CN211053734U - Robot integrated joint with sliding bearing at output end - Google Patents

Abstract

The utility model provides an output uses slide bearing's robot integration joint, including fixed subassembly and gyration subassembly, be provided with slide bearing between fixed subassembly and the gyration subassembly. The utility model discloses at first propose adopt slide bearing to replace alternately roller bearing, have following beneficial effect: (1) the volume is more compact: because the sliding bearing only bears the pressure load, under the same load condition, the sliding bearing has smaller volume, and can bear all the loads only by a sheet of several millimeters; (2) the weight is light: the sliding bearing is a high polymer material sheet, the density is only about 1/6 of the crossed roller bearing, and the volume is much smaller than that of the traditional crossed roller bearing, and the weight can be almost ignored; (3) simple structure, it is with low costs: easy processing, convenient assembling, the material use amount reduces, all helps reducing the joint cost.

Description

Robot integrated joint with sliding bearing at output end

Technical Field

The utility model relates to a robot integration joint especially relates to an output uses slide bearing's robot integration joint, belongs to the robotechnology field.

Background

Generally, a robot mechanism is composed of links and joints connecting the links. The joint functions to rotate around a certain axis and can be controlled to drive the motion to a proper position at a desired speed and a proper output torque, and meanwhile, the stability of the motion can be ensured, namely, the joint can be controlled to rotate only around the direction of the axis, and cannot translate or rotate in other directions. This means that the output end of the robot joint is required to be able to withstand radial loads, axial loads and overturning moments. Meanwhile, the axis output by the joint is stable, and the axis cannot change along with the change of external load and the change of angles in the motion process.

Therefore, in the field of robots, joints are core devices of the robots, and the controllability, the precision and the efficiency of the robots are determined by the stability of the joints under the action of external loads. In order to ensure the axis of the robot joint to be stable, cross roller bearings are generally adopted in the field to bear bending moment and shearing load, so as to ensure the effective output of the reduction gearbox.

It is known that when two bearings are arranged on a shaft, the axis of the shaft is uniquely defined, the crossed roller bearing is arranged by a special structure, two bearings are integrated on one bearing, and the shaft using the crossed roller bearing has a uniquely defined axis. This feature makes it common in the art to use crossed roller bearings at the low speed output end of "earth-sized" robotic joints, particularly integrated joints.

However, although the cross roller bearing is more compact than the two bearings, it still has the following disadvantages: (1) the weight is large: according to statistics, the crossed roller bearing accounts for more than 20% of the weight of the joint; (2) the maintenance requirement is high: crossed roller bearings are rolling bearings, which require good lubrication and dust control measures; (3) the cost is high: because the crossed roller bearing has a complex structure and high processing difficulty, the crossed roller bearing is generally high in price.

As described above, the robot joint requires controlled rotation output, which requires joint motion controlled by the drive control circuit, and under the drive of the encoder, it tracks the target position, speed, torque, and other specific indexes faithfully, so that the effective operation of a robot joint satisfies the technical connotations of: rotary motion and the ability to output loads (power and transmission systems), a defined axis that is not affected by external loads (support system), a feedback and drive control system (actuation system). For a joint driven by a common motor, the technical content can be embodied as a power and transmission system consisting of the motor, a speed reducer and a connecting flange thereof; a support system consisting of a low speed end bearing and related structural members; the driving and controlling system consists of sensing devices such as a driving and controlling circuit, an encoder and the like. When the above-described systems are integrated in one joint, such a robot joint is referred to as an integrated joint.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: the novel robot integrated joint does not use crossed roller bearings, can meet the requirement on the stability of a joint operation axis in the practical use of a robot, and is light and handy in structure.

In order to solve the technical problem, the utility model provides an output uses slide bearing's robot integration joint, including fixed subassembly with along the definite and unchangeable axis rotation and output torque's gyration subassembly, fixed subassembly passes through slide bearing with the gyration subassembly and is connected.

