CN218947725U

CN218947725U - Robot joint

Info

Publication number: CN218947725U
Application number: CN202123421068.1U
Authority: CN
Inventors: 石林; 祝汉歧; 王倩; 苏学彬; 许兴旺; 陈兆芃
Original assignee: Beijing Shunyi Siling Robot Technology Co ltd
Current assignee: Beijing Shunyi Siling Robot Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2023-05-02
Anticipated expiration: 2031-12-31

Abstract

The present disclosure provides a robot joint, comprising: a driving device for providing a driving force; a harmonic reducer connected to the driving device so as to receive a driving force of the driving device; one end of the transmission shaft is used for receiving the driving force of the driving device, and the other end of the transmission shaft penetrates through the harmonic reducer and transmits the driving force of the driving device to the harmonic reducer; and an output shaft provided to the harmonic speed reducer so as to output power outwards through the output shaft; a first support bearing is arranged between the output shaft and the transmission shaft so that the output shaft and the transmission shaft can rotate mutually; the position of the inner ring of the first support bearing and the position of the transmission shaft are kept fixed, and the position of the outer ring of the first support bearing and the position of the output shaft are kept fixed.

Description

Robot joint

Technical Field

The disclosure relates to a robot joint, which belongs to the technical field of robots.

Background

The high-speed shaft in the existing robot joint scheme is often supported by two bearings, one sides of the inner ring and the outer ring are respectively fixed by the two bearings, and the high-speed shaft is axially compressed by virtue of fixing screws of the shell.

However, because the joint structure is compact, the axial spacing of the inner ring and the outer ring of the two bearings is limited by the limited machining precision, the axial distance cannot be accurately ensured, and certain axial distance requirements are required when the parts such as the wave generator, the high-speed encoder, the brake and the like arranged on the same high-speed shaft work.

In the prior art, a flat gasket is generally added to meet the distance requirement. For example, the axial distance of each part is accurately measured, and after summation calculation, a gasket with corresponding thickness is filled, so that the scheme can ensure higher axial position accuracy, but because each joint needs to be measured for a plurality of times, the precise gasket has higher price, has the defects of low production efficiency and high cost, and is not convenient for mass production of the robot joints.

On the other hand, the assembly error accumulated by the machining error in the axial direction can be offset by the wave spring. But the harmonic reducer can produce axial force, and this axial force can surpass the axial force that the wave spring provided under certain operating mode, leads to axial float, and the wave spring is installed and can produce peristaltic because conditions such as eccentric error and rotational speed fluctuation in the downthehole, probably scratch the bearing hole and produce piece or send abnormal sound, influence the life of joint, adopt the wave spring that increases elasticity to offset axial force and can cause great influence to bearing life again, wave spring peristaltic lead to the problem of scratch bearing hole also unavoidable.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides a robot joint.

According to one aspect of the present disclosure, there is provided a robot joint, comprising:

a driving device for providing a driving force;

a harmonic reducer connected to the driving device so as to receive a driving force of the driving device;

one end of the transmission shaft is used for receiving the driving force of the driving device, and the other end of the transmission shaft penetrates through the harmonic reducer and transmits the driving force of the driving device to the harmonic reducer; and

an output shaft provided to the harmonic speed reducer so as to output power outwardly through the output shaft;

a first support bearing is arranged between the output shaft and the transmission shaft so that the output shaft and the transmission shaft can rotate mutually; the position of the inner ring of the first support bearing and the position of the transmission shaft are kept fixed, and the position of the outer ring of the first support bearing and the position of the output shaft are kept fixed.

According to the robot joint of at least one embodiment of the present disclosure, the positions of both ends of the inner ring of the first support bearing are restricted.

According to the robot joint of at least one embodiment of the present disclosure, the transmission shaft is formed with a first shaft shoulder, and one end of an inner ring of the first support bearing is limited by the first shaft shoulder; the transmission shaft is fixed with a first inner ring pressing plate, and the other end of the inner ring of the first support bearing is limited by the first inner ring pressing plate.

