CN116985179A - Joint module and robot joint - Google Patents
Joint module and robot joint Download PDFInfo
- Publication number
- CN116985179A CN116985179A CN202311266147.0A CN202311266147A CN116985179A CN 116985179 A CN116985179 A CN 116985179A CN 202311266147 A CN202311266147 A CN 202311266147A CN 116985179 A CN116985179 A CN 116985179A
- Authority
- CN
- China
- Prior art keywords
- mounting
- fastening ring
- joint module
- joint
- mounting hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Plates (AREA)
Abstract
The application relates to a joint module and a robot joint, which comprise a mounting seat, a code disc and a fastening ring. The mounting seat is provided with a mounting hole; the code disc is connected with the mounting seat in an adhesive mode; the fastening ring is at least partially accommodated in the mounting hole, the outer ring of the fastening ring is in interference fit with the mounting hole, and the inner ring of the fastening ring is used for being sleeved on the mounting shaft; the mounting position of the fastening ring relative to the mounting shaft is adjustable. The joint module is directly bonded and connected to the mounting seat, and the mounting seat is sleeved with the mounting shaft through the fastening ring, so that the processing difficulty of the code disc is reduced, the area of the shaft end face of the code disc is not occupied, the space of a hollow hole for wiring in the joint module is larger, and the weight reduction and tightening effects are better; meanwhile, as the installation position of the fastening ring in the joint module is adjustable relative to the installation shaft, the distance between the code disc and the reading chip is accurate, and the working accuracy of the code disc is higher.
Description
Technical Field
The application relates to the technical field of robots, in particular to a joint module and a robot joint.
Background
With the development of technology, robots have been widely used in various industries. In the joint module of current mainstream robot, motor encoder is mostly magnetic code wheel, and it is through adopting screw fastener to install magnetic code wheel on the mount pad on the axle terminal surface of code wheel, and then on with the mount pad installation axle again. However, the code wheel is mostly a thinner structural member with the thickness of 1mm, so that the code wheel is difficult to be provided with the threaded hole, a certain installation space is reserved at the side opening, and the area of the more shaft end faces of the code wheel is occupied, so that the space of the hollow holes for wiring in the joint module is reduced, the layout of the whole joint module is relatively compact, and compared with a small joint module, the threaded connecting piece is also a large-size part, so that the weight reduction and the compactness of the whole joint module are seriously affected.
Disclosure of Invention
Based on this, it is necessary to provide a joint module which is difficult to open the threaded hole of the code wheel in the existing joint module, and the space of the hollow hole for routing in the joint module is smaller, so that the layout of the whole joint module is more compact, and the weight reduction and compactness effects are worse.
A joint module, comprising:
the mounting seat is provided with a mounting hole;
the code disc is connected with the mounting seat in an adhesive mode;
the fastening ring is at least partially accommodated in the mounting hole, the outer ring of the fastening ring is in interference fit with the mounting hole, and the inner ring of the fastening ring is used for being sleeved and mounted on the mounting shaft; the mounting position of the fastening ring relative to the mounting shaft is adjustable.
In one embodiment, the inner ring of the fastening ring is configured with a plurality of first clamping teeth arranged at intervals along the circumferential direction of the inner ring of the fastening ring, and the first clamping teeth can be abutted against the circumferential outer surface of the mounting shaft.
In one embodiment, the first snap teeth are along the circumferential width d of the fastening ring 1 The conditions are satisfied:
d 1 ≥1.5mm。
in one embodiment, a first groove is formed at the outer ring of the fastening ring between two adjacent first clamping teeth;
the hole wall of the mounting hole is circumferentially provided with a plurality of second clamping teeth and second grooves which are sequentially arranged; the first clamping teeth can be clamped in the second grooves, and the second clamping teeth can be accommodated in the first grooves.
In one embodiment, a surface of the first clamping tooth facing to the hole cavity side of the mounting hole is taken as a first surface;
taking the surface of the second clamping tooth facing one side of the cavity of the mounting hole as a second surface;
the first surface protrudes from the outside to the inside along the radial direction of the mounting hole to the protruding height h of the second surface 1 The conditions are satisfied:
；
wherein k is the elastic coefficient of the fastening ring; m is the number of the first clamping teeth; s is the contact area between the first clamping tooth and the mounting shaft; i 1 The moment of inertia of the mounting seat; i 2 The moment of inertia of the code wheel; alpha is the angular acceleration of the mounting shaft; n is a safety factor.
In one embodiment, the first surface protrudes from the second surface to the outside along the radial direction of the mounting hole by a protrusion height h 1 The conditions are satisfied:
0＜h 1 ≤0.2mm。
in one embodiment, a clamping groove which is continuous along the circumferential direction of the mounting hole is formed in the middle of the second clamping tooth;
and a clamping part is connected between two adjacent first clamping teeth, and the clamping part can be at least partially accommodated in the clamping groove.
In one embodiment, the mounting hole has a length dimension d along its axial direction 2 The conditions are satisfied:
d 2 ≥2.5mm。
in one embodiment, the fastening ring is made of an elastic material.
The application also provides a robot joint which can solve at least one technical problem.
The robot joint provided by the application comprises the joint module according to any one of the embodiments, and further comprises at least one mounting shaft, wherein at least one joint module is mounted on each mounting shaft.
Above-mentioned joint module, it is with the straight bonding connection of code wheel on the mount pad, again with the mount pad realize establishing the installation with the cover of installation axle through the fastening ring, very simple and convenient. The connecting mode does not need to additionally process threaded holes on the code disc and reserve a certain installation space at the side opening of the code disc, so that the processing difficulty of the code disc is reduced, the area of the shaft end face of the code disc is not occupied, the space of a hollow hole for wiring in the joint module is larger, the layout of the whole joint module is stretched, and compared with the mode of connecting the code disc with an installation seat through a threaded connecting piece, the weight reduction and the tightening effects of the joint module are better; meanwhile, as the mounting position of the fastening ring in the joint module is adjustable relative to the mounting shaft, the mounting position of the code disc is adjustable compared with the mounting shaft, so that the position of the reading chip fixedly connected with the code disc is adjustable compared with the mounting shaft, the distance between the code disc and the reading chip is accurate, and the working accuracy of the code disc is high.
Drawings
Fig. 1 is a schematic view of a joint module according to an embodiment of the application.
Fig. 2 is an exploded view of the joint module shown in fig. 1.
Fig. 3 is a schematic view of a fastening ring in the joint module shown in fig. 2.
Fig. 4 is a front view of a fastening ring in the joint module shown in fig. 3.
Fig. 5 is a schematic view of a mounting seat in the joint module shown in fig. 2.
Fig. 6 is a front view of the mount in the joint module shown in fig. 5.
Fig. 7 is a front view of the joint module shown in fig. 1.
Fig. 8 is a partial enlarged view at B in fig. 7.
Fig. 9 is a cross-sectional view at A-A shown in fig. 7.
Fig. 10 is a schematic view of the joint module of fig. 1 mounted on a mounting shaft.
FIG. 11 is a schematic view of two of the joint modules of FIG. 1 mounted on two mounting shafts.
Fig. 12 is a front view of the two joint modules shown in fig. 11 mounted on two mounting shafts.
Fig. 13 is a cross-sectional view at C-C shown in fig. 12.
Reference numerals: 100-mounting seats; 110-mounting holes; 111-second clamping teeth; 1111-a second side; 1112-a clamping groove; 112-a second groove; 120-a first mount; 130-a second mount; 200-code disc; 210-a first code wheel; 220-a second code wheel; 300-fastening ring; 310-first clamping teeth; 311-first side; 320-a first groove; 321-clamping parts; 330-a first fastening ring; 340-a second fastening ring; 400-mounting a shaft; 410-a first mounting shaft; 420-a second mounting shaft.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, if any, 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 terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.
In the joint module of the current mainstream robot, most of the motor encoders are magnetic code plates 200, and the magnetic code plates 200 are mounted on the mounting base 100 by adopting screw fasteners on the shaft end faces of the code plates 200, so that the mounting shaft 400 on the mounting base 100 is mounted. However, the code wheel 200 is mostly a thin structural member with the thickness of 1mm, so that it is difficult to provide the threaded hole on the code wheel 200, and a certain installation space is reserved in the side opening, so that the area of the more shaft end faces of the code wheel 200 is occupied, and the space of the hollow holes for wiring in the joint module is reduced, so that the layout of the whole joint module is relatively limited, and the threaded connecting piece is a large-size part compared with the small joint module, thereby seriously affecting the weight reduction and compactness of the whole joint module. Meanwhile, in order to ensure that the magnetic code disc 200 works normally, the distance between the mounting position and the reading chip needs to be ensured to be within a certain range, and other parts are often overlapped between the mounting surface of the reading chip and the mounting surface of the magnetic code disc 200, so that the interval is difficult to ensure after tolerance accumulation of the parts. The way in which the threads are screwed in and the axial screw is tightened cannot be adjusted for this interval. The mode of improving the machining precision and ensuring the interval can greatly improve the cost of the whole joint module. Based on the above problems, the application provides a joint module and a robot joint.
Referring to fig. 1-13, fig. 1 is a schematic diagram of a joint module according to an embodiment of the application. Fig. 2 shows an exploded view of the joint module shown in fig. 1. Fig. 3 shows a schematic view of a fastening ring 300 in the joint module shown in fig. 2. Fig. 4 shows a front view of the fastening ring 300 in the joint module shown in fig. 3. Fig. 5 shows a schematic view of the mount 100 in the joint module shown in fig. 2. Fig. 6 shows a front view of the mount 100 in the joint module shown in fig. 5. Fig. 7 shows a front view of the joint module shown in fig. 1. Fig. 8 shows a partial enlarged view at B in fig. 7. Fig. 9 shows a cross-sectional view at A-A shown in fig. 7. Fig. 10 shows a schematic view of the joint module of fig. 1 mounted on a mounting shaft 400. Fig. 11 shows a schematic view of two of the joint modules of fig. 1 mounted on two mounting shafts 400. Fig. 12 shows a front view of the two joint modules shown in fig. 11 mounted on two mounting shafts 400. Fig. 13 shows a cross-sectional view at C-C shown in fig. 12.
An embodiment of the application provides a joint module, which includes a mounting base 100, a code wheel 200 and a fastening ring 300. Mount 100 is configured with mounting holes 110; the code wheel 200 is connected with the mounting seat 100 in an adhesive manner; the fastening ring 300 is at least partially accommodated in the mounting hole 110, and the outer ring of the fastening ring 300 is in interference fit with the mounting hole 110, and the inner ring of the fastening ring 300 is used for being sleeved on the mounting shaft 400; the mounting position of the fastening ring 300 relative to the mounting shaft 400 is adjustable.
The joint module provided by the embodiment of the application is characterized in that the code wheel 200 is directly and adhesively connected to the mounting seat 100, and the mounting seat 100 is sleeved and mounted with the mounting shaft 400 through the fastening ring 300, so that the joint module is very simple and convenient. The connection mode does not need to additionally process threaded holes on the code disc 200 or reserve a certain installation space at the side opening of the code disc 200, so that the processing difficulty of the code disc 200 is reduced, the area of the shaft end face of the code disc 200 is not occupied, the space of a hollow hole for wiring in the joint module is larger, the layout of the whole joint module is more expanded, and compared with the mode of connecting the code disc 200 with the installation seat 100 through a threaded connecting piece, the weight reduction and the tightening effect of the joint module are better; meanwhile, as the installation position of the fastening ring 300 in the joint module is adjustable relative to the installation shaft 400, the installation position of the code disc 200 relative to the installation shaft 400 can be adjusted, so that the position of the code disc 200 relative to a reading chip fixedly connected with the installation shaft 400 is adjustable, the distance between the code disc 200 and the reading chip is accurate, and the working precision of the code disc 200 is high.
The joint module provided by the application can greatly reduce the space required by installing the code wheel 200; meanwhile, the mounting position of the code disc 200 relative to the mounting shaft 400 can be quickly adjusted, so that the distance between the code disc 200 and the reading chip is ensured; and the whole installation process does not need screws and additional tools, and the disassembly and assembly are fast and convenient. Meanwhile, the whole joint module has a simple structure, can be integrally formed and processed, and has lower processing and manufacturing cost; the whole joint module is also stable and reliable in structure, and can ensure the normal operation of the code wheel 200.
The following describes the structure of the joint module in detail.
Referring to fig. 3 and 4, an inner ring of a fastening ring 300 of an articulation module according to an embodiment of the application is configured with a plurality of first clamping teeth 310 that are spaced apart along a circumferential direction of the inner ring of the fastening ring 300, and the first clamping teeth 310 can abut against a circumferential outer surface of a mounting shaft 400. Through constructing a plurality of first joint teeth 310 on the inner race of fastening ring 300 for realize the installation of whole joint module and installation axle 400 through the butt of first joint teeth 310 and the circumference external surface of installation axle 400, it is comparatively simple and convenient.
In one specific embodiment, the number of the first clamping teeth 310 is 16, and the 16 first clamping teeth 310 are arranged at equal intervals along the circumferential direction of the inner ring of the fastening ring 300, so that the first clamping teeth 310 are conveniently machined on the fastening ring 300, meanwhile, the fastening ring 300 can be stably abutted to the mounting shaft 400, the fastening ring 300 is not easy to slide relative to the mounting shaft 400, and meanwhile, when the fastening ring 300 is stressed in the circumferential direction, the generated deformation is small, and the fastening ring 300 has a good fixing effect relative to the mounting shaft 400. So make the position of code wheel 200 compare in the reading chip of installation axle 400 fixed connection be difficult for taking place the change for the distance between code wheel 200 and the reading chip is comparatively accurate, and then makes the work precision of code wheel 200 higher. In another specific embodiment, the number of the first clamping teeth 310 is 11, and the 11 first clamping teeth 310 are equally spaced along the circumference of the inner ring of the fastening ring 300. It should be noted that, the number of the first engaging teeth 310 is not limited, and may be designed reasonably according to the radial dimension of the entire joint module.
In one embodiment, the fastening ring 300 is made of an elastic material. The fastening ring 300 is made of an elastic material, so that the first clamping teeth 310 can be bent and deformed when being abutted against the circumferential outer surface of the mounting shaft 400, and the external force along the axial direction of the mounting seat 100 can be applied to the fastening ring 300 when the mounting position of the fastening ring 300 on the mounting shaft 400 needs to be adjusted, so that the mounting seat is convenient.
It should be noted that, by adjusting the material hardness of the elastic material used to prepare the fastening ring 300, the assembly of the entire joint module with different degrees of tightness can be achieved.
In one particular embodiment, the fastening ring 300 is adhesively attached to the mount 100. In another embodiment, the fastening ring 300 is integrally cast with the mounting block 100.
In one embodiment, the first snap teeth 310 are along the circumferential width d of the fastening ring 300 1 The conditions are satisfied: d, d 1 And is more than or equal to 1.5mm. By engaging the first snap teeth 310 along the circumferential width d of the fastening ring 300 1 Is set to be in a range of 1.5mm or more, thereby enabling the first snap teeth 310 to be reduced from being greatly bent and deformed when the fastening ring 300 is mounted on the circumferential outer surface of the mounting shaft 400, thereby reducing the first snap teeth 310 from being partially bent and intruded into the mounting hole 110 and the mounting surface of the mounting shaft 400 when the first snap teeth 310 are greatly deformedThereby affecting the installation of the joint module with the installation shaft 400.
In one particular embodiment, the first snap teeth 310 are along the circumferential width d of the fastening ring 300 1 The value is 1.5mm.
In another particular embodiment, the first snap teeth 310 are along the circumferential width d of the fastening ring 300 1 The value is 2mm.
In yet another particular embodiment, the first snap teeth 310 are along the circumferential width d of the fastening ring 300 1 The value is 1.8mm.
Referring to fig. 3 and 4, a first groove 320 is formed between two adjacent first engaging teeth 310 of the joint module according to an embodiment of the application at the outer ring of the fastening ring 300. Referring to fig. 5 and 6, the hole wall of the mounting hole 110 of the joint module according to an embodiment of the present application is configured with a plurality of second engaging teeth 111 and second grooves 112 sequentially arranged along the circumferential direction of the hole wall. Referring to fig. 7 and 8, the first engaging tooth 310 can be engaged in the second groove 112, and the second engaging tooth 111 can be accommodated in the first groove 320. Through the cooperation of the first clamping teeth 310 and the second grooves 112, the second clamping teeth 111 and the first grooves 320 form high-precision cooperation installation between the fastening ring 300 and the installation seat 100, and the fastening ring and the installation seat are not easy to slide relative to each other, so that coaxiality and verticality of the installation of the code wheel 200 on the installation shaft 400 are ensured. And at the same time, the fastening ring 300 can not generate bending deformation along the circumferential direction and the axial direction of the mounting shaft 400 when being impacted by certain external force, thereby ensuring the connection and mounting reliability between the code wheel 200 and the mounting shaft 400.
In one specific embodiment, the radial dimension of the outer ring of the fastening ring 300 is slightly larger than the radial dimension of the mounting hole 110, while ensuring that the first clamping teeth 310 completely fill the second grooves 112, and the second clamping teeth 111 completely fill the first grooves 320, without generating gaps, and reducing the possibility of relative movement between the fastening ring 300 and the mounting seat 100.
Referring to fig. 8, a surface of the first engaging tooth 310 facing the hole cavity of the mounting hole 110 is a first surface 311; with the second engaging teeth 111 facing the side of the bore of the mounting hole 110The face is a second face 1111; the first surface 311 protrudes from the outside to the inside in the radial direction of the mounting hole 110 by a protrusion height h of the second surface 1111 1 The conditions are satisfied:
。
where k is the elastic coefficient of the fastening ring 300; m is the number of first clamping teeth 310; s is the contact area between the first clamping tooth 310 and the mounting shaft 400; i 1 Is the moment of inertia of mount 100; i 2 Is the moment of inertia of the code wheel 200; alpha is the angular acceleration of the mounting shaft 400; n is a safety factor. By this formula h is calculated 1 The first clamping teeth 310 are bent moderately when being abutted to the circumferential outer surface of the mounting shaft 400, so that the fastening ring 300 is convenient to adjust the mounting position of the fastening ring 300 relative to the mounting shaft 400, and meanwhile, the fastening ring 300 is not easy to slide relative to the mounting shaft 400 when the fastening ring 300 is mounted on the mounting shaft 400.
Specifically, the safety factor n takes a value between 1.5 and 2. In one embodiment, the safety factor n has a value of 1.5. In another embodiment, the safety factor n has a value of 2. In yet another embodiment, the safety factor is 1.8.
In one embodiment, the first face 311 protrudes radially from the mounting hole 110 to the second face 1111 by a protrusion height h 1 The conditions are satisfied: 0 < h 1 Less than or equal to 0.2mm. By combining h 1 In the range of more than 0 and less than or equal to 0.2mm, so that when the fastening ring 300 is mounted in the mounting hole 110, an inner hole formed by an inner ring of the fastening ring 300 is slightly smaller than the aperture of the mounting hole 110, so that the first clamping teeth 310 of the fastening ring 300 can form extrusion deformation with the circumferential outer surface of the mounting shaft 400 and generate friction force, thereby effectively fixing the entire joint module.
In one particular embodiment, the first face 311 protrudes radially from the mounting hole 110 from the outside to the inside by a protrusion height h of the second face 1111 1 The value is 0.1mm.
In another specific embodiment, the first surface 311 protrudes from the second surface 1111 from the outside to the inside along the radial direction of the mounting hole 110 by a protrusion height h 1 The value is 0.2mm.
In yet another particular embodiment, the first face 311 protrudes radially outward from the mounting hole 110 by a protrusion height h from the second face 1111 1 The value is 0.15mm.
It should be noted that, the code wheel 200 itself does not transmit torque, and only overcomes the gravity of itself and the traction force from the mounting shaft 400, so that the disk may be fixed by the friction force generated by the extrusion deformation formed between the first clamping teeth 310 and the circumferential outer surface of the mounting shaft 400. When the mounting positions of the fastening ring 300 and the mounting shaft 400 need to be adjusted, only a small external force along the axial direction of the mounting shaft 400 needs to be applied additionally, so that the position of the whole joint module on the mounting shaft 400 can be adjusted, and the distance between the code disc 200 and the reading chip is ensured.
It should be noted that, when the first surface 311 calculated by the above formula protrudes from the second surface 1111 to the outside in the radial direction of the mounting hole 110 by the protrusion height h 1 When the value of (2) is greater than 0.2mm, the elastic material for preparing the fastening ring 300 is changed, and the elastic coefficient of the fastening ring 300 is increased, so that the protrusion height h is reduced 1 Is of a size of (a) and (b).
Referring to fig. 5, a middle portion of the second clamping tooth 111 is configured with a clamping groove 1112 continuous along a circumferential direction of the mounting hole 110. Referring to fig. 3, a clamping portion 321 is connected between two adjacent first clamping teeth 310, and the clamping portion 321 can be at least partially accommodated in the clamping groove 1112. Through the cooperation of joint portion 321 and joint groove 1112 to make the fastening ring 300 comparatively firm with the connection of mount pad 100, reduce the possibility that fastening ring 300 and mount pad 100 take place to move along the axial of installation axle 400 each other, thereby make the position of whole code wheel 200 comparatively firm, be difficult for taking place to remove, effectively guaranteed the code wheel 200 and compare in the position of the reading chip of installation axle 400 fixed connection, make the distance between code wheel 200 and the reading chip comparatively accurate, and then make the work precision of code wheel 200 higher.
In one particular embodimentIn an embodiment, the mounting hole 110 has a length dimension d along its axial direction 2 The conditions are satisfied: d, d 2 And is more than or equal to 2.5mm. By combining d 2 The range of 2.5mm or more is set so as to ensure the perpendicularity between the rotation plane of the mounting seat 100 and the mounting shaft 400, reduce the axial fluctuation generated by the shaft end surface of the magnetic disk during rotation, and influence the working accuracy of the code wheel 200.
In one particular embodiment, the mounting hole 110 has a length dimension d along its axial direction 2 Is 2.5mm.
In another particular embodiment, the mounting hole 110 has a length dimension d along its axial direction 2 Is 3mm.
In yet another specific embodiment, the mounting hole 110 has a length dimension d along its axial direction 2 Is 2.8mm.
The application also provides a robot joint, which comprises the joint module according to any one of the embodiments, and further comprises at least one mounting shaft 400, wherein each mounting shaft 400 is provided with at least one joint module, so that at least one technical effect can be achieved.
Referring to fig. 10, a robot joint according to an embodiment of the present application includes a joint module according to any one of the above embodiments, and further includes a mounting shaft 400, and the joint module is mounted on the mounting shaft 400.
Referring to fig. 11-13, a robot joint according to another embodiment of the present application includes two joint modules according to any of the above embodiments, and further includes two mounting shafts 400. Specifically, the two joint modules are a first joint module and a second joint module, and the two mounting shafts 400 are a first mounting shaft 410 and a second mounting shaft 420, respectively. The first joint module is mounted on the first mounting shaft 410 and the second joint module is mounted on the second mounting shaft 420. The first mounting shaft 410 is sleeved on the periphery of the second mounting shaft 420, and the first code wheel 210 in the joint module is directly adhered to the first mounting seat 120, and the second code wheel 220 is directly adhered to the second mounting seat 130, so that threaded holes do not need to be processed on the first code wheel 210 and the second code wheel 220, and a certain mounting space does not need to be reserved at the side openings of the first code wheel 210 and the second code wheel 220, and the processing difficulty of the first code wheel 210 and the second code wheel 220 is reduced; the distance between the first joint module and the second joint module is smaller, and the whole robot joint is more compact and lighter in structure; meanwhile, since the mounting position of the first fastening ring 330 is adjustable compared with the mounting position of the first mounting shaft 410, and the mounting position of the second fastening ring 340 is adjustable compared with the mounting position of the second mounting shaft 420, the positions of the first code wheel 210 and the second code wheel 220 are adjustable compared with the reading chip, so that the distance between the first code wheel 210 and the second code wheel 220 and the reading chip is accurate, and the working precision of the first code wheel 210 and the second code wheel 220 is high.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A joint module, the joint module comprising:
a mounting base (100), the mounting base (100) being configured with a mounting hole (110);
the code disc (200) is connected with the mounting seat (100) in an adhesive mode;
the fastening ring (300) is at least partially accommodated in the mounting hole (110), the outer ring of the fastening ring (300) is in interference fit with the mounting hole (110), and the inner ring of the fastening ring (300) is used for being sleeved and mounted on the mounting shaft (400); the mounting position of the fastening ring (300) relative to the mounting shaft (400) is adjustable.
2. The joint module according to claim 1, wherein the inner ring of the fastening ring (300) is configured with a plurality of first clamping teeth (310) arranged at intervals along the circumferential direction of the inner ring of the fastening ring (300), and the first clamping teeth (310) can abut against the circumferential outer surface of the mounting shaft (400).
3. The joint module according to claim 2, wherein the first snap teeth (310) are along a circumferential width d of the fastening ring (300) 1 The conditions are satisfied:
d 1 ≥1.5mm。
4. a joint module according to claim 2 or 3, characterized in that a first groove (320) is formed between two adjacent first clamping teeth (310) at the outer ring of the fastening ring (300);
the hole wall of the mounting hole (110) is circumferentially provided with a plurality of second clamping teeth (111) and second grooves (112) which are sequentially arranged; the first clamping teeth (310) can be clamped in the second grooves (112), and the second clamping teeth (111) can be accommodated in the first grooves (320).
5. The joint module according to claim 4, wherein a surface of the first engagement tooth (310) facing the hole cavity of the mounting hole (110) is a first surface (311);
a second surface (1111) is formed by a surface of the second engagement tooth (111) facing the hole cavity of the mounting hole (110);
the first surface (311) protrudes from the second surface (1111) from the outside to the inside along the radial direction of the mounting hole (110) by a protrusion height h 1 The conditions are satisfied:
；
wherein k is the elastic coefficient of the fastening ring (300); m is the number of the first clamping teeth (310); s is the contact area between the first clamping tooth (310) and the mounting shaft (400); i 1 Is the moment of inertia of the mount (100); i 2 Is the moment of inertia of the code wheel (200); alpha is the angular acceleration of the mounting shaft (400); n is a safety factor.
6. The joint module according to claim 5, wherein the first face (311) protrudes from the outside to the inside in the radial direction of the mounting hole (110) by a protrusion height h of the second face (1111) 1 The conditions are satisfied:
0＜h 1 ≤0.2mm。
7. the joint module according to claim 4, characterized in that a middle portion of the second clamping tooth (111) is configured with a clamping groove (1112) continuous along a circumferential direction of the mounting hole (110);
and a clamping part (321) is connected between two adjacent first clamping teeth (310), and the clamping part (321) can be at least partially accommodated in the clamping groove (1112).
8. The joint module according to claim 1, characterized in that the mounting hole (110) has a length dimension d along its axial direction 2 The conditions are satisfied:
d 2 ≥2.5mm。
9. the joint module according to claim 1, characterized in that the fastening ring (300) is made of an elastic material.
10. A robotic joint comprising the joint module of any one of claims 1-9, further comprising at least one mounting shaft (400), each mounting shaft (400) having at least one of the joint modules mounted thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311266147.0A CN116985179B (en) | 2023-09-28 | 2023-09-28 | Joint module and robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311266147.0A CN116985179B (en) | 2023-09-28 | 2023-09-28 | Joint module and robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116985179A true CN116985179A (en) | 2023-11-03 |
| CN116985179B CN116985179B (en) | 2024-01-12 |
Family
ID=88528778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311266147.0A Active CN116985179B (en) | 2023-09-28 | 2023-09-28 | Joint module and robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116985179B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018064915A1 (en) * | 2016-10-08 | 2018-04-12 | 王睿 | Controllable bidirectional coaxial clutch |
| JP2019095316A (en) * | 2017-11-24 | 2019-06-20 | セイコーエプソン株式会社 | Encoder scale, method for manufacturing encoder scale, encoder, robot, printer, and projector |
| CN111113477A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN211877058U (en) * | 2020-01-19 | 2020-11-06 | 江苏开璇智能科技有限公司 | Novel double-code-disc nested hollow encoder |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN114193507A (en) * | 2021-12-30 | 2022-03-18 | 上海非夕机器人科技有限公司 | Encoder module for rotary joint, robot arm and robot |
| CN216589656U (en) * | 2021-09-13 | 2022-05-24 | 华能南京金陵发电有限公司 | Sectional type steam turbine connecting device |
-
2023
- 2023-09-28 CN CN202311266147.0A patent/CN116985179B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018064915A1 (en) * | 2016-10-08 | 2018-04-12 | 王睿 | Controllable bidirectional coaxial clutch |
| JP2019095316A (en) * | 2017-11-24 | 2019-06-20 | セイコーエプソン株式会社 | Encoder scale, method for manufacturing encoder scale, encoder, robot, printer, and projector |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| CN111113477A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN211877058U (en) * | 2020-01-19 | 2020-11-06 | 江苏开璇智能科技有限公司 | Novel double-code-disc nested hollow encoder |
| CN112936334A (en) * | 2021-02-10 | 2021-06-11 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| CN216589656U (en) * | 2021-09-13 | 2022-05-24 | 华能南京金陵发电有限公司 | Sectional type steam turbine connecting device |
| CN114193507A (en) * | 2021-12-30 | 2022-03-18 | 上海非夕机器人科技有限公司 | Encoder module for rotary joint, robot arm and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116985179B (en) | 2024-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7594445B2 (en) | Force sensor | |
| JP6332261B2 (en) | Bearing support device | |
| CN113474627A (en) | Measuring system mounted between machine parts transmitting torque and/or force | |
| EP2653837B1 (en) | Rotary encoder | |
| CN116985179B (en) | Joint module and robot joint | |
| JP5664213B2 (en) | Rolling bearing unit with mounting plate | |
| CN210273735U (en) | Electric actuator | |
| JP2007040480A (en) | Balance adjusting structure of rotation body | |
| CN110945332B (en) | Torque sensor, actuator and robot | |
| JP2025068936A (en) | Force Sensor | |
| JP2006037993A (en) | Disc rotor | |
| JP2020099115A (en) | Rotating device | |
| KR100589700B1 (en) | Elastic center unit that can transmit torque | |
| JP7703810B1 (en) | Force Sensor | |
| KR19990083284A (en) | Torque converter bearing | |
| CN215409733U (en) | Main shaft of automobile seat supination device | |
| JP6933027B2 (en) | Electric actuator | |
| US20200398395A1 (en) | Fixing member and spindle device | |
| JP2629921B2 (en) | Coupling structure between motor and encoder | |
| CN108562313A (en) | Connection sheet and structure of installing encoders | |
| JP7328800B2 (en) | Coupling for position detector | |
| CN210188508U (en) | Rotary mounting structure | |
| JP2009172731A (en) | Rotary cutting tool for gear cutting | |
| JP4898174B2 (en) | Motor fastening mechanism and cam device | |
| JP2023035340A (en) | Connection structure and torque sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |