An assembling method of a joint motor module for a robot

Abstract

The application relates to an assembling method of a joint motor module for a robot, which limits and installs bearings through bearing pressing plates, is convenient for overall installation, is not prone to damaging parts, and can directly use bolts to fix a harmonic reducer, so that the installation steps are further simplified; the harmonic reducer is connected with a torque sensor through bearings, and is simultaneously installed with a T-shaped shaft penetrating through the torque sensor, the harmonic reducer and a rotating shaft, so that signal lines, power lines and lead wires of the torque sensor can be connected into a controller assembly through the T-shaped shaft, and wiring operation is convenient; the method of the application further adopts a double-circuit board scheme, a gap is left between the two circuit boards, and heat dissipation space can be ensured; in addition, the two circuit boards adopt a plug-in design, connection is convenient, and the structure is compact; in addition, the control board of the application is fixed on an end plate close to a motor side, the length of a shorter motor line is reduced, loss is reduced, and the efficiency of the whole machine is improved.

Description

Technical Field

[0001] This invention belongs to the field of articulated motor structure technology, and particularly relates to an assembly method for an articulated motor module for robots. Background Technology

[0002] A joint motor is an electromechanical integrated device consisting of a motor and a reducer. Its working principle is based on the synergistic effect of the motor and reducer to achieve high-precision motion. A joint motor mainly consists of a motor body, reducer, bearings, controller components, and housing. In existing joint motor modules, the bearings between the motor shaft and the housing require interference fitting; improper operation can easily damage components. Furthermore, existing joint motors contain many components, requiring the motor and reducer to be assembled separately before connecting them, making the entire installation process cumbersome and affecting assembly efficiency. Moreover, most existing joint motors lack torque information detection functionality at the output end (reducer output end), hindering control progress. Even those few joint motors equipped with torque sensors increase their size and structural complexity, further complicating assembly. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide an assembly method for a robot joint motor module, which is convenient to operate, produces high-quality assembly, and has high installation efficiency.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A method for assembling a robot articulated motor module, the articulated motor module including a motor, a harmonic reducer, a torque sensor, a T-shaft, and a controller assembly. The motor includes an end plate, a housing, a stator core, a rotating shaft, and a rotor core. The harmonic reducer includes a wave generator, a flexible wheel, and a steel wheel. The controller assembly includes a controller cover, a first circuit board, a second circuit board, and a support rod. The assembly steps are as follows: S1. Fix the flexible wheel of the harmonic reducer to the inner ring of the torque sensor with bolts, and rotate the outer ring of the torque sensor to the steel wheel of the harmonic reducer through a cross roller bearing, while making the flexible wheel set inside the steel wheel. S2. Press bearing B onto one end of the shaft and fit bearing plate onto bearing B. Then press rotor core onto the shaft and press bearing A onto the other end of the shaft. At the same time, press bearing bush into the inner side of the shaft near bearing A to form rotor assembly. S3. Install the above rotor assembly into the housing, and fasten the bearing pressure plate to the end face of one end of the housing with bolts, with the bolts penetrating the end face of the housing; S4. Fix the wave generator of the harmonic reducer to one end of the shaft, then put the flexible wheel on the outside of the wave generator. At the same time, use bolts that penetrate the end face of the housing to fix the steel wheel of the harmonic reducer and the inner ring of the cross roller bearing. S5. Press the stator core into the inner wall of the housing, place the wave spring on one side of bearing A, fasten the end plate on bearing A and limit the wave spring, and fix the end plate to the housing with bolts. S6. Place a sealing ring B on one end face of the rotating shaft, and fit a fixed magnetic ring seat B on one end of the rotating shaft. The magnetic ring seat B presses the sealing ring B tightly. At the same time, fix the magnetic ring B on the magnetic ring seat B. S7. Fix the second circuit board to the end plate with the support rod, and leave a gap between the second circuit board and the magnetic ring B. S8. Pass the T-shaped shaft through the torque sensor, harmonic reducer and rotating shaft, fix one end of the T-shaped shaft to the torque sensor, and fit a fixed magnetic ring seat A on the end of the T-shaped shaft that passes through the second circuit board, and fix the magnetic ring A on the side of the magnetic ring seat A close to the second circuit board. S9. Connect the first circuit board to the second circuit board, and fix the first circuit board to one end of the support rod; S10. Pass the signal line, power line, and torque sensor wire through the T-shaped shaft and then plug them into the corresponding first or second circuit board. S11. Pass the signal wires and power wires out of the controller cover, and fix the controller cover to the housing to cover the first circuit board and the second circuit board.

[0005] As a preferred embodiment: In step S1, the crossed roller bearing includes an inner bearing ring and an outer bearing ring that are nested together and rotated. The steel wheel is fixed to the inner bearing ring, and a sealing ring is provided between the steel wheel and the outer bearing ring. The torque sensor includes an elastic matrix, a signal conditioning module, and a strain gauge. The outer ring of the elastic matrix is ​​fixed to the outer bearing ring, and the inner ring of the elastic matrix is ​​fixed to the flexible wheel.

[0006] As a preferred embodiment: In step S5, before installing the stator core, thermal conductive gel is added to the bearing pressure plate. After the stator core is installed, thermal conductive gel is added between the stator core and the end plate, while the thermal conductive gel at this location avoids the stator three-phase lines.

