speed reducer (1) and are located at the inner side of the housing (6), and the speed reducer (1) extends into the housing (6) and is fixedly connected with the housing (6).

3. The fully-sealed heavy-load joint structure according to claim 2, wherein a second sealing ring (8) is arranged between the inner wall of the shell (6) and the speed reducer (1).

4. The hermetically sealed heavy-load joint structure according to claim 1, wherein the speed reducer (1) is an RV speed reducer, the input side of the input shaft (101) of the speed reducer (1) extends beyond the speed reducer (1) by a length greater than the length of the output side of the input shaft (101) of the speed reducer (1), and the input shaft (101) of the output side is provided with a threaded hole.

5. The fully-sealed heavy-load joint structure as claimed in claim 1, wherein the first sealing ring (7) is a lip-shaped sealing ring, a spacer (10) is arranged between the first sealing ring (7) and the bearing (3), and the bearing (3) is a deep groove ball bearing.

6. The hermetically sealed heavy-load joint construction according to claim 1, characterized in that an encoder stator mounting (9) is provided on the inner wall of the mounting hole of the housing (6), the encoder stator (502) being provided on the encoder stator mounting (9).

7. The method of installing a fully sealed heavily loaded articulated structure according to claim 1, characterized in that it comprises the following steps:

1) Integrally cooling the speed reducer (1) to-80 ℃, heating the motor rotor (201) to 180 ℃, after the temperature is stable, mounting the motor rotor (201) on the input shaft (101) of the speed reducer (1) through a press machine, and after the temperature of the speed reducer (1) and the temperature of the motor rotor (201) are the same as the room temperature, finishing fixed connection;

2) Heating the shell (6) to 150 ℃, keeping the motor stator (202) at room temperature, mounting the motor stator (202) on the inner side of the shell (6) through a press machine when the temperature of the shell (6) is stable, and finishing the fixed connection of the motor stator (202) and the shell (6) after the temperature of the motor stator (202) is reduced to the room temperature;

3) Inserting the speed reducer-motor rotor assembly assembled in the step 1) into a shell-motor stator assembly, fixedly connecting the speed reducer (1) with a shell (6), and enabling a motor rotor (201) and a motor stator (202) to be in a coaxial state;

4) Sleeving the bearing (3) on a rotor shaft of the electronic rotor (201), fixing an inner ring of the bearing (3) on the rotor shaft, and matching an outer ring of the bearing (3) with the mounting hole wall of the shell (6);

5) The first sealing ring (7) is installed on a rotor shaft of the motor rotor (201), and at the moment, a sealing cavity is formed among the speed reducer (1), the shell (6), the first sealing ring (7) and the motor rotor (201);

6) -fixing the encoder rotor (501) to a rotor shaft of a motor rotor (201);

7) Fixing the encoder stator (502) on the shell (6), wherein the encoder stator (502) and the encoder rotor (501) are in a coaxial state and can rotate relatively;

8) The band-type brake main body (401) is installed on a shell (6), and a band-type brake rotor (402) is fixedly connected with a rotor shaft of a motor rotor (201);

9) And (4) filling the sealed cavity in the step 5) with lubricating oil until the assembly is finished.

8. Robot, characterized in that a fully sealed heavy-load joint structure according to any of claims 1-6 is provided at the joint.

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