A harmonic integrated robot joint

Abstract

This application discloses a harmonic integrated robot joint. Belonging to the field of robot structure technology, this structure adopts a coaxial and integrated design of the motor and harmonic reducer, enabling a compact internal structure, reducing usable space, and offering a simple and convenient design. It includes a housing, and a pressure plate and a rotating disk disposed within the housing. The pressure plate comprises an integrally formed horizontal and vertical portion, with the rotating disk rotatably fitted onto the vertical portion at the end furthest from the horizontal portion. A harmonic reducer and a motor are disposed between the horizontal portion of the pressure plate and the rotating disk. The motor includes a motor housing, a stator, and a rotor. The rotor is driven and connected to a wave generator, which is driven and connected to a flexible wheel. The flexible wheel has a rigid wheel fixedly connected to it, and the rigid wheel is fixedly connected to the pressure plate. The stator is fixed to the motor housing, and the motor housing is fixedly connected to the housing. A first bearing is provided between the wave generator and the pressure plate, and a second bearing is provided between the pressure plate and the rotating disk.

Description

Technical Field

[0001] This invention relates to the field of robot structure technology, specifically a harmonic integrated robot joint. Background Technology

[0002] Currently, industrial robots generally require joint structures for coordinated operation.

[0003] Existing joint structures often use harmonic reducers to connect two relatively rotating joints. This is mainly because harmonic reducers have advantages such as high transmission accuracy, smooth operation, and no impact or significant noise.

[0004] Existing technologies require high precision in joint structures, which are also complex and not conducive to miniaturized and lightweight production and use.

[0005] Therefore, there is an urgent need to develop a harmonic integrated robot joint to solve the problems in the existing technology. Summary of the Invention

[0006] The purpose of this invention is to provide a harmonic integrated robot joint, which adopts a coaxial and integrated design of motor and harmonic reducer, which can compact the internal structure, reduce the usage space, and is simple in structure and easy to use, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A harmonic integrated robot joint includes a housing, and a pressure plate and a rotating disk disposed within the housing; the pressure plate includes an integrally formed horizontal portion and a vertical portion, and the rotating disk is rotatably sleeved on the vertical portion at the end away from the horizontal portion;

[0009] A harmonic reducer and a motor are provided between the horizontal part of the pressure plate and the rotating plate; the motor includes a motor housing, a stator and a rotor; the harmonic reducer includes a wave generator, a flexible wheel and a rigid wheel;

[0010] The wave generator, flexible wheel, rigid wheel, motor housing, stator, and rotor are sequentially fitted onto the longitudinal part of the pressure plate from the inside out. The rotor is driven and connected to the wave generator, the wave generator is driven and connected to the flexible wheel, the flexible wheel is provided with a rigid wheel fixedly connected to it, the rigid wheel is fixedly connected to the pressure plate, the stator is fixed to the motor housing, and the motor housing is fixedly connected to the housing.

[0011] A first bearing is provided between the wave generator and the pressure plate, and a second bearing is provided between the pressure plate and the rotating disk.

[0012] By adopting the above technical solution, the pressure plate and rotating plate serve as a frame structure, with the harmonic reducer and motor mounted on the pressure plate. Since the harmonic reducer and motor are not placed parallel in the longitudinal direction but rather interlocked laterally, this integrated design results in a more compact structure, achieving a tighter internal structure and reducing the usable space. Furthermore, the interlocking arrangement of the harmonic reducer and motor laterally eliminates the need for bearings between the wave generator and the pressure plate, and between the pressure plate and the rotating plate, thus reducing the number of bearings used and further enhancing the tighter internal structure and reducing the usable space.

[0013] As a further aspect of the present invention: the cross-section of the flexible wheel is L-shaped, including a horizontal part and a vertical part; a lubrication cavity is provided between the wave generator and the flexible wheel, wherein the horizontal part is fixed and sealed to the wave generator; a third bearing for sealing is provided between the vertical part and the wave generator, and a rigid wheel is fixedly sleeved on the vertical part of the flexible wheel.

[0014] By adopting the above technical solution, the flexible wheel in this solution adopts an L-shaped design. The horizontal part is used to fix and connect with the wave generator. The connection method adopts a flange connection to ensure a high sealing effect. Sealing gaskets can be set on the bolts of the flange to improve the sealing performance. The third bearing set between the vertical part and the wave generator will not only not interfere with the deceleration effect of the flexible wheel, but also ensure the sealing effect between the flexible wheel and the wave generator.

