CN117001713A - High-irradiation-resistance and high-load integrated joint device - Google Patents
High-irradiation-resistance and high-load integrated joint device Download PDFInfo
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- CN117001713A CN117001713A CN202311215461.6A CN202311215461A CN117001713A CN 117001713 A CN117001713 A CN 117001713A CN 202311215461 A CN202311215461 A CN 202311215461A CN 117001713 A CN117001713 A CN 117001713A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 10
- 230000010354 integration Effects 0.000 abstract description 7
- 238000005452 bending Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The application relates to the technical field of nuclear industry and intelligent robots, in particular to a high-irradiation-resistance and high-load integrated joint device, which comprises: the joint assembly, the motor wire harness and the servo device are both positioned in the joint assembly; the joint input shaft is of a hollow structure, and comprises a first protruding portion and a second protruding portion, so that the problems that the joint cannot meet requirements of high irradiation resistance, module integration and bearing of large load at the same time are solved, the multifunctional integrated design of high irradiation resistance, large load and hollow structure wiring of the irradiation-resistant joint is realized, and the integration degree and reliability of the joint device are improved.
Description
Technical Field
The application relates to the technical fields of nuclear industry and intelligent robots, in particular to a high-irradiation-resistance and high-load integrated joint device.
Background
In the field of nuclear industry, intelligent robots have been rapidly developed in recent years, wherein module integration is used as one of key technologies of mechanical arm joints, directly influences joint irradiation resistance, and determines the service life of intelligent equipment. In the fields of nuclear industry and intelligent robots, when a reactor is maintained and retired, the irradiation-resistant joint is generally used in a narrow space and a high-radiation environment, and the irradiation-resistant joint is used for replacing the operations of intelligent recognition grabbing, pipeline cutting and the like of goods in the radiation environment.
The domestic irradiation-resistant joint is affected by high environmental radiation level, the element component is limited in shape selection, the joint configuration is different in size, the joint serial hollow configuration is affected by the limited influence of irradiation-resistant element component shape selection, the joint serial configuration of a rotary transformer (or an encoder) -a brake-a motor-a speed reducer causes the joint to be too large in axial direction, the hollow diameter of the mechanical arm in narrow space cannot be limited, the mechanical arm is unsuitable for multi-degree-of-freedom and complex-function mechanical arms, meanwhile, the mechanical arm is multiple in wire harness type, the bus diameter is large, the large hollow diameter can meet the wiring space requirement of the mechanical arm, the current domestic irradiation-resistant joint scheme adopts the component serial connection, all components such as the motor, the speed reducer and the brake are of hollow structures, the components are connected in series to form the hollow configuration, and 90-degree bending condition exists in the middle wiring, so that the abrasion is serious. While reducing the weight of the joint, the joint is difficult to ensure that the joint can bear a large load, so that the joint can not simultaneously meet the requirements of high irradiation resistance, module integration and bearing the large load.
Disclosure of Invention
In order to solve the problem that the joint cannot simultaneously meet the requirements of high irradiation resistance, module integration and bearing large load, the application provides a high irradiation resistance and large load integrated joint device, which comprises: the device comprises a joint assembly, a motor wire harness and a servo device, wherein the motor wire harness and the servo device are both positioned in the joint assembly; the joint assembly comprises a joint input shaft and a joint output shaft, the joint input shaft is rotationally connected with the joint output shaft, and a rotation axis of the joint input shaft and the joint output shaft which are rotationally connected is perpendicular to the axis of the joint input shaft; the joint input shaft is of a hollow structure and comprises a first bulge and a second bulge, the first bulge extends from the outer peripheral surface of the joint input shaft towards the radial direction far away from the axis of the joint input shaft, and the second bulge extends from the inner peripheral surface of the joint input shaft towards the radial direction close to the axis of the joint input shaft; the first bulge is provided with a first through hole, the axis of the first through hole is perpendicular to the axis of the joint input shaft, and the rotation axis of the joint input shaft and the joint output shaft which are in rotary connection is coincident with the axis of the first through hole;
the left side of the second protruding portion is a first cavity, the right side of the second protruding portion is a second cavity, the servo device is arranged inside the second cavity and comprises a frameless torque motor and a frameless torque motor electrical interface, the frameless torque motor electrical interface faces towards the first cavity, and the motor wire harness extends from the frameless torque motor electrical interface towards the first cavity.