Through the form and the position of rationally arranging slide bearing, can realize the robot joint operation axis stable. The sliding bearing can be selected from, but is not limited to, the following four forms of one or more in combination:

(1) in a first form: the device comprises a first circular tube, wherein the inner surface and the outer surface of the first circular tube are two cylindrical surfaces which are coaxial with each other;

(2) a second form: the device comprises a first wafer, wherein two planes of the first wafer are parallel to each other, and a first round hole is formed in the center of the first wafer;

(3) a third form: the combination of the second round pipe and the second round piece; the inner surface and the outer surface of the second circular pipe are two cylindrical surfaces which are coaxial with each other; the two planes of the second wafer are parallel to each other, and a second round hole is formed in the center of the second wafer; one end face of the second round pipe is integrated with the outer periphery of the second wafer, and the axis of the second round pipe is vertical to the plane of the second wafer;

(4) the fourth form: a combination of a third round tube and a third wafer; the inner surface and the outer surface of the third circular pipe are two cylindrical surfaces which are coaxial with each other; the two planes of the third wafer are parallel to each other, and a third round hole is formed in the center of the third wafer; one end face of the third circular pipe is integrated with the inner periphery of the third circular hole, and the axis of the third circular pipe is perpendicular to the plane of the third circular sheet.

In some embodiments, a third form of sliding bearing is disposed at both ends of the rotating assembly to effect the connection of the rotating assembly to the stationary assembly.

In some embodiments, a combination of the sliding bearing of the third form and the sliding bearing of the second form is arranged simultaneously in the same region of the revolving assembly to achieve the connection of the revolving assembly with the fixed assembly.

In some embodiments, a set of sliding bearing sets is arranged at each end of the rotating assembly, each set of sliding bearing sets comprising a combination of a sliding bearing of the first form and a sliding bearing of the second form to enable connection of the rotating assembly to the stationary assembly.

In some embodiments, a combination of the sliding bearing of the fourth form and the sliding bearing of the second form is arranged simultaneously in the same region of the revolving assembly to achieve the connection of the revolving assembly with the fixed assembly.

In some embodiments, the slewing assembly comprises a high-speed end slewing assembly and a low-speed end slewing assembly connected by a speed reduction mechanism; the high-speed end rotating assembly and the fixed assembly rotate relatively; the low-speed end rotating assembly and the fixing assembly rotate relatively, and the low-speed end rotating assembly and the fixing assembly are connected through a sliding bearing.

In some embodiments, a high-speed end angle encoder is disposed adjacent to the high-speed end rotating assembly for measuring a rotating angle of the high-speed end rotating assembly, and a low-speed end angle encoder is disposed adjacent to the low-speed end rotating assembly for measuring a rotating angle of the low-speed end rotating assembly.

In some embodiments, the joint is provided with a drive controller for driving and controlling the rotation of the joint, and the reading device of the high-speed end angle encoder is integrally arranged on the drive controller.

In some embodiments, the low speed end angle encoder employs a magnetic encoder.

In some embodiments, the sliding bearing is made of a high-molecular wear-resistant material or a functional material.

The utility model also provides a manufacturing approach of the robot integration joint that slide bearing was used to above-mentioned output, through restriction slide bearing and with the relative dimensional deviation requirement between the slide bearing complex structure confirm articular output axis.

In some embodiments, the relative dimensional deviation requirements include: dimensional deviation limits and form and position deviation limits.

The utility model discloses at first propose adopt slide bearing to replace alternately roller bearing and be used for the robot joint, have following beneficial effect:

(1) the volume is more compact: generally, the extrusion strength of the same material is far greater than the tensile strength, the bending strength and the shearing strength of the same material, the sliding bearing mainly bears extrusion load due to the structural characteristics of the sliding bearing, and under the same bearing requirement, the sliding bearing is smaller in size, and the required bearing capacity can be realized only by a sheet of several millimeters.

(2) The weight is light: when adopting the sliding bearing structure, weight is lighter for two reasons: firstly, the structure is more compact when the sliding bearing is adopted, so the total used materials are less, and the weight is lighter; secondly, the polymeric or similarly functional material for the sliding bearing is generally lower in density than the cross-roller bearing. Taking the polymer material as an example, the density is only 1/6 which is the steel material used for the cross roller bearing, and the weight is reduced 5/6 even though the volume is the same. Therefore, the sliding bearing is lighter in weight.

(3) Simple structure, it is with low costs: compared with a crossed roller bearing, the sliding bearing saves a plurality of complex processes such as processing and assembling of a large number of rollers, grinding and hardening of a roller way and the like, and reduces the material consumption, so that the cost is lower.

Drawings

Fig. 1 is a schematic view of an appearance structure of an integrated joint according to a first preferred embodiment of the present invention;

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

FIG. 3 is a cross-sectional view of the integrated joint shown in FIG. 2 along plane A-A;

FIG. 4 is a cross-sectional view of the integrated joint shown in FIG. 3 along plane B-B;

fig. 5 is a schematic three-dimensional structure of a sliding bearing of a third form in the present invention;

FIG. 6 is a side elevational view of the plain bearing illustrated in FIG. 5;

FIG. 7 is a force analysis view of the plain bearing shown in FIG. 6 taken along plane C-C;

fig. 8 is a schematic three-dimensional structure of a sliding bearing of a second form in the present invention;

fig. 9 is a schematic three-dimensional structure of a sliding bearing of a first form in the present invention;

fig. 10 is a schematic three-dimensional structure of a sliding bearing of a fourth form in the present invention;

fig. 11 is a sectional view of the integrated joint according to the second preferred embodiment of the present invention;

fig. 12 is a sectional view of the integrated joint according to the third preferred embodiment of the present invention;

fig. 13 is a sectional structure view of an integrated joint according to a fourth preferred embodiment of the present invention.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be noted that the drawings of the present invention are simplified and use non-precise ratios, and are only used for the purpose of facilitating and clearly assisting the description of the embodiments of the present invention.

Unless otherwise defined, technical or scientific terms used in the claims and the specification of this patent shall have the ordinary meaning as understood by those of ordinary skill in the art to which this patent belongs.

As used in this specification and the appended claims, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "having", and the like, means that the element or item appearing before "comprises" or "having" covers the element or item listed after "comprising" or "having" and its equivalent, but does not exclude other elements or items.

In the description of this patent, it is to be understood that the terms "upper," "lower," "left," "right," "horizontal," "lateral," "longitudinal," "top," "bottom," "inner," "outer," "clockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings to facilitate the description of the patent 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 considered limiting of the patent.

In the description of this patent, it is noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The utility model provides a robot integration joint mainly includes fixed subassembly and the gyration subassembly that can only follow definite and unchangeable axis rotation and output torque, and fixed subassembly passes through slide bearing with the gyration subassembly and is connected. Through the form and the position of rationally arranging slide bearing, can realize the robot joint operation axis stable. The sliding bearings include one or more of the following four forms of combination, which can restrain the overturning moment of the structure when two sets of sliding bearings are used in pair.

(1) The sliding bearing of the first form has a shape structure as shown in fig. 9, and is a circular tube, and the inner surface and the outer surface of the circular tube are two cylindrical surfaces which are coaxial with each other. The first form of plain bearing may be referred to as: thin-walled ring structures. The thin-wall circular ring part can determine the position of an axis, and the radial position constraint of the rotating component relative to the fixed component is realized.

(2) The sliding bearing of the second form is shaped as shown in fig. 8, and is a circular plate with a large circular hole in the center, and the upper plane and the lower plane of the circular plate are parallel to each other. The second form of plain bearing may be referred to as: a circular ring-shaped sheet structure. The annular sheet portion may provide axial position constraint of the joint.

(3) The sliding bearing of the third form is a combination of the first form and the second form, one end face of the circular tube is integrally formed with the outer periphery of the wafer, and the axis of the circular tube is perpendicular to the plane of the wafer, as shown in fig. 5. A third form of plain bearing may be referred to as: a ring structure with an outer edge.

(4) The sliding bearing of the fourth form is shaped as shown in fig. 10, and is also a combination of the first form and the second form, but the combination is different. One end face of the circular tube and the inner periphery of the circular hole in the center of the wafer are integrally formed, and the axis of the circular tube is perpendicular to the plane of the wafer.

During the manufacturing process of the robot integrated joint, the output axis of the joint is determined by limiting the relative size deviation requirement between the sliding bearing and a structural part matched with the sliding bearing. The relative dimensional deviation requirements include: dimensional deviation limits and form and position deviation limits. The specific deviation can be derived from a statistical data of a large number of machining results.

In the working pair between the revolving component and the fixed component formed by the sliding bearing which normally works, the shaking of the axis is satisfied by proper size limitation. In the utility model, radial positioning is realized by limiting the deviation of the inner diameter and the outer diameter of the thin-wall circular ring-shaped bearing, the coaxiality deviation of the inner diameter and the outer diameter, and the roundness and the run-out deviation of the bearing; the axial positioning is realized by limiting the thickness deviation of the annular sheet sliding bearing, the planeness, the parallelism and the end face run-out deviation of the upper surface and the lower surface. The sliding bearing with the annular structure and the outer edge can be understood as the combination of the two sliding bearings, and the perpendicularity between the end surface of the edge and the axis needs to be limited.

A speed reducer can be arranged in the joint and is used for reducing the output rotating speed and improving the output torque. Further, such joint structures include: the device comprises a fixed assembly, a high-speed end rotating assembly and a low-speed end rotating assembly. The high-speed end rotating assembly and the low-speed end rotating assembly rotate relative to the fixed assembly, and the rotating speed and the rotating direction of the high-speed end rotating assembly and the low-speed end rotating assembly are determined according to the speed reducer and are kept unchanged in a specific system. A sliding bearing is arranged between the output end of the low-speed end rotating assembly and the fixed assembly.

In order to realize the integration of the joint, namely, a proper sensor and a driving control device need to be arranged in a targeted manner, a high-speed end angle encoder is arranged near the high-speed end rotating assembly and is used for monitoring the rotation of the high-speed end rotating assembly; and a low-speed end angle encoder is arranged near the low-speed end rotating assembly and is used for monitoring the rotation of the low-speed end rotating assembly.

The high-speed end angle encoder adopts a magnetic encoder, and a reading device of the encoder is integrated on a drive control circuit board of the joint, so that the structure is more compact, the weight is lighter, and the joint has better efficiency and lower cost.

The low-speed end angle encoder adopts a magnetic encoder. To achieve the same resolution, among several types of encoders in the mainstream at present, the magnetic encoder has better environmental stability, is not easily interfered by external oil stains, brightness and temperature changes, and has lower cost. However, in low speed end applications, the cross-roller bearings are typically steel for load bearing capacity requirements, interfere with the magnetic field, and must be located far from the bearings, thereby making space inefficient and compact in construction. The material used by the sliding bearing is usually a high molecular material or a functional material without magnetic effect, and the proper bearing capacity can be achieved through reasonable arrangement, so that the advantages of the magnetic encoder can be better played by adopting the sliding bearing.

Example 1:

fig. 1 and 2 are a schematic overall appearance diagram and a schematic side view of a robot-integrated joint according to a preferred embodiment of the present invention. In order to better observe and analyze the internal structure of the robot-integrated joint, the joint shown in fig. 2 is cut along the plane a-a to obtain the schematic internal structure shown in fig. 3.

Referring to fig. 3, the main moving components of the integrated joint and the connection and mutual movement relationships between these components are first described as follows:

in fig. 3, the frame of the integrated joint is composed of a plurality of parts, wherein one end of the frame part 1 is fixedly connected with the base of the robot or the upper-stage connecting rod at 100, and the other end is fixedly connected with the frame part 7. Specifically, the reduction gearbox casing 5 may be a rigid gear of a harmonic speed reducer or an outer gear ring of a planetary speed reducer. The motor stator 2 is fixedly arranged on the frame component 1. The frame part 1, the motor stator 2, the reduction box body 5 and the frame part 7 do not move relatively and form a whole. Since it is usually used as a fixed end or fixedly connected to the upper link, it can be referred to as "integral joint fixed end" or "fixed end" for short.

The motor rotor 3 and the motor stator 2 are ensured to be on the same axis through a motor internal bearing, and can rotate relatively around the axis, and simultaneously output torque. One end of the motor rotor 3 penetrates through the central hole of the motor stator 2, and the other end of the motor rotor is fixedly connected with the input end 4 of the reduction gearbox. Specifically, the input end 4 of the reduction box can be a wave generator of a harmonic speed reducer or a sun gear of a planetary speed reducer. The motor rotor 3 and the input end 4 of the reduction box do not move relatively and form a whole. Because the part has higher rotating speed along with the rotation of the motor, the part can be called as an integrated joint high-speed end, which is called as a high-speed end for short.

In the figure, the speed reducing mechanism 6 of the reduction gearbox is used for reducing the higher rotating speed of the high-speed end and simultaneously increasing the moment through gear engagement. Specifically, the speed reduction mechanism 6 may be a flexible gear of a harmonic speed reducer, or a planetary gear and a planetary carrier of a planetary speed reducer. The speed reducing mechanism 6 is fixedly connected with the output end 9 of the reduction gearbox; the output end 9 of the reduction box is fixedly connected with the output end 12 of the reduction box. The speed reducing mechanism 6, the output end 9 of the reduction gearbox and the output end 12 of the reduction gearbox have no relative movement and are integrated. Because the rotating speed of the integrated joint is reduced by the reduction gearbox and is relatively slower than the rotating speed output by the motor, and the rotating motion is the final output of the joint, the integrated joint can be called as an integrated joint low-speed output end, which is called as a low-speed end for short.

Between the "low-speed end" and the "fixed end" there are arranged a slide bearing 8 and a slide bearing 13, which is also the main innovation in the solution, in fig. 3 both slide bearing 8 and slide bearing 13 are represented by black thickened members. The sliding bearing 8 is positioned between the frame part 7 and the output end 9 of the reduction gearbox, so that the coaxial shafts of the rotating shafts of the two parts and the relative position between the characteristic end faces are fixed. Likewise, a sliding bearing 13 is located between the frame member 1 and the reducer output end 12 to ensure that the axes of rotation of the two parts are coaxial and that the relative positions of the end faces of the features are fixed. With reference to the principle of operation of the sliding bearing, the sliding bearing 8 is able to constrain the rotation of the "low speed end" about the "fixed end" axis and the "low speed end" is unable to move to the left as shown in fig. 3. The sliding bearing 13 can restrain the "low speed end" from rotating about the "fixed end" axis, and the "low speed end" cannot move to the right as viewed in fig. 3. The motion output mode of the low-speed end is rotation around the fixed end and cannot axially float.

Fig. 5 to 7 are schematic structural views of the sliding bearing, and the construction and the working principle of the sliding bearing are described as follows:

fig. 5 shows a three-dimensional structural diagram of a sliding bearing 8, the basic shape of which is a circular ring shape with edges. Fig. 6 is a plan view of the sliding bearing 8. Fig. 7 is a sectional view of the sliding bearing 8 shown in fig. 6 at the C-C plane. In fig. 7, 8a and 8b are cylindrical inner and outer cylindrical surfaces, which are coaxial with each other and have sizes corresponding to the parts to be matched with the cylindrical inner and outer cylindrical surfaces, the matching relationship is between micro-gap and micro-interference, and the specific gap amount and interference amount are related to the sizes of the parts. The two parts in contact with the sliding bearing 8 are in contact with the surface 8a and the surface 8b respectively to form a sliding friction pair, which ensures that the rotating shafts of the parts (such as the frame part 7 and the output end 9 of the reduction gearbox) at the two sides of the sliding bearing 8 are coaxial.

Similarly, the 8c surface and the 8d surface are required to be parallel to each other, and the size of the surfaces is suitable for the parts matched with the surfaces, the matching relation is between micro clearance and micro interference, and the specific clearance and interference are related to the size of the parts. And the two parts in contact with the sliding bearing 8 are in contact with the 8c surface and the 8d surface respectively to form a friction pair, which ensures that the characteristic end surfaces of the parts on both sides of the bearing are parallel to each other.

When there is a tendency of relative movement between the "low-speed end" and the "fixed end" as described in connection with fig. 3, axial, radial and bending moment loads may be formed, which are converted into compression of the four faces 8a, 8b, 8c, 8d of the sliding bearing 8, and the friction pair may operate normally as long as the load generated by the compression is not greater than the allowable load of the material.

Referring to fig. 3, the robot-integrated joint has other functional components besides the main moving components, and is described as follows:

the high-speed end and the low-speed end are both provided with angle encoders, the high-speed end encoders improve response and positioning accuracy, the low-speed end encoders feed back actual arrival positions, and the stress conditions of joints can be comprehensively judged through information such as reading deviation of the high-speed end encoders and the low-speed end encoders. The encoder adopts magnetic encoder, suppresses the interference of environment (such as grease, dust, etc.) to the encoder, and the reading circuit is integrated on the drive control circuit board to further save the volume.

And a high-speed end magnet 14 is arranged at one end of the motor rotor 3 and is fixedly connected with the motor rotor 3. The magnet is used for marking the angular position of the motor rotor 3, and the angular code of the motor can be read through a magnetic field reading chip arranged on the driving circuit board 15. Therefore, the high-speed side magnet 14 and the magnetic field reading chip on the drive circuit board 15 together constitute a "high-speed side encoder". Due to the adoption of the sliding bearing, the structure is more compact, a space can be left for installing the high-speed end encoder at the tail part of the joint, otherwise, the encoder arrangement needs to additionally increase the volume of the joint.

Preferably, a low-speed end magnetic ring 11 is installed at one end of the output end 9 of the reduction gearbox and is fixedly connected with the low-speed end. Similar to the "high-speed end encoder", the low-speed end magnetic ring 11 is used to mark the "low-speed end" angular position, and the "low-speed end" angular code can be read by the low-speed encoder read head 10 (see fig. 4). Therefore, the low-speed end magnetic ring 11 and the low-speed end encoder reading head 10 together constitute a "low-speed end encoder". Due to the use of sliding bearings, the construction is compact, so that space can be left for the arrangement of the encoder, which would otherwise require an additional increase in the joint volume.

The frame part 1 is provided with a driving circuit board 15 which is used for receiving a control instruction of an upper computer, feedback data of each sensor and a power supply, controlling and driving the motor to operate according to a certain algorithm, outputting torque and finally forming torque output of a joint. Because of the sliding bearing, the structure is compact, and the space for arranging the encoder can be reserved. Otherwise, the driver would need to be located elsewhere on the structure.

As shown in fig. 3, the input end of the joint is located at the position of the plane 100 in the figure, and may be connected to the upper link or the base in a manner of screws, quick locking, etc., and the output may be selected to be located in the planes 200, 300, and 400, respectively, according to the structural requirements of the robot arm. The 400 plane is parallel to the joint rotation axis and is perpendicular to the input surface 100, and the method is suitable for application scenes that the axes of the upper and lower two stages of mechanical arm connecting rods need to form an included angle of 90 degrees in space. The 200 plane is perpendicular to the joint rotation axis, is parallel to the input surface 100, is opposite to the 100 plane, and is suitable for application scenes that the axes of the upper and lower two-stage mechanical arm connecting rods need to be coaxially connected in series. The 300 plane is perpendicular to the joint rotation axis, is parallel to the input surface 100, is on the same side of the 100 plane, and is suitable for application scenarios in which the axes of the upper and lower two-stage mechanical arm connecting rods need to be coaxially connected in series, and the input and output requirements are on the same side. The outward output direction of the integrated joint is flexible.

The sliding bearing 8 and the sliding bearing 13 can be made of various wear-resistant materials with low friction coefficients, such as: iglidur material is used, which is a high-quality wear-resistant material produced by the company igus, germany. In addition to iglidur materials, polytetrafluoroethylene, various types of nylon, plastics, bearing alloys, copper, etc. may also be used.

The structural members (such as the frame part 1 and the frame part 7) and the reduction box part (such as the reduction mechanism 6, the reduction box output end 12, the reduction box input end 4 and the like) can be made of various metal and non-metal materials, for example: hard aluminum alloy and carbon fiber are used, and materials such as PEEK high polymer material, stainless steel, titanium alloy, magnesium alloy and the like can also be used, so that the weight of the joint is further reduced. PEEK high molecular material is polyetheretherketone.