[0007] As a preferred embodiment: In step S8, the T-shaped shaft includes an integrally formed intermediate tube and a connecting plate. A sealing ring A is also fitted at the connection between the connecting plate and the intermediate tube. After the T-shaped shaft is installed, the sealing ring A abuts against the torque sensor. The T-shaped shaft is also coated with grease.

[0008] As a preferred embodiment: In step S10, a wire harness fixing block B is also fixed on the first circuit board. The signal line inlet, power line inlet, and torque sensor wire pass through the wire harness fixing block B and are connected to the corresponding first circuit board or second circuit board.

[0009] As a preferred embodiment: In step S11, a wire harness fixing block A is fixed on the controller cover, and the signal wire and power wire exit through the wire harness fixing block A.

[0010] As a preferred embodiment: in step S11, the contact surface between the controller cover and the housing is also coated with sealant.

[0011] As a preferred embodiment: In step S11, the first circuit board is provided with a fan-shaped notch, the top surface of the controller cover is at least partially recessed to form a heat dissipation contact surface, and thermally conductive silicone is applied to some components on the second circuit board so that the heat dissipation contact surface penetrates the fan-shaped notch and contacts the thermally conductive silicone.

[0012] As a preferred embodiment: multiple stepped connecting blocks are spaced apart along the outer edge of the end plate; a first connecting hole is provided on the upper part of the side wall of the connecting block; a second connecting hole is provided on the lower part of the side wall of the connecting block; the first connecting hole and the second connecting hole are respectively located on the outer side wall of the two steps; the controller cover is fastened to the outside of the connecting block and fixed to the first connecting hole by a connector that penetrates the controller cover; the end plate is embedded in the housing and fixed to the second connecting hole by a connector that penetrates the housing.

[0013] As a preferred embodiment: the outer circumference of the end plate is also provided with a plurality of positioning protrusions at intervals, the positioning protrusions are offset from the connecting block, and the inner side of the upper edge of the housing is also provided with a plurality of limiting notches that cooperate with the positioning protrusions.

[0014] As a preferred embodiment: the outer edge of the end plate is provided with a plurality of support columns for supporting the second circuit board. The support column includes two bottom support columns with different outer diameters and a limiting protrusion. The bottom support column abuts against the lower end face of the second circuit board, and the limiting protrusion is inserted into the positioning notch of the second circuit board. The limiting protrusion is also provided with a bolt for pressing the second circuit board.

[0015] The method employed in this invention uses a bearing pressure plate for limiting and installing the bearing. This facilitates overall installation, minimizes damage to components, and the bolts used to fix the bearing pressure plate and housing penetrate the housing, allowing direct fixation of the harmonic reducer and further simplifying the installation process. The harmonic reducer is connected to a torque sensor via the bearing. A T-shaped shaft, which runs through the torque sensor, harmonic reducer, and rotating shaft, allows signal lines, power lines, and torque sensor wires to be connected to the controller assembly through the T-shaped shaft. This simplifies wiring and results in a cleaner, more aesthetically pleasing design, reducing the likelihood of tangled wires. Furthermore, this invention employs a dual-circuit board design with a gap between the two boards to ensure adequate heat dissipation. The two circuit boards use a plug-in design for easy connection, and their small diameter and compact structure facilitate miniaturized product integration. Additionally, the control board is fixed to the end plate near the motor side, reducing motor cable length, minimizing losses, and improving overall efficiency. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0017] Figure 1 This is a schematic diagram of the overall structure of the joint motor module assembled using the method of the present invention; Figure 2 This is a cross-sectional structural diagram of a joint motor module assembled using the method of the present invention; Figure 3 This is an exploded structural diagram of a joint motor module assembled using the method of the present invention. Figure 4 This is a cross-sectional structural diagram of the articulated motor module assembled using the method of the present invention. Figure 5 This is a cross-sectional structural schematic diagram of the controller assembly of the joint motor module assembled using the method of the present invention; Figure 6 and Figure 7 This is an exploded structural diagram of the joint motor module assembled using the method of the present invention, showing the two-layer circuit board, controller cover, and end plate at two different angles. Figure 8 This is a schematic diagram of the assembly structure of the two-layer circuit board and end plate of the joint motor module assembled using the method of the present invention; Figure 9 This is a schematic diagram of the disassembled structure of the controller cover and the first circuit board of the joint motor module assembled using the method of the present invention; Figure 10 and Figure 11This is a disassembly diagram of the controller cover, wiring harness fixing block A, first circuit board, and wiring harness fixing block B of the joint motor module assembled using the method of the present invention at two different angles. Figure 12 This is a three-dimensional structural diagram of the front end plate of the articulated motor module assembled using the method of the present invention; Figure 13 This is a three-dimensional structural diagram of the reverse side of the end plate of the articulated motor module assembled using the method of the present invention; Figure 14 This is a disassembled structural diagram of the controller cover, end plate, and housing of the joint motor module assembled using the method of the present invention; Figure 15 This is a schematic diagram of the housing of the joint motor module assembled using the method of the present invention; Figure 16 and Figure 17 This is a disassembled structural diagram of the magnetic ring, second circuit board, rotating shaft, motor and reducer of the joint motor module assembled using the method of the present invention. Figure 18 This is a cross-sectional structural diagram of the two magnetic rings, the second circuit board, the rotating shaft, the intermediate tube, and the end plate of the joint motor module assembled using the method of the present invention. Figure 19 This is an exploded structural diagram of the motor, harmonic reducer, torque sensor, and T-tube of the joint motor module assembled using the method of this invention. Figure 20 This is a disassembled structural diagram of the housing, shaft, bearing, and bearing cover of the joint motor module assembled using the method of the present invention. Figure 21 and Figure 22 This is an exploded structural diagram of the joint motor module harmonic reducer, torque sensor and T-tube assembled using the method of the present invention at two different angles. Figure 23 This is a schematic diagram of the elastic substrate of the torque sensor of the joint motor module assembled using the method of the present invention.

