Integrated thin servo joint module

Abstract

The present invention belongs to the technical field of servo joint modules, and specifically relates to an integrated thin servo joint module, including a shell, a cover body detachably connected to the upper side of the shell, a wire tube passing through the middle of the cover body, a wire tube bearing sleeved on the outer wall of the wire tube, and a circuit board mounting plate fixedly connected to the inner wall of the cover body. The integrated thin servo joint module uses a fixed component, and by rotating the rotating tube, the rotating tube is lowered, the fixed part is squeezed, and then the hinge rod is rotated to compress the torsion spring, so that the fixed part can move downward and inward at the same time, so as to fix the wire. At the same time, the sliding ring can slide in the slide groove to compress the telescopic end of the elastic telescopic rod, so that when the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod is compressed, and the wire can be displaced to compensate for the displacement to the two ends, so as to prevent the wire from being straightened, damaged or falling off, thereby improving the effect of the device.

Description

Technical Field

[0001] The invention relates to the technical field of servo joint modules, in particular to an integrated thin servo joint module. Background Art

[0002] Joints are an important part of robots. Joints of different specifications can be used to build different robot configurations according to needs, such as robotic arms and bipedal robots. Joints are mainly composed of drive motors and reducers. The drive motor provides power, and the reducer outputs power to drive the robot's actuator to move. With the development of mechatronics, robot components are moving towards lightweight, integrated, intelligent and systematic directions.

[0003] At present, modular joints are the core components of reconfigurable modular robotic arms. Modular joints can be divided into two categories according to the wiring method: external wiring type and hollow internal wiring type. The external wiring type is not modular enough as a whole, has a large number of wires, is easy to tangle, and is not beautiful. Therefore, in recent years, modular joints have been developing in the direction of hollow internal wiring. In the existing technology, the output shaft is set as a hollow structure and the wiring is carried out using the hollow output shaft. However, due to the movement of the joint, the two ends of the wire may be twisted, causing the wire to be straightened, which in turn causes the wire to be damaged or fall off, affecting the use of the device. Summary of the invention

[0004] The main purpose of the present invention is to provide an integrated thin servo joint module that can solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention proposes the following technical solutions:

[0006] An integrated thin servo joint module comprises a shell, the upper side of which is detachably connected to a cover body, the middle part of which is penetrated by a wire tube, the outer wall of which is sleeved with a wire tube bearing, the inner wall of which is fixedly connected to a circuit board mounting plate, the upper side of which is fixedly connected to a circuit board mounting plate, a code disk, a motor rotor assembly and a motor stator are arranged inside the shell, an end of the shell away from the cover body is fixedly connected to an outer ring clamping ring by bolts, and an output flange is fixedly connected to the rotor of the motor rotor assembly;

[0007] Among them, the code disc is sleeved on the outer wall of the wire tube, the motor stator is fixedly connected to the inner wall of the shell, a steel wheel is arranged on the inner side of the motor stator, the steel wheel is inlaid and installed on the outer wall of the rotating sleeve, a flexible wheel is inlaid and installed on the inner surface of the rotating sleeve, and an oil seal cover is fixedly connected to the outer wall of the rotating sleeve. The steel wheel is a rigid support and transmission component in the servo joint. It has the characteristics of high strength, high rigidity and wear resistance, and can withstand large loads and impact forces to ensure the stability and reliability of the servo joint. The flexible wheel mainly plays the role of transmission and deceleration. It uses its own elastic deformation to transmit power and adjust the speed, so that the servo joint can achieve precise position control and speed regulation. The oil seal cover is mainly used to seal the lubricating oil inside the servo joint to prevent oil leakage and external contaminants from entering. The wire tube passes through the cam, and the cam is detachably connected to the rotating sleeve. A flexible wheel bearing is sleeved on the outer wall of the cam, and a cross roller bearing is inlaid and installed inside the shell.

[0008] Preferably, a single-channel magnetic encoder reader is provided in the shell, which is compatible with the code disk and supports multi-turn counting. There is a certain distance between the reader and the heat-prone element in space to avoid data drift caused by excessive temperature, thereby ensuring the accuracy of data acquisition and operational stability in high temperature environments.

