A cycloid pinwheel reduction type robot joint module and its assembly method

Abstract

The invention discloses a cycloid pinwheel reduction type robot joint module and an assembly method thereof, wherein the joint module comprises a drive plate, a motor assembly, a cycloid pinwheel reduction assembly and a housing, wherein the drive plate is connected to the motor assembly, and the output shaft of the motor assembly is connected to the cycloid pinwheel reduction assembly, and the drive plate, the motor assembly and the cycloid pinwheel reduction assembly are all arranged in the housing; wherein the cycloid pinwheel reduction assembly comprises a cycloid wheel center axis, on which a first cycloid center axis bearing, a second cycloid center axis bearing and an eccentric sliding bearing are sequentially sleeved; a cycloid wheel is sleeved on the eccentric sliding bearing, and the first cycloid center axis bearing and the second cycloid center axis bearing are respectively assembled on an input flange and an output flange, and the input flange and the output flange are arranged on both sides of the cycloid wheel and fixedly connected to the cycloid wheel. The robot joint module of the invention has a small size, high transmission efficiency, strong load-bearing capacity and simple assembly.

Description

Technical Field

[0001] The present application belongs to the technical field of robot joint modules, and specifically relates to a cycloid pinwheel reduction type robot joint module and an assembly method thereof. Background Art

[0002] With the rapid development of industrial automation and service robots, the requirements for robot joint modules are increasing. To meet the needs of the development of robot technology, robot joints are showing trends such as high torque, high precision, sensitive response, lightweight, mechatronics, standardization and modularization. In order to meet this trend, cycloid pinwheel reduction type robot joint modules are required to have the characteristics of small size, light weight, high transmission efficiency and strong load-bearing capacity, but it is obvious that most cycloid pinwheel reduction type robot joint modules are difficult to meet this requirement. Summary of the invention

[0003] The purpose of the present application is to provide a cycloidal pinwheel reduction type robot joint module and an assembly method thereof. The robot joint module has a small size, high transmission efficiency, strong load-bearing capacity, and a long service life. The assembly method is simple and easy to operate.

[0004] The technical solution of this application is as follows:

[0005] A cycloid pinwheel reduction type robot joint module, comprising a drive plate, a motor assembly, a cycloid pinwheel reduction assembly and a housing, wherein the drive plate is connected to the motor assembly, and the output shaft of the motor assembly is connected to the cycloid pinwheel reduction assembly; the drive plate, the motor assembly and the cycloid pinwheel reduction assembly are all arranged in the housing;

[0006] The cycloid pinwheel reduction assembly comprises a coaxially arranged cycloid wheel, a cycloid wheel center shaft, an input flange, an input flange bearing, a first cycloid center shaft bearing, an eccentric sliding bearing, a second cycloid center shaft bearing, an output flange bearing and an output flange; wherein a plurality of pin teeth are arranged axially on the outer side of the cycloid wheel;

[0007] The first cycloid center axis bearing, the second cycloid center axis bearing, and the eccentric sliding bearing are sequentially sleeved on the cycloid wheel center axis;

[0008] The cycloid wheel is sleeved on the outer circle of the eccentric sliding bearing; the input flange and the output flange are respectively assembled on the inner rings of the input flange bearing and the output flange bearing; the first cycloid center axis bearing and the second cycloid center axis bearing are respectively assembled on the disk holes in the center of the input flange and the output flange.

[0009] As a specific implementation, the outer surface of the cycloidal wheel and the inner wall of the assembly hole are coated with a wear-resistant coating; the outer surface of the cycloidal wheel center axis is coated with a wear-resistant coating; the inner and outer surfaces of the eccentric sliding bearing are coated with a wear-resistant coating; and the outer surface of the needle tooth pin is coated with a wear-resistant coating.

[0010] It should be noted that the assembly hole provided in the cycloid wheel at least includes a center hole, and the cycloid wheel is sleeved with the eccentric sliding bearing through the center hole.

[0011] As a specific implementation, the cycloid wheel includes coaxially arranged front and rear cycloid wheels, and the eccentric sliding bearing includes coaxially arranged front and rear eccentric sliding bearings, and the front and rear cycloid wheels are respectively sleeved on the outer circles of the front and rear eccentric sliding bearings; wherein, the installation phase difference between the front and rear eccentric sliding bearings is 180 degrees.

[0012] As a specific implementation, a first gasket is provided between the first cycloid center axis bearing and the eccentric sliding bearing, and a second gasket is provided between the second cycloid center axis bearing and the eccentric sliding bearing.

[0013] As a specific implementation manner, a first hole spring retaining ring and a second hole spring retaining ring are respectively installed on the inner sides of the disk holes of the input flange and the output flange.