[0018] The attached figures are labeled as follows: 1. Controller cover; 11. Wiring harness fixing block A; 12. Protruding claw; 13. Heat dissipation fins; 14. Heat dissipation contact surface; 2. First circuit board; 20. Fan-shaped notch; 21. Limiting block; 22. Wiring harness fixing block B; 221. Upper limit part; 222. Lower snap-fit ​​part; 23. Protrusion; 24. Notch; 25. Protruding edge; 3. Second circuit board; 31. Support fixing rod; 32. Positioning notch; 4. End plate; 41. Support column; 411. Bottom support column; 412. Limiting protrusion; 42. Connecting block; 43. Positioning protrusion. 44. Three-phase wire through hole; 45. Limiting ring plate; 46. Bearing; 47. Wave spring; 5. Housing; 51. Limiting notch; 52. Screw hole; 53. Screw; 6. Shaft; 61. Magnetic ring seat B; 62. Magnetic ring B; 60. Bearing shell; 7. Intermediate tube; 71. Magnetic ring seat A; 72. Magnetic ring A; 8. Harmonic reducer; 4. End plate; 46. Bearing A; 5. Housing; 500. Stator core; 54. Convex ring; 600. Rotor core; 60. Bearing shell; 61. Mounting seat; 63. Bearing pressure plate; 64. Bearing B; 65. Snap ring; 7. Intermediate tube; 73. Connecting disc; 731. Outlet hole; 732. Sealing ring A; 80. Elliptical hub; 81. Thin-walled bearing; 82. Flexible wheel; 83. Steel wheel; 84. Sealing ring; 85. Inner bearing ring; 86. Outer bearing ring; 9. Torque sensor; 91. Inner flange; 92. Strain beam; 93. Outer flange; 94. Groove; 95. Signal conditioning module; 96. Strain gauge; 97. Wire; 100. Sealing ring B; 900. Sealing ring C; 800. Sealing ring D. Detailed Implementation

[0019] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Furthermore, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments: A method for assembling a robot articulated motor module, the articulated motor module including a motor, a harmonic reducer 8, a torque sensor 9, a T-shaped shaft, and a controller assembly. The motor includes an end plate 4, a housing 5, a stator core 500, a rotating shaft 6, and a rotor core 600. The harmonic reducer includes a wave generator, a flexible wheel 82, and a steel wheel 83. The controller assembly includes a controller cover 1, a first circuit board 2, a second circuit board 3, and a support rod 31. The assembly steps are as follows: S1. The flexible wheel 82 of the harmonic reducer 8 is fixed to the inner ring of the torque sensor 9 with bolts, and the outer ring of the torque sensor 9 is rotatably connected to the steel wheel 83 of the harmonic reducer 8 through a cross roller bearing, so that the flexible wheel 82 is disposed inside the steel wheel 83; the cross roller bearing includes an inner ring 85 and an outer ring 86 that are sleeved and rotatably disposed on each other, the steel wheel 83 is fixed to the inner ring 85, and a sealing ring 84 is provided between the steel wheel 83 and the outer ring 86; the torque sensor 9 includes an elastic matrix, a signal conditioning module 95 and a strain gauge 96, the outer ring of the elastic matrix is ​​fixed to the outer ring 86 of the bearing, and the inner ring of the elastic matrix is ​​fixed to the flexible wheel 82; S2. Press bearing B64 onto one end of shaft 6, and fit bearing plate 63 onto bearing B64. Then press rotor core 600 onto shaft 6, and press bearing A46 onto the other end of shaft 6. At the same time, press bearing bush 60 onto the inner side of the end of shaft 6 near bearing A46 to form rotor assembly. S3. Install the rotor assembly into the housing 5, and fasten the bearing plate 63 to the end face of one end of the housing 5 with bolts, with the bolts penetrating the end face of the housing 5. S4. Fix the wave generator of the harmonic reducer 8 to one end of the rotating shaft 6, and then put the flexible wheel 82 on the outside of the wave generator. At the same time, use bolts that penetrate the end face of the housing 5 to fix the steel wheel 83 of the harmonic reducer 8 and the inner ring 85 of the cross roller bearing. S5. Press the stator core 500 into the inner wall of the housing 5. Place a wave spring on one side of the bearing A46. Fasten the end plate 4 onto the bearing A46 and limit the wave spring. Fix the end plate 4 to the housing 5 with bolts. Before installing the stator core 500, add thermal conductive gel to the bearing pressure plate 63. After installing the stator core 500, add thermal conductive gel between the stator core 500 and the end plate 4. At the same time, the thermal conductive gel at this location should avoid the stator three-phase lines. S6. Place a sealing ring B100 on one end face of the rotating shaft 6, and fit a fixed magnetic ring seat B61 on one end of the rotating shaft 6. The magnetic ring seat B61 presses the sealing ring B100 tightly; at the same time, fix the magnetic ring B62 on the magnetic ring seat B61. S7. Use the support rod 31 to fix the second circuit board 3 on the end plate 4, and leave a gap between the second circuit board 3 and the magnetic ring B62. S8. A T-shaped shaft is passed through the torque sensor 9, the harmonic reducer 8, and the rotating shaft 6. One end of the T-shaped shaft is fixed to the torque sensor 9. A fixing magnetic ring seat A71 is fitted onto the end of the T-shaped shaft that passes through the second circuit board 3. A magnetic ring A72 is fixed on the side of the magnetic ring seat A71 that is close to the second circuit board 3. The T-shaped shaft includes an integrally formed intermediate tube 7 and a connecting plate 73. A sealing ring A732 is fitted at the connection between the connecting plate 73 and the intermediate tube 7. After the T-shaped shaft is installed, the sealing ring A732 abuts against the torque sensor 9. The T-shaped shaft is also coated with grease. S9. Connect the first circuit board 2 to the second circuit board 3, and fix the first circuit board 2 to one end of the support rod 31. S10. After passing the signal line, power line, and torque sensor wire through the T-shaped shaft, insert them into the corresponding first circuit board 2 or second circuit board 3. The first circuit board 2 is also fixed with a wire harness fixing block B22. After passing through the wire harness fixing block B22, the signal line, power line, and torque sensor wire are connected to the corresponding first circuit board 2 or second circuit board 3. S11. Pass the signal wires and power wires out through the controller cover 1, and fix the controller cover 1 to the housing 5. Cover the first circuit board and the second circuit board. Apply sealant to the contact surface between the controller cover 1 and the housing 5. A wire harness fixing block A11 is fixed on the controller cover 1, and the signal wires and power wires pass through the wire harness fixing block A11.