[0009] Preferably, a fixed protection component is provided inside the wire passing tube, and a slide groove is opened on the inner wall of the wire passing tube. By using the fixed protection component, the wires can be fixed, and the wires can be fixed in an orderly manner to facilitate wiring and piping work. At the same time, after the wires are fixed, loosening and falling off caused by external factors such as vibration and impact can be reduced, thereby improving the stability and reliability of the system.

[0010] Preferably, the fixed protection component includes a sliding ring, which is slidably connected in the slide groove, a fixed sleeve is fixedly connected to the outer wall of the sliding ring, a groove is opened on the inner wall of the fixed sleeve, the grooves are arranged in a circular array around the center line of the fixed sleeve, a fixing piece is arranged in the groove, an elastic telescopic rod is fixedly connected to the side of the sliding ring close to the fixed sleeve, the telescopic end of the elastic telescopic rod is fixedly connected to the slide groove, a rotating tube is arranged on the side of the fixed sleeve away from the sliding ring, and the rotating tube is threadedly connected to the fixed sleeve.

[0011] Preferably, a hinge rod is hinged on the inner surface of the fixing member, and one end of the hinge rod away from the fixing member is hinged on the groove.

[0012] Preferably, the fixing parts are provided with multiple groups, and each group of the fixing parts is provided with two groups of hinged rods hinged on the inner surface, the two groups of hinged rods hinged on the inner surface of the fixing parts are in a horizontal state, and the hinge shaft of the hinged rod hinged on the groove is elastically connected to the inner surface of the groove through a torsion spring, and the rotating tube is rotated to lower the rotating tube and squeeze the fixing part, and then the hinged rod is rotated to compress the torsion spring, so that the fixing part can move downward and inward at the same time, thereby fixing the wire.

[0013] Preferably, the circuit board is fixedly mounted with a main control chip, a MOS tube, a servo control chip, a bus communication chip and a gate driver, and the shell is a metal heat dissipation shell, which is used to conduct away the heat generated by the main control chip, the MOS tube, the servo control chip, the bus communication chip and the gate driver, so that these components can still operate at the rated temperature even in a high temperature environment.

[0014] Preferably, a plurality of temperature detection devices are fixedly installed in the cover body, which are used to monitor the real-time temperature of heat-prone components such as MCU, MOS tubes and motor rotor components to prevent such components from operating in an environment exceeding the rated temperature. If the device temperature has reached or even exceeded the rated temperature, the main control chip will respond according to the program settings by enabling alarms, low-power state output, stopping work, etc.

[0015] The present invention provides an integrated thin servo joint module. It has the following beneficial effects:

[0016] (1) By rotating the rotating tube, the rotating tube is lowered, squeezing the fixed part, and then the hinged rod is rotated to compress the torsion spring, so that the fixed part can move downward and inward at the same time, thereby fixing the wire. At the same time, the sliding ring can slide in the sliding groove to compress the telescopic end of the elastic telescopic rod, so that when the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod is compressed, and the wire can be displaced to the two ends to compensate, thereby preventing the wire from being stretched, damaged, or falling off, thereby improving the use effect of the device.

[0017] (2) By using fixing components, the wires can be fixed in an orderly manner, which is convenient for wiring and piping work. At the same time, after the wires are fixed, they can reduce loosening and falling off caused by external factors such as vibration and impact, thereby improving the stability and reliability of the system.

[0018] (3) The flexible wheel and motor rotor assembly of the integrated thin servo joint module are nested, which further compresses the overall space and provides high torque output while ensuring accuracy. At the same time, it is lighter and thinner than similar products.

[0019] (4) The integrated thin servo joint module has multiple built-in sensors that can monitor the operating status in real time and make adaptive responses according to different situations. It can operate in high-temperature environments, has a large acceptable ambient temperature margin, and is not prone to failure due to the heat generated by itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the overall three-dimensional structure of Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the explosion structure of Embodiment 1 of the present invention;

[0023] Figure 3 This is a schematic diagram of a front cross-sectional structure of a first embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the internal structure of the wire passing tube according to the second embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the cross-sectional structure of the wire-passing tube portion of the second embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the internal cross-sectional structure of the wire passing tube according to the second embodiment of the present invention;

[0027] Figure 7 For the present invention Figure 6 Schematic diagram of the structure of A;

[0028] Figure 8 For the present invention Figure 7 Schematic diagram of the structure of B.