[0014] As a specific implementation, the cycloid wheel is provided with a plurality of pin shaft holes, in which pin shaft sleeves are installed; the input flange is provided with a plurality of pin shaft holes, in which the ends of a plurality of pin shafts are installed; the output flange is provided with a plurality of bolt holes, in which the ends of a plurality of reamed hole bolts are installed;

[0015] As a specific implementation, the inner wall of the output flange hole is provided with a threaded hole connected to the end of the reaming hole bolt;

[0016] As a specific implementation method, a plurality of pins and a plurality of bolts with holes on the input flange and the output flange are correspondingly inserted into the pin sleeves, that is, the input flange and the output flange are connected to both sides of the cycloid wheel;

[0017] A set screw is installed in the threaded hole on the inner wall of the output flange hole to tighten the reaming hole bolt.

[0018] It should be noted that the assembly hole provided in the cycloid wheel also includes a pin shaft hole.

[0019] As a specific implementation, the inner and outer surfaces of the pin sleeve are coated with a wear-resistant coating; the outer surface of the pin shaft is coated with a wear-resistant coating; and the surface of the polished rod portion of the reaming hole bolt is coated with a wear-resistant coating.

[0020] As a specific implementation, the motor assembly comprises a coaxially arranged output shaft, a bearing sleeve, a first output shaft bearing, a second output shaft bearing, a stator, an outer rotor, and a rear end cover of the motor;

[0021] The bearing sleeve is sleeved on the middle part of the output shaft, and the first output shaft bearing and the second output shaft bearing are sleeved on the output shaft and are respectively located on both sides of the bearing sleeve;

[0022] The stator comprises a stator core shaft, a stator core is sleeved on the outer circumference of the stator core shaft, and a stator coil is wound around the stator core;

[0023] The stator is sleeved on the bearing sleeve, the outer rotor is sleeved on the outer periphery of the stator, and the output end of the output shaft passes through the outer rotor;

[0024] The motor rear end cover is assembled at the rear end of the motor assembly;

[0025] The stator is fixedly connected to the inner end of the rear end cover of the motor;

[0026] The driving plate is mounted on the outer end of the rear end cover of the motor.

[0027] As a specific implementation, the near output end of the output shaft is sleeved with a shaft spring retaining ring, and the far output of the output shaft is installed with a positioning magnet bracket;

[0028] The inner wall of the stator core shaft is provided with a hole spring retaining ring installation position, and a hole spring retaining ring is installed;

[0029] When the stator core shaft is sleeved on the bearing sleeve, the hole spring retaining ring is just embedded between the bearing sleeve and the first output shaft bearing.

[0030] As a specific implementation, the housing is assembled from an integrally formed shell and a shell back cover.

[0031] The assembly method of the cycloid pinwheel reduction type robot joint module comprises:

[0032] (1) Install the eccentric sliding bearing on the central axis of the cycloid wheel, and install the cycloid wheel on the outer circle of the eccentric sliding bearing;

[0033] (2) installing the first cycloid center axis bearing and the second cycloid center axis bearing on both sides of the eccentric sliding bearing respectively;

[0034] (3) Place the cycloid wheel center axis into the housing, and then install the input flange bearing and the output flange bearing into the housing;

[0035] (4) Assemble the outer rings of the first cycloid center axis bearing and the second cycloid center axis bearing into the disk holes in the center of the input flange and the output flange respectively, and then install the input flange and the output flange on the inner rings of the input flange bearing and the output flange bearing respectively;

[0036] (5) The input flange, the cycloid wheel and the output flange are fixedly connected;

[0037] (6) Connecting the output end of the output shaft in the motor assembly to the central axis of the cycloid wheel, and fixing the motor assembly in the housing;

[0038] (7) Assemble the drive plate to the rear end of the motor assembly.

[0039] Compared with the prior art, this application has the following characteristics:

[0040] 1. By optimizing and improving the components of the joint module, the components can be assembled compactly, further reducing the size of the joint module;

[0041] 2. An eccentric sliding bearing is used to support the cycloid pinwheel reduction assembly, which greatly compresses the overall size and increases the bearing area, thereby enhancing the bearing capacity;

[0042] 3. By coating the transmission parts such as eccentric sliding bearings with wear-resistant coating, the strength can be improved and the friction loss can be reduced, thus ensuring the transmission efficiency, transmission accuracy and transmission stability;

[0043] 4. In the preferred solution, the shell is made of aluminum alloy, which achieves lightweight while also having excellent structural strength and corrosion resistance;

[0044] 5. Through integrated processing of the stator core shaft through hole, positioning through the bearing sleeve and the hole with a spring retaining ring, the coaxiality of the bearings on the left and right sides is guaranteed to ensure the stable operation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a schematic diagram of the overall structure of the robot joint module in the embodiment;

[0046] Figure 2 It is a structural exploded diagram of the robot joint module in the embodiment;

[0047] Figure 3 It is a structural exploded diagram of the cycloid pinwheel reduction assembly in the embodiment;

[0048] Figure 4 is a cross-sectional view of a cycloid pinwheel reduction assembly in an embodiment;

[0049] Figure 5 Schematic diagram of the structure of the cycloid wheel central axis in the embodiment;

[0050] Figure 6 Schematic diagram of the structure of the eccentric sliding bearing in the embodiment;

[0051] Figure 7 It is a structural schematic diagram of the cycloid wheel in the embodiment;

[0052] Figure 8 It is a schematic diagram of the structure of the pin sleeve in the embodiment;

[0053] Fig. 9 It is a structural exploded diagram of the motor assembly in the embodiment;

[0054] Fig.10 is a cross-sectional view of a motor assembly in an embodiment;

[0055] Fig.11 2 is a cross-sectional view of the housing in the embodiment.