[0026] In step S11, the first circuit board 2 is provided with a fan-shaped notch 20, the top surface of the controller cover 1 is at least partially recessed to form a heat dissipation contact surface 14, thermally conductive silicone is applied to some components on the second circuit board 3, and the heat dissipation contact surface 14 is made to penetrate the fan-shaped notch 20 and contact the thermally conductive silicone.

[0027] The specific structure of the articulated motor module assembled according to the above method is as follows: Figures 1 to 8 As shown, the device includes a motor, a harmonic reducer 8, and a controller assembly. The motor includes an end plate 4, a housing 5, a stator core 500, a rotating shaft 6, and a rotor core 600. The stator core 500 is fixed to the inner wall of the housing 5, and the rotor core 600 is fixed to the rotating shaft 6 and located inside the stator core 500. The end plate 4 is fixed to one end of the housing 5. The two ends of the rotating shaft 6 are rotatably connected to the end plate 4 and the housing 5 through bearings A46 and B64, respectively. The harmonic reducer includes a wave generator, a flexible wheel 82, and a steel wheel 83. The flexible wheel 82 is sleeved outside the wave generator, and the steel wheel 83 is sleeved outside the flexible wheel 82. Under the drive of the wave generator, the flexible wheel 82 and the steel wheel 83 are driven by staggered gears.

[0028] The controller assembly is fixed on the end plate 4. The controller assembly includes a controller cover 1, a first circuit board 2, a second circuit board 3, and a support rod 31. The outer edge of the second circuit board 3 is provided with multiple positioning notches 32 at intervals. The lower parts of the multiple support rods 31 are respectively locked in the corresponding positioning notches 32 and fixed to the end plate 4. The first circuit board 2 is set on the top of the support rod 31 and is fixed by bolts. The first circuit board 2 is a communication board, and the second circuit board 3 is a control board. The communication board and the control board are connected by board-to-board connectors.

[0029] This invention adopts a dual PCB board structure, separating the control and communication components onto two separate boards. This reduces the radial volume of the assembly and improves product integration. The control board uses a high-performance MCU and high-precision components to meet the requirements of motor drive and external signal processing. The communication board uses an Ethernet ESC chip and port protection chip to facilitate Ethernet communication with the master station and all slave stations. All external interface signal connectors are located on the communication board, and the communication board and control board are connected via board-to-board connectors, ensuring convenient connection.

[0030] The controller cover 1 is fixed to the end plate 4 and shields the first circuit board 2 and the second circuit board 3. At least a portion of the top surface of the controller cover 1 is recessed to form a heat dissipation contact surface 14. The first circuit board 2 has a fan-shaped notch 20, and the heat dissipation contact surface 14 penetrates the fan-shaped notch 20 and contacts the components on the second circuit board 3. Multiple heat dissipation fins 13 are also spaced apart in the recessed area of ​​the top surface of the controller cover 1. This structure allows the high-heat-generating control board to directly contact the controller cover, and thermally conductive silicone can be directly applied to the high-heat-generating electronic components and the controller cover, further improving heat dissipation efficiency.

[0031] The lower part of the support rod 31 is a screw, and the upper part is a long rod, with the outer diameter of the long rod being larger than that of the screw. The screw is engaged in the positioning notch 32 and fixed to the end plate 4, and the bottom of the long rod is pressed onto the second circuit board 3. The horizontal cross-section of the long rod is hexagonal, and the top of the long rod is provided with a threaded hole.

[0032] The electronic components related to motor control in this invention are all on the control board. Only a single board is needed to drive the motor in an open loop to calibrate the encoder, which facilitates the detection of whether the assembly is in place and the convenience of adjusting the assembly.

[0033] This invention uses a support rod to connect two circuit boards and fix the lower circuit board to the end plate, resulting in a simple structure and convenient installation. A gap between the two circuit boards ensures adequate heat dissipation. Furthermore, the two circuit boards use a plug-in design for easy connection, and their small diameter contributes to a compact structure, facilitating miniaturized product integration. Additionally, the control board is fixed to the end plate near the motor side, reducing motor cable length, minimizing losses, and improving overall machine efficiency.

[0034] like Figures 9 to 11 As shown, the first circuit board 2 has a through hole A in the middle, and a wire harness fixing block B22 is also embedded in the through hole A. The wire harness fixing block B22 includes an upper limit part 221 and a lower locking part 222. The outer wall of the lower locking part 22 is provided with a protrusion 23. The outer edge of the through hole A is provided with a notch 24 that cooperates with the protrusion 23. The wire harness fixing block B22 is also provided with a through hole B through which the wire harness passes.

[0035] The upper limit stop 221 and the lower latching part 222 form a stepped surface, which abuts against the upper end surface of the circuit board 2. The lower part of the lower latching part is also provided with a protruding edge 25, and the outer diameter of the protruding edge 25 is larger than the outer diameter of the through hole A. The horizontal cross-section of the upper limit stop 221 is rectangular or square, and the horizontal cross-section of the lower latching part 222 is circular. The upper limit stop 221 is a rubber block. The rubber block can ensure stable bonding with the wire harness and prevent scratching the wire harness. At least one side of the upper limit stop 221 on the first circuit board 2 is also provided with a limiting block 21. The limiting block and the wire harness fixing block B22 interfere with each other, which can further prevent the wire harness fixing block from rotating and prevent the wire harness from tangling.

[0036] The first circuit board 2 is disposed inside the controller cover 1. A wire harness fixing block A11 is provided in the middle of the controller cover 1, and the wire harness fixing block A11 is tightly fitted to the controller cover 1. The wire harness fixing block A11 is a rubber plug with a through hole B, through which the wire harness passes. This structure adds a wire harness fixing block to the controller cover, further fixing and limiting the wire harness to prevent tangling.

[0037] The controller cover 1 has a through hole C in the middle, and multiple downward-extending protrusions 12 are spaced apart on the outer side of the through hole C. The wire harness fixing block A11 is embedded in the through hole C and the multiple protrusions 12. The protrusions can make the wire harness fixing block A11 more firmly fixed to the controller cover and less likely to loosen.

[0038] like Figure 12 and Figure 13As shown, multiple stepped connecting blocks 42 are spaced apart along the outer edge of the end plate 4. A first connecting hole is provided on the upper part of the side wall of the connecting block 42, and a second connecting hole is provided on the lower part of the side wall of the connecting block 42. The first bolt hole and the second connecting hole are respectively located on the outer side wall of the two steps.

[0039] The outer circumference of the end plate 4 is also provided with a plurality of positioning protrusions 43 at intervals, and the positioning protrusions 43 are offset from the connecting block 42. The inner side of the connecting block 42 is also provided with a support post 41 for supporting the circuit board.

[0040] The end plate 4 has a through hole in the middle, and the lower part of the through hole extends downward to form a convex ring. A bearing 46 for cooperating with a rotating shaft is embedded in the convex ring. A limiting ring plate 45 is also provided above the through hole of the end plate 4, and a wave spring 47 is provided between the bearing 46 and the limiting ring plate 45.

[0041] The structure of the end plate includes a structure for connecting the housing and the controller cover, a structure for firmly supporting the circuit board, and an installation limit structure for the bearing with wave spring that cooperates with the rotating shaft. The end plate is feature-rich, highly integrated, and facilitates the miniaturization design of the whole machine, ensuring the stability of the overall performance.

[0042] The end plate 4 is also provided with a long strip-shaped three-phase wire passage hole 44, which facilitates the connection of the internal wiring of the motor, especially the motor three-phase wires and resolver wires, to the circuit board in the controller cover.

[0043] like Figure 14 and Figure 15 As shown, the connection structure of the controller cover 1, housing 5 and end plate 4 is as follows: the controller cover 1 is fastened to the outside of the connecting block 42 and fixed to the first connecting hole through the connector penetrating the controller cover 1; the end plate is embedded in the housing 5 and fixed to the second connecting hole through the connector penetrating the housing 5.

[0044] The inner side of the upper edge of the housing 5 is also provided with a plurality of limiting notches 51 that cooperate with the positioning protrusions 43. The housing 5 is also provided with screw holes 52, and the screws 53 pass through the screw holes 52 and are fixed to the second connecting hole of the connecting block 42.