According to the robot joint of at least one embodiment of the present disclosure, the positions of both ends of the outer ring of the first support bearing are restricted.

According to the robot joint of at least one embodiment of the present disclosure, the output shaft is formed with a second shoulder, one end of the outer ring of the first support bearing is limited by the second shoulder, the output shaft is fixed with a first outer ring pressing plate, and the other end of the outer ring of the first support bearing is limited by the first outer ring pressing plate.

According to at least one embodiment of the present disclosure, the output shaft is rotatably supported to the output housing by a cross roller bearing.

A robot joint according to at least one embodiment of the present disclosure, further comprising:

the harmonic speed reducer further comprises a flexible gear, and the flexible gear is fixed at the other end of the torque sensor.

According to the robot joint of at least one embodiment of the present disclosure, the harmonic reducer further includes a wave generator, and the transmission shaft is connected to the wave generator to drive the wave generator to rotate.

the flexible gear mounting plate is used for fixing the flexible gear to the torque sensor, and a sealing structure is arranged between the flexible gear mounting plate and the wave generator.

a power end housing secured to the torque sensor and disposed at least partially around the drive device.

According to at least one embodiment of the present disclosure, the driving device includes:

a stator secured to the power end housing; and

and the rotor is arranged on the rotating shaft and synchronously rotates with the rotating shaft, and the rotating shaft is connected with the transmission shaft.

and the transmission shaft or the rotating shaft is rotatably supported on the power end shell through the second support bearing.

According to the robot joint of at least one embodiment of the present disclosure, the diameter of the driving shaft is smaller than the diameter of the rotating shaft, and the second support bearing is disposed at the driving shaft and limits the position of the inner ring of the second support bearing through the rotating shaft.

According to the robot joint of at least one embodiment of the present disclosure, the driving shaft is provided with a limiting part, and the inner ring of the second support bearing is positioned between the limiting part and the rotating shaft.

According to the robot joint of at least one embodiment of the present disclosure, the power end housing is formed with a bearing housing, the second support bearing is disposed at the bearing housing, and an elastic member is disposed between the second support bearing and a sidewall of the bearing housing.

the hollow shaft, the one end of hollow shaft is fixed in first outer lane clamp plate, the other end of hollow shaft passes transmission shaft and axis of rotation are located the outside of power end shell.

the cover body is arranged on the power end shell and seals the power end shell; and a third support bearing is arranged between the cover body and the hollow shaft, so that relative rotation can occur between the cover body and the hollow shaft.

According to the robot joint of at least one embodiment of the present disclosure, the hollow shaft is provided with a magnetic ring mounting plate, and the third support bearing is rotatably provided to the magnetic ring mounting plate.

the high-speed side encoder is arranged on the cover body to detect the position of the driving device.

the magnetic ring of the low-speed side encoder is arranged on the magnetic ring mounting plate, the reading head of the low-speed side encoder is fixed with the position of the cover body, and the reading head of the low-speed side encoder is matched with the magnetic ring of the low-speed side encoder.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a robot joint according to one embodiment of the present disclosure.

100 robot joint

110 driving device

111 stator

112 rotor

113 rotating shaft

120 harmonic speed reducer

121 rigid wheel

122 flexspline

123 wave generator

130 transmission shaft

140 output shaft

150 first support bearing

160 power end shell

170 first inner race platen

180 first outer ring pressing plate

190 cross roller bearing

200 output end shell

210 second inner ring pressing plate

220 second outer ring pressing plate

230 torque sensor

240 flexspline mounting plate

250 sealing structure

260 second support bearing

270 limit part

280 bearing seat

290 elastic element

300 hollow shaft

310 third support spring

320 cover body

330 magnetic ring mounting plate

340 high-speed side encoder

350 low-speed side encoder

360 expansion sleeve pressing plate

370 expansion sleeve.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a robotic joint 100 according to one embodiment of the present disclosure.