In some embodiments, the joint assembly further comprises a drive plate and a first bearing, wherein the end surface of the first through hole, which is close to the axis of the joint input shaft, is provided with a first step hole, and the end surface of the first step hole, which is close to the axis of the joint input shaft, is provided with a second step hole; the servo device further comprises an output flange, one end of the output flange is fixedly connected with the joint output shaft, a frameless torque motor is arranged at the other end of the output flange in the direction close to the axis of the joint input shaft, and the rotation axis of the frameless torque motor is perpendicular to the axis of the joint input shaft; a first bearing is arranged between the shaft neck of the output flange and the first through hole, and the shaft shoulder end surface of the output flange is positioned on the end surface of the first step hole;
the driving plate is located on the inner wall of the first cavity and is close to the second protruding portion, and the motor wire harness extends from the frameless torque electrical interface towards the first cavity to the driving plate and is electrically connected with the driving plate.
In some embodiments, the frameless torque motor further comprises: the motor comprises a motor end cover, a motor shell, a motor stator, a motor rotor and a motor shaft, wherein the motor end cover is fixedly connected with the motor shell, the motor stator is fixedly arranged on the inner wall of the motor shell, and the motor rotor is fixedly arranged on the motor shaft.
In some embodiments, the motor shaft is of a hollow structure, the servo device further comprises a rotary transformer, the rotary transformer is arranged below the motor end cover, the rotary transformer comprises a rotary output shaft, one end of the rotary output shaft is fixedly connected with the output flange, and a part of the rotary output shaft is located inside the motor shaft.
In some embodiments, the rotary transformer further comprises a rotary end cover, a rotary stator, a rotary rotor, a transmission pin and a rotary flange, wherein the rotary stator is fixedly connected with the motor end cover, the rotary rotor is fixedly connected with the rotary flange, the rotary flange is fixedly connected with the rotary output shaft, and the transmission pin is arranged between the rotary flange and the rotary output shaft.
In some embodiments, the servo device further comprises a harmonic reducer device, the lower end of the motor casing is fixedly connected with the motor end cover, and the harmonic reducer device is arranged between the upper end of the motor casing and the lower end of the output flange.
In some embodiments, the harmonic reducer device comprises a rigid gear, a flexible gear and a wave generator, the wave generator is sleeved on the motor shaft, the wave generator is connected with the motor shaft through a first key, the lower end face of the rigid gear is fixedly connected with the upper end face of the motor shell, the upper end face of the rigid gear is fixedly connected with the end face of a second step hole of the joint input shaft, and the flexible gear is fixedly connected with the lower end of the output flange.
In some embodiments, the upper end surface of the rigid gear abuts against the lower end surface of the flexible gear, and the flexible gear is sleeved on the outer circumference of the wave generator.
In some embodiments, the servo device further comprises a brake device, the brake device comprises a second key, a brake protecting cover and a brake, the brake is connected with the motor shaft through the second key, and the brake protecting cover is fixed on the upper end face of the motor shell.
In order to solve the problem that the joint cannot simultaneously meet the requirements of high irradiation resistance, module integration and bearing large load, the application provides a high irradiation resistance and large load integrated joint device, which comprises: the joint assembly, the motor wire harness and the servo device are both positioned in the joint assembly; the joint assembly comprises a joint input shaft and a joint output shaft, the joint input shaft is rotationally connected with the joint output shaft, and a rotation axis of the joint input shaft and the joint output shaft which are rotationally connected is perpendicular to the axis of the joint input shaft; the joint input shaft is of a hollow structure and comprises a first bulge part and a second bulge part, the first bulge part extends from the outer peripheral surface of the joint input shaft towards the radial direction far away from the axis of the joint input shaft, and the second bulge part extends from the inner peripheral surface of the joint input shaft towards the radial direction close to the axis of the joint input shaft; the first bulge is provided with a first through hole, the axis of the first through hole is perpendicular to the axis of the joint input shaft, and the rotation axis of the joint input shaft and the joint output shaft which are rotationally connected are overlapped with the axis of the first through hole; the left side of the second protruding portion is a first cavity, the right side of the second protruding portion is a second cavity, the servo device is arranged inside the second cavity and comprises a frameless torque motor and a frameless torque motor electrical interface, the frameless torque motor electrical interface is arranged towards the first cavity, and a motor wire harness extends from the frameless torque motor electrical interface towards the first cavity. The application has the following advantages: the high-irradiation-resistance and heavy-load integrated joint device adopts components with irradiation resistance, meets irradiation resistance requirements, has compact structure and small volume, and realizes joint integrated design through hollow wiring; the joint bearing has reasonable installation layout, enhanced bending moment resistance, meets the requirement of joint heavy load, and has positive significance for promoting joint irradiation resistance, heavy load and integration.