[0056] In the figure, a driving plate 100; a motor assembly 200, an output shaft 210, a bearing sleeve 220, a first output shaft bearing 230, a second output shaft bearing 240, a stator core shaft 251, a stator core 252, a stator coil 253, an outer rotor 260, a positioning magnet bracket 270, a motor rear end cover 280, a spring retaining ring 291 for a hole, and a spring retaining ring 292 for a shaft; a cycloidal pinwheel reduction assembly 300, a cycloidal wheel 310, a pin tooth pin 311, a pin shaft sleeve 312, a pin shaft hole 313, and a cycloidal wheel center axis 3 20, limiting boss 321, spring retaining ring 332 for the first hole, input flange 330, pin 331, input flange bearing 340, first cycloid center axis bearing 350, first gasket 351, eccentric sliding bearing 360, second cycloid center axis bearing 370, second gasket 371, output flange bearing 380, output flange 390, hinged hole bolt 391, spring retaining ring 392 for the second hole, set screw 393; housing 410, housing back cover 420, needle tooth pin groove 430. DETAILED DESCRIPTION

[0057] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0058] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0059] The robot joint module provided in this embodiment can be found in Figure 1-11 The provided robot joint module includes a drive plate 100, a motor assembly 200, a cycloidal pinwheel reduction assembly 300 and a shell; the shell is assembled by an integrally formed shell 410 and a shell back cover 420, and the drive plate 100, the motor assembly 200, and the cycloidal pinwheel reduction assembly 300 are all arranged in the shell 410; the drive plate 100 is connected to the motor assembly 200, and the drive plate 100 is used to read the real-time position information of the motor assembly 200 and drive the motor assembly 200 to operate; the motor assembly 200 is connected to the cycloidal pinwheel reduction assembly 300 through its output shaft 210, and the output power of the motor assembly 200 is transmitted to the cycloidal pinwheel reduction assembly 300, and is output after being decelerated by the cycloidal pinwheel reduction assembly 300.

[0060] The structure of the cycloid pinwheel reduction assembly 300 provided in this embodiment is shown in Figure 3-4 , mainly including a coaxially arranged cycloid wheel 310, a cycloid wheel center axis 320, an input flange 330, an input flange bearing 340, a first cycloid center axis bearing 350, an eccentric sliding bearing 360, a second cycloid center axis bearing 370, an output flange bearing 380 and an output flange 390.

[0061] In the cycloid pinwheel reduction assembly 300, the cycloid wheel central axis 320 is used as the main axis. The eccentric sliding bearing 360 is sleeved on the middle of the cycloid wheel central axis 320, and the first cycloid central axis bearing 350 and the second cycloid central axis bearing 370 are sleeved on both ends of the cycloid wheel central axis 320 and are located on both sides of the eccentric sliding bearing 360.

[0062] See also Figure 5, which is a schematic diagram of the structure of the cycloid wheel center shaft in the embodiment. The cycloid wheel center shaft 320 is symmetrically arranged along the axial midpoint, and is a stepped shaft, wherein a limiting boss 321 is arranged in the middle, and the eccentric sliding bearing 360 is sleeved on the outer circle of the limiting boss 321, and the first cycloid center shaft bearing 350 and the second cycloid center shaft bearing 370 are respectively located on both sides of the limiting boss 321.

[0063] In the robot joint module provided in this embodiment, the cycloid wheel center axis 320 is connected to the proximal output end of the output shaft 210 of the motor assembly 200, specifically through a flat mouth connection, to transmit the output power of the motor assembly 200 to the cycloid pinwheel reduction assembly 300.

[0064] In the cycloid pinwheel reduction assembly 300, the cycloid wheel 310 is sleeved on the outer circle of the eccentric sliding bearing 360; the input flange 330 is assembled on the inner ring of the input flange bearing 340, and the first cycloid center axis bearing 350 is assembled on the disk hole in the center of the input flange 330; the output flange 390 is assembled on the inner ring of the output flange bearing 380, and the second cycloid center axis bearing 370 is assembled on the disk hole in the center of the output flange bearing 380.

[0065] The input flange bearing 340 and the output flange bearing 380 are assembled in corresponding mounting positions in the housing 410 to limit the input flange bearing 340 and the output flange bearing 380 and to support the rotational motion of the input flange 330 and the output flange 390 .

[0066] In the above embodiment, the cycloid wheel 310 includes coaxially arranged front and rear cycloid wheels, and the eccentric sliding bearing 360 includes coaxially arranged front and rear eccentric sliding bearings, and the front and rear cycloid wheels are respectively sleeved on the outer circles of the front and rear eccentric sliding bearings; wherein the installation phase difference between the front and rear eccentric sliding bearings is 180°, so as to balance the load, reduce the meshing impact, and improve the transmission stability.

[0067] In the above embodiment, a plurality of pin-tooth pins 311 are axially arranged on the outer side of the cycloid wheel 310, and the pin-tooth pins 311 are semi-buried gear structures. Here, the axial direction refers to the axial direction of the cycloid wheel 310, and also refers to the main axis direction.

[0068] In the above embodiment, the first cycloid center axis bearing 350 and the eccentric sliding bearing 360 are separated by the first gasket 351, and the second cycloid center axis bearing 370 and the eccentric sliding bearing 360 are separated by the second gasket 371. The first gasket 351 and the second gasket 371 are used to realize the support of the first cycloid center axis bearing 350 and the second cycloid center axis bearing 370 for the rotational motion of the eccentric sliding bearing 360, and to limit the cycloid wheel center axis 320 and the eccentric sliding bearing 360.

[0069] In the above embodiment, a first hole spring retaining ring 332 is installed inside the disc hole of the input flange 330, and a second hole spring retaining ring 392 is installed inside the disc hole of the output flange 390. The first hole spring retaining ring 332 and the second hole spring retaining ring 392 are used to limit the first cycloid center axis bearing 350 and the second cycloid center axis bearing 370.

[0070] In the above embodiment, the cycloid wheel 310 is provided with a plurality of pin holes 313, and the pin sleeves 312 are installed in the pin holes 313; the input flange 330 is provided with a plurality of corresponding pin holes, and a plurality of pins 331 are installed in the pin holes, and the pins 331 are located on the inner side of the input flange 330; the output flange 390 is provided with a plurality of corresponding bolt holes, and a plurality of reamed hole bolts 391 are installed in the bolt holes, and the reamed hole bolts 391 are located on the inner side of the output flange 390. Here, the inner side of the input flange 330 and the output flange 390 refers to the side facing the cycloid wheel 310. The plurality of pins 331 and the plurality of reamed hole bolts 391 on the inner side of the input flange 330 and the output flange 390 are correspondingly inserted into the pin sleeves 312 on the cycloid wheel 310, so that the input flange 330 and the output flange 390 can be connected to both sides of the cycloid wheel 310.

[0071] To achieve further tightening, in the above embodiment, the inner wall of the disk hole of the output flange 390 is provided with a threaded hole connected to the head of the reamed hole bolt 391. By installing the set screw 393 in the threaded hole, the reamed hole bolt 391 can be further tightened to avoid the rotation of the reamed hole bolt 391 during the transmission process, thereby ensuring stability during operation and transmission accuracy.

[0072] In the above embodiment, the outer circles of the first cycloid center axis bearing 350 and the second cycloid center axis bearing 370 are matched with the inner walls of the disk holes of the input flange 330 and the output flange 390 by the base shaft system; the inner rings of the first cycloid center axis bearing 350, the second cycloid center axis bearing 370 and the eccentric sliding bearing 360 are matched with the cycloid wheel center axis 320 by the base hole system; the outer circle of the eccentric sliding bearing 360 is matched with the cycloid wheel 310 by the base shaft system; the input flange 330 and the output flange 390 are matched with the input flange bearing 340 and the output flange bearing 380 respectively by the base hole system; the input flange bearing 340 and the output flange bearing 380 are matched with the housing 410 by the base shaft system.

[0073] In order to reduce the friction between the transmission components in the cycloidal pinwheel reduction assembly and improve the wear resistance, in the above embodiment, the transmission components are subjected to a low-temperature vapor deposition process, including: the cycloidal wheel center shaft 320, the cycloidal wheel 310, the eccentric sliding bearing 360, the pin sleeve 312, the pin 331, the hinged hole bolt 391, and the needle pin 311 are subjected to a low-temperature vapor deposition process.

[0074] Specifically, the outer circle of the limiting boss 321 of the cycloidal wheel central shaft 320 is coated with a wear-resistant coating, and the outer circle of the limiting boss 321 is the contact surface between the cycloidal wheel central shaft 320 and the eccentric sliding bearing 360; the outer circle of the cycloidal wheel 310, the pin shaft hole 313 on the cycloidal wheel 310, and the inner wall of the central assembly hole are coated with a wear-resistant coating, and the central assembly hole of the cycloidal wheel 310 refers to a hole used for assembly and connection with the eccentric sliding bearing 360; the inner wall of the pin shaft hole 313 is the contact surface between the cycloidal wheel 310 and the pin shaft sleeve 312, and the inner wall of the central assembly hole is the contact surface between the cycloidal wheel 310 and the pin shaft sleeve 312. 0 and the contact surface of the eccentric sliding bearing 360; the inner side and outer circle of the eccentric sliding bearing 360 are coated with a wear-resistant coating, and the inner side and outer circle of the eccentric sliding bearing 360 are the contact surfaces of the eccentric sliding bearing 360 and the cycloidal wheel center axis 320 and the cycloidal wheel 310; the inner and outer sides of the pin sleeve 312 are coated with a wear-resistant coating, and the inner and outer sides of the pin sleeve 312 are the contact surfaces of the pin sleeve 312 and the pin shaft 331 and the pin shaft hole 313; the outer circle of the pin shaft 331, the polished rod part of the hinged hole bolt 391, and the outer circle of the needle tooth pin 311 are coated with a wear-resistant coating.

[0075] The wear-resistant coating is preferably a carbon-based diamond-like coating (DLC) or a nitride coating (CrN).

[0076] In the above embodiment, a plurality of through holes are distributed on the eccentric sliding bearing 360, the cycloid wheel 310 and the pin sleeve 312. Figure 6-8The design of the through hole facilitates low-temperature vapor deposition process: the eccentric sliding bearing 360, the cycloidal wheel 310 and the pin sleeve 312 are placed in the furnace and are placed at a specific inclination angle with the central axis of the furnace, that is, the inclination angle with the target material. The workpiece rotates and revolves in the furnace, thereby realizing the low-temperature vapor deposition process of the inner and outer surfaces of the eccentric sliding bearing 360, the center hole, the pin hole and the outer surface of the cycloidal wheel 310, and the inner and outer surfaces of the pin sleeve 312 synchronously. At the same time, the design of the through hole can also reduce weight.

[0077] The structure of the motor assembly 200 provided in this embodiment is shown in Figure 9-10 , mainly includes a coaxially arranged output shaft 210, a bearing sleeve 220, a first output shaft bearing 230, a second output shaft bearing 240, a stator and an outer rotor 260; the bearing sleeve 220 is sleeved on the middle part of the output shaft 210, the first output shaft bearing 230 and the second output shaft bearing 240 are sleeved on the output shaft 210, and are respectively located on both sides of the bearing sleeve 220; the bearing sleeve 220 is used to limit the first output shaft bearing 230 and the second output shaft bearing 240, and the first output shaft bearing 230 and the second output shaft bearing 240 are used to support and limit the rotational motion of the output shaft 210.

[0078] The stator is sleeved on the bearing sleeve 220, the outer rotor 260 is sleeved on the outer periphery of the stator, and the output end of the output shaft 210 passes through the outer rotor 260. Specifically, a corresponding mounting hole is provided on the outer rotor 260, and the output shaft 210 passes through the mounting hole and is connected to the flat end of the outer rotor 260, and is matched with the base shaft system.

[0079] In the above embodiment, the stator further includes a stator core shaft 251, a stator core 252 arranged on the outside of the stator core shaft 251, and a stator coil 253 wound on the stator core 252; the stator core shaft 251 is sleeved on the output shaft 210, specifically, sleeved on the outside of the bearing sleeve 220 on the output shaft 210; a plurality of core teeth are arranged on the outer periphery of the stator core 252, and the stator coil 253 is wound on the core teeth.

[0080] In the above embodiment, the outer circles of the first output shaft bearing 230 and the second output shaft bearing 240 are matched with the inner wall of the stator core shaft 251 using the base shaft system, and the inner rings of the first output shaft bearing 230 and the second output shaft bearing 240 are matched with the output shaft 210 using the base hole system.

[0081] In the above embodiment, the motor assembly 200 further includes a motor rear end cover 270, which is assembled at the rear end of the motor assembly 200. Specifically, the inner end of the motor rear end cover 270 is set with a stator core shaft mounting position, and the outer end thereof is set with a drive plate mounting position, the stator core shaft 251 is mounted at the stator core shaft mounting position, and the drive plate 100 is mounted at the drive plate mounting position, and the motor rear end cover 270 is mounted in the housing 410, for example, the motor rear end cover 270 can be fixed in the housing 410 by screws.

[0082] In the above embodiment, a positioning magnet bracket 270 is further provided on the distal output end of the output shaft 210, and the positioning magnet bracket 270 is located at the rear end of the first output shaft bearing 230. The positioning magnet bracket 270 is used for the output shaft 210, installed at the distal output end of the output shaft 210, and is specifically used to position the first output shaft bearing 230. The relative positions of the first output shaft bearing 230, the bearing sleeve 220, and the second output shaft bearing 240 can be adjusted by adjusting the positioning magnet bracket 270.

[0083] To ensure the coaxiality of the first output shaft bearing 230 and the second output shaft bearing 240, in the above embodiment, a limiting boss is provided in the middle of the output shaft 210, and the limiting boss is the bearing sleeve mounting position. The first output shaft bearing mounting position and the second output shaft bearing mounting position are provided on both sides of the limiting boss. A shaft spring retaining ring mounting position is provided at the proximal output end of the output shaft 210, and a positioning magnet bracket mounting position is provided at the distal output end of the output shaft 210.

[0084] The bearing sleeve 220 is installed at the bearing sleeve installation position; the first output shaft bearing 230 and the second output shaft bearing 240 are respectively installed at the first output shaft bearing installation position and the second output shaft bearing installation position; the shaft spring retaining ring 292 is installed at the shaft spring retaining ring installation position; the positioning magnet bracket 270 is installed at the positioning magnet bracket installation position.

[0085] In the above embodiment, a hole spring retaining ring installation position is provided on the inner wall of the stator core shaft 251, and a hole spring retaining ring 291 is installed at the hole spring retaining ring installation position. When the stator core shaft 251 is sleeved on the bearing sleeve 220, the installed hole spring retaining ring 291 is just fitted between the bearing sleeve 220 and the first output shaft bearing 230.

[0086] The structure of the housing provided in this embodiment is shown in Fig.11The driving plate 100, the motor assembly 200, and the cycloid pinwheel reduction assembly 300 are placed in the housing. The housing is assembled from an integrally formed housing 410 and a housing back cover 420. In the above embodiment, the housing is made of aluminum alloy material, which is lightweight and has excellent structural strength and corrosion resistance.

[0087] The housing 410 is provided with:

[0088] Rear cover installation position: located at the rear end of the housing 410, the housing rear cover 420 is assembled at the rear cover installation position;

[0089] Motor rear end cover installation position: provided in the housing 410, the motor rear end cover 280 is installed at the motor rear end cover installation position;

[0090] The pin-tooth pin groove 430 is provided in the housing 410 , and the pin-tooth pin 311 on the outer periphery of the cycloid wheel 310 is installed in the pin-tooth pin groove 430 ;

[0091] The input flange bearing installation position and the output flange bearing installation position are arranged in the housing 410 and are respectively located on both sides of the pin-tooth pin groove 430 . The input flange bearing 340 and the output flange bearing 380 are respectively installed at the input flange bearing installation position and the output flange bearing installation position.

[0092] In the above embodiment, the housing 410 is further provided with a threaded hole for connecting with an external base.

[0093] The robot joint module provided in the above embodiment is compact in size, about 86.5 mm in length, and the maximum outer diameter of the shell 410 is about 80 mm; and the weight is relatively light, not exceeding 1.5 kg.

[0094] The assembly method of the cycloid pinwheel reduction type robot joint module provided in this embodiment is as follows:

[0095] (1) Install the eccentric sliding bearing 360 on the cycloid wheel central shaft 320, specifically, install it on the outer circle of the upper limit boss 321 of the cycloid wheel central shaft 320; install the cycloid wheel 310 on the outer circle of the eccentric sliding bearing 360, and install the pin sleeve 312 in the pin hole on the cycloid wheel 310;

[0096] In the above embodiment, the two eccentric sliding bearings 360 are first installed on the cycloid wheel central shaft 320 from the input flange end, and then the two cycloid wheels 310 are respectively installed on the corresponding eccentric sliding bearings 360;

[0097] (2) The first cycloid center axis bearing 350 and the second cycloid center axis bearing 370 are respectively installed on both sides of the eccentric sliding bearing 360; in the above embodiment, the first gasket 351 and the second gasket 371 are first installed on both sides of the eccentric sliding bearing 360, and then the first cycloid center axis bearing 350 and the second cycloid center axis bearing 370 are installed;

[0098] (3) Place the cycloid wheel center shaft 320 into the housing 410, so that the needle tooth pin 311 on the outer periphery of the cycloid wheel 310 is installed in the needle tooth pin groove 430 in the housing 410; then install the input flange bearing 340 and the output flange bearing 380 in the input flange bearing installation position and the output flange bearing installation position in the housing 410 respectively;

[0099] In the above embodiment, the input flange bearing installation position and the output flange bearing installation position are respectively arranged at the two ends of the pin-tooth pin groove 430 in the housing 410;

[0100] (4) The outer ring of the first cycloid center axis bearing 350 is assembled into the disk hole at the center of the input flange 330, and the outer ring of the second cycloid center axis bearing 370 is assembled into the disk hole at the center of the output flange 390. Then, the input flange 330 and the output flange 390 are respectively mounted on the inner rings of the input flange bearing 340 and the output flange bearing 380;

[0101] (5) Insert the tapped hole bolt 391 and the pin 331 into the pin sleeve 312 of the cycloid wheel 310, thereby fixing the output flange 390, the cycloid wheel 310 and the input flange 330 together, thus completing the assembly of the cycloid pinwheel reduction assembly 300 in the housing 410.

[0102] (6) Connect the output end of the output shaft 210 in the motor assembly 200 to the cycloid wheel center axis 320, and fix the motor rear end cover 280 in the housing 410, thereby completing the assembly of the motor assembly 200 in the housing 410;

[0103] In the above embodiment, the assembly process of the motor assembly 200 is as follows:

[0104] A first output shaft bearing 230, a bearing sleeve 220, and a second output shaft bearing 240 are sequentially sleeved on the outer circumference of the output shaft 210; a positioning magnet bracket 270 is installed at the far output end of the output shaft 210;

[0105] Install the hole spring retaining ring 291 at the hole spring retaining ring installation position on the inner wall of the stator, and sleeve the stator outside the output shaft 210, the first output shaft bearing 230, the bearing sleeve 220, and the second output shaft bearing 240 are located in the inner cavity of the stator, and the hole spring retaining ring 291 is just clamped between the first output shaft bearing 230 and the bearing sleeve 220;

[0106] The outer rotor 260 is mounted on the outer periphery of the stator, and the output end of the output shaft 210 passes through the outer rotor 260. A shaft spring retaining ring 292 is installed at the assembly position of the output shaft 210 and the outer rotor 260 to tighten the fit between the output shaft 210 and the outer rotor 260; the outer rotor 260 maintains a gap with the cycloid pinwheel reduction assembly 300;

[0107] The drive plate 100 is installed on the rear end cover 280 of the motor, and the stator core shaft 251 of the stator is fixedly connected to the rear end cover 280 of the motor;

[0108] Connect the output end of the output shaft 210 in the motor assembly 200 to the cycloid wheel center shaft 320;

[0109] The motor rear end cover 280 is installed in the housing 410 by screws.

[0110] (7) Assembling the driving plate 100 to the rear end of the motor assembly 200;

[0111] (8) Assemble the shell rear cover 420 to the rear end of the shell 410 to complete the assembly of the robot joint module.

[0112] The working principle of the robot joint module provided in this embodiment is as follows:

[0113] The driving plate 100 drives the outer rotor 260 to rotate, thereby driving the output shaft 210 to rotate; the output shaft 210 transmits power to the cycloid pinwheel reduction assembly 300 through the connected cycloid center shaft 320, and the power is output after being reduced by the cycloid pinwheel reduction assembly 300.

[0114] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A cycloid pinwheel reduction type robot joint module, characterized in that: The invention comprises a drive plate (100), a motor assembly (200), a cycloidal pinwheel reduction assembly (300) and a housing, wherein the drive plate (100) is connected to the motor assembly (200), and an output shaft of the motor assembly (200) is connected to the cycloidal pinwheel reduction assembly (300); the drive plate (100), the motor assembly (200) and the cycloidal pinwheel reduction assembly (300) are all arranged in the housing; The cycloid pinwheel reduction assembly (300) comprises a coaxially arranged cycloid wheel (310), a cycloid wheel center axis (320), an input flange (330), an input flange bearing (340), a first cycloid center axis bearing (350), an eccentric sliding bearing (360), a second cycloid center axis bearing (370), an output flange bearing (380) and an output flange (390); wherein a plurality of pin tooth pins (311) are axially arranged on the outer side of the cycloid wheel (310); The first cycloid center axis bearing (350), the second cycloid center axis bearing (370), and the eccentric sliding bearing (360) are sequentially sleeved on the cycloid wheel center axis (320); The cycloid wheel (310) is sleeved on the outer circle of the eccentric sliding bearing (360); the input flange (330) and the output flange (390) are respectively mounted on the inner rings of the input flange bearing (340) and the output flange bearing (380); the first cycloid center axis bearing (350) and the second cycloid center axis bearing (370) are respectively mounted on the disk holes at the centers of the input flange (330) and the output flange (390); The cycloid wheel center shaft (320) is a hollow stepped shaft, with a limiting boss (321) disposed in the middle thereof, the eccentric sliding bearing (360) is sleeved on the outer circle of the limiting boss (321), and the first cycloid center shaft bearing (350) and the second cycloid center shaft bearing (370) are respectively located on both sides of the limiting boss (321); The motor assembly (200) comprises a coaxially arranged output shaft (210), a bearing sleeve (220), a first output shaft bearing (230), a second output shaft bearing (240), a stator, an outer rotor (260), and a motor rear end cover (280); The bearing sleeve (220) is sleeved on the middle part of the output shaft (210); the first output shaft bearing (230) and the second output shaft bearing (240) are sleeved on the output shaft (210) and are respectively located on two sides of the bearing sleeve (220); The stator comprises a stator core shaft (251), a stator iron core (252) is sleeved on the outer periphery of the stator core shaft (251), and a stator coil (253) is wound around the stator iron core (252); The stator is sleeved on the bearing sleeve (220), the outer rotor (260) is sleeved on the outer periphery of the stator, and the output end of the output shaft (210) passes through the outer rotor (260); The motor rear end cover (280) is assembled at the rear end of the motor assembly (200); The stator is fixedly connected to the inner end of the rear end cover (280) of the motor; The driving plate (100) is mounted on the outer end of the rear end cover (280) of the motor; The cycloid wheel central axis (320) is connected to the output end near the output shaft (210) of the motor assembly (200); The housing is assembled by an integrally formed housing (410) and a housing back cover (420); The housing (410) is provided with: A rear cover installation position: located at the rear end of the housing (410), and the housing rear cover (420) is assembled at the rear cover installation position; A motor rear end cover mounting position: provided in the housing (410), the motor rear end cover (280) being mounted on the motor rear end cover mounting position; A needle tooth pin groove (430) is provided in the housing (410), and the needle tooth pin (311) on the outer periphery of the cycloid wheel (310) is installed in the needle tooth pin groove (430); The input flange bearing installation position and the output flange bearing installation position are arranged in the housing (410) and are respectively located on both sides of the pin-tooth pin groove (430). The input flange bearing (340) and the output flange bearing (380) are respectively installed at the input flange bearing installation position and the output flange bearing installation position.

2. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: The outer surface of the cycloid wheel (310) and the inner wall of the assembly hole are both coated with a wear-resistant coating; The outer surface of the cycloid wheel central axis (320) is coated with a wear-resistant coating; The inner and outer surfaces of the eccentric sliding bearing (360) are coated with a wear-resistant coating; Furthermore, the outer surface of the needle tooth pin (311) is coated with a wear-resistant coating.

3. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: The cycloid wheel (310) comprises coaxially arranged front and rear cycloid wheels, and the eccentric sliding bearing (360) comprises coaxially arranged front and rear eccentric sliding bearings, the front and rear cycloid wheels are respectively sleeved on the outer circles of the front and rear eccentric sliding bearings; wherein the installation phase difference between the front and rear eccentric sliding bearings is 180 degrees.

4. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: A first gasket (351) is provided between the first cycloid central axis bearing (350) and the eccentric sliding bearing (360), and a second gasket (371) is provided between the second cycloid central axis bearing (370) and the eccentric sliding bearing (360); A first hole spring retaining ring (332) and a second hole spring retaining ring (392) are respectively installed on the inner sides of the plate holes of the input flange (330) and the output flange (390).

5. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: The cycloid wheel (310) is provided with a plurality of pin holes (313), and a pin sleeve (312) is installed in the pin hole (313); the input flange (330) is provided with a plurality of pin holes, and the ends of a plurality of pins (331) are installed in the pin holes; the output flange (390) is provided with a plurality of bolt holes, and the ends of a plurality of reamed hole bolts (391) are installed in the bolt holes; The inner wall of the hole of the output flange (390) is provided with a threaded hole connected to the end of the hinged hole bolt (391); Inserting a plurality of pins (331) and a plurality of tapped bolts (391) on the input flange (330) and the output flange (390) into the pin sleeves (312) accordingly, that is, connecting the input flange (330) and the output flange (390) to both sides of the cycloid wheel (310); A set screw (393) is installed in the threaded hole on the inner wall of the output flange (390) to tighten the reaming hole bolt (391).

6. The cycloid pinwheel reduction type robot joint module as claimed in claim 5, characterized in that: The inner and outer surfaces of the pin sleeve (312) are coated with a wear-resistant coating; The outer surface of the pin shaft (331) is coated with a wear-resistant coating; The surface of the polished rod portion of the reaming hole bolt (391) is coated with a wear-resistant coating.

7. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: The proximal output end of the output shaft (210) is sleeved with a shaft spring retaining ring (292), and the distal output end of the output shaft (210) is installed with a positioning magnet bracket (270); The inner wall of the stator core shaft (251) is provided with a hole spring retaining ring installation position, and a hole spring retaining ring (291) is installed thereon; When the stator core shaft (251) is sleeved on the bearing sleeve (220), the hole spring retaining ring (291) is just fitted between the bearing sleeve (220) and the first output shaft bearing (230).

8. The cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: The housing is assembled from an integrally formed housing (410) and a housing back cover (420).

9. The assembly method of the cycloid pinwheel reduction type robot joint module according to claim 1, characterized in that: include: (1) Installing the eccentric sliding bearing (360) on the central axis of the cycloid wheel (320), and installing the cycloid wheel (310) on the outer circle of the eccentric sliding bearing (360); (2) installing the first cycloid center axis bearing (350) and the second cycloid center axis bearing (370) on both sides of the eccentric sliding bearing (360); (3) Place the cycloid wheel center shaft (320) into the housing, and then install the input flange bearing (340) and the output flange bearing (380) into the housing; (4) The outer rings of the first cycloid center axis bearing (350) and the second cycloid center axis bearing (370) are respectively assembled into the disk holes at the center of the input flange (330) and the output flange (390), and the input flange (330) and the output flange (390) are respectively mounted on the inner rings of the input flange bearing (340) and the output flange bearing (380); (5) The input flange (330), the cycloid wheel (310) and the output flange (390) are fixedly connected; (6) connecting the output end of the output shaft (210) in the motor assembly (200) to the cycloid wheel center axis (320), and fixing the motor assembly (200) in the housing; (7) Assemble the drive plate (100) to the rear end of the motor assembly (200).

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