WO2021062636A1

WO2021062636A1 - Robot and integrated joint thereof

Info

Publication number: WO2021062636A1
Application number: PCT/CN2019/109470
Authority: WO
Inventors: 李海雷; 赵明国; 贺小玉; 董浩; 熊友军
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08
Also published as: CN112888536B; CN112888536A

Abstract

Disclosed are a robot and an integrated joint thereof, belonging to the technical field of humanoid service robots. By means of a robot integrated joint (100), an electric motor assembly (10), a harmonic reducer (20), an output shaft (30), an electric motor end encoder (61), an output end encoder (62) and an electric motor driver (63) are integrated into a whole. The electric motor assembly (10) provides power, and an electric motor shaft (12) rotates at a high speed and transmits the power to the harmonic reducer (20). A wave generator (21) of the harmonic reducer (20) drives a flexible gear (22) to flexibly deform, the flexible gear (22) and a rigid gear (23) are in meshing transmission, the rigid gear (23) is fixed to an electric motor frame (11), the flexible gear (22) rotates at a low speed, and the flexible gear (22) drives the output shaft (30) to rotate so as to output power. The output shaft (30) is supported on a bearing supporting structure (40) by means of a first bearing (51). The electric motor end encoder (61) is used for measuring the rotation angle of the electric motor shaft (12), the output end encoder (62) is used for measuring the rotation angle of the output shaft (30), and the electric motor driver (63) is used for driving the electric motor shaft (12) to rotate so as to output a preset displacement, speed and torque. The robot integrated joint (100) is simple and compact in structure, rapid to assemble and manufacture, convenient to electrically connect, lightweight and low in cost.

Description

Robot and its integrated joints

Technical field

This application belongs to the technical field of humanoid service robots, and relates to robots and their integrated joints.

Background technique

The robot joint is an important part of the robot, and its performance directly affects the performance of the robot. Traditional robot joints are designed with mature components such as finished motors, reducers, encoders and drivers. In the design process, they often encounter complex structural layouts, complex structural parts design, heavy weight, and electrical device wiring installation due to too many components. Problems such as complexity, high cost, and difficulty in debugging the whole machine. These problems severely restrict the rapid iteration of robotic products.

Summary of the invention

technical problem

The purpose of the embodiments of the present application is to provide a robot integrated joint and a robot, so as to solve the technical problems of complicated joint structure layout of the existing robot, complicated structural part design, heavy weight, and difficult implementation.

The solution to the problem

Technical solutions

In order to solve the above technical problems, the technical solutions adopted in the embodiments of this application are:

In the first aspect, a robot integrated joint is provided, including:

A motor assembly, which includes a motor frame and a motor shaft rotatably mounted on the motor frame;

A harmonic reducer, which includes a wave generator driven by the motor shaft, a flexspline driven and deformed by the wave generator, and a rigid wheel fixed on the motor frame and meshed with the flexspline;

An output shaft, which is coaxially mounted on the flexspline;

Bearing support structure, which is installed on the motor frame;

A first bearing, which supports the output shaft in the bearing support structure;

A motor-end encoder, which is used to detect the rotation angle of the motor shaft;

An output encoder for detecting the rotation angle of the output shaft; and

The motor driver is electrically connected with the motor end encoder and the output end encoder.

In one embodiment, the output shaft has a first through hole extending in the axial direction, the motor shaft has a second through hole extending in the axial direction, and the output shaft is connected with a coaxially arranged hollow shaft, so The hollow shaft is disposed through the second through hole.

In one embodiment, an adapter flange is installed at one end of the motor shaft, the adapter flange has a through hole extending along the axial direction of the hollow shaft, and the hollow shaft passes through the through hole , The wave generator is installed on the adapter flange.

In an embodiment, a sealing structure is provided between the motor shaft and the hollow shaft.

In one embodiment, the sealing structure includes a first sealing ring and/or a second bearing mounted on the outer surface of the hollow shaft; the sealing structure includes the first sealing ring and the second bearing. In the case of a bearing, the first sealing ring and the second bearing are spaced apart along the axial direction of the hollow shaft.

