CN210678773U

CN210678773U - Integrated joint and robot

Info

Publication number: CN210678773U
Application number: CN201921667464.2U
Authority: CN
Inventors: 李康; 赵明国; 李海雷; 贺小玉; 张志华; 张伟宁; 黑光军; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Beijing Youbixuan Intelligent Robot Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-06-05
Anticipated expiration: 2029-09-30

Abstract

The application belongs to the technical field of humanoid service robots and relates to an integrated joint and a robot. The integrated joint adopts a motor component, a speed reducer, an output part, a first bearing, a torque sensor and a driving plate. The shell is used as a fixed end, the drive plate controls the motor assembly to work, the control motor shaft outputs power to the speed reducer, and the speed reducer is connected to the output piece to enable the output piece to rotate in an output mode. The output end of the speed reducer is supported on the shell through a first bearing. The torque sensor is connected with the speed reducer and the output piece, torque applied to the output piece acts on the torque sensor through the speed reducer, the torque detected by the torque sensor is the torque applied to the output piece, influence factors such as flexibility and friction of an intermediate transmission link do not need to be considered, the torque value of the output piece is directly measured, the method is more accurate, reliable and effective, and the rigidity and stability of the system are ensured. The integrated joint is applied to the robot, so that moment feedback is realized at each joint, and a more accurate force control effect can be realized.

Description

Integrated joint and robot

Technical Field

The application belongs to the technical field of humanoid service robots, and relates to an integrated joint and a robot with the same.

Background

In the robot field, the robot with force perception has more advantages than the robot with simple position control: for example, the cooperative mechanical arm and a person complete a task together, and the robot stops when touching, so that the safety of the person is ensured; the force control mode also allows the robot to do more delicate work, such as surface grinding, deburring, flexible assembly, and the like; dragging teaching can be realized, and the development period is greatly shortened; of course, more important is that the motion state of the robot can be optimized by realizing the joint moment control.

At present, a six-dimensional force/torque sensor is usually arranged at the tail end of a mechanical arm to directly obtain the acting force of the external environment, but the force of the whole body cannot be detected, force feedback is realized at each joint, and a more accurate force control effect can be realized. The joint force feedback mainly comprises methods of current detection, series connection of an elastic driver (SEA), a torque sensor and the like. The current detection method is limited in the complexity of a friction model of a joint transmission link, and the relation between the motor current and the joint output torque cannot be accurately established due to the large difference of the back-drive characteristics of different transmission mechanisms; in the SEA method, an elastic link is introduced into a transmission system, so that the rigidity of the system is reduced, the control difficulty is increased, and even the stability of the system is influenced.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide an integrated joint, so as to solve the technical problems that the existing robot joint cannot accurately establish the relationship between the motor current and the joint output torque, the system rigidity is reduced, and the system stability is influenced.

An embodiment of the present application provides an integrated joint, including:

a housing;

a motor assembly including a motor shaft rotatably mounted to the housing;

a speed reducer driven by the motor shaft;

the output piece is connected with the speed reducer and driven by the speed reducer to rotate;

a first bearing that supports an output end of the speed reducer on the housing;

the torque sensor is connected with the speed reducer and the output piece and used for detecting the torque borne by the output piece; and

and the driving plate is electrically connected with the motor assembly and the torque sensor, and the driving plate is installed on the shell.

In one embodiment, the output member is coaxially provided with a hollow tube, the motor shaft is a hollow shaft, the hollow tube is arranged through the motor shaft, the shell is provided with a rear cover, and one end of the hollow tube, which is far away from the output member, is supported on the rear cover.

In one embodiment, the speed reducer is a harmonic speed reducer, the harmonic speed reducer includes a wave generator driven by the motor shaft to rotate, a flexible gear driven by the wave generator to flexibly deform, and a rigid gear engaged with the flexible gear, the rigid gear serves as an output end of the harmonic speed reducer, and the rigid gear is supported on the housing through the first bearing.

