A new type of harmonic joint module

Abstract

The present invention discloses a harmonic joint module of a novel structure, which comprises a first coding component, a second coding component, a speed reducer, an off-axis encoder, a housing and a driver, wherein the second coding component comprises an output flange, and the output flange and the off-axis encoder are respectively arranged at both ends of the housing along the length direction; the second coding component comprises a transmission shaft connected to the output flange, and an output code disk is arranged at one end of the transmission shaft away from the output flange, the first coding component comprises an input code disk connected to the output end of the driver, the input code disk and the output code disk are both electrically connected to the off-axis encoder, and the input code disk and the output code disk are both arranged at one end away from the output flange; and the off-axis encoder controls the opening and closing of the driver. The present invention has the effect of reducing the volume of the joint module.

Description

Technical Field

[0001] The invention relates to the field of mechanical modules, and in particular to a harmonic joint module with a novel structure. Background Art

[0002] Robotic arms, robots, etc. are composed of a variety of mechanical modules and mechanical shells. Different mechanical modules are designed to correspond to different usage scenarios and required functions, and finally the tasks to be solved are completed through the cooperation of multiple modules.

[0003] In the joint module, the controller reads the input and output torque and speed, etc., and cooperates with the motor and reducer to control the joint movement. When the movement is more complicated, multiple joint connections are used to avoid the situation where a single joint is bulky due to too many feedback modules, thereby making the movement at the output end more sensitive.

[0004] Regarding the above-mentioned related technologies, in order to reduce the situation where the joint shell is too large, a hollow magnetic ring encoder is usually used to make the joint module hollow. The hollow inner cavity can be used for the power cord and communication line to pass through. However, the two ends of the joint are used for the output and input of joint signals. Therefore, the output encoder and the input encoder need to be set at both ends of the joint module. Therefore, drivers need to be set for the encoders at both ends, resulting in a larger joint volume. Summary of the invention

[0005] In order to reduce the volume of the joint module, the present invention provides a harmonic joint module with a novel structure.

[0006] The harmonic joint module of a novel structure provided by the present invention adopts the following technical solution:

[0007] A harmonic joint module of a novel structure comprises a first encoding component, a second encoding component, a reducer, an off-axis encoder, a housing and a driving member, wherein the second encoding component comprises an output flange, and the output flange and the off-axis encoder are respectively arranged at two ends of the housing along the length direction;

[0008] The second encoding component includes a transmission shaft connected to the output flange, and an output code disk is provided at one end of the transmission shaft away from the output flange. The first encoding component includes an input code disk connected to the output end of the driving member, and the input code disk and the output code disk are both electrically connected to the off-axis encoder, and the input code disk and the output code disk are both provided at one end away from the output flange; and the off-axis encoder controls the opening and closing of the driving member.

[0009] By adopting the above technical solution and setting an off-axis encoder, the joint module can be hollow, so that connecting wires, communication wires, etc. can pass through the hollow part of the joint module, which is beneficial to reduce the situation where the connecting wires and communication wires are placed outside the shell, resulting in the increase in the volume of the overall shell of the robotic arm or robot in order to accommodate the wire body; at the same time, the output flange and the output code disk are connected by the transmission shaft, so that the output code disk and the input code disk can be set at the same end and controlled by the off-axis encoder, and the driving member is also electrically connected to the off-axis encoder, which is beneficial to reduce the setting of the encoder, thereby greatly reducing the volume of the joint module, reducing the volume of the joint module, and improving the flexibility of the joint module.

[0010] Preferably, the driving member is configured as a hollow frameless motor.

[0011] By adopting the above technical solution, the overall system inertia can be reduced. As the inertia is reduced, the torque required for motor acceleration and deceleration will also be lower, which in turn can better control the movement and stabilization time of the motor.

[0012] Preferably, the inner ring of the inner rotor of the frameless motor is connected to a rotor flange, and the first encoding component comprises an input code disc flange, and the input code disc flange is fixedly connected to an end of the rotor flange away from the inner rotor.

[0013] By adopting the above technical solution, the rotation of the inner rotor drives the rotor flange to rotate, and the rotor flange extends to the inner side of the input code disk and is fixedly connected to the input code disk flange, thereby driving the input code disk flange to move, and then driving the input code disk to rotate, so that the input code disk obtains the rotation speed and torque of the inner rotor, that is, the position and speed of the input end.

[0014] Preferably, the reducer is a harmonic reducer, and the output flange is fixedly connected to the rigid wheel of the reducer.