In one embodiment, the bearing support structure includes a bearing seat fixed to the motor frame, an outer ring pressure plate installed on the bearing seat, an inner ring pressure plate installed on the output shaft, and the outer ring The pressure plate abuts on the outer ring of the first bearing, the inner ring pressure plate abuts on the inner ring of the first bearing, and a second sealing ring is arranged between the outer ring pressure plate and the inner ring pressure plate.

In one embodiment, the motor assembly further includes a stator fixed to the motor frame, a rotor fixed to the motor shaft, a cover mounted on one end of the motor frame, and supporting the motor shaft in the A third bearing on the motor frame and a fourth bearing supporting the motor shaft on the cover body, and the motor shaft is disposed through the cover body.

In an embodiment, the motor-end encoder is installed on the part of the motor shaft that passes through the cover; the output-end encoder is installed on the part of the hollow shaft that passes through the cover, and the The encoder at the output end and the encoder at the motor end are arranged at intervals.

In one embodiment, the motor driver is located at an end of the hollow shaft away from the output shaft, and the motor end encoder, the output end encoder, and the motor driver are sequentially along the axial direction of the motor shaft. A housing is provided outside the motor driver, the output end encoder and the motor end encoder, and the housing is installed on the motor frame.

In an embodiment, the end of the hollow shaft away from the output shaft is supported on the housing through a fifth bearing, and the housing is provided with a mounting hole where the fifth bearing is provided. One end of the hollow shaft passes through the mounting hole.

In one embodiment, the housing is a metal part, the motor driver has a power tube, and the heat generated by the power tube is conducted to the surface of the housing through a heat-conducting part, and two ends of the heat-conducting part are respectively against the surface of the housing. Set in the power tube and the housing.

In an embodiment, an electromagnetic shielding plate is provided between the output encoder and the motor driver.

In one embodiment, an electrical mounting seat is provided on the motor frame, and the electrical mounting seat is provided with an interface circuit board electrically connected to the motor driver, and the interface circuit board is provided with a connector and an indicator light.

In a second aspect, a robot is provided, including the above-mentioned robot integrated joint.

The beneficial effect of the robot integrated joint and the robot provided by the embodiments of the present application is that the robot integrated joint integrates a motor assembly, a harmonic reducer, an output shaft, a motor-end encoder, an output-end encoder, and a motor driver. The motor components provide power, the motor shaft rotates at a high speed, and the power is transmitted to the harmonic reducer. The wave generator of the harmonic reducer drives the flexible wheel to flexibly deform. The flexible wheel meshes with the rigid wheel for transmission, and the rigid wheel is fixed to the motor frame. The flexible wheel rotates at low speed, and the flexible wheel drives the output shaft to rotate to output power. Wherein, the output shaft is supported on the bearing support structure through the first bearing. The motor-side encoder is used to detect the rotation angle of the motor shaft, and the output-side encoder is used to detect the rotation angle of the output shaft, and drive the motor shaft to rotate through the motor driver to output a predetermined displacement, speed and torque to achieve precise motion control. With the placement of the motor driver, only two cables, the power cord and the communication cord, are needed to connect with external devices, which greatly reduces the complexity of wiring on the robot. The integrated joint of the robot has a simple and compact structure, rapid assembly and manufacturing, convenient electrical connection, small weight and low cost, and can realize the individual debugging of a single joint. After the debugging is passed, it can be installed on the whole machine for debugging.

The beneficial effects of the invention

Brief description of the drawings

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only of the present application. For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative labor.

FIG. 1 is a three-dimensional assembly diagram of a robot integrated joint provided by an embodiment of the application;

Fig. 2 is another perspective assembly view of the robot integrated joint of Fig. 1;

Figure 3 is a side view of the robot integrated joint of Figure 1;

Fig. 4 is a cross-sectional view of the robot integrated joint of Fig. 3 along the line A-A;

Fig. 5 is a three-dimensional exploded view of the robot integrated joint of Fig. 1;

Fig. 6 is a three-dimensional exploded view of the bearing support structure, the first bearing and the output shaft used in the robot integrated joint of Fig. 5;

Fig. 7 is a three-dimensional exploded view of the harmonic reducer used in the robot integrated joint of Fig. 5;

Figure 8 is a further perspective exploded view of the robot integrated joint of Figure 5, wherein the bearing support structure, the first bearing, the output shaft, the motor end encoder, the output end encoder, the motor driver, and the housing are not shown;

FIG. 9 is a three-dimensional exploded view of the motor-side encoder, the output-side encoder, the motor driver and the support used in the robot integrated joint of FIG. 5;

Figure 10 is a three-dimensional assembly diagram of a robot provided by an embodiment of the application;

FIG. 11 is a three-dimensional assembly diagram of a robot provided by another embodiment of the application;

Fig. 12 is a three-dimensional assembly diagram of a robot provided by another embodiment of the application.

Invention embodiment

Embodiments of the present invention

In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" "," "horizontal", "top", "bottom", "inner", "outer" and other directions or positional relations are based on the positions or positional relations shown in the drawings, and are only for the convenience of describing and simplifying the embodiments of the present application. The description does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, "plurality" means two or more, unless otherwise clearly defined.

In the embodiments of this application, unless otherwise clearly specified and limited, the terms "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection or a fixed connection. Disassembled connection, or integrated; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the embodiments of the present application can be understood according to specific circumstances.

1 and 4, an embodiment of the present application provides a robot integrated joint 100, including a motor assembly 10, a harmonic reducer 20, an output shaft 30, a bearing support structure 40, a first bearing 51, and a motor-end encoder 61 , The output end encoder 62, the motor driver 63. The motor assembly 10 includes a motor frame 11 and a motor shaft 12 rotatably mounted on the motor frame 11. The harmonic reducer 20 includes a wave generator 21 driven by the motor shaft 12, a flexible wheel 22 driven and deformed by the wave generator 21, and a rigid wheel 23 fixed on the motor frame 11 and meshing with the flexible wheel 22. Please refer to FIG. 7, the flexspline 22 includes a cylindrical portion 221 and an annular portion 222 formed on an edge of the cylindrical portion 221 extending in the radial direction. The outer peripheral surface of the cylindrical portion 221 is provided with an outer gear ring, and the inner peripheral surface of the rigid wheel 23 is provided with an inner gear ring, and the outer gear ring and the inner gear ring are meshed for transmission. The wave generator 21 includes a cam 211 with different radial lengths and a rolling bearing 212 arranged outside the cam 211. 1 and 4, the cylindrical portion 221 is sleeved on the outside of the wave generator 21, and the rotation of the wave generator 21 will cause the flexspline 22 to be flexibly deformed. The output shaft 30 is coaxially mounted on the ring portion 222 of the flexspline 22 and outputs power through the output shaft 30. The bearing support structure 40 is installed on the motor frame 11. The first bearing 51 supports the output shaft 30 in the bearing support structure 40. The motor-end encoder 61 is used to detect the rotation angle of the motor shaft 12. The output encoder 62 is used to detect the rotation angle of the output shaft 30. The motor driver 63 is electrically connected to the motor end encoder 61 and the output end encoder 62.

Compared with the prior art, the robot integrated joint 100 provided by the present application combines a motor assembly 10, a harmonic reducer 20, an output shaft 30, a motor-end encoder 61, an output-end encoder 62, and a motor driver. 63 integrated. The motor assembly 10 provides power, the motor shaft 12 rotates at a high speed, and transmits the power to the harmonic reducer 20. The wave generator 21 of the harmonic reducer 20 drives the flexible wheel 22 to flexibly deform. The flexible wheel 22 meshes with the rigid wheel 23 for transmission, and the rigid wheel 23 is fixed to the motor frame 11, the flexible wheel 22 rotates at a low speed, and the flexible wheel 22 drives the output shaft 30 Rotate to output power. Wherein, the output shaft 30 is supported on the bearing support structure 40 through the first bearing 51. The motor-side encoder 61 is used to detect the rotation angle of the motor shaft 12, and the output-side encoder 62 is used to detect the rotation angle of the output shaft 30, and drive the motor shaft 12 to rotate through the motor driver 63 to output a predetermined displacement, speed and torque to achieve precision Motion control. With the placement of the motor driver 63, only two cables, a power cable and a communication cable, are needed to connect with external devices, which greatly reduces the complexity of wiring on the robot. The robot integrated joint 100 has a simple and compact structure, rapid assembly and manufacturing, convenient electrical connection, small weight and low cost, and can realize the individual debugging of a single joint, and then install it on the whole machine for debugging after the debugging is passed. When designing the robot, the prototype can be built and iterated quickly according to the series of integrated joints, and the productization of the robot can be quickly realized.

In another embodiment of the present application, the first bearing 51 can be a cross-roller bearing, a four-point contact ball bearing or a double-row angular contact ball bearing that can simultaneously bear radial force, axial force, and bending moment loads.

In another embodiment of the present application, the flexspline 22 of the harmonic reducer 20 is fixed on the output shaft 30 by a screw 223, which is easy to assemble. The output shaft 30 carries the torque output of the flexspline 22 of the harmonic reducer 20 and an external load. The external load may be an axial force, a radial force, or a bending moment.

Referring to FIGS. 4, 6, and 8, in another embodiment of the present application, the output shaft 30 has a first through hole 31 extending in the axial direction, and the motor shaft 12 has a second through hole 121 extending in the axial direction. The output shaft 30 is connected with a coaxially arranged hollow shaft 70, the hollow shaft 70 rotates following the output shaft 30, and the hollow shaft 70 is disposed through the second through hole 121. The output shaft 30 is provided with a first through hole 31, and the hollow shaft 70 is connected to the output shaft 30. This solution facilitates cable routing and makes the overall structure more compact.

4 and 8, in another embodiment of the present application, an adapter flange 13 is installed at one end of the motor shaft 12, and the adapter flange 13 has a through hole 131 extending along the axial direction of the hollow shaft 70, The hollow shaft 70 passes through the through hole 131, and the wave generator 21 is installed on the adapter flange 13. The solution is easy to assemble. When the motor shaft 12 rotates, the adapter flange 13 rotates with the motor shaft 12, and the wave generator 21 rotates with it. Specifically, the adapter flange 13 may be fixed to one end of the motor shaft 12 by screws 132.

Referring to 4, FIG. 5, and FIG. 8, in another embodiment of the present application, a sealing structure is provided between the motor shaft 12 and the hollow shaft 70. The hollow shaft 70 is connected to the output shaft 30, the hollow shaft 70 serves as a low-speed shaft, and the motor shaft 12 serves as a high-speed shaft. The sealing structure is provided to realize the sealing between the hollow shaft 70 and the motor shaft 12, and prevent foreign objects from entering the motor shaft 12 and the following housing 80 and affecting the normal operation of the integrated joint, so that the integrated joint has a certain dustproof and waterproof function , Improve the reliability of integrated joints.

In another embodiment of the present application, the sealing structure includes a first sealing ring 52 and a second bearing 53 mounted on the outer surface of the hollow shaft 70. The first sealing ring 52 and the second bearing 53 are along the axial direction of the hollow shaft 70. Interval settings. The first sealing ring 52 has a good sealing effect and can be used in relatively harsh working conditions. The second bearing 53 can reduce the resistance to the motor shaft 12 and can be used for sealing under good working conditions. The combined use of the first sealing ring 52 and the second bearing 53 effectively realizes the sealing and waterproofing between the motor shaft 12 and the hollow shaft 70, and can reduce the resistance of the motor shaft 12 as a high-speed shaft. It is understandable that the sealing structure can also be configured with only the first sealing ring 52 or the second bearing 53, which can also achieve sealing and waterproofing between the motor shaft 12 and the hollow shaft 70 to a certain extent.

Specifically, the adapter flange 13 is fixed at the end of the hollow shaft 70, and the first sealing ring 52 and the second bearing 53 are axially spaced apart on the inner wall of the through hole 131 of the adapter flange 13 and the outer peripheral surface of the hollow shaft 70. between. The adapter flange 13 is provided with an installation position for installing the second bearing 53. The use of the adapter flange 13 facilitates the assembly of the first sealing ring 52 and the second bearing 53.

4 to 6, in another embodiment of the present application, the bearing support structure 40 includes a bearing housing 41 fixed to the motor frame 11, an outer ring pressing plate 42 mounted on the bearing housing 41, and mounted on the output shaft 30 The inner ring pressing plate 43, the outer ring pressing plate 42 abuts against the outer ring of the first bearing 51, and the inner ring pressing plate 43 abuts against the inner ring of the first bearing 51. This solution enables the first bearing 51 to be supported on the bearing support structure 40 , So as to allow the output shaft 30 to rotate freely. Specifically, the bearing seat 41, the outer ring pressing plate 42, and the inner ring pressing plate 43 are generally annular. The outer ring pressing plate 42, the bearing seat 41, and the rigid wheel 23 are sequentially stacked in the axial direction, and the rigid wheel 23 is pressed against the bearing seat 41. On the motor frame 11. The outer ring pressing plate 42, the output end bearing seat 41 and the rigid wheel 23 are fixed to one end of the motor frame 11 by screws 46, and a plurality of circumferentially distributed parts are assembled by a plurality of circumferentially distributed screws 46, which is convenient for assembly. The inner ring pressing plate 43 is fixed on the output shaft 30, and the inner ring of the first bearing 51 is pressed on the output shaft 30 by the inner ring pressing plate 43 to limit the axial position of the inner ring. The outer ring pressing plate 42 is installed on the bearing seat 41, and the outer ring of the first bearing 51 is pressed by the outer ring pressing plate 42 to limit the axial position of the outer ring. This solution is easy to assemble and ensures that the first bearing 51 is reliably installed on the bearing support structure 40.

Referring to FIGS. 1 and 4 to 6, in another embodiment of the present application, a second sealing ring 44 is provided between the outer ring pressing plate 42 and the inner ring pressing plate 43. A third sealing ring 45 is provided between the motor frame 11 and the bearing seat 41. The above solutions all prevent the leakage of lubricating oil and the entry of foreign objects, so that the integrated joint has a certain dustproof and waterproof function.

4 and 8, in another embodiment of the present application, the motor assembly 10 further includes a stator 14 fixed to the motor frame 11, a rotor 15 fixed to the motor shaft 12, and a cover mounted on one end of the motor frame 11. The body 16, a third bearing 17 supporting the motor shaft 12 on the motor frame 11, and a fourth bearing 18 supporting the motor shaft 12 on the cover 16, and the motor shaft 12 passes through the cover 16. The solution is easy to assemble. The rotor 15 is rotatably mounted on the stator 14. The stator 14 is energized to generate a changing electromagnetic field. The rotor 15 rotates due to the force in the electromagnetic field, which drives the motor shaft 12 to rotate. Specifically, the motor frame 11 has an installation position for installing the third bearing 17, the third bearing 17 realizes axial positioning through the limit step 122 of the motor shaft 12 and the annular baffle 19, and the annular baffle 19 abuts against the third bearing. The outer ring of the bearing 17 is fixed on the outer frame of the motor. The fourth bearing 18 is axially limited by another limiting step 123 of the motor shaft 12 and a limiting step 161 of the cover 16. The cover 16 can be fixed to one end of the motor frame 11 by screws.

In another embodiment of the present application, the stator 14 and the rotor 15 are combined to form a frameless motor with a compact structure. Alternatively, the stator 14 and the rotor 15 may also be combined to form an outer rotor motor. Specifically, the stator 14 can be fixed on the motor frame 11 by means of gluing, interference fit, or screw connection, and the rotor 15 can be mounted on the motor shaft 12 by means of bonding, interference fit, or screw connection. This solution is easy to assemble.

4 and 5, in another embodiment of the present application, the motor-end encoder 61 is installed on the part where the motor shaft 12 passes through the cover 16 to realize the position, speed and commutation control of the motor. The output end encoder 62 is installed on the part of the hollow shaft 70 that passes through the cover 16, and the output end encoder 62 and the motor end encoder 61 are spaced apart. The motor-side encoder 61 and the output-side encoder 62 realize the fully closed-loop control of the integrated joint, and finally realize the three-loop control of the motor position loop, speed loop, and current loop.

Specifically, referring to FIG. 4 and FIG. 9, the motor-side encoder 61 and the output-side encoder 62 may be a magnetic induction type absolute encoder, a photoelectric type absolute encoder, or a capacitive inductance type absolute encoder, etc., which can be selected as required. For example, the motor-end encoder 61 adopts a photoelectric absolute encoder. When installing, the code disc 611 is fixed on the motor shaft 12, the code disc 611 has vias distributed in the circumferential direction, and the signal transceiver 612 is fixed on the cover 16. The transceiver device 612 is electrically connected to the motor driver 63. The light source and the light receiving element in the signal transceiving device 612 are distributed on both sides of the code wheel 611. The light from the light source passes through the through hole of the code disc 611 through the lens, is received by two light receiving elements, and undergoes signal processing to realize the detection of the rotation angle of the motor shaft.

In another embodiment of the present application, a support 64 is provided on the cover 16, the signal transceiving device 622 of the output encoder 62 is mounted on the support 64, and the code disc 621 of the output encoder 62 is mounted on the hollow shaft 70 Following the rotation of the hollow shaft 70, the rotation angle detection of the hollow shaft 70 is realized, and the closed-loop control of the position of the output shaft 30 is realized. This solution is easy to assemble, so that the encoder 62 at the output end and the encoder 61 at the motor end are kept spaced apart without interference. Further, the outer peripheral surface of the hollow shaft 70 is fixedly provided with a transmission shaft 67, the transmission shaft 67 rotates following the hollow shaft 70, and the code disc 621 of the output end encoder 62 is mounted on the transmission shaft 67. Specifically, the transmission shaft 67 can be fixed on the hollow shaft 70 by a jack wire arranged in the radial direction, and the connection is reliable.

4, 5, and 9, in another embodiment of the present application, the motor driver 63 is located at one end of the hollow shaft 70 away from the output shaft 30, and the motor end encoder 61, the output end encoder 62 and the motor driver 63 are located along The axial directions of the motor shaft 12 are arranged in sequence, that is, the motor driver 63 is installed on the rearmost side of the two encoders. It is convenient for installation and wiring, electrical system debugging, and convenient for the wiring design during robot design and installation.

Referring to FIGS. 1 to 5, in another embodiment of the present application, the motor driver 63, the output end encoder 62 and the motor end encoder 61 are externally provided with a housing 80, and the housing 80 is installed on the motor frame 11. The motor-end encoder 61, the output-end encoder 62 and the motor driver 63 are protected by the housing 80. Specifically, the housing 80 can be fixed on the cover 16 by screws. One end of the hollow shaft 70 away from the output shaft 30 is supported on the housing 80 through a fifth bearing 71. The housing 80 is provided with a mounting hole 81 where the fifth bearing 71 is provided, and one end of the hollow shaft 70 passes through the mounting hole 81 to facilitate the line to pass through the integrated joint.

In another embodiment of the present application, the motor frame 11 is roughly cylindrical and has a compact structure. Corresponding components can be installed in the motor frame 11. When the housing 80 is installed on the motor frame 11, a substantially cylindrical structure is formed, and the overall structure is compact.

In another embodiment of the present application, the housing 80 is a metal piece, and the motor driver 63 has a power tube. The heat generated by the power tube is directly transferred to the surface of the housing 80 through a heat-conducting part (not shown). The two ends of the heat-conducting part are respectively It is placed against the power tube and the housing 80, which improves the heat dissipation level of the integrated joint and the rated torque output capacity.

Please refer to FIG. 4, FIG. 5, and FIG. 9. In another embodiment of the present application, an electromagnetic shielding plate 65 is provided between the output encoder 62 and the motor driver 63. Isolate the magnetic field generated by the motor driver 63 to prevent interference to the output end encoder 62 and the motor end encoder 61, and ensure the reliable operation of various parts. Specifically, the cover 16 is provided with a mounting post 66 for mounting the electromagnetic shielding plate 65 and the motor driver 63, so that the electromagnetic shielding plate 65 and the motor driver 63 are arranged at intervals. The circuit board of the motor driver 63 abuts against the end of the mounting post 66, and the circuit board is fixed on the mounting post 66 by screws.

Please refer to Figure 1, Figure 2, Figure 4, in another embodiment of the present application, an electrical mounting seat 90 is provided on the motor frame 11, and the electrical mounting seat 90 is provided with an interface circuit board 91 electrically connected to the motor driver 63, and an interface The circuit board 91 is provided with a connector 92, which is mainly used for functions such as power conversion, motor control, and signal transmission. The three coaxial connector sockets 92 are used for external power access and communication with other joints and equipment. The sockets 92 with waterproof and explosion-proof functions can also be selected according to actual needs. Low-cost plastic connectors 92 are used for different applications. Specifically, the electrical mounting base 90 is fixed on the motor frame 11 by screws.

In another embodiment of the present application, the interface circuit board 91 is provided with an indicator light 93. Specifically, there is a corresponding indicator light 93 on the electrical mounting base 90 corresponding to the corresponding indicator 94, and the indicator light 93 realizes signal indication, which is convenient for users. Observe and judge whether the integrated joint is working in real time according to the signal of the indicator 93.

Referring to FIGS. 10 to 12, in another embodiment of the present application, a robot is provided, including the robot integrated joint 100 described above. The above-mentioned robot integrated joint 100 can be applied to joints of robots such as a cooperative robot arm (shown in FIG. 10), a robot arm used in assembly operations (shown in FIG. 11), and a footed robot (shown in FIG. 12).

Please refer to Figures 1 and 4, the robot integrated joint 100 provided by the present application, compared with the prior art, the robot integrated joint 100 has a motor assembly 10, a harmonic reducer 20, an output shaft 30, a motor-end encoder 61, The output encoder 62 is integrated with the motor driver 63. The motor assembly 10 provides power, the motor shaft 12 rotates at a high speed, and transmits the power to the harmonic reducer 20. The wave generator 21 of the harmonic reducer 20 drives the flexible wheel 22 to flexibly deform. The flexible wheel 22 meshes with the rigid wheel 23 for transmission, and the rigid wheel 23 is fixed to the motor frame 11, the flexible wheel 22 rotates at a low speed, and the flexible wheel 22 drives the output shaft 30 Rotate to output power. Wherein, the output shaft 30 is supported on the bearing support structure 40 through the first bearing 51. The motor-side encoder 61 is used to detect the rotation angle of the motor shaft 12, and the output-side encoder 62 is used to detect the rotation angle of the output shaft 30, and drive the motor shaft 12 to rotate through the motor driver 63 to output a predetermined displacement, speed and torque to achieve precision Motion control. With the placement of the motor driver 63, only two cables, a power cable and a communication cable, are needed to connect with external devices, which greatly reduces the complexity of wiring on the robot. The robot integrated joint 100 has a simple and compact structure, rapid assembly and manufacturing, convenient electrical connection, small weight and low cost, and can realize the individual debugging of a single joint, and then install it on the whole machine for debugging after the debugging is passed. When designing the robot, the prototype can be built and iterated quickly according to the series of integrated joints, and the productization of the robot can be quickly realized.

The above descriptions are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection of this application. Within range.

Claims

Robot integrated joints are characterized in that they include:

A motor assembly, which includes a motor frame and a motor shaft rotatably mounted on the motor frame;

A harmonic reducer, which includes a wave generator driven by the motor shaft, a flexspline driven and deformed by the wave generator, and a rigid wheel fixed on the motor frame and meshed with the flexspline;

An output shaft, which is coaxially mounted on the flexspline;

Bearing support structure, which is installed on the motor frame;

A first bearing, which supports the output shaft in the bearing support structure;

A motor-end encoder, which is used to detect the rotation angle of the motor shaft;

An output encoder for detecting the rotation angle of the output shaft; and

The motor driver is electrically connected with the motor end encoder and the output end encoder.
The robot integrated joint of claim 1, wherein the output shaft has a first through hole extending in the axial direction, the motor shaft has a second through hole extending in the axial direction, and the output shaft is connected to There is a hollow shaft arranged coaxially, and the hollow shaft is arranged through the second through hole.
The robot integrated joint according to claim 2, wherein an adapter flange is installed at one end of the motor shaft, and the adapter flange has a through hole extending along the axial direction of the hollow shaft, so The hollow shaft passes through the through hole, and the wave generator is installed on the adapter flange.
The robot integrated joint according to claim 2, wherein a sealing structure is provided between the motor shaft and the hollow shaft.
The robot integrated joint according to claim 4, wherein the sealing structure includes a first sealing ring and/or a second bearing mounted on the outer surface of the hollow shaft; the sealing structure includes the When the first sealing ring and the second bearing are used, the first sealing ring and the second bearing are spaced apart along the axial direction of the hollow shaft.
The robot integrated joint according to any one of claims 1 to 5, wherein the bearing support structure includes a bearing seat fixed to the motor frame, an outer ring pressure plate installed on the bearing seat, and The inner ring pressing plate on the output shaft, the outer ring pressing plate abuts against the outer ring of the first bearing, the inner ring pressing plate abuts against the inner ring of the first bearing, the outer ring pressing plate and A second sealing ring is arranged between the inner ring pressing plates.
The robot integrated joint according to claim 2, wherein the motor assembly further comprises a stator fixed to the motor frame, a rotor fixed to the motor shaft, and a cover mounted on one end of the motor frame Body, a third bearing supporting the motor shaft on the motor frame, and a fourth bearing supporting the motor shaft on the cover body, the motor shaft is arranged through the cover body.
The robot integrated joint according to claim 7, wherein the motor-end encoder is installed on the part of the motor shaft that passes through the cover; the output-end encoder is installed on the hollow shaft that passes through. For the part of the cover body, the output end encoder and the motor end encoder are spaced apart.
The robot integrated joint according to claim 8, wherein the motor driver is located at an end of the hollow shaft away from the output shaft, and the motor end encoder, the output end encoder and the motor driver They are arranged in sequence along the axial direction of the motor shaft, the motor driver, the output end encoder and the motor end encoder are provided with a casing outside the casing, and the casing is installed on the motor frame.
The robot integrated joint according to claim 9, wherein the end of the hollow shaft away from the output shaft is supported on the housing through a fifth bearing, and the housing is provided with the fifth A mounting hole is opened at the bearing, and one end of the hollow shaft passes through the mounting hole.
The robot integrated joint according to claim 9, wherein the housing is a metal part, the motor driver has a power tube, and the heat generated by the power tube is conducted to the surface of the housing through the heat-conducting part, Two ends of the heat-conducting member abut against the power tube and the housing respectively.
The robot integrated joint according to claim 8, wherein an electromagnetic shielding plate is provided between the output end encoder and the motor driver.
The robot integrated joint according to any one of claims 1 to 5, wherein an electrical mounting seat is provided on the motor frame, and the electrical mounting seat is provided with an interface circuit board electrically connected to the motor driver, The interface circuit board is provided with plugs and indicator lights.
The robot is characterized by comprising the robot integrated joint described in any one of 1 to 13.