[0015] As a further aspect of the present invention: the middle part of the wave generator is arranged parallel to the longitudinal part of the pressure plate; a rigid pad is provided between the wave generator and the flexible wheel, the rigid pad is fixedly sleeved on the wave generator, and a sealing ring for sealing is provided between the rigid pad and the wave generator.

[0016] By adopting the above technical solution, the wave generator and the pressure plate are arranged in a long parallel configuration. This aims to form a good closed loop between the lubrication chamber and the second bearing. Specifically, the grease in the lubrication chamber must first pass through the gap in the third bearing between the wave generator and the flexible wheel, then through the upper contact surface between the wave generator and the pressure plate, then through the gap in the first bearing, and finally through the long gap between the pressure plate and the wave generator. This series of tortuous gaps forms a labyrinth-like seal. The grease experiences a throttling effect as it passes through the labyrinthine gaps, thus preventing leakage and improving the sealing effect of the integrated structure. The rigid gasket is mainly used to fix the horizontal part of the flexible wheel to the wave generator.

[0017] As a further aspect of the present invention: a fourth bearing for sealing is provided between the rigid wheel and the motor housing.

[0018] By adopting the above technical solution, the fourth bearing in this solution facilitates the formation of a seal between the rigid wheel and the motor housing, thereby improving the sealing effect of the integrated structure.

[0019] As a further aspect of the present invention: the pressure plate is provided with a wire passage cavity, the horizontal part of the pressure plate is provided with a force sensor for detecting the force value, and the rotating disk is provided with an encoder for control and adjustment; the encoder is connected to the force sensor by a wire through the wire passage cavity.

[0020] By adopting the above technical solution, the force sensor in this solution is connected to the encoder through the wire cavity, which facilitates the efficient realization of force control function.

[0021] As a further aspect of the present invention, the housing is provided with a wire passage that communicates with the outside.

[0022] By adopting the above technical solution, the wiring channel in this solution facilitates the connection of motor wires, sensor wires, and other lines inside the housing to the outside.

[0023] As a further aspect of the present invention: a pressure ring is provided on the pressure plate, the force sensor is disposed inside the pressure ring, and a front cover is provided on the force sensor; a fifth bearing for sealing is provided between the front cover and the pressure ring.

[0024] By adopting the above technical solution, the pressure ring and front cover in this solution are both connected by flanges, which facilitates the sealing inside the housing. The fifth bearing can improve the sealing effect of the structure without affecting the rotation of the sensor.

[0025] As a further aspect of the present invention, the bottom end of the housing is provided with a rear cover for sealing.

[0026] By adopting the above technical solution, the rear cover in this solution not only facilitates disassembly and cleaning of the housing, but also helps to ensure the sealing effect inside the housing.

[0027] Compared with the prior art, the beneficial effects of the present invention are: the coaxial and integrated design of the motor and harmonic reducer can compact the internal structure, reduce the space required, and the structure is simple and easy to use.

[0028] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of an overall structure of the robot joint structure in an embodiment of the present invention;

[0030] Figure 2 yes Figure 1 A schematic diagram of an exploded structure;

[0031] Figure 3 This is an exploded view of an integrated structure between the pressure plate and the rotating plate in an embodiment of the present invention;

[0032] Figure 4 This is an exploded view of a harmonic reducer structure in an embodiment of the present invention;

[0033] Figure 5 This is a cross-sectional view of the integrated structure between the pressure plate and the rotating plate in an embodiment of the present invention;

[0034] Figure 6 yes Figure 5 A magnified view of a local structure;

[0035] Figure 7 This is a structural cross-sectional view of the front cover and pressure ring in an embodiment of the present invention.

[0036] The figures are labeled as follows: 1. Housing; 2. Pressure plate; 3. Rotary disk; 4. Motor; 5. Harmonic reducer; 6. Force sensor; 7. Wire passage cavity; 8. Wire passage channel; 9. Lubrication cavity; 11. Front cover; 12. Pressure ring; 13. Rear cover; 21. Horizontal section; 22. Vertical section; 41. Motor housing; 42. Stator; 43. Rotor; 51. Wave generator; 52. Flexible wheel; 53. Rigid wheel; 54. Rigid pad; 55. Sealing ring; 521. Vertical section; 522. Horizontal section; 101. First bearing; 102. Second bearing; 103. Third bearing; 104. Fourth bearing; 105. Fifth bearing. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In this embodiment of the invention, a harmonic integrated robot joint is described below. Figure 1-6 As shown, it includes a housing 1, and a pressure plate 2 and a rotating disk 3 disposed within the housing 1; the pressure plate 2 includes an integrally formed horizontal portion 21 and a vertical portion 22, and the rotating disk 3 is rotatably sleeved on the vertical portion 22 at the end away from the horizontal portion 21;

[0039] A harmonic reducer 5 and a motor 4 are provided between the horizontal part 21 of the pressure plate 2 and the rotating plate 3; the motor 4 includes a motor housing 41, a stator 42 and a rotor 43; the harmonic reducer 5 includes a wave generator 51, a flexible wheel 52 and a rigid wheel 53.

[0040] The wave generator 51, flexible wheel 52, rigid wheel 53, motor housing 41, stator 42, and rotor 43 are sequentially fitted onto the longitudinal portion 22 of the pressure plate 2 from the inside out. The rotor 43 is driven and connected to the wave generator 51, and the wave generator 51 is driven and connected to the flexible wheel 52. The flexible wheel 52 is provided with a rigid wheel 53 fixedly connected to it. The rigid wheel 53 is fixedly connected to the pressure plate 2. The stator 42 is fixed to the motor housing 41, and the motor housing 41 is fixedly connected to the housing 1.

[0041] A first bearing 101 is provided between the wave generator 51 and the pressure plate 2, and a second bearing 102 is provided between the pressure plate 2 and the rotating plate 3.

[0042] Understandably, in this embodiment, the pressure plate 2 and the rotating plate 3 are used as the frame structure. The harmonic reducer 5 and the motor 4 are mounted on the pressure plate 2 in a sleeved manner. Since the harmonic reducer 4 and the motor 5 are not placed parallel in the longitudinal direction, but are arranged in a sleeved manner in the transverse direction, the integrated design structure is more compact, achieving a tight internal structure and reducing the usable space. At the same time, the transverse sleeved arrangement of the harmonic reducer 5 and the motor 4 only requires bearings between the wave generator 51 and the pressure plate 2, and between the pressure plate 2 and the rotating plate 3, thereby reducing the use of bearings and further achieving a tight internal structure and reducing the usable space.

[0043] In this embodiment, see Figure 4-5 As shown, the rotor 43 is connected to the wave generator 51 by setting an inwardly extending keyway at the bottom of the rotor 43 to form a drive connection with the wave generator 51.

[0044] In this embodiment, see Figure 5-6 As shown, the flexible wheel 52 has an L-shaped cross-section, including a horizontal part 522 and a vertical part 521; a lubrication cavity 9 is provided between the wave generator 51 and the flexible wheel 52, wherein the horizontal part 522 is fixed and sealed to the wave generator 51; a third bearing 103 for sealing is provided between the vertical part 521 and the wave generator 51, and a rigid wheel 53 is fixedly sleeved on the vertical part 521 of the flexible wheel 52.

[0045] Understandably, in this embodiment, the flexible wheel 52 adopts an L-shaped design, wherein the horizontal part 522 is used to be fixedly connected to the wave generator 51, and the connection method adopts a flange connection to ensure a high sealing effect. Sealing gaskets can be set on the bolts of the flange to improve the sealing performance. The third bearing 103 set between the vertical part 521 and the wave generator 51 not only does not interfere with the deceleration effect of the flexible wheel 52, but also ensures the sealing effect between the flexible wheel 52 and the wave generator 51.

[0046] In this embodiment, see Figure 4-6As shown, the wave generator 51 is arranged parallel to the longitudinal part 22 of the pressure plate 2; a rigid pad 54 is provided between the wave generator 51 and the flexible wheel 52, the rigid pad 54 is fixedly sleeved on the wave generator 51, and a sealing ring 55 for sealing is provided between the rigid pad 54 and the wave generator 51.

[0047] In this embodiment, see Figure 5 As shown, the rigid pad 54 is mainly used to fix the horizontal part 522 of the flexible wheel 52 to the wave generator 51.

[0048] Understandably, in this embodiment, the middle part of the wave generator 51 is arranged parallel to the longitudinal part 22 of the pressure plate 2. The purpose is to form a good closed loop between the lubrication cavity 9 and the second bearing 102. That is, the grease in the lubrication cavity 9 must first pass through the gap of the third bearing 103 between the wave generator 51 and the flexible wheel 52, then through the upper contact surface between the wave generator 51 and the pressure plate 2, then through the gap of the first bearing 101, and then through the long gap between the pressure plate 2 and the wave generator 51 to achieve this. This series of tortuous gap channels forms a labyrinth-like seal. When the grease passes through the tortuous labyrinth gaps, it generates a throttling effect, thereby achieving the purpose of preventing leakage, that is, improving the sealing effect of the integrated structure.

[0049] In this embodiment, see Figure 5-6 As shown, a fourth bearing 104 for sealing is provided between the rigid wheel 53 and the motor housing 41.

[0050] Understandably, the fourth bearing 104 in this embodiment facilitates the formation of a seal between the rigid wheel 53 and the motor housing 41, thereby improving the sealing effect of the integrated structure.

[0051] In this embodiment, see Figure 5 As shown, the pressure plate 2 has a wire passage cavity 7, the horizontal part 21 of the pressure plate 2 is provided with a force sensor 6 for detecting the force value, and the rotating disk 3 is provided with an encoder for control and adjustment; the encoder is connected to the force sensor 6 by wire through the wire passage cavity 7.

[0052] Understandably, in this embodiment, the force sensor 6 is connected to the encoder through the wire cavity 7, which facilitates the efficient implementation of force control function.

[0053] In this embodiment, see Figure 5 As shown, the housing 1 is provided with a wire passage 8 that communicates with the outside.

[0054] Understandably, the wiring channel 8 in this embodiment facilitates the connection of motor wires and other wiring inside the housing 1 to the outside.

[0055] In this embodiment, see Figure 7As shown, the pressure plate 2 is provided with a pressure ring 12, the force sensor 6 is disposed inside the pressure ring 12, and the force sensor 6 is provided with a front cover 11; a fifth bearing 105 for sealing is provided between the front cover 11 and the pressure ring 12.

[0056] Understandably, in this embodiment, the pressure ring 12 and the front cover 11 are both connected by flanges to ensure the sealing inside the housing 1. The fifth bearing 105 can improve the sealing effect of the structure without affecting the rotation of the sensor 6.

[0057] In this embodiment, see Figure 2 As shown, the bottom end of the housing 1 is provided with a rear cover 13 for sealing.

[0058] Understandably, the rear cover 13 in this embodiment not only facilitates disassembly and cleaning of the housing 1, but also helps to ensure the sealing effect of the housing 1.

[0059] Understandable, see Figure 3 As shown, in this embodiment, the stator 42 and rotor 43 of the motor 4 are located on the outside of the motor housing 41. This unique external motor not only makes it easy to install on the outside of the harmonic reducer 5, thus reducing the space required, but also facilitates the connection of the motor 4's wiring to the outside of the housing 1 through the wiring channel 8.

[0060] In this embodiment, the driving principle of the entire joint includes: First, the rotor 43 of the motor 4 drives the wave generator 51; second, the wave generator 51 drives the flexible wheel 52 to achieve a deceleration effect; then, the flexible wheel 52 drives the pressure plate 2 to output outward through the rigid wheel 53 connected to it.

[0061] Understandably, the wiring for the entire joint structure includes: the wires between joints can be connected through the wiring cavity 7, and the wires inside the motor 4, etc., can be connected through the wiring channel 8 reserved on the housing 1.

[0062] In this embodiment, the first bearing and the second bearing 102 are both deep groove ball bearings; the third bearing 103 is a flexible bearing; and the fourth bearing 104 and the fifth bearing 105 are both crossed roller bearings. Since the harmonic generator 5 requires lubrication with grease during operation, as the temperature of the harmonic generator 5 increases with operating time, the grease may leak. If this leaks into the joints, it will affect the normal operation of various components. Therefore, it is necessary to ensure that the harmonic generator 5 is kept in a sealed state.

[0063] For sealing the entire joint, the following are included:

[0064] 1. Between the rigid wheel 53 and the housing 1. In this embodiment, the fourth bearing 104 between the rigid wheel 53 and the motor housing 41 is a crossed roller bearing, which has a good sealing effect.

[0065] 2. Between the flexible wheel 52 and the housing 1. In this embodiment, the flexible wheel 52 is connected to the motor housing 41 through a flange with a pre-drilled hole. Since the connection between the flange bolts and the pre-drilled hole is very tight, the grease is difficult to flow out from the gap, thus achieving a good sealing effect.

[0066] 3. Between the flexible wheel 52 and the pressure plate 2. In this embodiment, the grease in the lubrication cavity 9 must first pass through the gap of the third bearing 103 between the wave generator 51 and the flexible wheel 52, then through the upper contact surface between the wave generator 51 and the pressure plate 2, then through the gap of the first bearing 101, and then through the long gap between the pressure plate 2 and the wave generator 51 to achieve the desired seal. This series of tortuous gaps and channels forms a labyrinth-like seal. When the grease passes through the tortuous labyrinth gaps, it generates a throttling effect, thereby achieving the purpose of preventing leakage, that is, improving the sealing effect of the integrated structure.

[0067] IV. Between the flexible wheel 52 and the wave generator 51. In this design, a gap exists between the flexible wheel 52 and the wave generator 51. A dynamic sealing structure is added, including a rigid gasket 54 and a sealing ring 55. In this embodiment, the sealing ring 55 is a lip seal. The top of the rigid gasket 54 has a small clearance fit with the wave generator 51. The sealing ring 55 has an interference fit with the rigid gasket 54, the wave generator 51, and the flexible wheel 52. During the drive rotation, the sealing ring 55 is tightly fitted to the surrounding components, preventing grease from flowing out from the surrounding gaps.

[0068] This invention provides a harmonic integrated robot joint, which adopts a coaxial and integrated design of motor and harmonic reducer, which can compact the internal structure, reduce the usage space, and is simple in structure, easy to use, and highly reliable.

[0069] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A harmonic integrated robot joint, characterized in that, The device includes a housing (1), and a pressure plate (2) and a rotating disk (3) disposed within the housing (1); the pressure plate (2) includes an integrally formed horizontal part (21) and a vertical part (22), and the rotating disk (3) is rotatably sleeved on the vertical part (22) at the end away from the horizontal part (21); a harmonic reducer (5) and a motor (4) are provided between the horizontal part (21) and the rotating disk (3) of the pressure plate (2); the motor (4) includes a motor housing (41), a stator (42) and a rotor (43); the harmonic reducer (5) includes a wave generator (51), a flexible wheel (52) and a rigid wheel (53); The wave generator (51), flexible wheel (52), rigid wheel (53), motor housing (41), stator (42) and rotor (43) are sequentially sleeved on the longitudinal part (22) of the pressure plate (2) from the inside out; the rotor (43) is driven and connected to the wave generator (51), the wave generator (51) is driven and connected to the flexible wheel (52), the flexible wheel (52) is provided with a rigid wheel (53) fixedly connected to it, the rigid wheel (53) is fixedly connected to the pressure plate (2), the stator (42) is fixed to the motor housing (41), the motor housing (41) is fixedly connected to the housing (1); a first bearing (101) is provided between the wave generator (51) and the pressure plate (2), and a second bearing (102) is provided between the pressure plate (2) and the rotating disk (3). The flexible wheel (52) has an L-shaped cross-section, including a horizontal part (522) and a vertical part (521); a lubrication cavity (9) is provided between the wave generator (51) and the flexible wheel (52), wherein the horizontal part (522) is fixed and sealed to the wave generator (51); a third bearing (103) for sealing is provided between the vertical part (521) and the wave generator (51), and a rigid wheel (53) is fixedly sleeved on the vertical part (521) of the flexible wheel (52).

2. The harmonic integrated robot joint according to claim 1, characterized in that, The middle part of the wave generator (51) is arranged parallel to the longitudinal part (22) of the pressure plate (2); a rigid pad (54) is provided between the wave generator (51) and the flexible wheel (52), the rigid pad (54) is fixedly sleeved on the wave generator (51), and a sealing ring (55) for sealing is provided between the rigid pad (54) and the wave generator (51).

3. The harmonic integrated robot joint according to claim 1, characterized in that, A fourth bearing (104) for sealing is provided between the rigid wheel (53) and the motor housing (41).

4. A harmonic integrated robot joint according to any one of claims 1-3, characterized in that, The pressure plate (2) is provided with a wire passage cavity (7), and a force sensor (6) for detecting the force value is provided on the horizontal part (21) of the pressure plate (2). An encoder is provided on the rotating disk (3). The encoder is connected to the force sensor (6) by wire through the wire passage cavity (7).

5. A harmonic integrated robot joint according to any one of claims 1-3, characterized in that, The housing (1) is provided with a wire passage (8) that communicates with the outside.

6. The harmonic integrated robot joint according to claim 4, characterized in that, The pressure plate (2) is provided with a pressure ring (12), the force sensor (6) is provided inside the pressure ring (12), and the force sensor (6) is provided with a front cover (11); a fifth bearing (105) for sealing is provided between the front cover (11) and the pressure ring (12).

7. A harmonic integrated robot joint according to any one of claims 1-3, characterized in that, The bottom of the housing (1) is provided with a rear cover (13) for sealing.

Images