In one embodiment, the wave generator is mounted on the motor shaft through an expansion sleeve and an expansion sleeve pressing plate, the expansion sleeve is mounted on one side of the wave generator facing the motor shaft, and the expansion sleeve pressing plate is fixed on the rigid wheel and pushes the expansion sleeve along the axial direction of the motor shaft, so that the expansion sleeve presses the wave generator and the motor shaft respectively along the radial direction.

In one embodiment, the inner ring of the first bearing is mounted on the outer circumferential surface of the rigid wheel and is pressed against the rigid wheel through an inner ring gland, and the outer ring of the first bearing is mounted on the housing and is pressed against the housing through an outer ring gland.

In one embodiment, a first sealing ring is arranged between the outer ring gland and the shell, a second sealing ring is arranged between the outer ring gland and the rigid wheel, and a third sealing ring is arranged between the inner circumferential surface of the rigid wheel and the outer circumferential surface of the output part.

In one embodiment, the speed reducer is any one of a harmonic speed reducer, a worm gear speed reducer, a planetary speed reducer, or a cycloidal pin speed reducer.

In one embodiment, the torque sensor includes a substrate and a sensing element mounted to the substrate; the substrate comprises an inner ring part, an outer ring part positioned outside the inner ring part and a sensitive beam connected between the inner ring part and the outer ring part, and the sensing element is arranged on the sensitive beam; the inner ring portion is fixed on the speed reducer, and the outer ring portion is fixed on the shell.

In one embodiment, at least two through grooves are circumferentially distributed on the substrate, each through groove comprises an arc-shaped through groove and two radial through grooves respectively communicated with two ends of the arc-shaped through groove, and the sensitive beam is formed in a region between two adjacent radial through grooves in two adjacent through grooves on the substrate.

In one embodiment, the torque sensor is a strain gauge type torque sensor, a magnetoelastic type torque sensor, a photoelectric type torque sensor, or a capacitive type torque sensor.

In one embodiment, the driving plate is arranged at a position, away from the torque sensor, of the shell, and cables of the torque sensor are electrically connected to the driving plate after sequentially penetrating through the shell.

In one embodiment, the motor assembly further includes a stator fixed to the housing, and a rotor fixed to the motor shaft and engaged with the stator, the housing is mounted with an end cover, the motor shaft is supported by the housing through a second bearing, and the motor shaft is supported by the end cover through a third bearing.

In one embodiment, the integrated joint further comprises a motor end position feedback assembly for detecting a rotational position of the motor shaft and/or an output end position feedback assembly for detecting a rotational position of the output member.

In one embodiment, the torque sensor is connected between the housing and the reducer.

The embodiment of the application provides a robot, which comprises the integrated joint.

One or more technical solutions in the integrated joint and the robot provided by the embodiment of the application have at least one of the following technical effects: the integrated joint adopts a motor component, a speed reducer, an output part, a first bearing, a torque sensor and a driving plate. The shell is used as a fixed end, the drive plate controls the motor assembly to work, the control motor shaft outputs power to the speed reducer, and the output end of the speed reducer is connected to the output piece to enable the output piece to output and rotate. Wherein, the speed reducer is supported on the shell through a first bearing. The torque sensor is connected with the speed reducer and the output piece, the torque applied to the output piece acts on the torque sensor through the speed reducer, the detection torque of the torque sensor is the torque applied to the output piece, influence factors such as flexibility and friction of an intermediate transmission link do not need to be considered, the torque value of the output piece is directly measured, the method is more accurate, reliable and effective, and the rigidity and the stability of a system are ensured. The integrated joint has the characteristics of strong universality, high integration level and modularized structural design, and avoids the complexity of a friction model of a joint transmission link when the existing current detection method is adopted, so that the relation between the motor current and the joint output torque can be accurately established, and the condition that the rigidity of a system is reduced due to the introduction of an elastic link by adopting the existing SEA method is also avoided. The integrated joint is applied to the robot, torque feedback is realized at each joint, more accurate force control effect can be realized, and the rigidity and stability of the system are ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and 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 to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a perspective assembly view of an integrated joint provided by an embodiment of the present application;

