CN114257055A

CN114257055A - Robot joint low-speed high-torque output device

Info

Publication number: CN114257055A
Application number: CN202111582221.0A
Authority: CN
Inventors: 唐美玲; 黄立军; 庄圣贤
Original assignee: HANGZHOU WANXIANG POLYTECHNIC
Current assignee: HANGZHOU WANXIANG POLYTECHNIC; Southwest Jiaotong University
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-03-29

Abstract

The invention relates to the technical field of motors, in particular to a low-speed large-torque output device of a robot joint, which comprises: the double-stator magnetic adjusting motor sequentially comprises an inner stator, a rotor and an outer stator which are coaxially arranged from inside to outside, and air gaps are formed between the inner stator and the rotor and between the rotor and the outer stator; an encoder fixed on the inner stator and used for detecting the rotation angle of the rotor; the mechanical arm is arranged on one side of the double-stator magnetic regulating motor; the speed reducer is arranged on the other side of the double-stator magnetic regulating motor and is used for reducing the output rotating speed of the double-stator magnetic regulating motor; and a clamping jaw connected with the reducer; when the electric motor is powered on, the rotor, the inner stator and the outer stator interact to enable the rotor to rotate, the rotor drives the speed reducer to rotate, and then the clamping jaws are driven to rotate. The invention can realize the output of low speed and large torque and has simple structure.

Description

Low-speed large-torque output device for robot joint

Technical Field

The invention relates to the technical field of motors, in particular to a low-speed large-torque output device for a robot joint.

Background

In an automated production line, robots are common devices. In the existing technical scheme, a gyroscope or a DD direct drive motor is generally adopted for a robot joint, but the scheme cannot solve the application scenes of large output torque and high precision. For the problem, the traditional solution is to provide power drive by adopting a combination mode of a three-phase asynchronous motor, a hydraulic coupler and a speed reducer, because the rotating speed of the three-phase asynchronous motor is high, the speed reducer needs to reduce the rotating speed to the required rotating speed by multi-stage speed reduction, so that the reducing mechanism of the speed reducer is huge, and further the volume of the speed reducer is enlarged, and because the starting torque of the three-phase asynchronous motor is not large, in order to meet the requirement of starting with a load, the hydraulic coupler needs to be added to realize the soft starting of the motor, the motor is started without load, and then the load is driven by the hydraulic coupler. The whole device adopting the scheme has the advantages of large volume, high construction cost, very complex structure and difficulty in ensuring the precision in the process of multi-stage transmission.

In view of the above, there is a need in the art for a new low-speed large-torque output device for a robot joint to solve the technical problems in the background art.

Disclosure of Invention

The invention provides a low-speed large-torque output device of a robot joint, which is simple in structure and can simultaneously meet the requirements of high-precision and low-speed large-torque rotary output.

In order to solve the technical problems, the invention adopts a technical scheme that:

a robot joint low-speed large-torque output device comprises:

the double-stator magnetic adjusting motor sequentially comprises an inner stator, a rotor and an outer stator which are coaxially arranged from inside to outside, and air gaps are formed between the inner stator and the rotor and between the rotor and the outer stator;

an encoder fixed on the inner stator and used for detecting the rotation angle of the rotor;

the mechanical arm is arranged on one side of the double-stator magnetic regulating motor;

the speed reducer is arranged on the other side of the double-stator magnetic regulating motor and is used for reducing the output rotating speed of the double-stator magnetic regulating motor; and

the clamping jaw is connected with the speed reducer;

when the electric motor is powered on, the rotor, the inner stator and the outer stator interact to enable the rotor to rotate, the rotor drives the speed reducer to rotate, and then the clamping jaws are driven to rotate.

Preferably, the inner stator includes an inner stator iron yoke and a first coil winding wound on the inner stator iron yoke, the inner stator iron yoke includes a center ring having a through hole, a plurality of inner stator teeth spaced apart from each other along an outer side of the center ring and adapted to wind the first coil winding, and an inner stator magnet adjusting block formed at an end of the inner stator teeth, the outer stator includes an outer stator iron yoke and a second coil winding wound on the outer stator iron yoke, and a plurality of outer stator teeth spaced apart from each other and adapted to wind the second coil winding are formed on an inner side of the outer stator iron yoke.

Preferably, the rotor includes a plurality of strip-shaped silicon steels distributed at intervals along the circumference of the rotor and a plurality of strip-shaped permanent magnets embedded between the strip-shaped silicon steels.