The two side parts of the sliding bearing together with the sliding bearing constitute a sliding friction pair, and therefore the material of the relevant parts also has an influence on the joint performance, for example: the use of aluminum alloy has good comprehensive performance. Meanwhile, data and literature show that stainless steel and aluminum alloy subjected to surface hardening treatment are helpful for prolonging the service life of the friction pair. The use of certain plastic articles helps to reduce the coefficient of friction within the friction pair. When the matching materials are specifically selected, the matching can be flexibly carried out according to actual needs.

The arrangement mode of the sliding bearing in the embodiment obtains higher radial positioning precision and better axial float limitation, and simultaneously has better bearing capacity.

Compared with the robot-integrated joint using the crossed roller bearing, the robot-integrated joint using the sliding bearing in the present embodiment has the following advantages:

(1) the structure is compact: as can be seen from fig. 3, the sliding bearing can be arranged by using a narrow gap between the "low-speed end" and the "fixed end", thereby saving a large space which is required to be left when the cross roller bearing is used in the conventional design. Analogy this patent adopts the slide bearing front and back, and the structural dimension contrast of integration joint, when adopting the slide bearing, structural dimension can shorten about 20%.

(2) The weight is light: from the content analysis of the utility model, it can be seen that, compared with the adoption of the crossed roller bearing, when the sliding bearing is adopted, because the sliding bearing is made of high polymer material, the crossed roller bearing is usually made of steel, the density difference is about 6 times, and after the sliding bearing is adopted, the whole structure is more compact, the material required to be used by the structural member is less, and therefore, the weight reduction is very obvious. Analogy this patent adopts the slide bearing before and after, the articulated weight contrast of integration, when adopting the slide bearing, joint weight can alleviate about 50%.

(3) The cost is low: the sliding bearing only needs to meet the requirements of form and position tolerance and dimensional tolerance among the four surfaces 8a, 8b, 8c and 8d, and the material is low in price, so that compared with a crossed roller bearing, the sliding bearing is greatly simplified in processing, and the assembling process and the debugging process are simple and much, so that the manufacturing cost is lower.

Example 2:

the cross-sectional structure of the robot-integrated joint using the slide bearing as the output end in the present embodiment is shown in fig. 11. The main differences between this embodiment and embodiment 1 are: the robot-integrated joint in this embodiment does not use a reduction mechanism, and the motor rotor 3 directly drives the output end 16.

In the robot integrated joint, a ring-shaped sliding bearing 17 with an outer edge and a ring-shaped sheet sliding bearing 18 which are arranged adjacently realize the connection of a rotary component and a fixed component so as to obtain better radial positioning precision and axial movement limitation, and have a more compact structure.

Example 3:

the cross-sectional structure of the robot-integrated joint using the slide bearing as the output end in the present embodiment is shown in fig. 12. The main differences between this embodiment and embodiment 1 are: the sliding bearing in this embodiment adopts the structural form of thin-walled ring + annular thin sheet, which is equivalent to replacing the sliding bearing 8 and the sliding bearing 13 in the embodiment 1 with the combination of the split sliding bearing.

Two groups of sliding bearings are respectively arranged at two ends of the rotary component, and each group of sliding bearings is in a thin-wall circular ring form and a circular-ring-shaped thin-sheet form. That is, at the left end in fig. 12, a thin-walled annular sliding bearing 131 is used in combination with an annular sheet-form sliding bearing 132. At the right end in fig. 12, a sliding bearing 81 in the form of a thin-walled ring is used in combination with a sliding bearing 82 in the form of a thin-walled ring in the form of a thin-walled sheet in the form of a ring. The two groups of sliding bearings realize the connection of the rotating assembly and the fixed assembly so as to obtain higher radial positioning precision and better axial float limitation, and have good bearing capacity and good process performance.

Example 4:

the cross-sectional structure of the robot-integrated joint using the slide bearing as the output end in the present embodiment is shown in fig. 13. The main differences between this embodiment and embodiment 2 are: the sliding bearing in this embodiment takes the form of a sliding bearing of the fourth form as shown in fig. 10 in combination with a sliding bearing of the second form as shown in fig. 8.

On both sides of the output end 16, a plain bearing 19 and a plain bearing 20 are arranged, respectively, wherein the plain bearing 19 is a plain bearing of a fourth form and the plain bearing 20 is a plain bearing of a second form. The two sliding bearings are matched to realize the connection of the rotary component and the fixed component (such as a frame part 21 in the figure) so as to obtain higher radial positioning precision and better axial float limitation, and the rotary bearing has good bearing capacity and good process performance.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims (9)

1. The robot integrated joint with the output end using the sliding bearing comprises a fixed assembly and a rotary assembly which rotates along a determined and unchangeable axis and outputs torque, and is characterized in that the fixed assembly is connected with the rotary assembly through the sliding bearing;

the plain bearing comprises one of four forms:

in a first form: the device comprises a first circular tube, wherein the inner surface and the outer surface of the first circular tube are two cylindrical surfaces which are coaxial with each other;

a second form: the device comprises a first wafer, wherein two planes of the first wafer are parallel to each other, and a first round hole is formed in the center of the first wafer;

a third form: the combination of the second round pipe and the second round piece; the inner surface and the outer surface of the second circular pipe are two cylindrical surfaces which are coaxial with each other; the two planes of the second wafer are parallel to each other, and a second round hole is formed in the center of the second wafer; one end face of the second round pipe is integrated with the outer periphery of the second round piece, and the axis of the second round pipe is vertical to the plane of the second round piece;

the fourth form: a combination of a third round tube and a third wafer; the inner surface and the outer surface of the third circular pipe are two cylindrical surfaces which are coaxial with each other; the two planes of the third wafer are parallel to each other, and a third round hole is formed in the center of the third wafer; one end face of the third circular pipe is integrated with the inner periphery of the third circular hole, and the axis of the third circular pipe is perpendicular to the plane where the third circular sheet is located.

2. A robot-integrated joint using a sliding bearing at an output end according to claim 1, wherein the sliding bearing of the third form is disposed at both ends of the swing member to achieve the connection of the swing member with the fixed member.

3. A robot-integrated joint using a sliding bearing at an output end according to claim 1, wherein a combination of the sliding bearing of the third form and the sliding bearing of the second form is arranged at the same time in the same region of the revolving assembly to achieve the connection of the revolving assembly with the fixing assembly.

4. A robot-integrated joint using sliding bearings at the output end according to claim 1, characterized in that at both ends of the revolving assembly, there are arranged a set of sliding bearing sets, each set of sliding bearing set comprising a combination of one sliding bearing of the first form and one sliding bearing of the second form, to achieve the connection of the revolving assembly with the fixed assembly.

5. A robot-integrated joint using a sliding bearing at an output end according to claim 1, wherein a combination of the sliding bearing of the fourth form and the sliding bearing of the second form is arranged at the same time in the same region of the revolving assembly to achieve the connection of the revolving assembly with the fixing assembly.

6. A robot-integrated joint having an output end using a sliding bearing according to claim 1, wherein the swing member includes a high-speed-end swing member and a low-speed-end swing member connected by a speed reduction mechanism; the high-speed end rotating assembly and the fixed assembly rotate relatively; the low-speed end rotating assembly and the fixed assembly rotate relatively, and the low-speed end rotating assembly and the fixed assembly are connected through the sliding bearing.

7. A robot integrated joint having an output end using a sliding bearing according to claim 6, wherein a high-speed end angle encoder is provided near the high-speed end swing module for measuring a swing angle of the high-speed end swing module, and a low-speed end angle encoder is provided near the low-speed end swing module for measuring a swing angle of the low-speed end swing module.

8. A robot-integrated joint using a sliding bearing at an output end according to claim 7, wherein the joint is provided with a driving controller for driving and controlling the rotation of the joint, and the reading device of the high-speed end angle encoder is integrally mounted on the driving controller.

9. A robot-integrated joint with a sliding bearing used at the output end according to claim 7, characterized in that the low-speed end angle encoder is a magnetic encoder.

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