FIG. 2 is a side view of the integrated joint of FIG. 1;

FIG. 3 is a cross-sectional view of the integrated joint of FIG. 2 taken along line A-A;

FIG. 4 is a side view of a reducer used in the integrated joint of FIG. 3;

FIG. 5 is a cross-sectional view of the integrated joint of FIG. 4 taken along line B-B;

FIG. 6 is an exploded perspective view of the integrated joint of FIG. 3;

FIG. 7 is a front view of a torque sensor employed in the integrated joint of FIG. 3;

FIG. 8 is a side view of a motor assembly used in the integrated joint of FIG. 3;

FIG. 9 is a cross-sectional view of the motor assembly of FIG. 8 taken along line C-C;

fig. 10 is an exploded perspective view of the motor assembly of fig. 8;

FIG. 11 is an exploded perspective view of an output end position feedback assembly employed in the motor assembly of FIG. 3;

fig. 12 is a perspective assembly view of a robot provided in an embodiment of the present application;

FIG. 13 is a perspective assembly view of a robot provided in accordance with another embodiment of the present application;

fig. 14 is a perspective assembly view of a robot according to another embodiment of the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

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 implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 to 3, an integrated joint provided in an embodiment of the present disclosure may be applied to a joint of a robot or a joint connection of another device, and may drive the joint to rotate and achieve torque detection at the joint. The integrated joint comprises a shell 11, a motor assembly 20, a speed reducer 30, an output member 40, a first bearing 50, a torque sensor 60 and a driving plate 70. The motor assembly 20 includes a motor shaft 21 rotatably mounted to the housing 11. The reducer 30 is driven by the motor shaft 21, and the reducer 30 functions to reduce the rotational speed output by the motor assembly 20 to increase the torque output. The output member 40 is connected to the reduction gear 30 and is driven to rotate by the reduction gear 30. The first bearing 50 supports the output end of the reduction gear 30 on the housing 11. The torque sensor 60 is used for detecting the torque applied to the output member 40, and the torque sensor 60 is connected to the speed reducer 30 and the output member 40. The driving plate 70 is electrically connected with the motor assembly 20 and the torque sensor 60, the driving plate 70 is used for controlling the motor assembly 20 to work, and the driving plate 70 is installed on the housing 11.

Compared with the prior art, the integrated joint provided by the application adopts the motor assembly 20, the speed reducer 30, the output part 40, the first bearing 50, the torque sensor 60 and the driving plate 70. The shell 11 is used as a fixed end, the driving plate 70 controls the motor assembly 20 to work, the control motor shaft 21 outputs power to the speed reducer 30, and the speed reducer 30 is connected to the output element 40 to enable the output element 40 to output rotation. The output end of the speed reducer 30 is supported by the housing 11 through a first bearing 50. The torque sensor 60 is connected with the speed reducer 30 and the output member 40, the torque applied to the output member 40 acts on the torque sensor 60 through the speed reducer 30, the detection torque of the torque sensor 60 is the torque applied to the output member 40, influence factors such as flexibility and friction of an intermediate transmission link do not need to be considered, the torque value of the output member 40 is directly measured, and the method is more accurate, reliable and effective and ensures the rigidity and stability of a system. The integrated joint has the characteristics of strong universality, high integration level and modularized structural design, and avoids the complexity of a friction model of a joint transmission link when the existing current detection method is adopted, so that the relation between the motor current and the joint output torque can be accurately established, and the condition that the rigidity of a system is reduced due to the introduction of an elastic link by adopting the existing SEA method is also avoided.

Specifically, the torque detected by the torque sensor 60 is a torque around a direction perpendicular to the rotation axis of the output member 40, the speed reducer 30 and the torque sensor 60 are sequentially connected, the torque applied to the output member 40 acts on the torque sensor 60 through the speed reducer 30, and the torque detected by the torque sensor 60 is the torque applied to the output member 40.

