Search

CN-121973256-A - Intelligent management module of library robot

CN121973256ACN 121973256 ACN121973256 ACN 121973256ACN-121973256-A

Abstract

The invention relates to an intelligent management module of a library robot, which integrates a single-shaft load torque sensor, an RV reducer, a T-shaped joint shell, a joint motor shell, a joint temperature detection sensor, a double-absolute-value magnetic encoder, an electromagnetic band-type brake, a driver and the like. The single-shaft load torque sensor in the high-rigidity large-hollow multifunctional T-shaped RV joint module is arranged at the left side of the output end of the RV speed reducer, the obtained torque sensor signal is used for realizing torque control of joints, and in intelligent library carrying or book checking application, the clamping force can be adaptively adjusted according to the weight of grabbing books, so that pages of books are prevented from being damaged. The signal wire of the torque sensor is routed through the large central hole of the joint output shaft. The joint motor shell is provided with a plate type heat radiation structure, and a motor rotor is externally installed, so that the assembly work of the motor is facilitated. The joint temperature detection sensor is arranged on the motor, can feed back temperature data to the upper computer and is used for heat management and control optimization when the robot continuously runs for a long time. The central input shaft with the gear is meshed with the gear on the RV speed reducer to transmit power, the electromagnetic band-type brake is arranged on the right side of the joint motor, and the central input shaft is limited to brake the joint module, so that the handling arm is prevented from accidentally falling to damage books during power failure. The driver is provided with a temperature sensor interface which is connected with a temperature detection sensor on the motor to monitor the joint temperature in real time. The invention adopts the hollow RV reducer with good rigidity and long service life, integrates data such as torque, temperature and the like, designs an independent mounting shell with a heat dissipation structure for the motor stator, integrates various required functions into an integrated joint module, and is particularly suitable for library robots with high requirements on safety and precision.

Inventors

  • PENG XUEHUA
  • LIU HONGQIU
  • LIU QING

Assignees

  • 枣庄学院

Dates

Publication Date
20260505
Application Date
20260402

Claims (10)

  1. 1. An intelligent management module of a library robot is characterized by comprising a T-shaped joint shell (8), an RV speed reducer (7), a joint motor (11), a joint motor shell (10), a joint motor stator (11-1) and a joint motor rotor (11-2), wherein the T-shaped joint shell (8) is of a T-shaped cylindrical structure, a containing cavity is formed in the T-shaped cylindrical structure, the RV speed reducer (7) is installed at the left side of the inside of the T-shaped joint shell (8), the joint motor is installed in the T-shaped joint shell (8), the joint motor (11) is installed in the T-shaped joint shell (8) and is positioned at the right side of the RV speed reducer (7), the joint motor (11) comprises a joint motor stator (11-1) and a joint motor rotor (11-2), the joint motor shell (10) is arranged independently of the T-shaped joint shell (8), the joint motor stator (11-1) is fixed to the inner wall of the joint motor shell (10), the joint motor shell (10) is fixedly connected with the T-shaped joint shell (8), a central input shaft (12) is rotatably supported in the containing cavity, the middle of the joint motor is fixedly connected with the joint motor rotor (11-2), a gear (12-1) is arranged at the left side of the joint motor rotor (12-1), the gear (12-1) is meshed with a planetary gear (7) and a torque reducer (7) is meshed with a left-side of the joint motor (7), a torque reducer (7) is arranged at the central output shaft (25), and is meshed with a hollow torque reducer (25) through a through hole (25), the intelligent control device comprises a torque connection plate (6), a joint temperature detection sensor (13), a driver (23) and an electromagnetic brake (15), wherein the first side of the torque connection plate is fixedly connected with the output end of an RV speed reducer (7), the second side of the torque connection plate is fixedly connected with a joint output flange (3), a signal cable of the single-shaft torque sensor (4) is led out through a central through hole of a joint output shaft (25), the joint temperature detection sensor (13) is arranged on a joint motor stator (11-1) and used for monitoring the working temperature of the joint motor in real time, the driver (23) is arranged in the right side of a T-shaped joint shell (8), the driver (23) is provided with a temperature sensor interface, the joint temperature detection sensor (13) is electrically connected with the temperature sensor interface, and the electromagnetic brake (15) is arranged on the right side of the joint motor (11) and acts on a central input shaft (12) and is used for braking a joint module through limiting rotation of the central input shaft (12).
  2. 2. The intelligent management module of the library robot according to claim 1, further comprising a first bearing seat (5) and a first bearing, wherein the first bearing seat (5) is fixed on the T-shaped joint housing (8), and the first bearing is arranged between the first bearing seat (5) and the joint output flange (3) and is used for providing radial support for the joint output flange (3) so as to protect the single-shaft torque sensor (4) from bending moment damage.
  3. 3. The intelligent management module of the library robot according to claim 1, wherein the outer side wall of the joint motor shell (10) is provided with a sheet-shaped heat dissipation structure (10-1).
  4. 4. The intelligent management module of the library robot, as set forth in claim 1, wherein the central through hole of the joint output shaft (25) has a diameter not less than 32mm, a large hollow wiring channel is formed, and a power cable, a signal cable and/or a pneumatic pipeline are arranged in the wiring channel in a penetrating manner.
  5. 5. The intelligent management module of the library robot according to claim 1, further comprising an input shaft absolute value encoder (19) in driving connection with the right end of the central input shaft (12) through an outer ring encoder shaft (18), an output shaft absolute value encoder (20) in driving connection with the right end of the joint output shaft (25) through an inner ring encoder shaft (21), and a multi-turn encoder battery (26) arranged on the driver (23) for providing power to the output shaft absolute value encoder (20) to maintain multi-turn position data when power is cut off.
  6. 6. The intelligent management module of the library robot according to claim 5, wherein the end face of the outer ring encoder shaft (18) is provided with a disassembly hole (18-1) for disassembly maintenance of the input shaft absolute value encoder (19).
  7. 7. The intelligent management module of the library robot is characterized by further comprising a band-type brake base (14), wherein the band-type brake base (14) is fixed on the joint motor shell (10) and presses the joint motor stator (11-1), a threading hole (14-1) is formed in the band-type brake base (14), and a cable of the joint motor (11) and the joint temperature detection sensor (13) is connected with the driver (23) through the threading hole (14-1).
  8. 8. The intelligent management module of the library robot according to claim 7, wherein the central input shaft (12) is rotatably supported by a second bearing (29) and a third bearing (30), and the third bearing (30) is arranged in the band-type brake base (14) and is used for guaranteeing coaxiality of the band-type brake base (14) and the central input shaft (12).
  9. 9. The intelligent management module of the library robot is characterized in that a sealing gasket (9) is arranged between the T-shaped joint housing (8) and the RV reducer (7), a joint rear cover sealing ring (17) is arranged between the T-shaped joint housing (8) and the joint rear cover (27), and an input shaft sealing ring (28) is arranged between the joint output shaft (25) and the RV reducer (7).
  10. 10. The intelligent management module of the library robot, according to claim 1, further comprises a first fixed coil (1) and a second fixed coil (22), wherein the first fixed coil (1) is fixed on the joint output flange (3) through a mounting plate (2), the second fixed coil (22) is fixed on a shell of the driver (23) through a porous plate (24) for restraining and protecting a cable, and the porous plate (24) has elasticity and can adapt to the expansion and contraction of the cable during joint movement.

Description

Intelligent management module of library robot Technical Field An intelligent management module of library robot mainly research robot joint technical field especially relates to the field joint technique such as books intelligence check, books automatic access and transport, library consultation service, possesses the multi-functional joint module of big cavity of moment of torsion sensing and temperature detection function. Disclosure of Invention In view of the above background technology, the present invention aims to provide an intelligent management module of a library robot, so as to meet special requirements of the robot in the processes of book grabbing, carrying and checking. The intelligent management module comprises a first fixed coil, a mounting plate, a joint output flange, a single-shaft torque sensor, a first bearing seat, a torque connecting plate, an RV speed reducer, a T-shaped joint shell, a sealing gasket, a joint motor shell, a joint motor, a central input shaft, a joint temperature detection sensor, a band-type brake base, an electromagnetic band-type brake, a driver base, a joint rear cover sealing ring, an outer ring encoder shaft, an input shaft absolute encoder, an output shaft absolute encoder, an inner ring encoder shaft, a second fixed coil, a driver, a porous plate, a joint output shaft, a multi-ring encoder battery, a joint rear cover and an input shaft sealing ring. The right side of the single-shaft torque sensor is connected with the torque connecting plate, the left side of the single-shaft torque sensor is connected with the joint output flange, and a signal cable of the single-shaft torque sensor is connected to an interface on the driver through a central hole of the joint output shaft. When the joint is applied to the carrying of library robots, the design enables the mechanical arm to sense the tail end clamping force in real time when the mechanical arm grabs books with different weights (such as books with thick books and magazines with thin books), so that the self-adaptive force control grabbing is realized, and book page breakage caused by overlarge clamping force or book sliding caused by overlarge clamping force is avoided. The torque connecting plate is fixed at the output end of the RV speed reducer through bolts. The left side of the joint output flange can be connected with a load (such as a tail end pneumatic sucker or clamping jaw) through a reserved outer ring threaded hole or connected with a next stage joint through a radial threaded hole. The first bearing is arranged between the joint output flange and the first bearing seat, the bearing ensures that the single-shaft torque sensor is not damaged due to overlarge bending moment when the joint output flange is connected with a load to work (for example, the tail end of the joint output flange is stressed due to collision with a bookshelf in the checking process), and the right side of the joint output flange is fixed with the single-shaft torque sensor through the inner ring through hole. The first bearing seat is fixed on the T-shaped joint shell through bolts, the RV speed reducer and the sealing gasket. The T-shaped joint shell is of a T-shaped cylindrical structure, a first bearing seat, an RV speed reducer, a joint motor shell, an electromagnetic band-type brake base, an electromagnetic band-type brake, a driver base and a driver are sequentially installed in the T-shaped joint shell from left to right. The right-most end of the T-shaped shell is connected with the joint rear cover, a sealing ring is arranged between the T-shaped shell and the joint rear cover, dust and paper scraps in the library environment can be prevented from entering the joint by the sealing ring, precise parts in the joint are better protected, and the service life of the joint in long-term operation of the library is prolonged. A sealing gasket is arranged between the RV reducer and the T-shaped joint shell, and can prevent oil from leaking from the shell part and avoid polluting books or bookshelf. The joint motor comprises two parts, namely a joint motor stator and a joint motor rotor, wherein the joint motor stator is singly stuck on a joint motor shell by glue, the joint motor stator is not directly arranged in a T-shaped joint shell, and is singly arranged outside a joint, so that an assembly tool of the motor stator is convenient to design, the air gap between the joint motor stator and the rotor is ensured to be uniform, and a good electrical effect is obtained. And the outer side of the joint motor shell is provided with a sheet-shaped heat dissipation structure, so that the joint motor can be guaranteed to have good heat dissipation effect when the library robot continuously inventory for a long time or carries in a peak period, and stop caused by overheating is prevented. The joint motor shell is fixed with the T-shaped joint shell through a right countersunk hole by a screw, the other threaded holes on the sam