[0015] By adopting the above technical scheme, the harmonic reducer has the advantages of small size, light weight and high reduction ratio. The lowest reduction ratio can reach 1 / 320, which meets the reduction ratio requirements of this joint module. The input end of the harmonic reducer is the cam ring placed in its innermost circle, and the output end is the rigid wheel placed in the outermost circle. The rigid wheel is connected to the output flange so that the output flange obtains the same rotation speed as the output speed of the reducer.

[0016] Preferably, the reducer cam extends to one end close to the off-axis encoder and is fixedly connected to the rotor flange.

[0017] By adopting the above technical solution, the reducer adopts a harmonic reducer, and the rotor flange is fixedly connected to the cam of the harmonic reducer, so that the rotor flange can be used as the input power of the reducer cam, so that the rotor flange can transmit power to the output flange through the reducer.

[0018] Preferably, one end of the transmission shaft away from the output flange is fixedly connected to an output code disc flange, and the output code disc flange is fixedly connected to the output code disc.

[0019] By adopting the above technical solution, the power transmitted from the reducer to the output flange is transmitted to the output code disc flange through the transmission shaft, and then the speed, torque and other data of the output end are transmitted back to one end of the off-axis encoder.

[0020] Preferably, the inner ring of the frameless motor is provided with an electromagnetic brake pad.

[0021] By adopting the above technical solution, the provision of the electromagnetic brake pad is conducive to reducing the speed of electrons transmitted from the inner rotor, which is conducive to deceleration.

[0022] Preferably, a tensioning inner ring and a tensioning outer ring are sandwiched between the portion of the cam extending toward the off-axis encoder end and the rotor flange, the tensioning inner ring and the tensioning outer ring are both in the shape of circular rings, the outer periphery of the tensioning inner ring and the inner periphery of the tensioning outer ring are in mutually matching inclined surfaces, and the outer periphery of the tensioning inner ring and the inner periphery of the tensioning outer ring are tightly fitted.

[0023] By adopting the above technical solution, the outer periphery of the tensioning inner ring and the inner periphery of the tensioning outer ring are tightly fitted so that the inner circumferential wall of the rotor flange and the outer circumferential wall of the reducer cam are tightly fixed, thereby achieving the fixation of the rotor flange and the reducer cam, so that the rotor flange can drive the reducer cam to rotate.

[0024] In summary, the present invention includes at least one of the following beneficial technical effects:

[0025] 1. The connecting wires, communication wires, etc. can pass through the hollow part of the joint module, which is conducive to reducing the situation where the connecting wires and communication wires are placed outside the shell, resulting in the increase in the volume of the overall shell of the robotic arm or robot in order to accommodate the wires; at the same time, the output flange and the output code disk are connected through the transmission shaft, so that the output code disk and the input code disk can be set at the same end and controlled by the off-axis encoder, and the driving part is also electrically connected to the off-axis encoder, which is conducive to reducing the setting of the encoder, thereby greatly reducing the volume of the joint module, reducing the volume of the joint module, and helping to improve the flexibility of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a harmonic joint module of a novel structure of the present application;

[0027] Figure 2 It is a cross-sectional view of a harmonic joint module of a novel structure of the present application.

[0028] Explanation of the accompanying drawings: 1. housing; 2. off-axis encoder; 3. frameless motor; 4. output flange; 5. reducer; 6. cam; 7. rigid wheel; 8. inner rotor; 9. rotor flange; 10. connecting part; 11. transmission part; 12. supporting part; 13. output code disk; 14. output code disk flange; 15. input code disk; 16. input code disk flange; 17. transmission shaft; 18. electromagnetic brake; 19. clamping part; 20. cross roller; 21. tensioning inner ring; 22. tensioning outer ring; 23. clamping ring; 24. deep groove ball bearing; 25. extension part; 26. cross bearing; 27. bearing outer ring; 28. bearing inner ring. DETAILED DESCRIPTION

[0029] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0030] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure.

[0031] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0032] The following is combined with Figure 1-Figure 2 The present invention is described in further detail.

[0033] The embodiment of the present invention discloses a harmonic joint module with a novel structure. Figure 1A harmonic joint module of a novel structure includes a hollow shell 1, an off-axis encoder 2, a first encoding component and a second encoding component. A driving member is provided in the middle of the shell 1. In this embodiment, the driving member is set as a hollow frameless motor 3. The first encoder includes an input code disc 15, and the second encoder includes an output code disc 13 and an output flange 4. The off-axis encoder 2 and the output flange 4 are respectively arranged at both ends of the shell 1. The input code disc 15, the output code disc 13 and the frameless motor 3 are all electrically connected to the off-axis encoder 2, so that the controllers of the input code disc 15, the output code disc 13 and the frameless motor 3 are integrated into the common off-axis encoder 2.

[0034] The off-axis encoder 2 is connected to the controller signal, the input code disk 15 is connected to the input end of the off-axis encoder 2, and the output code disk 13 is connected to the output end of the off-axis encoder 2. The controller controls the off-axis encoder 2 to receive the detection information of the output code disk 13 and the input code disk 15 to determine the external force acting on the joint where the module is located, wherein the detection information includes the speed and the motor torque, and combined with the reduction ratio of the harmonic reducer, the information of the input end and the output end is compared and analyzed to determine the operating state of the joint module, so as to adjust the joint module to make it in a safe operating state.

[0035] The reducer 5 is set as a harmonic reducer 5, and the harmonic reducer 5 includes a cam 6, a flexible wheel and a rigid wheel 7. The cam 6 is the power input end of the harmonic reducer 5, and the rigid wheel 7 is the power output end of the harmonic reducer 5. The harmonic reducer 5 is a conventional technology, and its structure is not described in detail here. A cross bearing 26 is also provided at one end of the housing 1 close to the reducer 5. The cross bearing 26 includes a bearing outer ring 27, a bearing inner ring 28 and a cross roller 20. The cross bearing 26 is a conventional technology, and its structure is not described in detail here. The bearing outer ring 27 is fixedly connected to the end of the housing 1 by bolts, and the bearing inner ring 28 is fixedly connected to the reducer rigid wheel 7.

[0036] The rotor of the frameless motor 3 is an inner rotor 8, and an electromagnetic brake 18 is also provided below the frameless motor 3 to reduce the speed of the inner rotor 8. The inner peripheral wall of the inner rotor 8 is connected to a rotor flange 9, and the rotor flange 9 includes a connecting portion 10 fixedly connected to the inner peripheral wall of the inner rotor 8, a supporting portion 12 integrally connected to the top of the connecting portion 10, and a transmission portion 11 integrally connected to the top of the connecting portion 10.

[0037] The support portion 12 extends in a direction away from the axis to above the inner rotor 8. The support portion 12 is integrally connected to the transmission portion 11 at a vertex away from the connection portion 10. An arc transition is formed between the lower surface of the transmission portion 11 and the outer periphery of the support portion 12, thereby avoiding contact with the frameless motor 3 and reducing the situation in which the motor vibration is transmitted to the rotor flange 9 due to contact with the motor and causes noise.

[0038] The outer peripheral wall of the transmission part 11 is provided with an external thread, and the first encoding assembly further includes an input code disc flange 16 for supporting the input code disc 15, and the inner periphery of the input code disc flange 16 is threadedly connected to the transmission part 11. The outer periphery of the transmission part 11 is integrally connected with a clamping part 19, and the clamping part 19 is an annular shape coaxial with the housing 1. Thus, the speed information of the rotor flange 9 is transmitted to the input code disc flange 16 and then to the off-axis encoder 2.

[0039] A deep groove ball bearing 24 is provided between the transmission part 11 and the housing 1. The inner ring end face of the deep groove ball bearing 24 is tightly pressed against the upper surface of the clamping part 19. The input code disc flange 16 includes an extension part 25. The upper surface of the extension part 25 is used to support the input code disc 15. The extension part 25 cooperates with the clamping part 19 to clamp the inner ring of the deep groove ball bearing 24, so that the rotation of the input code disc flange 16 and the rotor flange 9 is not easy to wear the housing 1.

[0040] The cam 6 of the harmonic reducer 5 extends along the length direction of the housing 1 toward the off-axis encoder 2 , and the cam 6 is fixedly connected to the inner circumferential wall of the support portion 12 , so that the rotational power of the rotor flange 9 is transmitted to the harmonic reducer 5 and then to the output flange 4 .

[0041] A tensioning inner ring 21 and a tensioning outer ring 22 are sandwiched between the cam 6 and the support portion 12. The tensioning inner ring 21 and the tensioning outer ring 22 are both in annular shape, and the outer periphery of the tensioning inner ring 21 and the inner periphery of the tensioning outer ring 22 are in mutually matching inclined surfaces, and the outer periphery of the tensioning inner ring 21 and the inner periphery of the tensioning outer ring 22 are tightly fitted.

[0042] The inner circumference of the support portion 12 is also threadedly connected with a clamping ring 23. The clamping ring 23, the support portion 12, the connecting portion 10 and the cam 6 cooperate to clamp the tensioning inner ring 21 and the tensioning outer ring 22 to increase the friction between the cam 6 and the support portion 12, thereby making the cam 6 and the support portion 12 relatively fixedly connected.

[0043] A hollow transmission shaft 17 is integrally connected to one side of the output flange 4 along the thickness direction, and the inner circumference of the transmission shaft 17 is flush with the inner circumference of the output flange 4. The second encoding component also includes an output code disc flange 14 for supporting the output code disc 13. The inner circumferential wall of the output code disc flange 14 is provided with a thread, and the outer circumferential wall of one end of the transmission shaft 17 close to the output code disc 13 is provided with an external thread that matches the output code disc flange 14. The transmission shaft 17 is threadedly connected to the output code disc flange 14, so that the output code disc flange 14 and the transmission shaft 17 rotate at the same speed, so that the speed and torque of the output flange 4 can be transmitted to the off-axis encoder 2.

[0044] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A harmonic joint module with a new structure, characterized by: The invention comprises a first encoding component, a second encoding component, a reducer (5), an off-axis encoder (2), a housing (1) and a driving member, wherein the second encoding component comprises an output flange (4), and the output flange (4) and the off-axis encoder (2) are respectively arranged at two ends of the housing (1) along the length direction; The second encoding component comprises a transmission shaft (17) connected to the output flange (4), an output code disc (13) being provided at one end of the transmission shaft (17) away from the output flange (4), the first encoding component comprises an input code disc (15) connected to the output end of the driving member, the input code disc (15) and the output code disc (13) are both electrically connected to the off-axis encoder (2), and the input code disc (15) and the output code disc (13) are both provided at one end away from the output flange (4); and the off-axis encoder (2) controls the opening and closing of the driving member; The driving member is a hollow frameless motor (3), the rotor of the frameless motor (3) is an inner rotor (8), and an electromagnetic brake (18) is provided below the frameless motor (3) to reduce the speed of the inner rotor (8); The inner ring of the inner rotor (8) of the frameless motor (3) is connected to a rotor flange (9), and the first encoding component comprises an input code disc flange (16), and the input code disc flange (16) is fixedly connected to an end of the rotor flange (9) away from the inner rotor (8); The rotor flange (9) comprises a connecting portion (10) fixedly connected to the inner peripheral wall of the inner rotor (8), a supporting portion (12) integrally connected to the top of the connecting portion (10), and a transmission portion (11) integrally connected to the top of the connecting portion (10), the supporting portion (12) extending in a direction away from the axis to above the inner rotor (8), the top corner of the supporting portion (12) away from the connecting portion (10) is integrally connected to the transmission portion (11), the lower surface of the transmission portion (11) and the outer periphery of the supporting portion (12) are in an arc transition, and the outer peripheral wall of the transmission portion (11) is provided with an external thread; The first encoding assembly further comprises an input code disc flange (16) for supporting the input code disc (15), the inner circumference of the input code disc flange (16) being threadedly connected to the transmission part (11); the outer circumference of the transmission part (11) is integrally connected with a clamping part (19), the clamping part (19) being in the shape of a circular ring coaxial with the housing (1), a deep groove ball bearing (24) being arranged between the transmission part (11) and the housing (1), the inner ring end face of the deep groove ball bearing (24) being tightly abutted against the upper surface of the clamping part (19), the input code disc flange (16) comprising an extension part (25), the upper surface of the extension part (25) being used to support the input code disc (15), the extension part (25) and the clamping part (19) cooperating to clamp the inner ring of the deep groove ball bearing (24); The reducer (5) is a harmonic reducer. The cam (6) of the reducer (5) extends along the length direction of the housing (1) toward the direction approaching the off-axis encoder (2). The cam (6) is fixedly connected to the inner peripheral wall of the support portion (12). A tensioning inner ring (21) and a tensioning outer ring (22) are sandwiched between the cam (6) and the support portion (12). The tensioning inner ring (21) and the tensioning outer ring (22) are both annular. The outer periphery of the tensioning inner ring (21) and the inner periphery of the tensioning outer ring (22) are mutually matched inclined surfaces. The outer periphery of the tensioning inner ring (21) and the inner periphery of the tensioning outer ring (22) are tightly fitted. The inner periphery of the support portion (12) is also threadedly connected to a clamping ring (23). The clamping ring (23), the support portion (12), the connecting portion (10) and the cam (6) cooperate to clamp the tensioning inner ring (21) and the tensioning outer ring (22).

2. The harmonic joint module of the novel structure according to claim 1 is characterized in that: The output flange (4) is fixedly connected to the rigid wheel (7) of the reducer (5).

3. The harmonic joint module of the novel structure according to claim 1 is characterized in that: An end of the transmission shaft (17) away from the output flange (4) is fixedly connected to an output code disc flange (14), and the output code disc flange (14) is fixedly connected to the output code disc (13).

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