In another embodiment of the present application, the torque sensor 60 is connected between the housing 11 and the speed reducer 30, and the torque sensor 60 is easily assembled in such a manner that the overall structure is compact, and the torque applied to the output member 40 acts on the torque sensor 60 through the speed reducer 30, and the torque is detected by the torque sensor 60. The torque sensor 60 and the reducer 30 may be provided in the housing 11 so that the torque sensor 60 and the reducer 30 can be protected, and the output member 40 is located outside the housing 11 to be connected to other structures.

Referring to fig. 3, in another embodiment of the present application, the output member 40 is coaxially disposed with a hollow tube 42, the motor shaft 21 is a hollow shaft, and the hollow tube 42 is disposed through the motor shaft 21. The output member 40 serves as an output interface for connection with an external device, and the output member 40 is provided at one end of the housing 11 in the axial direction. The output end of the reducer 30 may be fixed to the output member 40 by a fastener. The output member 40 may have a disk shape having an opening 41, a hollow tube 42 is connected to the output member 40 at the opening 41, and the hollow tube 42 passes through the housing 11 and the rear cover 12 described below, so as to facilitate the threading of cables or other objects in the hollow tube 42. Furthermore, a sealing ring 44 is arranged between the inner wall of the opening 41 of the output piece 40 and the outer peripheral surface of the hollow tube 42, so that the integrated joint has certain waterproofness.

In another embodiment of the present application, a rear cover 12 is mounted on a side of the housing 11 facing away from the speed reducer 30, and an end of the hollow tube 42 remote from the output member 40 is supported on the rear cover 12. Specifically, one end of the hollow tube 42 is supported by the rear cover 12 via the deep groove ball bearing 121, and the friction between the output member 40 and the rear cover 12 is reduced.

In another embodiment of the present application, a rear cover 12 is installed on the housing 11, and other devices can be disposed in the rear cover 12 to protect the rear cover and form a modular structure, thereby facilitating the application of the force control structure to the joints of the robot. Further, the driving plate 70, a motor end position feedback assembly 80 and an output end position feedback assembly 90, which will be described below, can be installed in the rear cover 12, and thus, the assembly is easy and the structure is compact. Specifically, the rear cover 12 can be fixed to a motor end cover 13 described below, and is easy to assemble. The driving plate 70 is a hollow structure to realize hollow wiring of the integrated joint.

Referring to fig. 3 to 6, in another embodiment of the present application, the speed reducer 30 is a harmonic speed reducer, and the harmonic speed reducer has the advantages of simple and compact structure, convenient assembly, high speed reduction ratio, small volume, and high transmission precision. The harmonic reducer comprises a wave generator 31 driven by a motor shaft 21 to rotate, a flexible gear 32 driven by the wave generator 31 to flexibly deform, and a rigid gear 33 meshed with the flexible gear 32, wherein the rigid gear 33 serves as an output end of the harmonic reducer, and the rigid gear 33 is supported on the shell 11 through a first bearing 50. Specifically, the flexspline 32 includes a cylindrical portion 321 and an annular portion 322 formed to extend radially from one edge of the cylindrical portion 321, and the cylindrical portion 321 has an outer ring gear. The rigid wheel 33 has an inner ring gear which meshes with the outer ring gear. The wave generator 31 includes a cam 311 and a flexible bearing 312 provided outside the cam 311, the cam 311 has different radial lengths, and the flexible bearing 312 is provided between the cylindrical portion 321 and the cam 311. The cylindrical portion 321 of the flexspline 32 is sleeved outside the flexible bearing 312 of the wave generator 31, and the annular portion 322 of the flexspline 32 is connected to the torque sensor 60. The motor assembly 20 drives the wave generator 31 to rotate at a high speed and a small torque, the flexible gear 32 generates flexible deformation on the cylindrical part 321 under the action of the wave generator 31, the outer gear ring of the cylindrical part 321 is in meshing transmission with the inner gear ring of the rigid gear 33, the rigid gear 33 is connected to the output member 40, and the rigid gear 33 performs low-speed rotation and large-torque output. Further, the annular portion 322 is formed to extend radially inward from an end edge of the cylindrical portion 321, and this structure is easy to mold, and facilitates attachment of the annular portion 322 to the torque sensor 60.