As shown in fig. 1, the present disclosure provides a robotic joint 100 comprising: a drive 110, a harmonic reducer 120, a drive shaft 130, an output shaft 140, and a first support bearing 150.

The driving device 110 is used for providing driving force; in the present disclosure, the driving device 110 includes a stator 111 and a rotor 112, where the stator 111 is disposed on the power end housing 160, and the stator 111 is fixed to the power end housing 160 by, for example, gluing.

The rotor 112 is provided to the rotation shaft 113 and rotates in synchronization with the rotation shaft 113, wherein the rotation shaft 113 is connected to the transmission shaft 130, and the rotation shaft 113 is connected to the transmission shaft 130 by, for example, fastening members or gluing.

In the present disclosure, the harmonic reducer 120 is connected to the driving device 110 so as to receive the driving force of the driving device 110; the harmonic reducer 120 comprises a rigid gear 121, a flexible gear 122 and a wave generator 123; wherein the transmission shaft 130 is connected to the wave generator 123 to drive the wave generator 123 to rotate.

As shown in fig. 1, a flexspline 122 of a harmonic reducer 120 of the present disclosure is fixed, thereby outputting power through a rigid spline 121 of the harmonic reducer 120; of course, those skilled in the art will appreciate that the present disclosure may also secure the rigid gear 121, for example, to the power end housing 160, the output end housing 200, or the torque sensor 230, and form the flex gear 122 as the output member.

One end of the transmission shaft 130 is used for receiving the driving force of the driving device 110, and the other end of the transmission shaft 130 passes through the harmonic reducer 120 and transmits the driving force of the driving device 110 to the harmonic reducer 120.

For example, one end of the transmission shaft 130 is connected to the rotation shaft 113 of the driving device 110, and the other end of the transmission shaft 130 is connected to the wave generator 123 of the harmonic reducer 120.

The output shaft 140 is provided to the harmonic reducer 120 so as to output power outwards through the output shaft 140; specifically, as shown in fig. 1, the output shaft 140 is fixedly connected to the rigid wheel 121 of the harmonic reducer 120, and of course, the rigid wheel of the harmonic reducer 120 may also exist directly as an output member.

In the present disclosure, a first support bearing 150 is disposed between the output shaft 140 and the transmission shaft 130, so that the output shaft 140 and the transmission shaft 130 can rotate with each other; the position of the inner ring of the first support bearing 150 and the transmission shaft 130 remains fixed, and the position of the outer ring of the first support bearing 150 and the output shaft 140 remains fixed.

That is, four sides of the first support bearing 150 are fixed to achieve complete axial positioning of the first support bearing 150, and at this time, harmonic axial force of the harmonic reducer 120 can be applied to the first support bearing 150 and borne by the first support bearing 150.

Accordingly, the second support bearing 260 may be set to an axially floating state and used to counteract a machining error by a small elastic member, so that the characteristics of simple installation, low cost, high reliability, and long life can be achieved.

Specifically, the positions of both ends of the inner ring of the first support bearing 150 are restricted, and the positions of both ends of the outer ring of the first support bearing 150 are restricted.

Structurally, the transmission shaft 130 is formed with a first shoulder, and one end of the inner ring of the first support bearing 150 is limited by the first shoulder; the transmission shaft 130 is fixed with a first inner ring pressing plate 170, and the other end of the inner ring of the first support bearing 150 is limited by the first inner ring pressing plate 170; preferably, the first inner race pressing plate 170 may be fixed to the driving shaft 130 by a fastening element or by gluing.

For the outer ring of the first support bearing 150, the output shaft 140 is formed with a second shoulder, one end of the outer ring of the first support bearing 150 is limited by the second shoulder, the output shaft 140 is fixed with a first outer ring pressing plate 180, and the other end of the outer ring of the first support bearing 150 is limited by the first outer ring pressing plate 180; preferably, the first outer ring pressing plate 180 may be fixed to the output shaft 140 by a fastening element or by gluing.