[0029] In the figure: 1. shell; 2. cover; 3. wire tube; 4. wire tube bearing; 5. circuit board mounting plate; 6. circuit board; 7. code disk; 8. motor rotor assembly; 9. motor stator; 10. motor shaft bearing one; 11. motor shaft bearing two; 12. cam; 13. output flange; 14. oil seal cover; 15. steel wheel; 16. flexible wheel; 17. flexible wheel bearing; 18. cross roller bearing; 19. outer ring clamping ring; 30. fixed protection assembly; 31. slide groove; 301. sliding ring; 302. fixed sleeve; 303. groove; 304. fixing piece; 305. elastic telescopic rod; 306. rotating tube; 3041. hinged rod.

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1: Please refer to Figure 1-Figure 3 The present invention proposes an integrated thin servo joint module, including a shell 1, a cover body 2 is detachably connected to the upper side of the shell 1, a wire tube 3 is passed through the middle of the cover body 2, a wire tube bearing 4 is sleeved on the outer wall of the wire tube 3, a circuit board mounting plate 5 is fixedly connected to the inner wall of the cover body 2, a circuit board 6 is fixedly connected to the upper side of the circuit board mounting plate 5, a code disk 7, a motor rotor assembly 8 and a motor stator 9 are arranged inside the shell 1, an end of the shell 1 away from the cover body 2 is fixedly connected to an outer ring clamping ring 19 by bolts, and an output flange 13 is fixedly connected to the rotor of the motor rotor assembly 8;

[0033] Among them, the code disk 7 is sleeved on the outer wall of the wire passing tube 3, the motor stator 9 is fixedly connected to the inner wall of the shell 1, and a steel wheel 15 is arranged on the inner side of the motor stator 9. The steel wheel 15 is inlaid and installed on the outer wall of the rotating sleeve, and a flexible wheel 16 is inlaid and installed on the inner surface of the rotating sleeve. An oil seal cover 14 is fixedly connected to the outer wall of the rotating sleeve. The steel wheel 15 serves as a rigid support and transmission component in the servo joint. It has the characteristics of high strength, high rigidity and wear resistance, and can withstand large loads and impact forces to ensure the stability and reliability of the servo joint. The flexible wheel 16 mainly plays the role of transmission and deceleration. It uses its own elastic deformation to transmit power and adjust the speed, so that the servo joint can achieve precise position control and speed regulation. The oil seal cover 14 is mainly used to seal the lubricating oil inside the servo joint to prevent oil leakage and external contaminants from entering. The oil seal cover 14 can also prevent pollutants such as dust and water vapor from invading the interior through the opening of the joint, thereby protecting the internal iron core, winding and other key components from pollution and damage, thereby extending the service life of the servo joint.

[0034] In an embodiment of the present invention, a motor shaft bearing 10 and a motor shaft bearing 2 11 are provided inside the housing 1, and the motor shaft bearing 10 and the motor shaft bearing 2 11 are both sleeved on the outer wall of the wire tube 3, and the motor shaft bearing 10 is arranged above the motor shaft bearing 2 11, and the wire tube 3 passes through the cam 12, and the cam 12 is detachably connected to the rotating sleeve, and a flexible wheel bearing 17 is sleeved on the outer wall of the cam 12, and a cross roller bearing 18 is inlaid and installed inside the housing 1, wherein the main control chip, MOS tube, servo control chip, bus communication chip and gate driver are fixedly installed on the circuit board 6, and the housing 1 is a metal heat dissipation shell, which is used to conduct the heat generated by the main control chip, MOS tube, servo control chip, bus communication chip and gate driver out So that such components can still work at the rated temperature even in a high temperature environment. A plurality of temperature detection devices are fixedly installed in the cover body 2 to monitor the real-time temperature of heat-prone components such as MCU, MOS tubes and motor rotor assembly 8 to prevent such devices from working in an environment exceeding the rated temperature. If the device temperature has reached or even exceeded the rated temperature, the main control chip will respond by enabling alarms, low-power state outputs, stopping work, etc. according to the program settings. A single-channel magnetic encoder reader is provided in the housing 1, which is compatible with the code disk 7 and supports multi-turn counting. There is a certain distance between the reader and the heat-prone components in space to avoid data drift caused by excessive temperature, thereby ensuring the accuracy of data acquisition and the operating stability in a high temperature environment.

[0035] It should be noted that the flexible wheel 16 and the motor rotor assembly 8 are in a nested structure, which further compresses the overall space and provides high torque output while ensuring accuracy. At the same time, it is lighter and thinner than similar products. In addition, through multiple sensors, it can monitor the operating status in real time and make adaptive responses according to different situations. It can operate in a high-temperature environment with a large acceptable ambient temperature margin and is not prone to failure due to the heat generated by itself.

[0036] Example 2: Based on Example 1, please refer to Figure 4-Figure 8A fixed protection component 30 is arranged inside the wire tube 3, a slide groove 31 is provided on the inner wall of the wire tube 3, the fixed protection component 30 includes a sliding ring 301, the sliding ring 301 is slidably connected in the slide groove 31, a fixed sleeve 302 is fixedly connected to the outer wall of the sliding ring 301, a groove 303 is provided on the inner wall of the fixed sleeve 302, the groove 303 is arranged in a circular array around the center line of the fixed sleeve 302, a fixing piece 304 is arranged in the groove 303, and the sliding ring 301 is fixed on one side close to the fixed sleeve 302 The fixing member 304 is connected with an elastic telescopic rod 305, the telescopic end of the elastic telescopic rod 305 is fixedly connected to the slide groove 31, a rotating tube 306 is arranged on the side of the fixing sleeve 302 away from the sliding ring 301, and the rotating tube 306 is threadedly connected to the fixing sleeve 302, and an articulated rod 3041 is hinged on the inner surface of the fixing member 304, and one end of the articulated rod 3041 away from the fixing member 304 is hinged on the groove 303, and the fixing member 304 is provided with multiple groups, and each group of articulated rods 3041 on the inner surface of the fixing member 304 is provided with two The two groups of hinged rods 3041 hinged on the inner surface of the fixing member 304 are in a horizontal state. The hinge shaft of the hinged rod 3041 hinged on the groove 303 is elastically connected to the inner surface of the groove 303 through a torsion spring. When it is necessary to fix the wire, the rotating tube 306 is rotated to make the rotating tube 306 descend, squeeze the fixing member 304, and then the hinged rod 3041 is rotated to compress the torsion spring, so that the fixing member 304 can move downward and inward at the same time to fix the wire. At the same time, the sliding ring 301 can slide in the slide groove 31 to compress the telescopic end of the elastic telescopic rod 305, so that when the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod 305 is compressed, and the wire can be compensated for displacement to both ends to prevent the wire from being stretched, damaged or falling off, thereby improving the use effect of the device. After the wire is fixed in an orderly manner, it is convenient to carry out wiring and piping work. Moreover, after the wire is fixed, it can reduce loosening and falling off caused by external factors such as vibration and impact, thereby improving the stability and reliability of the system.

[0037] In addition, the design of the wire tube 3 makes the middle part of the device hollow, and the hollow structure is conducive to heat dissipation, and the fixed protection component 30 can further ensure that the wires will not block the heat dissipation channel, thereby keeping the servo joint running at a good working temperature. At the same time, the fixed protection component 30 is set in the wire tube 3 to fix the wires, which can make full use of the internal space and reduce the occupancy of the external space, thereby improving the space utilization of the overall equipment.

[0038] It should be noted that the above-mentioned electrical components are all existing technology products. Technical personnel in this field select, install and complete the circuit debugging work according to the needs of use to ensure that all electrical appliances can work normally. The components are all universal standard parts or components known to technical personnel in this field. Their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods, and no specific restrictions are made here.

[0039] When in use, after the wire is connected and passes through the wire tube 3, the rotating tube 306 in one group of fixed protection components 30 is rotated to make the rotating tube 306 descend and squeeze the fixing piece 304, and then the hinged rod 3041 is rotated to compress the torsion spring, so that the fixing piece 304 moves downward and can also move inward to fix the wire, and then the other group of fixed protection components 30 is repeated to fix the other end of the wire. In this process, the wire is in a relaxed state in the area between the two groups of fixed protection components 30, and then when the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod 305 is compressed, and the sliding ring 301 can move in the slide groove 31, and the wire can be compensated for displacement at both ends.

[0040] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An integrated thin servo joint module, comprising a housing (1), characterized in that: The upper side of the housing (1) is detachably connected to a cover body (2), the middle of the cover body (2) is penetrated by a wire tube (3), the outer wall of the wire tube (3) is sleeved with a wire tube bearing (4), the inner wall of the cover body (2) is fixedly connected to a circuit board mounting plate (5), the upper side of the circuit board mounting plate (5) is fixedly connected to a circuit board (6), the interior of the housing (1) is provided with a code disk (7), a motor rotor assembly (8) and a motor stator (9), and the end of the housing (1) away from the cover body (2) is fixed by bolts. The motor rotor assembly (8) is fixedly connected to an outer ring clamping ring (19), and an output flange (13) is fixedly connected to the rotor; wherein the code disk (7) is sleeved on the outer wall of the wire passing tube (3), the motor stator (9) is fixedly connected to the inner wall of the housing (1), a steel wheel (15) is arranged on the inner side of the motor stator (9), the steel wheel (15) is embedded in the outer wall of the rotating sleeve, a flexible wheel (16) is embedded in the inner surface of the rotating sleeve, and an oil seal cover (14) is fixedly connected to the outer wall of the rotating sleeve; The wire passing tube (3) passes through the cam (12), the cam (12) is detachably connected to the rotating sleeve, a flexible wheel bearing (17) is sleeved on the outer wall of the cam (12), and a cross roller bearing (18) is inlaid and installed inside the housing (1).

2. The integrated thin servo joint module according to claim 1, characterized in that: A single-channel magnetic encoder reader is provided in the housing (1), adapted to the code disc (7) and supporting multi-turn counting, and a certain distance exists between the reader and the heat-prone element in space.

3. The integrated thin servo joint module according to claim 1, characterized in that: A fixed protection component (30) is arranged inside the wire passing tube (3), and a sliding groove (31) is provided on the inner wall of the wire passing tube (3).

4. The integrated thin servo joint module according to claim 3, characterized in that: The fixed protection component (30) comprises a sliding ring (301), the sliding ring (301) is slidably connected in the sliding groove (31), a fixing sleeve (302) is fixedly connected to the outer wall of the sliding ring (301), a groove (303) is provided on the inner wall of the fixing sleeve (302), the grooves (303) are arranged in a circular array along the center line of the fixing sleeve (302), a fixing piece (304) is arranged in the groove (303), and an elastic telescopic rod (305) is fixedly connected to the side of the sliding ring (301) close to the fixing sleeve (302).

5. The integrated thin servo joint module according to claim 4, characterized in that: The telescopic end of the elastic telescopic rod (305) is fixedly connected to the slide groove (31), and a rotating tube (306) is provided on the side of the fixed sleeve (302) away from the sliding ring (301), and the rotating tube (306) is threadedly connected to the fixed sleeve (302).

6. The integrated thin servo joint module according to claim 5, characterized in that: A hinge rod (3041) is hinged on the inner surface of the fixing member (304), and one end of the hinge rod (3041) away from the fixing member (304) is hinged on the groove (303).

7. The integrated thin servo joint module according to claim 6, characterized in that: The fixing members (304) are provided in multiple groups, and each group of the fixing members (304) is provided with two groups of hinged rods (3041) hinged on the inner surface, the two groups of hinged rods (3041) hinged on the inner surface of the fixing members (304) are in a horizontal state, and the hinge shafts of the hinged rods (3041) hinged on the grooves (303) are elastically connected to the inner surface of the grooves (303) via torsion springs.

8. The integrated thin servo joint module according to claim 4, characterized in that: The circuit board (6) is fixedly mounted with a main control chip, a MOS tube, a servo control chip, a bus communication chip and a gate driver, and the housing (1) is a metal heat dissipation housing for conducting away heat generated by the main control chip, the MOS tube, the servo control chip, the bus communication chip and the gate driver.

9. The integrated thin servo joint module according to claim 8, characterized in that: A plurality of temperature detection devices are fixedly installed in the cover body (2) and are used to monitor the real-time temperature of heat-prone components such as MCU, MOS tubes, and the motor rotor assembly (8).

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