Drawings
FIG. 1 illustrates a cross-sectional view of a high irradiation tolerance, high load integrated joint device;
FIG. 2 illustrates a partial cross-sectional view of a high irradiation tolerance and high load integrated joint device;
fig. 3 shows a partial exploded view of a high irradiation tolerance and high load integrated joint device.
Reference numeral name: the device comprises a joint assembly 01, a joint input shaft 11, a joint first boss 111, a joint second boss 112, a joint output shaft 12, a driving plate 13, a first bearing 14, a second bearing 15, a motor harness 02, a servo device 03, a frame-free torque motor 31, a motor end cover 311, a motor housing 312, a motor stator 313, a motor rotor 314, a motor shaft 315, a frame-free torque motor electrical interface 32, an output flange 33, a rotary transformer 34, a rotary output shaft 341, a rotary end cover 342, a rotary stator 343, a rotary rotor 344, a transmission pin 345, a rotary flange 346, a harmonic reducer device 35, a rigid 351, a flexible gear 352, a wave generator 353, a first key 354, a brake device 36, a second key 361, a brake protecting cover 362 and a brake 363.
Detailed Description
The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.
As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "transverse", "longitudinal", etc. refer to an orientation or positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. 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. Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
The embodiment discloses a high irradiation-resistant heavy-duty integrated joint device, as shown in fig. 1, the high irradiation-resistant heavy-duty integrated joint device includes: the joint assembly 01, the motor wire harness 02 and the servo device 03 are positioned in the joint assembly 01; the joint assembly 01 comprises a joint input shaft 11 and a joint output shaft 12, wherein the joint input shaft 11 is rotationally connected with the joint output shaft 12, and a rotation axis of the rotational connection of the joint input shaft 11 and the joint output shaft 12 is perpendicular to the axis of the joint input shaft 11; the joint input shaft 11 is of a hollow structure, the joint input shaft 11 comprises a first bulge 111 and a second bulge 112, the first bulge 111 extends from the outer peripheral surface of the joint input shaft 11 towards the radial direction far away from the axis of the joint input shaft 11, and the second bulge 112 extends from the inner peripheral surface of the joint input shaft 11 towards the radial direction close to the axis of the joint input shaft 11; the first boss 111 is provided with a first through hole, the axis of which is perpendicular to the axis of the joint input shaft 11, and the axis of rotation of the joint input shaft 11 and the joint output shaft 12, which are rotatably connected, coincides with the axis of the first through hole; the left side of the second protruding portion 112 is a first cavity, the right side of the second protruding portion 112 is a second cavity, the servo device 03 is arranged inside the second cavity, the servo device 03 comprises a frameless torque motor 31 and a frameless torque motor electrical interface 32, the frameless torque motor electrical interface 32 is arranged towards the first cavity, and the motor wire harness 02 extends from the frameless torque motor electrical interface 32 towards the first cavity.
In this embodiment, the motor harness 02 and the servo device 03 are both located inside the joint assembly 01, so that the space utilization of the joint assembly 01 is reasonable, the volume of the high-irradiation-resistance and high-load integrated joint device is reduced, functional actions can be completed in a limited space, meanwhile, the joint assembly 01 can isolate the inside from the outside space, the high irradiation resistance of the joint is improved, and the feasibility, safety and irradiation resistance of operation and maintenance operations of the mechanical arm in an irregular space are improved.
In this embodiment, the joint input shaft 11 is of a hollow structure, the joint input shaft 11 includes a first protruding portion 111 and a second protruding portion 112, the first protruding portion 111 extends from the outer peripheral surface of the joint input shaft 11 towards a radial direction away from the axis of the joint input shaft 11, the second protruding portion 112 extends from the inner peripheral surface of the joint input shaft 11 towards a radial direction close to the axis of the joint input shaft 11, the two protruding portions divide the inner space of the joint input shaft 11 through two protruding portions, the two protruding portions provide functions of limiting and mounting planes, the inner space of the joint input shaft 11 is efficiently utilized, meanwhile, the joint input shaft 11 is of a hollow structure, joint quality is reduced, and weight reduction of the joint is achieved.
In this embodiment, the first protruding portion 111 is provided with a first through hole, the axis of the first through hole is perpendicular to the axis of the joint input shaft 11, the rotation axis of the joint input shaft 11 and the joint output shaft 12 are rotationally connected and the axis of the first through hole are coincident, the first protruding portion 111 can provide an installation plane, and meanwhile, the first protruding portion 111 is provided with the first through hole to limit the joint output shaft 12, so that the joint input shaft 11 is rotationally connected with the joint output shaft 12, and the joint input shaft 11 is prevented from being offset and misplaced with the joint output shaft 12.
In this embodiment, the left side of the second protruding portion 112 is a first cavity, the right side of the second protruding portion 112 is a second cavity, the servo device 03 is arranged inside the second cavity, the frameless torque motor electrical interface 32 is arranged towards the first cavity, the motor wire harness 02 extends from the frameless torque motor electrical interface 32 towards the first cavity, the second protruding portion 112 can divide the interior of the joint input shaft 11 into the first cavity and the second cavity, the first cavity on the left side is used for setting the motor wire harness 02, the second cavity on the right side is used for setting the servo device 03, the function division at different positions is achieved, the space utilization is improved, meanwhile, the motor wire harness 02 is prevented from being bent by 90 degrees, and the service life of the motor wire harness 02 is prolonged.
The working process of the high-irradiation-resistance and high-load integrated joint device comprises the following steps: the high-irradiation-resistance and high-load integrated joint device is electrified, the motor wire harness 02 is electrically connected with the frameless torque motor electrical interface 32 of the servo device 03, the frameless torque motor 31 rotates to drive the joint output shaft 12 of the joint assembly 01 to rotate relative to the joint input shaft 11, and joint transmission is realized.
In other embodiments, as shown in fig. 1, the joint input shaft 11 and the joint output shaft 12 are hollow structures, and the motor harness 02 is disposed in the hollow structures.
In this embodiment, the joint input shaft 11 and the joint output shaft 12 may be hollow structures, and the motor wire harness 02 is all disposed in the hollow structures, so as to realize the modular design of the joint hollow routing, facilitate maintenance and detection, fill the joint space, satisfy the multi-wire harness layout, solve the 90 ° bending problem possibly occurring in the motor wire harness 02, and realize the joint integrated design.
In some embodiments, as shown in fig. 1-2, the joint assembly 01 further includes a driving plate 13 and a first bearing 14, wherein the end surface of the first through hole near the axis of the joint input shaft 11 is provided with a first step hole, and the end surface of the first step hole near the axis of the joint input shaft 11 is provided with a second step hole; the servo device 03 further comprises an output flange 33, one end of the output flange 33 is fixedly connected with the joint output shaft 12, a frameless torque motor 31 is arranged at the other end of the output flange 33 in the direction close to the axis of the joint input shaft 11, and the rotation axis of the frameless torque motor 31 is perpendicular to the axis of the joint input shaft 11; a first bearing 14 is arranged between the shaft neck of the output flange 33 and the first through hole, and the shaft shoulder end surface of the output flange 33 is positioned on the first step hole end surface; the drive plate 13 is located on the inner wall of the first cavity adjacent to the second boss 112 and the motor harness 02 extends from the frameless torque electrical interface 32 towards the first cavity to the drive plate 13 and is electrically connected to the drive plate 13.
In this embodiment, the end face of the first through hole, which is close to the axis of the joint input shaft 11, is provided with a first step hole, and the end face of the first step hole, which is close to the axis of the joint input shaft 11, is provided with a second step hole, so that the spatial layout of the joint input shaft 11 is more reasonable, and the volume of the high-irradiation-resistance and high-load integrated joint device is reduced.
In this embodiment, one end of the output flange 33 is fixedly connected with the joint output shaft 12, the other end of the output flange 33 is close to the axis of the joint input shaft 11, a frameless torque motor 31 is arranged in the direction of the other end of the output flange 33, the rotation axis of the frameless torque motor 31 is perpendicular to the axis of the joint input shaft 11, the frameless torque motor 31 realizes that the joint output shaft 12 rotates relative to the joint input shaft 11 through the output flange 33, meanwhile, the rotation axis of the frameless torque motor 31 is perpendicular to the axis of the joint input shaft 11, the joint output shaft 12 vertically rotates relative to the joint input shaft 11, and the rotation direction of the joint output shaft 12 meets the requirements.
In this embodiment, the first bearing 14 is disposed between the journal of the output flange 33 and the first through hole, so that on one hand, the output flange 33 is supported, on the other hand, the sliding resistance is small, the power consumption is low, the starting is easy, the bending moment resistance of the joint is enhanced, the joint has good bearing performance, and the requirement of heavy load is met.
In this embodiment, the output flange 33 may be screwed to the joint output shaft 12.
In the present embodiment, the drive plate 13 is used to drive and control the frameless torque motor 31.
In the present embodiment, the shoulder end face of the output flange 33 is positioned at the first stepped hole end face; the driving plate 13 is located on the inner wall of the first cavity and is close to the second protruding portion 112, so that the space layout of the joint input shaft 11 is more reasonable, and the volume of the high-irradiation-resistance and high-load integrated joint device is reduced.
The working process of the high-irradiation-resistance and high-load integrated joint device comprises the following steps: the high irradiation-resistant large-load integrated joint device is electrified, the motor wire harness 02 is electrically connected with the driving plate 13 and the frameless moment electromechanical interface 32 of the servo device 03, and the driving plate 13 controls the frameless moment motor 31 to rotate so as to drive the output flange 33. When the output flange 33 rotates, the output flange 33 rotates relative to the joint input shaft through the first bearing 14, and the output flange 33 drives the fixedly connected joint output shaft 12 to rotate relative to the joint input shaft 11, so that joint transmission is realized.
In other embodiments, as shown in fig. 1, the joint assembly 01 further includes a second bearing 15, where the second bearing 15 is symmetrically disposed on both sides of the joint input shaft 11 with respect to the first bearing 14.
In this embodiment, the second bearings 15 and the first bearings 14 are symmetrically arranged on two sides of the joint input shaft 11, the joint input shaft 11 adopts a double-bearing layout, the second bearings 15 and the first bearings 14 are arranged on two sides of the joint input shaft 11, so that most of the moment of joint load is shared, the performance requirement that the joint can bear a large load is realized, meanwhile, the working strength of the joint input shaft 11 and the joint output shaft 12 is reduced, the joint input shaft 11 and the joint output shaft 12 are both hollow, the joint quality is reduced, and the weight of the joint is reduced.
In some embodiments, as shown in fig. 2-3, the rimless torque motor 31 further includes: motor end cover 311, motor casing 312, motor stator 313, motor rotor 314 and motor shaft 315, motor end cover 311 and motor casing 312 fixed connection, motor stator 313 fixed setting is on motor casing 312 inner wall, and motor rotor 314 fixed setting is on motor shaft 315.
In this embodiment, the effective and reasonable transmission of the torque of the frameless torque motor 31 is achieved through the motor end cap 311, the motor housing 312, the motor stator 313, the motor rotor 314 and the motor shaft 315.
In the present embodiment, the motor stator 313 may be fixed to the motor housing 312 by glue, the motor rotor 314 may be fixed to the motor shaft 315 by glue, and the output flange 33 may be fixed to the motor shaft 315 by screws.
The working process of the high-irradiation-resistance and high-load integrated joint device comprises the following steps: the high-irradiation-resistance large-load integrated joint device is electrified, the motor wire harness 02 is electrically connected with the driving plate 13 and the frameless moment electromechanical interface 32 of the servo device 03, the driving plate 13 controls the frameless moment motor 31 to rotate, the motor rotor 314 of the frameless moment motor 31 drives the motor shaft 315 to rotate, and the motor shaft 315 rotates to drive the output flange 33. When the output flange 33 rotates, the output flange 33 rotates relative to the joint input shaft through the first bearing 14, and the output flange 33 drives the fixedly connected joint output shaft 12 to rotate relative to the joint input shaft 11, so that joint transmission is realized.
In some embodiments, as shown in fig. 2, the motor shaft 315 is of a hollow structure, the servo device 03 further includes a rotary transformer 34, the rotary transformer 34 is disposed below the motor end cover 311, the rotary transformer 34 includes a rotary output shaft 341, one end of the rotary output shaft 341 is fixedly connected to the output flange 33, and a portion of the rotary output shaft 341 is located inside the motor shaft 315.
In this embodiment, the motor shaft 315 is of a hollow structure, the rotary transformer 34 is disposed below the motor end cover 311, a part of the rotary output shaft 341 is located inside the motor shaft 315 of the hollow structure, the internal space structure of the servo device 03 is optimized, the spatial layout of the joint input shaft 11 is more reasonable, and the volume of the high-irradiation-resistance and high-load integrated joint device is reduced.
In some embodiments, as shown in fig. 2, the rotary transformer 34 further includes a rotary end cover 342, a rotary stator 343, a rotary rotor 344, a driving pin 345, and a rotary flange 346, the rotary stator 343 is fixedly connected to the motor end cover 311, the rotary rotor 344 is fixedly connected to the rotary flange 346, the rotary flange 346 is fixedly connected to the rotary output shaft 341, and the driving pin 345 is disposed between the rotary flange 346 and the rotary output shaft 341.
In the present embodiment, the resolver 34 is used to observe the rotational speed of the high irradiation resistance and high load integrated joint device.
In the present embodiment, the rotary stator 343 may be fixed to the motor end cap 311 by screw mounting, the rotary rotor 344 may be fixed to the rotary flange 346 by screws, the rotary flange 346 may be fixed to the rotary output shaft 341 by the driving pin 345, and the rotary output shaft 341 may be fixed to the output flange 33 by screws.
Resolver 34 operates as follows: the speed feedback of the induced voltage to the high-irradiation-resistance and heavy-load integrated joint device is obtained through electromagnetic coupling, one end of a rotary output shaft 341 is fixedly connected with an output flange 33, the output flange 33 drives the rotary output shaft 341 to rotate, the rotary output shaft 341 drives a rotary flange 346 to rotate through a transmission pin 345, a rotary rotor 344 is fixedly connected with the rotary flange 346, the rotary flange 346 drives the rotary rotor 344 to rotate, when the rotary rotor 344 rotates relative to the rotary stator 343, the induced voltage is generated, the output speed of the output flange 33 is obtained through calculation according to the data of the induced voltage, and the output speed of the output flange 33 is fed back to the high-irradiation-resistance and heavy-load integrated joint device, so that the control feedback of the high-irradiation-resistance and heavy-load integrated joint device is realized.
In some embodiments, as shown in fig. 2, the servo device 03 further includes a harmonic reducer device 35, where a lower end of the motor casing 312 is fixedly connected to the motor end cover 311, and the harmonic reducer device 35 is disposed between an upper end of the motor casing 312 and a lower end of the output flange 33.
In the present embodiment, the harmonic speed reducer device 35 is a speed reducer developed by using the planetary gear transmission principle for changing the output rotation speed of the frameless torque motor 31.
In this embodiment, the lower end of the motor casing 312 is fixedly connected with the motor end cover 311, and the harmonic reducer device 35 is disposed between the upper end of the motor casing 312 and the lower end of the output flange 33, so that the spatial layout of the joint input shaft 11 is more reasonable, and the volume of the high irradiation-resistance and heavy-load integrated joint device is reduced.
In some embodiments, as shown in fig. 3, the harmonic reducer device 35 includes a rigid wheel 351, a flexible wheel 352 and a wave generator 353, the wave generator 353 is sleeved on the motor shaft 315, the wave generator 353 is connected with the motor shaft 315 through a first key 354, the lower end surface of the rigid wheel 351 is fixedly connected with the upper end surface of the motor casing 312, the upper end surface of the rigid wheel 351 is fixedly connected with the second stepped hole end surface of the joint input shaft 11, and the flexible wheel 352 is fixedly connected with the lower end of the output flange 33.
In this embodiment, the harmonic reducer device 35 includes a rigid gear 351, a flexible gear 352 and a wave generator 353, the wave generator 353 is sleeved on the motor shaft 315, the wave generator 353 is connected with the motor shaft 315 through a first key 354, the lower end surface of the rigid gear 351 is fixedly connected with the upper end surface of the motor casing 312, the upper end surface of the rigid gear 351 is fixedly connected with the end surface of a second stepped hole of the joint input shaft 11, the flexible gear 352 is fixedly connected with the lower end of the output flange 33, and different rotation speeds of the high irradiation-resistant and heavy-load integrated joint device are realized.
In this embodiment, the motor shaft 315 may be connected to the wave generator 353 of the harmonic reducer through the first key 354, the rigid wheel 351 of the harmonic reducer may be fixed to the motor housing 312 through a screw, the flexible wheel 352 may be fixed to the output flange 33 through a screw, and the rigid wheel 351 of the harmonic reducer may be fixed to the joint input shaft 11 through a screw mounting.
The harmonic reducer device 35 operates as follows: the motor shaft 315 of the frameless torque motor 31 rotates to drive the wave generator 353 connected through the first key 354, the wave generator 353 drives the flexible gear 352 to rotate by utilizing the planetary gear transmission principle, the flexible gear 352 drives the output flange 33 to rotate and output to the outside, and further the transmission from the frameless torque motor 31 to the output flange 33 is realized.
In some embodiments, as shown in fig. 3, the upper end surface of the rigid gear 351 abuts against the lower end surface of the flexible gear 352, and the flexible gear 352 is sleeved on the outer circumference of the wave generator 353.
In this embodiment, the upper end surface of the rigid gear 351 is abutted with the lower end surface of the flexible gear 352, the flexible gear 352 is sleeved on the outer circumference of the wave generator 353, so that the spatial layout of the joint input shaft 11 is more reasonable, and the volume of the high-irradiation-resistance and high-load integrated joint device is reduced.
In some embodiments, as shown in fig. 2, the servo 03 further includes a brake device 36, where the brake device 36 includes a second key 361, a brake protecting cover 362, and a brake 363, and the brake 363 is connected to the motor shaft 315 through the second key 361, and the brake protecting cover 362 is fixed on an upper end surface of the motor housing 312.
In this embodiment, the brake 363 may be a power-off band-type brake, and when power is off, the brake 363 locks the motor shaft 315 with self-locking, and the high-irradiation-resistance and heavy-load integrated joint device stops rotating, so as to realize the function of the joint band-type brake.
Brake device 36 is operative: the brake 363 is connected to the motor shaft 315 via the second key 361, and when braking is required, the brake 363 brakes the motor shaft 315, the brake output flange 33, the brake joint output shaft 12 and the joint input shaft 11, thereby realizing joint braking.
In order to prevent grease from other devices from falling into the brake 363, a brake boot 362 is provided to achieve physical isolation of the brake 363.
In other embodiments, the brake device 36 is embedded in the harmonic reducer device 35.
In this embodiment, the brake 363 may be embedded into the cavity of the harmonic reducer device 35, so as to reduce the volume of the joint module, compress the serial height of the joint module, and realize a compact and integrated design of the joint.
In other embodiments, the joint input shaft 11, the joint output shaft 12, the driving plate 13, the first bearing 14, the frameless torque motor 31, the resolver 34, the brake 363 device 36, and other components, and the lubricating grease used for the components, the motor harness 02, and the like are all products with high radiation resistance.
In the embodiment, the irradiation environment requirement of the high irradiation resistance and heavy load integrated joint device is met by adopting the components and the products with high irradiation resistance.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.
Claims (9)
1. A high irradiation tolerance heavy load integrated joint device, characterized in that the high irradiation tolerance heavy load integrated joint device comprises: the device comprises a joint assembly, a motor wire harness and a servo device, wherein the motor wire harness and the servo device are both positioned in the joint assembly; the joint assembly comprises a joint input shaft and a joint output shaft, the joint input shaft is rotationally connected with the joint output shaft, and a rotation axis of the joint input shaft and the joint output shaft which are rotationally connected is perpendicular to the axis of the joint input shaft; the joint input shaft is of a hollow structure and comprises a first bulge and a second bulge, the first bulge extends from the outer peripheral surface of the joint input shaft towards the radial direction far away from the axis of the joint input shaft, and the second bulge extends from the inner peripheral surface of the joint input shaft towards the radial direction close to the axis of the joint input shaft; the first bulge is provided with a first through hole, the axis of the first through hole is perpendicular to the axis of the joint input shaft, and the rotation axis of the joint input shaft and the joint output shaft which are in rotary connection is coincident with the axis of the first through hole;
the left side of the second protruding portion is a first cavity, the right side of the second protruding portion is a second cavity, the servo device is arranged inside the second cavity and comprises a frameless torque motor and a frameless torque motor electrical interface, the frameless torque motor electrical interface faces towards the first cavity, and the motor wire harness extends from the frameless torque motor electrical interface towards the first cavity.