In the present disclosure, the output shaft 140 is rotatably supported by the output housing 200 through the crossed roller bearing 190, and the position of the crossed roller bearing 190 may be limited by the second inner ring pressing plate 210 and the second outer ring pressing plate 220, which is largely used for the robot joints, and will not be described in detail herein.

In one embodiment, the robot joint 100 may further include a torque sensor 230, one end of the torque sensor 230 is fixed to the output end housing 200, the harmonic reducer 120 further includes a flexible gear 122, and the flexible gear 122 is fixed to the other end of the torque sensor 230, so that the torque output from the robot joint to the outside is determined by the torque applied to the torque sensor 230 by the flexible gear 122 detected by the torque sensor 230.

The power end housing 160 is secured to the torque sensor 230 and is disposed at least partially around the drive device 110; that is, the output housing 200, the torque sensor 230, and the power end housing 160 are fixed together, and in particular, when the robot joint does not include the torque sensor 230, the output housing 200 and the power end housing 160 may be directly fixed together.

On the other hand, the torque sensor 230 may be fixed to the output housing 200 or to the power end housing 160 as long as it is fixed to a non-moving part; in the present disclosure, the torque sensor 230, the output end housing 200, and the power end housing 160 are fixed together.

To achieve fixation of the flexspline 122, the robotic joint 100 of the present disclosure may further include a flexspline mounting plate 240, where the flexspline mounting plate 240 fixes the flexspline 122 to the torque sensor 230, and a sealing structure 250 is disposed between the flexspline mounting plate 240 and the wave generator 123, and preferably, the sealing structure 250 is an oil seal.

Therefore, the wave generator and the transmission shaft oil seal are sealed by customizing the oil seal mounting hole on the harmonic reducer 120, and the device has the characteristics of low processing difficulty, high reliability and difficult oil leakage in a high-temperature environment.

In this disclosure, the robot joint 100 further includes a second support bearing 260, and the transmission shaft 130 or the rotation shaft 113 is rotatably supported on the power end housing 160 through the second support bearing 260.

In the present disclosure, the diameter of the driving shaft 130 is smaller than the diameter of the rotating shaft 113, and the second support bearing 260 is disposed at the driving shaft 130 and limits the position of the inner ring of the second support bearing 260 through the rotating shaft 113.

Preferably, the transmission shaft 130 is provided with a limiting portion 270, and the inner ring of the second support bearing 260 is positioned between the limiting portion 270 and the rotation shaft 113; in the present disclosure, the limiting portion 270 is a snap spring disposed on the transmission shaft 130, and of course, the limiting portion 270 may be a member having an axial limiting function, such as a shoulder.

On the other hand, the power end housing 160 is formed with a bearing housing 280, the second support bearing 260 is disposed on the bearing housing 280, and an elastic member 290 is disposed between the second support bearing 260 and a sidewall of the bearing housing 280, and preferably, the elastic member 290 may be a wave spring.

The robot joint 100 further includes: and a hollow shaft 300, wherein one end of the hollow shaft 300 is fixed to the first outer ring pressing plate 180, and the other end of the hollow shaft 300 passes through the transmission shaft 130 and the rotation shaft 113, and is positioned outside the power end housing 160.

Accordingly, the cover 320 is disposed on the power end housing 160, and closes the power end housing 160; a third support bearing 310 is disposed between the cover 320 and the hollow shaft 300, so that the cover 320 and the hollow shaft 300 can rotate relatively.

The hollow shaft 300 is provided with a magnetic ring mounting plate 330, the third support bearing 310 is disposed on the magnetic ring mounting plate 330, and at this time, the hollow shaft 300 and the magnetic ring mounting plate 330 rotate synchronously, that is, the cover 320 may be directly disposed on the hollow shaft 300 through the third support bearing 310, or may be indirectly disposed on the hollow shaft 300 through the third support bearing 310 and the magnetic ring mounting plate 330.