In another embodiment of the present application, the harmonic reducer has a structure form including, but not limited to, a standard type, a flat type, a hollow type, a top hat type, a three-component type, etc., which are all in the prior art, and the specific structure is set as required.

Referring to fig. 3, in another embodiment of the present application, the wave generator 31 is mounted on the motor shaft 21 through an expansion sleeve 211 and an expansion sleeve pressing plate 212, the expansion sleeve 211 is mounted on a side of the wave generator 31 facing the motor shaft 21, and the expansion sleeve pressing plate 212 is fixed on the rigid wheel 33 and pushes the expansion sleeve 211 along the axial direction of the motor shaft 21, so that the expansion sleeve 211 presses the wave generator 31 and the motor shaft 21 respectively in the radial direction. The expansion sleeve 211 is of a wedge-shaped structure, and the expansion sleeve 211 is tightly pressed by the expansion sleeve pressing plate 212, so that the motor shaft 21 is fixedly connected with the wave generator 31 in the harmonic speed reducer, and the torque input from the motor shaft 21 to the harmonic speed reducer is realized. Specifically, the expanding sleeve pressure plate 212 may be fixed to the cam 311 of the wave generator 31 by a fastener 213.

In another embodiment of the present application, the first bearing 50 is a bearing capable of withstanding bending moments. Because the torque sensor 60 is connected with the speed reducer 30, and the speed reducer 30 is connected with the output member 40, the torque sensor 60 and the speed reducer 30 can not bear bending moment or the bending moment, which can bring adverse effects. Specifically, the first bearing 50 may be a four-point contact bearing that can withstand both axial and moment loads.

Referring to fig. 3, in another embodiment of the present application, an inner ring of the first bearing 50 is mounted on an outer circumferential surface of the rigid wheel 33 and is pressed against the rigid wheel 33 by the inner ring gland 34, and an outer ring of the first bearing 50 is mounted on the housing 11 and is pressed against the housing 11 by the outer ring gland 35. The above-described configuration is easy to assemble, and allows the first bearing 50 to be reliably assembled to a predetermined position, thereby allowing the output member 40 to rotate freely. Specifically, the inner ring gland 34 may be fixed to the output end of the speed reducer 30 by a fastener, and the outer ring gland 35 may be fixed to the housing 11 by a fastener.

In another embodiment of the present application, to ensure the reduction gear 30 works normally, a proper amount of grease is applied to the kinematic pair. In order to avoid the grease overflow, a first sealing ring 36 is arranged between the outer ring gland 35 and the housing 11, and a second sealing ring 37 is arranged between the outer ring gland 35 and the rigid wheel 33. A third seal ring 38 is provided between the inner peripheral surface of the ring gear 33 and the outer peripheral surface of the output member 40. The second seal ring 37 is a dynamic seal, and the first seal ring 36 and the third seal ring 38 are static seals. Specifically, the first sealing ring 36 may be an O-ring, and the end surface of the outer ring gland 35 is provided with a first mounting groove 351 for mounting the first sealing ring 36. The second sealing ring 37 may be a star-shaped sealing ring, and the inner circumferential surface of the outer ring gland 35 is provided with a second mounting groove 352 to mount the second sealing ring 37. The third packing 38 may be an O-ring, and the outer circumferential surface of the output member 40 is provided with a third mounting groove 43 to mount the third packing 38.

In another embodiment of the present application, the speed reducer 30 is any one of a harmonic speed reducer, a worm gear speed reducer, a planetary speed reducer, or a cycloidal pin speed reducer. The speed reducer 30 can realize low-speed rotation and large torque output, and is specifically arranged as required.