[0045] The present invention provides a connecting block on the end plate, which allows the end plate to connect the housing and the controller cover simultaneously. The housing and the controller cover are located on the outer side of the end plate, which allows the end faces of the housing and the controller cover to fit together, resulting in a more compact structure. In addition, the two connecting holes are located on the outer side of the two stepped surfaces, forming a misalignment that facilitates installation.

[0046] like Figures 16 to 18As shown, when the controller assembly and harmonic reducer of the present invention are respectively fixed at both ends of the motor, the motor includes a housing 5 and a stator core disposed within the housing 5. A rotor core is fixed on the rotating shaft 6, and the rotor core is located inside the stator core. The end cover 4 is fixed at one end of the housing 5. The output wheel of the harmonic reducer is fixed with an intermediate tube 7. The intermediate tube 7 passes through the rotating shaft 6 of the motor. Both the intermediate tube and the rotating shaft pass through the end plate. A magnetic ring A72 is fixed at one end of the intermediate tube 7, and a magnetic ring B62 is fixed at one end of the rotating shaft 6. A second circuit board 3 fixed on the end cover 4 of the motor is located between the magnetic ring A72 and the magnetic ring B62. A magnetic sensor and a signal processor that cooperate with the magnetic ring A72 are disposed on the upper end surface of the second circuit board 3. A magnetic sensor and a signal processor that cooperate with the magnetic ring B62 are disposed on the lower end surface of the second circuit board 3. A bearing bush 60 is also disposed between the end of the rotating shaft 6 near the magnetic ring B62 and the intermediate tube 7.

[0047] The specific fixing method between the second circuit board and the end plate is as follows: Multiple positioning notches 32 are spaced apart along the outer edge of the second circuit board 3. The support column 411 includes two bottom support columns 411 with different outer diameters and a limiting protrusion 412. The bottom support column 411 abuts against the lower end face of the second circuit board 3, and the limiting protrusion 412 is inserted into the notch of the second circuit board 3. Furthermore, a bolt for pressing the second circuit board 3 is provided in the upper cylinder. This structure can fix the second circuit board more securely, avoiding the impact of circuit board shaking on the speed detection accuracy.

[0048] One end of the intermediate tube 7 is fixed with a magnetic ring seat A71 by bolts. The lower end face of the magnetic ring seat A71 has a raised ring. The magnetic ring A71 is fitted onto the raised ring and is fixed with the raised ring by interference fit or adhesive. One end of the motor shaft 6 is fixed with a magnetic ring seat B61. The upper end face of the magnetic ring seat B61 has a raised ring. The magnetic ring B62 is fitted onto the raised ring and is fixed with the raised ring by interference fit or adhesive. Installing the magnetic ring using the magnetic ring seat is convenient, the position is more stable, it is not easy to loosen, and the detection effect is better.

[0049] The outer diameters of the magnetic ring holder A71, magnetic ring A72, magnetic ring holder B61, and magnetic ring B62 are all the same. The gaps between the magnetic ring A72, magnetic ring B62, and the magnetic sensor are all 1.1mm-1.5mm.

[0050] This invention utilizes an intermediate tube fixed to the output end of the reducer, and the intermediate tube passes through the rotating shaft, so that a magnetic ring can be set at the end of the rotating shaft and the intermediate tube near the circuit board. Furthermore, by utilizing the length difference between the rotating shaft and the intermediate tube, a space is left between the two magnetic rings. The circuit board is set in this space, and the magnetic sensor and signal processor corresponding to the two magnetic rings are concentrated on a single circuit board, which greatly reduces the space occupied by the detection device and makes the overall device smaller.

[0051] like Figure 19 and Figure 20 As shown, a through hole is provided on the end face of the other end of the housing 5, and a convex ring 54 is provided on the outer ring of the through hole. One side of the outer ring of the bearing B64 is locked in the convex ring 54, and a bearing pressure plate 63 is also fastened on the other side of the outer ring of the bearing B64. The bearing pressure plate 63 is fixed to the inner end face of the housing 5 by bolts, and the bolts pass through the inner end face of the housing 5 and are fixed to the steel wheel 83. A sealing ring D800 is also provided between the contact surface of the steel wheel 83 and the housing 5. The rotating shaft 6 passes through the through hole and is fixed to the wave generator. The wave generator includes an elliptical hub 80 for fixing to the motor shaft and a thin-walled bearing 81 sleeved on the elliptical hub 80. The flexible wheel 82 is sleeved on the thin-walled bearing 81.

[0052] The inner ring of the bearing 64 is fixedly sleeved on the rotating shaft 6. The rotating shaft 6 has a mounting ring groove, and a retaining spring 65 is also provided in the mounting ring groove. One side of the bearing 64 abuts against the retaining spring 65. The bearing pressure plate 63 includes an integrally formed fixing plate edge, a retaining sleeve, and a retaining ring. The fixing plate edge and the retaining ring are parallel to each other, and the retaining sleeve is perpendicular to the retaining ring. The connection between the fixing plate edge and the retaining sleeve of the bearing pressure plate 63 also has an annular notch, which is fastened to the protruding ring 54. The protruding ring on the housing can both limit the bearing and position the bearing cover plate during installation, facilitating operation.

[0053] like Figures 21 to 23 As shown, a torque sensor 9 is connected to one side of the steel wheel 83 via a crossed roller bearing. The crossed roller bearing includes an inner bearing ring 85 and an outer bearing ring 86 that are nested together and rotatably disposed. The steel wheel 83 is fixed to the inner bearing ring 85, and a sealing ring 84 is provided between the steel wheel 83 and the outer bearing ring 86. The torque sensor 9 includes an elastic matrix, a signal conditioning module 95, and a strain gauge 96. The outer ring of the elastic matrix is ​​fixed to the outer bearing ring 86, and the inner ring of the elastic matrix is ​​fixed to the flexible wheel 82.

[0054] A T-shaped shaft is also fixed to the outside of the torque sensor 9. The T-shaped shaft includes an integrally formed intermediate tube 7 and a connecting plate 73. The connecting plate 73 is located at one end of the intermediate tube 7. The middle of the connecting plate is also provided with a through hole communicating with the intermediate tube 7. The intermediate tube 7 passes through the torque sensor 9, the harmonic reducer 8, and the rotating shaft 6. The intermediate tube 7 passes through the inner flange 91. A sealing ring A732 is also provided between the connection between the intermediate tube 7 and the connecting plate 73 and the inner flange 91. A sealing ring B100 is also provided between the intermediate tube 7 and the rotating shaft 6, and the sealing ring B100 is located on the outside of the bearing bush 60. One end of the rotating shaft 6 is also provided with a mounting seat 61 for limiting the sealing ring B100.

[0055] The two ends of the T-shaped shaft are equipped with sealing rings between the motor and the torque sensor, respectively. There are also sealing rings between the harmonic reducer and the torque sensor and the motor. The above structure can prevent oil leakage in the harmonic reducer sandwiched between the motor and the torque sensor, and ensure the stable operation of the joint motor.

[0056] The outer ring of the elastic matrix is ​​an outer flange 93, and the inner ring of the elastic matrix is ​​an inner flange 91. The two are connected by a strain beam 92. The strain gauge 96 is disposed on the strain beam 92. A sealing ring C900 is also provided between the end face of the outer flange 93 and the bearing outer ring 86. One end of the intermediate tube 7 is fixed to the outer flange 93 by a connecting plate 73, and the other end of the intermediate tube 7 is supported in the motor shaft 6 by a bearing bush 60.

[0057] The outer flange 93 has a raised edge near its periphery on its end face, and the outer wall of the connecting plate 73 abuts against the inner wall of the raised edge. This structure ensures a smooth connection between the T-shaped shaft and the end face of the torque sensor, facilitating the connection of the joint motor's output end to other structures.

[0058] Multiple strain beams 92 are arranged at equal intervals along the circumference, with grooves 94 between adjacent strain beams 92, and the signal conditioning module 95 is embedded in the grooves 94. This structure makes the torque sensor itself small in size, facilitating its use in articulated motors. The connecting disc 73 also has a wire hole 731 through which the wires 97 of the signal conditioning module 95 pass. This structure facilitates the connection of the torque sensor's wiring to the motor controller via a T-shaped shaft.

[0059] In this invention, the shaft and housing are connected by bearings, and the bearings are positioned and installed using a convex ring and bearing pressure plate on the housing. This makes overall installation convenient and less likely to damage parts. Furthermore, the bolts used to fix the bearing pressure plate and housing penetrate the housing and can be directly used to fix the harmonic reducer, further simplifying the installation process. In addition, the harmonic reducer is connected to a torque sensor via the bearings, with the outer ring of the torque sensor serving as the output end. The torque sensor can accurately detect the torque information at the output end of the joint motor. Simultaneously, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible wheel and driven by the flexible wheel. The overall structure is compact and the operation is stable.

[0060] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for assembling a joint motor module for a robot, the joint motor module comprising a motor, a harmonic reducer (8), a torque sensor (9), a T-shaped shaft, and a controller assembly, wherein the motor comprises an end plate (4), a housing (5), a stator core (500), a rotating shaft (6), and a rotor core (600), the harmonic reducer comprises a wave generator, a flexible wheel (82), and a steel wheel (83), and the controller assembly comprises a controller cover (1), a first circuit board (2), a second circuit board (3), and a support rod (31), characterized in that, The assembly steps are as follows: S1. Fix the flexible wheel (82) of the harmonic reducer (8) to the inner ring of the torque sensor (9) with bolts, and rotate the outer ring of the torque sensor (9) to the steel wheel (83) of the harmonic reducer (8) through a cross roller bearing, so that the flexible wheel (82) is set inside the steel wheel (83). S2. Press bearing B (64) onto one end of shaft (6), and fit bearing plate (63) onto bearing B (64). Then press rotor core (600) onto shaft (6), and press bearing A (46) onto the other end of shaft (6). At the same time, press bearing bush (60) onto the inner side of shaft (6) near bearing A (46) to form rotor assembly. S3. Install the above rotor assembly into the housing (5), and fasten the bearing pressure plate (63) to the end face of one end of the housing (5) with bolts, and the bolts penetrate the end face of the housing (5); S4. Fix one end of the wave generator of the harmonic reducer (8) to the shaft (6), then put the flexible wheel (82) on the outside of the wave generator. At the same time, use bolts that penetrate the end face of the housing (5) to fix the steel wheel (83) of the harmonic reducer (8) and the inner ring (85) of the cross roller bearing. S5. Press the stator core (500) into the inner wall of the housing (5), place the wave spring on one side of the bearing A (46), fasten the end plate (4) on the bearing A (46) and limit the wave spring, and fix the end plate (4) to the housing (5) with bolts. S6. Place a sealing ring B (100) on one end face of the rotating shaft (6), and fit a fixed magnetic ring seat B (61) on one end of the rotating shaft (6). The magnetic ring seat B (61) presses the sealing ring B (100) tightly; at the same time, fix the magnetic ring B (62) on the magnetic ring seat B (61). S7. Fix the second circuit board (3) on the end plate (4) with the support fixing rod (31) and leave a gap between the second circuit board (3) and the magnetic ring B (62); S8. Pass the T-shaped shaft through the torque sensor (9), the harmonic reducer (8) and the rotating shaft (6), fix one end of the T-shaped shaft to the torque sensor (9), and put a fixed magnetic ring seat A (71) on one end of the T-shaped shaft that passes through the second circuit board (3), and fix the magnetic ring A (72) on the side of the magnetic ring seat A (71) close to the second circuit board (3). S9. Connect the first circuit board (2) to the second circuit board (3) and fix the first circuit board (2) to one end of the support rod (31); S10. After passing the signal line, power line, and torque sensor wire through the T-shaped shaft, insert them into the corresponding first circuit board (2) or second circuit board (3). S11. Pass the signal line and power line out through the controller cover (1), and fix the controller cover (1) to the housing (5) to cover the first circuit board (2) and the second circuit board (3).

2. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S1, the crossed roller bearing includes an inner bearing ring (85) and an outer bearing ring (86) that are nested together and rotated. The steel wheel (83) is fixed to the inner bearing ring (85), and a sealing ring (84) is provided between the steel wheel (83) and the outer bearing ring (86). The torque sensor (9) includes an elastic matrix, a signal conditioning module (95), and a strain gauge (96). The outer ring of the elastic matrix is ​​fixed to the outer bearing ring (86), and the inner ring of the elastic matrix is ​​fixed to the flexible wheel (82).

3. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S5, before installing the stator core (500), thermal conductive gel is added to the bearing pressure plate (63). After installing the stator core (500), thermal conductive gel is added between the stator core (500) and the end plate (4), while the thermal conductive gel at this location avoids the stator three-phase lines.

4. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S8, the T-shaped shaft includes an integrally formed intermediate tube (7) and a connecting plate (73). A sealing ring A (732) is also fitted at the connection between the connecting plate (73) and the intermediate tube (7). After the T-shaped shaft is installed, the sealing ring A (732) abuts against the torque sensor (9). The T-shaped shaft is also coated with grease.

5. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S10, a wire harness fixing block B (22) is also fixed on the first circuit board (2). The signal line, power line, and torque sensor wire pass through the wire harness fixing block B (22) and are connected to the corresponding first circuit board (2) or second circuit board (3).

6. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S11, a wire harness fixing block A (11) is fixed on the controller cover (1), and the signal wire and power wire exit through the wire harness fixing block A (11).

7. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S11, the contact surface between the controller cover (1) and the housing (5) is also coated with sealant.

8. The assembly method of a robot joint motor module according to claim 1, characterized in that: In step S11, the first circuit board (2) is provided with a fan-shaped notch (20), the top surface of the controller cover (1) is at least partially recessed to form a heat dissipation contact surface (14), some components on the second circuit board (3) are coated with thermally conductive silicone, and the heat dissipation contact surface (14) passes through the fan-shaped notch (20) and contacts the thermally conductive silicone.

9. The assembly method of a robot joint motor module according to claim 1, characterized in that: Multiple stepped connecting blocks (42) are spaced apart along the outer edge of the end plate (4). A first connecting hole is provided on the upper part of the side wall of the connecting block (42), and a second connecting hole is provided on the lower part of the side wall of the connecting block (42). The first connecting hole and the second connecting hole are located on the outer side wall of the two steps, respectively. The controller cover (1) is fastened to the outside of the connecting block (42) and is fixed to the first connecting hole through a connector that penetrates the controller cover (1). The end plate (4) is embedded in the housing (5) and is fixed to the second connecting hole through a connector that penetrates the housing (5).

10. The assembly method of a robot joint motor module according to claim 1, characterized in that: The outer circumference of the end plate (4) is also provided with a plurality of positioning protrusions (43) at intervals. The positioning protrusions (43) are offset from the connecting block (42). The inner side of the upper edge of the housing (5) is also provided with a plurality of limiting notches (51) that cooperate with the positioning protrusions (43).

11. The assembly method of a robot joint motor module according to claim 1, characterized in that: The end plate (4) is provided with a plurality of support columns (41) for supporting the second circuit board (3) at intervals along its outer edge. The support column (41) includes two bottom support columns (411) with different outer diameters and a limiting protrusion (412). The bottom support column (411) abuts against the lower end face of the second circuit board (3). The limiting protrusion (412) is inserted into the positioning notch (32) of the second circuit board (3). The limiting protrusion (412) is also provided with a bolt for pressing the second circuit board (3).

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