In this disclosure, the robot joint 100 further includes: the high-speed side encoder 340 is disposed on the cover 320 to detect the position of the driving device 110, and further, the rotational speed of the driving device 110, that is, the rotational speed of the rotor, may be obtained by obtaining the rotational speed of the driving device 110 from the position of the driving device 110, for example, the magnetic ring of the high-speed side encoder 340 is disposed on the rotating shaft 113, the reading head of the high-speed side encoder 340 is disposed on the cover 320, and the reading head of the high-speed side encoder 340 is matched with the magnetic ring of the high-speed side encoder 340.

In another aspect, the robot joint 100 further includes: the magnetic ring of the low-speed side encoder 350 is disposed on the magnetic ring mounting plate 330, and the reading head of the low-speed side encoder 350 may be fixed to the position of the cover 320, so as to detect the position of the hollow shaft 300, and obtain the rotation speed of the output shaft 140 through the position of the hollow shaft 300.

In the disclosure, the magnetic ring mounting plate 330 and the hollow shaft 300 can be fixed through the expansion sleeve 370, the magnetic ring of the low-speed side encoder 350 is mounted on the magnetic ring mounting plate 330 again, the stress on the hollow shaft 300 is uniform, the mounting surface of the low-speed side encoder 350 cannot be deformed, the distance requirement between the magnetic ring of the encoder and the reading head can be well ensured, and the screws are all arranged on the upper side and can be removed through axial disassembly, so that the magnetic ring encoder has the characteristics of convenience in maintenance and high reliability.

Preferably, the hollow shaft 300 is further provided with an expansion sleeve pressing plate 360, so that the expansion sleeve 330 and the hollow shaft 300 are kept fixed by the expansion sleeve pressing plate 360.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. A robotic joint, comprising:

a driving device for providing a driving force;

2. The robotic joint of claim 1, wherein the positions of both ends of the inner ring of the first support bearing are limited.

3. The robotic joint of claim 2, wherein the drive shaft is formed with a first shoulder, one end of an inner ring of the first support bearing being restrained by the first shoulder; the transmission shaft is fixed with a first inner ring pressing plate, and the other end of the inner ring of the first support bearing is limited by the first inner ring pressing plate.

4. The robotic joint of claim 1, wherein the positions of both ends of the outer ring of the first support bearing are limited.

5. The robotic joint of claim 4, wherein the output shaft is formed with a second shoulder, one end of the outer ring of the first support bearing is restrained by the second shoulder, the output shaft is fixed with a first outer ring pressure plate, and the other end of the outer ring of the first support bearing is restrained by the first outer ring pressure plate.

6. The robotic joint of claim 1, wherein the output shaft is rotatably supported to the output housing by a cross roller bearing.

7. The robotic joint of claim 6, further comprising:

8. The robotic joint of claim 7, wherein the harmonic reducer further comprises a wave generator, the drive shaft being coupled to the wave generator to drive the wave generator in rotation.

9. The robotic joint of claim 8, further comprising:

10. The robotic joint of claim 7, further comprising:

11. The robotic joint of claim 10, wherein the drive means comprises:

a stator secured to the power end housing; and

12. The robotic joint of claim 11, further comprising:

13. The robotic joint of claim 12, wherein the diameter of the drive shaft is smaller than the diameter of the rotation shaft, and the second support bearing is disposed on the drive shaft and constrains the position of the inner ring of the second support bearing by the rotation shaft.

14. The robotic joint of claim 13, wherein the drive shaft is provided with a stop and such that the inner ring of the second support bearing is located between the stop and the rotational shaft.

15. The robotic joint of claim 14, wherein the power end housing is formed with a bearing mount, the second support bearing is disposed on the bearing mount, and an elastic member is disposed between the second support bearing and a sidewall of the bearing mount.

16. The robotic joint of claim 5, further comprising:

17. The robotic joint of claim 16, further comprising:

18. The robotic joint of claim 17, wherein the hollow shaft is provided with a magnetic ring mounting plate, and the third support bearing is rotatably disposed on the magnetic ring mounting plate.

19. The robotic joint of claim 17, further comprising:

20. The robotic joint of claim 18, further comprising: