Thin motor joint module

Abstract

The invention provides a thin motor joint module, and relates to the technical field of joint modules, the thin motor joint module comprises a power assembly, a speed reducer assembly and an output assembly, the power assembly, the speed reducer assembly and the output assembly are all arranged in a shell; the power assembly is provided with an axial magnetic flux motor, the speed reducer assembly is provided with a harmonic reducer, and the shell is made of light metal materials and PEEK materials. The joint module has the beneficial effects that the axial magnetic flux motor is arranged in the power assembly, compared with a traditional radial magnetic flux motor, the axial magnetic flux motor is flatter, the output torque is larger, therefore, the axial length of the joint module can be reduced, the large output torque can be guaranteed, the shell is made of the light metal material and the PEEK material, and the cost is reduced. Therefore, the joint module is lighter, the output ratio of the motor is larger, and the joint module with high torsion, high energy density and light weight is formed.

Description

Technical Field

[0001] The present invention relates to the technical field of joint modules, and in particular to a thin motor joint module. Background Art

[0002] A joint module is a compact modular product integrating key components such as a motor, a reducer, an encoder, and a driver, and is widely used in fields such as robots, medical devices, and consumer electronics. Since the joint module needs to bear a relatively large weight during use and is generally applied in places with limited space, the joint module is often required to have a small shape, a large torque, and a light weight. If the above three points can be achieved simultaneously, the joint module will be able to adapt to more application scenarios. The technical content disclosed in the Chinese patent document (publication number: CN114732524B, patent name: A Rotary Joint Module) is as follows: The support sleeve, the brake block, the encoder support frame, etc. are all made of iron shielding materials, which can effectively shield the influence of the external magnetic field on the magnetic ring. At the same time, the motor housing is also made of iron material, which can effectively shield the leakage of the magnetic field of the torque motor and further shield the influence on the encoder magnetic ring. The motor housing is made of iron material, and the wall thickness can be made thinner, which can further achieve a compact structure. The connecting sleeve is also made of steel material, which can effectively shield the magnetic field and achieve a good electromagnetic shielding effect on the communication cable inside the connecting sleeve.

[0003] From the above implementation solutions and the corresponding drawings, it can be seen that most of the component materials of the joint module are iron materials, which will make the weight of the joint module unable to be reduced, thus making the joint module relatively bulky, so that the driving motor must spend a large amount of force to drive the components of the joint module itself. Therefore, the requirements for the driving motor are relatively high, and a part of the energy output by the driving motor will also be wasted. Summary of the Invention

[0004] The present invention overcomes the deficiencies in the prior art. An axial flux motor is provided in the power assembly. Compared with the traditional radial flux motor, the axial flux motor is flatter and has a larger output torque. Therefore, it can reduce the axial length of the joint module and ensure a large output torque. The outer shell is made of a lightweight metal material and a PEEK material, making the joint module lighter, increasing the output ratio of the motor, and thus forming a joint module with high torque, high energy density, and light mass.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions: A thin motor joint module includes a power assembly, a reducer assembly, and an output assembly, and the power assembly, the reducer assembly, and the output assembly are all arranged in a housing; The power assembly is provided with an axial flux motor, the reduction gear assembly is provided with a harmonic reducer, and the housing is composed of a lightweight metal material and a PEEK material.

[0006] Furthermore, the housing includes a first housing, a second housing, and a third housing. The first housing wraps around the outside of the power assembly and is made of a lightweight metal material. The second housing wraps around the outer periphery of the reduction gear assembly, and the third housing wraps around the outer periphery of the output assembly. Both the second housing and the third housing are made of PEEK material.

[0007] Furthermore, the power assembly is also provided with a dual encoder and a driver.

[0008] Furthermore, the harmonic reducer includes a camshaft. The camshaft is connected to a flexible bearing, the flexible bearing is connected to a flexspline, and the flexspline meshes with a rigid gear; The camshaft is connected to the power assembly, the rigid gear is connected to the reduction gear assembly, and the flexspline is connected to the output assembly.

[0009] Furthermore, a first O-ring is provided between the rigid gear and the rigid gear front cover, and a second O-ring is provided between the rigid gear and the second housing.

[0010] Furthermore, a second oil seal is provided between the reduction gear assembly and the power assembly, and a first oil seal is provided between the reduction gear assembly and the output assembly.

[0011] Furthermore, the output assembly is provided with a torque sensor. A connection seal cover is provided on the side of the torque sensor close to the reduction gear assembly. The first oil seal is provided on the outer periphery of the connection seal cover. The other side of the torque sensor is connected to an output flange. The outer periphery of the output flange is connected to a crossed roller bearing, and the crossed roller bearing is connected to the third housing.

[0012] Furthermore, the output flange is made of PEEK material; Furthermore, the centers of the power assembly, the reduction gear assembly, and the output assembly are penetrated by a lead shaft. An output shaft locking ring is provided between the lead shaft and the flexspline, and a third O-ring is provided between the output shaft locking ring and the lead shaft.

[0013] Compared with the prior art, the beneficial effects of the present invention are: An axial flux motor is provided in the power assembly. Compared with the traditional radial flux motor, the axial flux motor is flatter and outputs a larger torque. Therefore, it can reduce the axial length of the joint module and ensure a large output torque. The housing is composed of a lightweight metal material and a PEEK material, making the joint module lighter, increasing the output ratio of the motor, and thus forming a high-torque, high-energy-density, and lightweight joint module. Description of the Drawings

[0014] The accompanying drawings are used to provide a further understanding of the present invention and, together with the embodiments of the present invention, are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings: Figure 1 is the overall schematic diagram of the joint module according to an embodiment of the present invention; Figure 2 is the first exploded schematic diagram of the joint module according to an embodiment of the present invention; Figure 3 is the cross-sectional view of the joint module according to an embodiment of the present invention; Figure 4 is the second exploded schematic diagram of the joint module according to an embodiment of the present invention; Figure 5 is the third exploded schematic diagram of the joint module according to an embodiment of the present invention; Figure 6 is the exploded schematic diagram of the power assembly according to an embodiment of the present invention; Figure 7 is the exploded schematic diagram of the speed reducer assembly according to an embodiment of the present invention; Figure 8 is the exploded schematic diagram of the harmonic speed reducer according to an embodiment of the present invention; Figure 9 is the first exploded schematic diagram of the output assembly according to an embodiment of the present invention; Figure 10 is the second exploded schematic diagram of the output assembly according to an embodiment of the present invention.

[0015] In the figures: 1, power assembly; 101, driver; 102, dual encoder; 103, switched reluctance motor; 2, speed reducer assembly; 201, harmonic speed reducer; 2011, flexspline; 2012, flexure bearing; 2013, camshaft; 2014, rigid gear; 202, first O-ring; 203, second O-ring; 204, third O-ring; 205, front cover of rigid gear; 3, output assembly; 301, torque sensor; 302, crossed roller bearing; 303, output flange; 304, connecting seal cover; 4, lead shaft; 401, first rubber-covered bearing; 402, second rubber-covered bearing; 403, output shaft locking ring; 5, first housing; 6, second housing; 7, third housing; 8, first oil seal; 9, second oil seal. Detailed embodiments

[0016] The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0017] As Figures 1 to 10As shown in the figure, a thin motor joint module includes a power component 1, a speed reducer component 2, and an output component 3. The power component 1, the speed reducer component 2, and the output component 3 are all arranged in a housing, thus forming a joint module with high torque, high energy density, and light weight.

[0018] The power component 1 is provided with an axial flux motor 103. Different from the traditional radial flux motor, the axial flux motor 103 has a stator in the middle and two rotors arranged axially in the front and back. The axial flux motor 103 has the characteristics of a flat structure, high power density, high torque output, and high efficiency. Therefore, it can greatly shorten the length of the joint module, and the torque is greater, making the steering power of the joint module better.

[0019] The speed reducer component 2 is provided with a harmonic reducer 201. The housing is made of lightweight metal materials and PEEK materials, thus making the joint module lighter and improving the torque-to-weight ratio of the joint module (output torque / module weight), so that the power output by the axial flux motor 103 can be utilized more fully.

[0020] The housing includes a first housing 5, a second housing 6, and a third housing 7. The first housing 5 wraps around the outside of the power component 1 and is made of lightweight metal materials. The lightweight metal materials have a high heat conduction coefficient and can quickly dissipate the heat generated by the power component 1.

[0021] The second housing 6 wraps around the outside of the speed reducer component 2, and the third housing 7 wraps around the outside of the output component 3. The second housing 6 and the third housing 7 are both made of PEEK materials. PEEK material (Polyether Ether Ketone) is a high-performance polymer material with excellent high-temperature resistance, chemical stability, mechanical properties, wear resistance, insulation properties, and biocompatibility. Therefore, the second housing 6 and the third housing 7 can not only protect the speed reducer component 2 and the output component 3, but also lighten the entire joint module.

[0022] Moreover, the PEEK material can make the second housing 6 thinner, so that a larger space can be reserved inside the second housing 6, maximizing the size of the harmonic reducer 201 in a limited space. Therefore, the energy density of the joint module can be improved, and the joint module can output a greater torque.

[0023] The power component 1 is also provided with a dual encoder 102 and a driver 101. The driver 101 is integrated with the dual encoder 102 to provide high-precision angle positioning feedback and reduce the axial thickness.

[0024] The harmonic reducer 201 includes a camshaft 2013. The camshaft 2013 is connected to a flexible bearing 2012, and the flexible bearing 2012 is connected to a flexspline 2011. The flexspline 2011 meshes with a rigid gear 2014. The camshaft 2013 is connected to the power assembly 1, the rigid gear 2014 is connected to the speed reducer assembly 2, and the flexspline 2011 is connected to the output assembly 3.

[0025] The power assembly 1 drives the camshaft 2013 to rotate, and finally transmits the power to the flexspline 2011, and finally outputs the power from the output assembly 3.

[0026] A first O-ring 202 is provided between the rigid gear 2014 and the front cover 205 of the rigid gear. A second O-ring 203 is provided between the rigid gear 2014 and the second housing 6. An output shaft locking ring 403 is provided between the lead shaft 4 and the flexspline 2011. A third O-ring 204 is provided between the output shaft locking ring 403 and the lead shaft 4. A second oil seal 9 is provided between the speed reducer assembly 2 and the power assembly 1. A first oil seal 8 is provided between the speed reducer assembly 2 and the output assembly 3. The first O-ring 202, the second O-ring 203, the third O-ring 204, the first oil seal 8 and the second oil seal 9 enable the lubricating grease to only flow inside the speed reducer assembly 2, which not only ensures the smooth operation of the flexspline 2011 and the rigid gear 2014, but also prevents the lubricating grease from flowing to other areas, resulting in grease loss and affecting the operation of electronic components.

[0027] The output assembly 3 is provided with a torque sensor 301. A connection seal cover 304 is provided on one side of the torque sensor 301 close to the speed reducer assembly 2. The first oil seal 8 is provided on the outer periphery of the connection seal cover 304. The other side of the torque sensor 301 is connected to an output flange 303. The outer periphery of the output flange 303 is connected to an X - roller bearing 302. The X - roller bearing 302 is connected to the third housing 7. The third housing 7 is connected to the second housing 6. The second housing is connected to the rigid gear 2014. The flexspline 2011 and the rigid gear 2014 rotate in opposite directions. Therefore, the X - roller bearing 302 serves as a connecting component for the linkage between the flexspline 2011 and the rigid gear 2014. The X - roller bearing 302 can simultaneously bear axial load, radial load and tilting moment, enhancing the stability of the joint module structure and the stability of operation.

[0028] The output flange 303 is made of PEEK material, which is different from the traditional metal material, and the output flange 303 is lighter.

[0029] The centers of the power component 1, the speed reducer component 2, and the output component 3 are penetrated by the lead shaft 4. The lead shaft 4 unifies each component in the axial direction, enhancing the integrity of the joint module structure. The side wall of the lead shaft 4 is provided with a wire passing hole. The lead shaft 4 is connected to the first rubber-covered bearing 401 and the second rubber-covered bearing 402. The first rubber-covered bearing 401 is connected to the speed reducer component 2, and the second rubber-covered bearing 402 is connected to the power component 1. The first rubber-covered bearing 401 and the second rubber-covered bearing 402 also play a role in preventing lubricating grease from flowing to other areas during operation.

[0030] The torque sensor 301 pulls the signal wire to the rear end through the hollow lead shaft 4 for the driver 101 to read the torque information, which allows the user to perform control compensation according to requirements. Therefore, the lead shaft 4 plays an essential role in both component connection and communication.

[0031] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A thin motor joint module, characterized in that: It comprises a power assembly (1), a reducer assembly (2) and an output assembly (3), wherein the power assembly (1), the reducer assembly (2) and the output assembly (3) are all arranged in a housing; The power assembly (1) is provided with an axial flux motor (103), the reducer assembly (2) is provided with a harmonic reducer (201), and the outer shell is made of a light metal material and a PEEK material.

2. The thin motor joint module according to claim 1, characterized in that: The housing comprises a first housing (5), a second housing (6) and a third housing (7); the first housing (5) is wrapped around the outside of the power assembly (1); the first housing (5) is made of a light metal material; the second housing (6) is wrapped around the outer periphery of the reducer assembly (2); the third housing (7) is wrapped around the outer periphery of the output assembly (3); the second housing (6) and the third housing (7) are both made of PEEK material.

3. The thin motor joint module according to claim 2, characterized in that: The power assembly (1) is also provided with a dual encoder (102) and a driver (101).

4. The thin motor joint module according to claim 2, characterized in that: The harmonic reducer (201) comprises a camshaft (2013), the camshaft (2013) is connected to a flexible bearing (2012), the flexible bearing (2012) is connected to a flexible wheel (2011), and the flexible wheel (2011) is meshed with a rigid wheel (2014); The camshaft (2013) is connected to the power assembly (1), the rigid wheel (2014) is connected to the reducer assembly (2), and the flexible wheel (2011) is connected to the output assembly (3).

5. The thin motor joint module according to claim 4, characterized in that: A first O-ring (202) is arranged between the rigid wheel (2014) and the rigid wheel front cover (205), and a second O-ring (203) is arranged between the rigid wheel (2014) and the second housing (6).

6. The thin motor joint module according to claim 5, characterized in that: A second oil seal (9) is provided between the reducer assembly (2) and the power assembly (1), and a first oil seal (8) is provided between the reducer assembly (2) and the output assembly (3).

7. The thin motor joint module according to claim 6, characterized in that: The output assembly (3) is provided with a torque sensor (301); a connecting sealing cover (304) is provided on one side of the torque sensor (301) close to the reducer assembly (2); a first oil seal (8) is provided at the outer periphery of the connecting sealing cover (304); the other side of the torque sensor (301) is connected to an output flange (303); the outer periphery of the output flange (303) is connected to a cross roller bearing (302); and the cross roller bearing (302) is connected to a third housing (7).

8. The thin motor joint module according to claim 7, characterized in that: The output flange (303) is made of PEEK material.

9. The thin motor joint module according to claim 8, characterized in that: The centers of the power assembly (1), the reducer assembly (2) and the output assembly (3) are penetrated by a lead shaft (4); an output shaft locking ring (403) is provided between the lead shaft (4) and the flexible wheel (2011); and a third O-ring (204) is provided between the output shaft locking ring (403) and the lead shaft (4).

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