Referring to fig. 3 and 7, in another embodiment of the present application, the torque sensor 60 includes a substrate 61 and a sensing element (not shown) mounted on the substrate 61; the substrate 61 includes an inner ring portion 611, an outer ring portion 612 outside the inner ring portion 611, and a sensing beam 613 connected between the inner ring portion 611 and the outer ring portion 612, wherein the sensing element is mounted on the sensing beam 613; the inner ring portion 611 is fixed to the speed reducer 30, and the outer ring portion 612 is fixed to the housing 11. This arrangement enables detection of the torque received by the output member 40. The inner ring portion 611 of the substrate 61 is fixed to the speed reducer 30, the outer ring portion 612 of the substrate 61 is fixed to the housing 11, the torque received by the output member 40 acts on the sensitive beam 613 of the torque sensor 60 through the speed reducer 30, the sensing element on the sensitive beam 613 detects the deformation, the electric signal of the sensing element is obtained and converted into a torque value, and the detected torque of the torque sensor 60 is the torque received by the output member 40. Specifically, the sensing element may be a strain gauge, and the strain gauge is attached to the sensitive beam 613 of the substrate 61, so as to detect the deformation of the sensitive beam 613 and further convert the deformation into the received torque.

Further, the housing 11 and the outer annular portion 612 of the base plate 61 can be fixedly connected by fasteners. When a harmonic reducer is used, the annular portion 322 of the flexspline 32 and the inner annular portion 611 of the base plate 61 can be fixedly connected by the fastening member 62.

Referring to fig. 7, in another embodiment of the present application, at least four sensing beams 613 are uniformly distributed on a substrate 61, so that a plurality of sensing elements are conveniently arranged, and the deformation of the sensing beams 613 is accurately detected to convert into an accurate moment.

In another embodiment of the present application, at least two through grooves 614 are circumferentially distributed on the substrate 61, each through groove 614 includes an arc through groove 6141 and two radial through grooves 6142 respectively communicated with two ends of the arc through groove 6141, and a sensitive beam 613 is formed in a region between two adjacent radial through grooves 6142 of two adjacent through grooves 614 on the substrate 61. The structure is easy to process, the structures of the inner ring portion 611, the outer ring portion 612 and the sensitive beam 613 are formed, the arc-shaped through groove 6141 extends with the center of the inner ring portion 611 as the center of a circle, and the sensitive beam 613 is detected by attaching an induction element at the sensitive beam 613 to detect the deformation of the sensitive beam 613 so as to obtain a moment, so that the deformation of the sensitive beam 613 is detected conveniently. Further, the radial through groove 6142 extends to the center of the inner ring portion 611 at the end of the arc through groove 6141, and the structure is easy to form, so that the structures of the inner ring portion 611, the outer ring portion 612 and the sensitive beam 613 can be formed conveniently.

Referring to fig. 3, in another embodiment of the present application, the torque sensor 60 is a strain gauge type torque sensor, a magnetoelastic type torque sensor, a photoelectric type torque sensor, or a capacitive type torque sensor. The torque sensor 60 belongs to the prior art, can realize torque detection and is arranged as required.

In another embodiment of the present application, the driving plate 70 is disposed at a position of the housing 11 away from the torque sensor 60, and the cables of the torque sensor 60 are electrically connected to the driving plate 70 after sequentially passing through the housing 11. The moment signal feedback of the moment sensor 60 is realized, and the protection of the cable is realized. Specifically, the housing 11 is provided with a cabling channel 111 through which cables pass, facilitating cable assembly. Furthermore, after the cable passes through the housing 11, the cable also passes through the end cover 13 and is connected with the driving board 70, so that the cable connection is facilitated.

Referring to fig. 3, 8 to 10, in another embodiment of the present application, the motor assembly 20 further includes a stator 22 fixed on the housing 11 and a rotor 23 fixed on the motor shaft 21 and cooperating with the stator 22, the housing 11 is mounted with the end cover 13, the motor shaft 21 is supported on the housing 11 through a second bearing 24, and the motor shaft 21 is supported on the end cover 13 through a third bearing 25. This configuration is easy to assemble, allowing the motor assembly 20 to form a single unit. When the windings of the stator 22 are energized, the stator 22 generates a varying electromagnetic field, and the rotor 23 rotates and rotates the motor shaft 21. Specifically, the second bearing 24 and the third bearing 25 may be deep groove ball bearings, which reduce the friction between the motor shaft 21 and the housing 11 and the end cap 13.