2. The high irradiation resistance and heavy load integrated joint device according to claim 1, wherein the joint assembly further comprises a driving plate and a first bearing, a first step hole is formed in the end face, close to the axis of the joint input shaft, of the first through hole, and a second step hole is formed in the end face, close to the axis of the joint input shaft, of the first step hole; the servo device further comprises an output flange, one end of the output flange is fixedly connected with the joint output shaft, a frameless torque motor is arranged at the other end of the output flange in the direction close to the axis of the joint input shaft, and the rotation axis of the frameless torque motor is perpendicular to the axis of the joint input shaft; a first bearing is arranged between the shaft neck of the output flange and the first through hole, and the shaft shoulder end surface of the output flange is positioned on the end surface of the first step hole;
the driving plate is located on the inner wall of the first cavity and is close to the second protruding portion, and the motor wire harness extends from the frameless torque electrical interface towards the first cavity to the driving plate and is electrically connected with the driving plate.
3. The high irradiation tolerance heavy load integrated joint device according to claim 2, wherein the frameless torque motor further comprises: the motor comprises a motor end cover, a motor shell, a motor stator, a motor rotor and a motor shaft, wherein the motor end cover is fixedly connected with the motor shell, the motor stator is fixedly arranged on the inner wall of the motor shell, and the motor rotor is fixedly arranged on the motor shaft.
4. The high-irradiation-resistance and heavy-load integrated joint device according to claim 3, wherein the motor shaft is of a hollow structure, the servo device further comprises a rotary transformer, the rotary transformer is arranged below the motor end cover and comprises a rotary output shaft, one end of the rotary output shaft is fixedly connected with the output flange, and a part of the rotary output shaft is positioned inside the motor shaft.
5. The high-irradiation-resistance and heavy-load integrated joint device according to claim 4, wherein the rotary transformer further comprises a rotary end cover, a rotary stator, a rotary rotor, a transmission pin and a rotary flange, the rotary stator is fixedly connected with the motor end cover, the rotary rotor is fixedly connected with the rotary flange, the rotary flange is fixedly connected with the rotary output shaft, and the transmission pin is arranged between the rotary flange and the rotary output shaft.
6. The high irradiation resistance and heavy load integrated joint device according to claim 3, wherein the servo device further comprises a harmonic reducer device, the lower end of the motor casing is fixedly connected with the motor end cover, and the harmonic reducer device is arranged between the upper end of the motor casing and the lower end of the output flange.
7. The high-irradiation-resistance and heavy-load integrated joint device according to claim 6, wherein the harmonic reducer device comprises a rigid gear, a flexible gear and a wave generator, the wave generator is sleeved on the motor shaft and connected with the motor shaft through a first key, the lower end face of the rigid gear is fixedly connected with the upper end face of the motor shell, the upper end face of the rigid gear is fixedly connected with the end face of a second step hole of the joint input shaft, and the flexible gear is fixedly connected with the lower end of the output flange.
8. The high-irradiation-resistance and heavy-load integrated joint device according to claim 7, wherein the upper end face of the rigid gear is abutted against the lower end face of the flexible gear, and the flexible gear is sleeved on the outer circumference of the wave generator.
9. A high irradiation resistance and heavy load integrated joint device according to claim 3, wherein the servo device further comprises a brake device, the brake device comprises a second key, a brake protection cover and a brake, the brake is connected with the motor shaft through the second key, and the brake protection cover is fixed on the upper end face of the motor shell.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311215461.6A CN117001713A (en) | 2023-09-20 | 2023-09-20 | High-irradiation-resistance and high-load integrated joint device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311215461.6A CN117001713A (en) | 2023-09-20 | 2023-09-20 | High-irradiation-resistance and high-load integrated joint device |
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| CN117001713A true CN117001713A (en) | 2023-11-07 |
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| CN202311215461.6A Pending CN117001713A (en) | 2023-09-20 | 2023-09-20 | High-irradiation-resistance and high-load integrated joint device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119210024A (en) * | 2024-11-29 | 2024-12-27 | 上海莘汭驱动技术有限公司 | A high-precision servo motor |
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