Preferably, the bar-shaped permanent magnets are magnetized tangentially, and the magnetizing directions of two adjacent bar-shaped permanent magnets are opposite.

Preferably, the double-stator magnetic adjusting motor further comprises a connecting shaft and a ring penetrating through the through hole, the connecting shaft and the ring are arranged on the outer portion of the outer stator, the outer portion of the outer stator is arranged on the casing, the end cover is arranged at one end of the casing, one end of the connecting shaft is fixedly connected with the speed reducer, the other end of the connecting shaft is fixedly connected with the end cover, the end cover is fixedly connected with the mechanical arm, and two ends of the casing are respectively fixedly connected with the end cover and the speed reducer.

Preferably, the tail end of the inner stator tooth is split to form two inner stator magnetic adjusting blocks.

Preferably, the first coil winding is wound on the inner stator teeth to form four pairs of magnetic pole windings, and the second coil winding is wound on the outer stator teeth to form four pairs of magnetic pole windings.

Preferably, the inner stator yoke and the outer stator yoke are made of a magnetically conductive material.

Preferably, the inner stator iron yoke and the outer stator iron yoke are laminated by silicon steel sheets.

Preferably, the robot joint low-speed large-torque output device further comprises a clamping jaw movement assembly arranged between the speed reducer and the clamping jaw, and the clamping jaw movement assembly is used for controlling the clamping jaw to stretch and/or clamp.

The invention has the beneficial effects that: according to the robot joint low-speed large-torque output device, the double-stator magnetic regulating motor is based on the magnetic regulating principle, larger output of low-speed large torque is achieved through double-stator arrangement, the speed reducer is arranged at the tail end of the double-stator magnetic regulating motor, the output speed of the rotor is further reduced, the secondary speed reduction effect is achieved, and the output torque is larger; an encoder is arranged in the double-stator magnetic-regulating motor to realize high-precision displacement control, and the control precision of the low-speed large-torque output device of the robot joint is improved. The low-speed large-torque output device of the robot joint can simultaneously realize output with low rotating speed, large torque and high precision, and has the advantages of simple structure, small volume and lower cost. The technical problems of complex structure and low precision in the prior art are solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a magnetic flux adjusting type linear rotating electrical machine according to an embodiment of the present invention;

fig. 2 is an exploded structure diagram of a magnetism-modulated linear rotating electric machine according to an embodiment of the present invention;

fig. 3 is a side view of a magnetic flux adjusting type linear rotating electric machine according to an embodiment of the present invention;

fig. 4 is a cross-sectional view taken along plane B-B of fig. 3.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 to 4, which are schematic structural views of a low-speed large-torque output device of a robot joint according to an embodiment of the present invention, the device includes: the double-stator magnetic adjusting motor 10, the encoder 20, the mechanical arm 30, the speed reducer 40 and the clamping jaw 50.

The double-stator magnetic regulating motor 10 is symmetrical and cylindrical, and sequentially comprises an inner stator 11, a rotor 12 and an outer stator 13 which are coaxially arranged from inside to outside. Air gaps are arranged between the inner stator 11 and the rotor 12 and between the rotor 12 and the outer stator 13. Further, the inner stator 11 includes an inner stator iron yoke 111 and a first coil winding (not shown) wound on the inner stator iron yoke 111, the rotor 12 includes a plurality of strip-shaped silicon steels 121 spaced apart along a circumference of the rotor 12 and a plurality of strip-shaped permanent magnets 122 embedded between the strip-shaped silicon steels 121, and the outer stator 13 includes an outer stator iron yoke 131 and a second coil winding (not shown) wound on the outer stator iron yoke 131. Further, the inner stator iron yoke 111 includes a center ring 1111 having a through hole (not shown), a plurality of inner stator teeth 1112 spaced apart along an outer side of the center ring 1111, and inner stator magnet adjusting blocks 1113 formed at ends of the stator teeth to increase magnetic flux, wherein the inner stator teeth 1112 are uniformly distributed on the center ring 1111 and are tangent to a circumference of the center ring 1111. A plurality of outer stator teeth 1311 are formed at intervals inside the outer stator iron yoke 131, wherein the outer stator teeth 1311 are uniformly distributed inside the outer stator iron yoke 131 and tangent to the periphery of the outer stator iron yoke 131, and the ends of the outer stator teeth 1311 are enlarged to form outer stator magnetic adjusting blocks 1312 to increase magnetic flux. The magnetic flux is improved by the double-stator arrangement of the outer stator 13 and the inner stator 11 to increase the output of the motor torque. An encoder 20 is fixed to the inner stator 11 for detecting the rotation angle of the rotor 12 to achieve high-precision positioning. The encoder 20 recognizes the real-time rotation amount of the encoder scale to determine the rotation amount of the rotor 12, thereby realizing high-precision positioning. The mechanical arm 30 is arranged on one side of the double-stator magnetic regulating motor 10 and is fixedly connected with the double-stator magnetic regulating motor 10. It should be noted that the robotic arm 30 is typically coupled to an external device to enable movement in other directions. The reducer 40 is disposed on the other side of the double-stator flux-modulating motor 10, and is configured to reduce the output rotation speed of the double-stator flux-modulating motor 10. The clamping jaw 50 is fixedly connected with the reducer 40 and is used for clamping a workpiece.

When the first coil winding and the second coil winding are electrified, magnetic flux is increased through the inner stator magnetic adjusting block 1113 and the outer stator magnetic adjusting block 1312, a rotating magnetic field is generated in an air gap, energy transmission is carried out by utilizing a harmonic magnetic field, the strip-shaped permanent magnet 122 on the rotor 12 is driven to drive the whole rotor 12 to rotate, the rotor 12 drives the speed reducer 40 to rotate, the output rotating speed of the rotor 12 is reduced through the speed reducing function of the speed reducer 40, and the clamping jaw 50 is driven to rotate.

According to the robot joint low-speed large-torque output device, the double-stator magnetic regulating motor 10 achieves larger output of low rotating speed and large torque through double-stator arrangement based on a magnetic regulating principle, and the speed reducer 40 is arranged at the tail end of the double-stator magnetic regulating motor 10, so that the output rotating speed of the rotor 12 is further reduced, the secondary speed reduction effect is realized, and the output torque is larger; an encoder 20 is arranged in the double-stator magnetic-regulating motor 10 to realize high-precision displacement control, and the control precision of the low-speed large-torque output device of the robot joint is improved. The low-speed large-torque output device of the robot joint can simultaneously realize output with low rotating speed, large torque and high precision, and has the advantages of simple structure, small volume and lower cost.

Further, the number of the inner stator teeth 1112 of the present embodiment is six, the end of the inner stator teeth 1112 becomes large and is split into two inner stator magnetic adjusting blocks 1113, and the two inner stator magnetic adjusting blocks 1113 are distributed at intervals to further increase the magnetic flux. The number of the outer stator teeth 1311 is twelve, and the ends of the outer stator teeth 1311 are enlarged to form the outer stator flux adjusting blocks 1312 to increase magnetic flux.

Further, the first coil winding of the present example is wound on the inner stator teeth 1112 as four pairs of pole windings, and the second coil winding is wound on the outer stator teeth 1311 as four pairs of pole windings. The first coil winding and the second coil winding are both copper coils.

Further, the number of the strip-shaped silicon steel 121 and the strip-shaped permanent magnets 122 of the present embodiment is sixteen, the sixteen strip-shaped silicon steels 121 are distributed at intervals along the circumference of the rotor 12, and the sixteen strip-shaped permanent magnets 122 are embedded between the strip-shaped silicon steels 121. The bar-shaped permanent magnets 122 are magnetized tangentially, and the magnetizing directions of two adjacent bar-shaped permanent magnets 122 are opposite.

Further, the inner stator iron yoke 111 and the outer stator iron yoke 131 are made of a magnetic conductive material. Specifically, the inner stator iron yoke 111 and the outer stator iron yoke 131 are laminated from silicon steel sheets.

Further, in order to realize the connection between the components, the double-stator flux-regulating motor 10 further includes a connecting shaft 14 penetrating through the through hole, a casing 15 annularly arranged outside the outer stator 13, and an end cover 16 covering one end of the casing 15. One end of the connecting shaft 14 is fixedly connected with the speed reducer 40, and the other end of the connecting shaft 14 is fixedly connected with the end cover 16. The end cover 16 is fixedly connected with the mechanical arm 30, and two ends of the casing 15 are respectively fixedly connected with the end cover 16 and the reducer 40. Wherein, the casing 15 and the end cover 16 are both made of non-magnetic materials to prevent magnetic leakage.

Further, in order to make the function of the clamping jaw 50 more complete, the robot joint low-speed high-torque output device of the embodiment further includes a clamping jaw 50 moving assembly disposed between the reducer 40 and the clamping jaw 50, and the clamping jaw 50 moving assembly is used for controlling the clamping jaw 50 to extend and/or clamp. For example, the jaw 50 motion assembly may control the jaw 50 to open, then control the jaw 50 to linearly move to extend and retract above the workpiece, then control the jaw 50 to tighten and clamp the workpiece, and finally control the jaw 50 to rotate by the dual-stator flux adjusting motor 10.

It should be noted that in other embodiments, other components may be used in place of the jaws 50. For example, an electromagnet may be used instead of the holding jaw 50 when the workpiece is to be suction-fixed.

The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. a robot joint low-speed high-torque output device is characterized in that, comprising:

A double-stator magneto-adjustable motor, which sequentially includes an inner stator, a rotor and an outer stator arranged coaxially from the inside to the outside, between the inner stator and the rotor, and between the rotor and the outer stator. There is an air gap between the stators;

a mechanical arm arranged on one side of the double-stator magneto-adjustable motor;

a speed reducer provided on the other side of the double-stator magneto-adjustable motor and used for reducing the output speed of the double-stator magneto-adjustable motor; and

a jaw connected to the reducer;

When energized, the rotor interacts with the inner stator and the outer stator to rotate the rotor, and the rotor drives the speed reducer to rotate, thereby driving the clamping jaws to rotate.

2 . The low-speed and high-torque output device for a robot joint according to claim 1 , wherein the inner stator comprises an inner stator iron yoke and a first coil winding wound on the inner stator iron yoke. 2 . The iron yoke includes a center ring with a through hole, a plurality of inner stator teeth spaced along the outer side of the center ring and used for winding the first coil winding, and an inner stator magnetization block formed at the end of the inner stator teeth, The outer stator includes an outer stator iron yoke and a second coil winding wound on the outer stator iron yoke, and a plurality of outer stators distributed at intervals and used for winding the second coil winding are formed inside the outer stator iron yoke. stator teeth.

3 . The low-speed and high-torque output device for a robot joint according to claim 2 , wherein the rotor comprises a plurality of strip-shaped silicon steels spaced along the circumference of the rotor and a plurality of strip-shaped silicon steels embedded in the strip-shaped silicon steel. 4 . between the bar permanent magnets.

4 . The low-speed and high-torque output device for a robot joint according to claim 3 , wherein the bar-shaped permanent magnets are magnetized tangentially, and the magnetization directions of two adjacent bar-shaped permanent magnets are opposite. 5 .

5 . The low-speed and high-torque output device for a robot joint according to claim 2 , wherein the dual-stator magneto-adjustable motor further comprises a connecting shaft passing through the through hole, a connecting shaft disposed around the outer stator and a connecting shaft. 6 . A casing and an end cover covering one end of the casing, one end of the connecting shaft is fixedly connected to the reducer, the other end of the connecting shaft is fixedly connected to the end cover, and the end cover is fixedly connected to the reducer. The mechanical arm is fixedly connected, and the two ends of the casing are respectively fixedly connected to the end cover and the reducer.

6 . The low-speed and high-torque output device for a robot joint according to claim 2 , wherein the ends of the inner stator teeth are split to form two inner stator magnetic adjustment blocks. 7 .

7 . The low-speed and high-torque output device for a robot joint according to claim 2 , wherein the first coil windings are wound on the inner stator teeth to form four pairs of magnetic pole windings, and the second coil windings are wound on the inner stator teeth. 8 . Four pairs of magnetic pole windings are wound on the outer stator teeth.

8 . The low-speed and high-torque output device for a robot joint according to claim 2 , wherein the inner stator iron yoke and the outer stator iron yoke are made of magnetically conductive materials. 9 .

9 . The low-speed and high-torque output device for a robot joint according to claim 8 , wherein the inner stator iron yoke and the outer stator iron yoke are made of laminated silicon steel sheets. 10 .

10 . The low-speed and high-torque output device of a robot joint according to claim 1 , wherein the low-speed and high-torque output device of the robot joint further comprises a gripper motion assembly arranged between the reducer and the gripper. 11 . , the jaw movement assembly is used to control the retraction and/or clamping of the jaws.