Referring to fig. 3 and 9, further, a fourth sealing ring 26 is disposed between the inner wall of the through hole of the end cover 13 and the outer ring of the third bearing 25, so as to eliminate a gap between the outer ring of the third bearing 25 and the end cover 13 and reduce vibration. Specifically, the inner wall of the through hole of the end cover 13 is provided with a fourth mounting groove 131 for mounting the fourth sealing ring 26.

In another embodiment of the present application, the motor assembly 20 may be a split motor, a permanent magnet synchronous motor, a dc brushless motor or other motors, as long as it can output power, and is selected as required.

Referring to fig. 3, in another embodiment of the present application, the integrated joint further includes a motor end position feedback assembly 80 for detecting the rotational position of the motor shaft 21. By detecting the rotational position of the motor shaft 21, position feedback of the motor shaft 21 is achieved. Specifically, the motor end position feedback assembly 80 is located on one side of the end cap 13, making the overall structure compact. The motor end position feedback assembly 80 may be a multi-turn incremental encoder that accurately detects the rotational position of the motor shaft 21.

In another embodiment of the present application, the motor end position feedback assembly 80 includes a motor encoder reading head 81 disposed on the end cover 13 and a motor encoder grating 82 fixed on the motor shaft 21, the motor encoder reading head 81 has a transmitting end and a receiving end, the motor encoder grating 82 is disposed between the transmitting end and the receiving end, and the motor encoder reading head 81 cooperates with the motor encoder grating 82 to realize the motor position feedback. The motor end position feedback assembly 80 is hollow to facilitate passage of the hollow tube 42 therethrough.

Referring to fig. 3, in another embodiment of the present application, the integrated joint further includes an output end position feedback assembly 90 for detecting the rotational position of the output member 40. The motor assembly 20 is controlled to rotate the high torque output at a precise low speed by sensing the rotational position of the output member 40 and feeding it back to the drive plate 70. Specifically, the output end position feedback assembly 90 may employ a single-turn absolute encoder capable of accurately detecting the rotational position of the output member 40.

In another embodiment of the present application, when the motor end position feedback assembly 80 and the output end position feedback assembly 90 are used together, a double feedback is formed, so that the operation of the motor assembly 20 can be controlled more precisely.

Referring to fig. 3 and 11, in another embodiment of the present application, the output end position feedback assembly 90 includes an encoder magnetic ring 91 and an encoder processing circuit 92. In order to facilitate the installation of the encoder magnetic ring 91 and the encoder processing circuit 92, a mounting seat 93 is fixed on the hollow tube 42, and the encoder magnetic ring 91 is installed on the mounting seat 93. A holder 94 is fixed to the end cap 13, and the encoder processing circuit 92 is mounted on the holder 94. When the output member 40 rotates, the hollow tube 42 is driven to rotate, and then the encoder magnetic ring 91 is driven to rotate, so that the position feedback of the output member 40 is realized.

In another embodiment of the present application, the motor end position feedback assembly 80 is the same as or different from the output end position feedback assembly 90, and is one of a photoelectric encoder, a magnetic encoder, a capacitive encoder, a rotary transformer, and a potentiometer. The components belong to the prior art, can realize the detection of angle positions and are arranged as required.

In another embodiment of the present application, a robot is provided, comprising the integrated joint described above. The integrated joint is applied to the robot, torque feedback is realized at each joint, more accurate force control effect can be realized, and the rigidity and stability of the system are ensured.

Specifically, the robot may be a multi-degree-of-freedom mechanical arm, a legged robot, a wheeled robot, or the like. The joint structure described above is applicable to any robot having joints.

Referring to fig. 12, in another embodiment of the present application, a robot is a six-dof robot arm 200, and the above joint structure is integrated and applied as each joint of the robot arm.

Referring to fig. 13, in another embodiment of the present application, the robot is a humanoid robot 300, and the joint structure is used as a joint of the humanoid robot 300 for integrated applications, including but not limited to ankle joint, knee joint, hip joint of leg, waist joint of trunk, and shoulder joint, elbow joint, wrist joint in arm, etc.

Referring to fig. 14, in another embodiment of the present application, the robot is a quadruped robot 400, and the joint structure is integrated and applied as a joint of the quadruped robot 400.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. An integrated joint, comprising:

a housing;

a motor assembly including a motor shaft rotatably mounted to the housing;

a speed reducer driven by the motor shaft;

2. The integrated joint of claim 1, wherein the output member is coaxially provided with a hollow tube, the motor shaft is a hollow shaft, the hollow tube is disposed through the motor shaft, a rear cover is mounted on the housing, and an end of the hollow tube remote from the output member is supported on the rear cover.

3. The integrated joint of claim 1, wherein the reducer is a harmonic reducer, the harmonic reducer comprising a wave generator driven to rotate by the motor shaft, a flexible gear driven to flexibly deform by the wave generator, and a rigid gear engaged with the flexible gear, the rigid gear serving as an output of the harmonic reducer, the rigid gear being supported on the housing by the first bearing.

4. The integrated joint according to claim 3, wherein the wave generator is mounted to the motor shaft via an expansion sleeve and an expansion sleeve pressing plate, the expansion sleeve is mounted on a side of the wave generator facing the motor shaft, and the expansion sleeve pressing plate is fixed to the rigid wheel and pushes the expansion sleeve in an axial direction of the motor shaft, so that the expansion sleeve presses the wave generator and the motor shaft in a radial direction, respectively.

5. The integrated joint of claim 3, wherein the inner race of the first bearing is mounted to the outer peripheral surface of the rigid wheel and is pressed against the rigid wheel by an inner race gland, and the outer race of the first bearing is mounted to the housing and is pressed against the housing by an outer race gland.

6. The integrated joint of claim 5, wherein a first seal ring is disposed between the outer ring gland and the housing, a second seal ring is disposed between the outer ring gland and the rigid wheel, and a third seal ring is disposed between an inner circumferential surface of the rigid wheel and an outer circumferential surface of the output member.

7. The integrated joint of claim 1, wherein the reducer is any one of a harmonic reducer, a worm gear reducer, a planetary reducer, or a cycloidal pin reducer.

8. The integrated joint of any one of claims 1 to 7, wherein the torque sensor comprises a substrate and a sensing element mounted to the substrate; the substrate comprises an inner ring part, an outer ring part positioned outside the inner ring part and a sensitive beam connected between the inner ring part and the outer ring part, and the sensing element is arranged on the sensitive beam; the inner ring portion is fixed on the speed reducer, and the outer ring portion is fixed on the shell.

9. The integrated joint of claim 8, wherein at least two through grooves are circumferentially distributed on the base plate, each through groove comprises an arc-shaped through groove and two radial through grooves respectively communicated with two ends of the arc-shaped through groove, and the sensitive beam is formed in a region between two adjacent radial through grooves in two adjacent through grooves on the base plate.

10. The integrated joint of any one of claims 1 to 7, wherein the torque sensor is a strain gauge type torque sensor, a magnetoelastic type torque sensor, a photoelectric type torque sensor, or a capacitive type torque sensor.

11. The integrated joint according to any one of claims 1 to 7, wherein the driving plate is provided at a position of the housing away from the torque sensor, and a cable of the torque sensor is electrically connected to the driving plate after passing through the housing in sequence.

12. The integrated joint of any one of claims 1 to 7, wherein the motor assembly further comprises a stator fixed to the housing and a rotor fixed to the motor shaft and cooperating with the stator, the housing having an end cap mounted thereon, the motor shaft being supported by the housing via a second bearing, the motor shaft being supported by the end cap via a third bearing.

13. The integrated joint of any one of claims 1 to 7, further comprising a motor end position feedback assembly for detecting a rotational position of the motor shaft and/or an output end position feedback assembly for detecting a rotational position of the output member.

14. The integrated joint according to any one of claims 1 to 7, wherein the torque sensor is connected between the housing and the reducer.

15. Robot characterized in that it comprises an integrated joint according to any of claims 1 to 14.