Harmonic reducer joint module

Abstract

The invention relates to the technical field of robots, in particular to a harmonic reducer joint module which comprises a harmonic reducer and a motor, a rigid wheel connecting shaft and a shaft-shaped cam of the harmonic reducer are inserted into the motor, and a bearing positioning plate and a rear cover are sequentially installed at the end, away from the harmonic reducer, of the motor. The bearing positioning plate is connected with a rotor of the motor through a motor bearing; the rotor and the shaft-shaped cam are connected through an expansion ring, the expansion ring is arranged in a C shape, the expansion ring abuts against the rotor or / and the shaft-shaped cam through a wedge-shaped face, a locking nut used for abutting against the expansion ring is connected to the rotor or the shaft-shaped cam in a threaded mode, a mounting hole is formed in the bearing positioning plate, and the diameter of the mounting hole is larger than that of the locking nut. The invention has the advantage that the assembly difficulty is reduced on the premise of ensuring small volume and large torque.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a harmonic reducer joint module. Background Art

[0002] In the field of robotics, robotic joints are key components that enable flexible robot movement, and their performance directly determines the robot's operational capabilities and scope of application. With the widespread application of robotic technology in various fields, including industrial manufacturing, medical surgery, service assistance, and scientific research, the performance requirements for robotic joints are becoming increasingly stringent. Among them, volume and torque have become core indicators for measuring the performance of robotic joints. In many application scenarios, small and high-torque robotic joints are key to achieving efficient and precise operation.

[0003] Harmonic reducers play a crucial role in achieving compact, high-torque robotic joint designs. The connection between the harmonic reducer's cam and the motor rotor is a critical component of the joint structure. Harmonic reducers utilize a unique principle to achieve a high transmission ratio within a compact footprint, thus providing high torque output for robotic joints. However, in the pursuit of a compact design, the connection between the harmonic reducer's cam and the motor rotor presents significant challenges.

[0004] Due to the limited design space, traditional connection methods are difficult to implement. On the one hand, conventional connection structures may be too large to fit into a compact space, making it extremely difficult to connect the two in a small space, which increases the difficulty of assembling the robot joint. Summary of the Invention

[0005] In order to reduce the difficulty of assembly while ensuring small volume and high torque, the present application provides a harmonic reducer joint module.

[0006] The present application provides a harmonic reducer joint module, which adopts the following technical solutions: A harmonic reducer joint module includes a harmonic reducer and a motor, wherein the rigid pulley connecting shaft and the shaft-shaped cam of the harmonic reducer are inserted into the motor, and a bearing positioning plate and a rear cover are sequentially installed on the end of the motor away from the harmonic reducer, wherein the bearing positioning plate is connected to the rotor of the motor through the motor bearing; The rotor and the axial cam are connected by an expansion ring, and the expansion ring is arranged in a C shape. The expansion ring and the rotor and / or the axial cam are supported by a wedge surface. A locking nut for tightening the expansion ring is threadedly connected on the rotor or the axial cam, and a mounting hole with a diameter larger than the locking nut is provided on the bearing positioning plate.

[0007] By adopting the above technical solution, the axial cam and the rotor are installed from both ends of the motor respectively. After installation, the axial cam and the rotor can be connected through the expansion ring by installing the locking nut and tightening the expansion ring. The installation structure between the two is simple and the connection is tight. During the high-speed rotation of the rotor, there will be no shaking between the axial cam and the rotor.

[0008] In one embodiment, a locking assembly is provided between the rotor and the axial cam for unidirectionally driving the locking nut toward the expansion ring as the rotor rotates.

[0009] By adopting the above technical solution, since both the rotor and the shaft-shaped cam are movable, the rotor or the shaft-shaped cam needs to be fixed when tightening the lock nut. In this way, when the lock nut is rotated, the expansion ring can be pushed and tightened. The lock nut is tightened after the rotor and the shaft-shaped cam are installed. However, due to the overall compactness of the joint module, it is difficult to fix the rotor or the shaft-shaped cam. The design of the locking assembly can eliminate the process of manually tightening the lock nut. When the motor starts and drives the rotor to rotate, it can automatically drive the lock nut to move and press against the expansion ring to achieve connection.

[0010] In one embodiment: the locking assembly includes a movable ring rotatably mounted on the rotor, a one-way pawl provided on the rotor, and an elastic member for keeping the one-way pawl engaged with the movable ring, a tooth groove on the movable ring engaging with the one-way pawl, and the locking nut is threadedly connected to the inner side of the movable ring.

[0011] By adopting the above technical solution, the movable ring is connected to the locking nut through a thread, and the movable ring and the rotor are connected through a one-way pawl, so that the movable ring can be driven to rotate only when the rotor rotates forward or reverse. In this way, when the movable ring rotates, the locking nut is driven to tighten the expansion ring, thereby realizing the one-way driving of the locking nut by the rotor.

[0012] In one embodiment, the inner circle of the locking nut is dampedly fitted with the shaft-shaped cam.

[0013] By adopting the above technical solution, through damping cooperation, when the movable ring rotates, the resistance between the locking nut and the axial cam can prevent the locking nut from being driven to rotate by the movable ring. In this way, the effect of tightening the expansion ring by the locking nut can be better achieved.

[0014] In one embodiment, the inner circle of the locking nut and the shaft-shaped cam are axially sliding and circumferentially fixedly connected.

[0015] By adopting the above technical solution, it is ensured that when the movable ring rotates, as long as the axial cam is not driven, the locking nut can be driven to move circumferentially to tighten the expansion ring. In this way, when the movable ring is in a rotating state, as long as there is a first rotation between the rotor and the axial cam, the expansion ring can be continuously tightened until the rotor and the axial cam are connected and rotate synchronously.

[0016] In one embodiment, a rotor frame is mounted on one end of the rotor, the movable ring is mounted on the rotor through the rotor frame, and the motor bearing is mounted on the rotor frame.

[0017] By adopting the above technical solution, the movable ring is installed through the arrangement of the rotor frame.

[0018] In one embodiment, a mounting groove for embedding the one-way pawl and the elastic member is provided on the end surface where the rotor and the rotor frame are mounted.

[0019] By adopting the above technical solution, the one-way pawl and the elastic member are arranged axially, so that the thickness requirement of the rotor in the radial direction can be reduced, avoiding the need to thicken the rotor when the thickness is insufficient, which leads to an increase in the size of the joint module.

[0020] In one embodiment: a high-speed magnetic ring is provided at the end of the shaft-shaped cam, a low-speed magnetic ring is provided at the end of the rigid wheel connecting shaft, an encoder is provided on the bearing positioning plate, the high-speed magnetic ring is located outside the low-speed magnetic ring, and the encoder is located on one side of the high-speed magnetic ring and the low-speed magnetic ring.

[0021] By adopting the above technical solution, the overall size of the encoder is made more compact.

[0022] In one embodiment, the high-speed magnetic ring is threadedly connected to the shaft-shaped cam, and the low-speed magnetic ring is threadedly connected to the rigid wheel connecting shaft.

[0023] In one embodiment, a driving plate is installed between the bearing positioning plate and the rear cover.

[0024] By adopting the above technical solution and a split encoder design, the encoder structure is made more compact and the radial space can be further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of the harmonic reducer joint module of Example 1; Figure 2 This is a main cross-sectional view of the harmonic reducer joint module of Example 1; Figure 3 This is a schematic structural diagram of the rotor and shaft-shaped cam of the harmonic reducer joint module of Example 1; Figure 4 This is a schematic structural diagram of the rotor of Example 2; Figure 5 This is a schematic diagram of the exploded structure of the rotor in Example 2; Figure 6 It is a schematic diagram of the exploded structure of the shaft-shaped cam in the second embodiment.

[0026] In the figure, 100, harmonic reducer; 110, cross bearing; 120, flexible wheel; 130, rigid wheel; 140, flexible bearing; 150, shaft cam; 151, slot; 160, connecting bearing; 170, rigid wheel connecting shaft; 200, motor; 210, housing; 220, stator; 230, rotor; 240, bearing positioning plate; 250, back cover; 260, motor bearing; 270, encoder; 271, high-speed magnetic ring; 272, low-speed magnetic ring; 300, expansion ring; 400, locking nut; 410, latching tooth; 500, locking assembly; 510, movable ring; 520, one-way pawl; 530, elastic member; 600, rotor frame. DETAILED DESCRIPTION

[0027] The present application is further described in detail below with reference to the accompanying drawings.

[0028] In the description of this application, it should be understood that the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0029] Example 1: A harmonic reducer joint module, such as Figure 1 As shown, it includes a harmonic reducer 100 and a motor 200 .

[0030] like Figure 2 As shown, the harmonic reducer 100 includes a cross bearing 110, a flexspline 120, a rigid spline 130, a flexible bearing 140, and a shaft cam 150. The cross bearing 110, the flexspline 120, the flexible bearing 140, and the shaft cam 150 are arranged radially from the outside to the inside. The rigid spline 130 is mounted on the inner ring of the cross bearing 110. The outer ring of the cross bearing 110 is fixed to the housing 210 of the motor 200 via bolts. The transmission end of the flexspline 120 engages with the inner ring of the cross bearing 110, and the other end of the flexspline 120 is fixed between the outer ring of the cross bearing 110 and the housing 210.

[0031] A circular wheel connecting shaft 170 is integrally provided on the inner side of the circular wheel 130, and the shaft-shaped cam 150 is sleeved on the outer side of the circular wheel connecting shaft 170, and both the circular wheel connecting shaft 170 and the shaft-shaped cam 150 are inserted into the motor 200. A connecting bearing 160 is provided between the circular wheel connecting shaft 170 and the shaft-shaped cam 150.

[0032] A stator 220 is installed in the housing 210 of the motor 200. A bearing positioning plate 240 and a rear cover 250 are installed in sequence at one end of the housing 210 away from the harmonic reducer 100. The bearing positioning plate 240 is installed on the housing 210 by bolts, and the rear cover 250 is installed on the bearing positioning plate 240 by bolts.

[0033] The rotor 230 of the motor 200 is mounted on the bearing positioning plate 240 via the motor bearing 260 , and the rotor 230 is sleeved on the shaft-shaped cam 150 .

[0034] Combined with attachment Figure 3 The rotor 230 is connected to the axial cam 150 through an expansion ring 300. The expansion ring 300 is set in a C shape. The expansion ring 300 and the rotor 230 or / and the axial cam 150 are abutted by a wedge surface. In this embodiment, the expansion ring 300 and the rotor 230 are abutted by a wedge surface.

[0035] A locking nut 400 is threadedly connected to the rotor 230 or the axial cam 150 to tighten against the expansion ring 300. In this embodiment, the locking nut 400 is threadedly mounted on the inner side of the rotor 230. To ensure the installation and locking of the locking nut 400, the bearing positioning plate 240 is provided with a mounting hole with a diameter larger than that of the locking nut 400.

[0036] The end of the shaft cam 150 is provided with a high-speed magnetic ring 271, which is threadedly connected to the shaft cam 150. The end of the steel wheel connecting shaft 170 is provided with a low-speed magnetic ring 272, which is threadedly connected to the steel wheel connecting shaft 170.

[0037] The bearing positioning plate 240 is provided with an encoder 270. The high-speed magnetic ring 271 is located outside the low-speed magnetic ring 272. The encoder 270 is located on one side of the high-speed magnetic ring 271 and the low-speed magnetic ring 272. A driving plate is installed between the bearing positioning plate 240 and the rear cover 250.

[0038] Example 2: Figure 4 and Figure 5 As shown, the difference from Example 1 is that a locking assembly 500 is provided between the rotor 230 and the axial cam 150 for unidirectionally driving the locking nut 400 toward the expansion ring 300 as the rotor 230 rotates.

[0039] Compared to Example 1, since both the rotor 230 and the shaft-shaped cam 150 are movable, the rotor 230 or the shaft-shaped cam 150 needs to be fixed when tightening the locking nut 400. In this way, when the locking nut 400 is rotated, the expansion ring 300 can be pushed and tightened. The locking nut 400 is installed after both the rotor 230 and the shaft-shaped cam 150 are installed. However, since the joint module is very compact as a whole, it is difficult to fix the rotor 230 or the shaft-shaped cam 150. Therefore, the design of the locking assembly 500 in this embodiment can eliminate the need to manually tighten the locking nut 400. When the motor 200 starts to drive the rotor 230 to rotate, the locking nut 400 can be automatically driven to move and press against the expansion ring 300 to achieve connection.

[0040] The locking assembly 500 includes a movable ring 510 , a one-way pawl 520 and an elastic member 530 .

[0041] The rotor 230 is mounted on a rotor frame 600 at one end away from the harmonic reducer 100 by bolts. The movable ring 510 is mounted on the rotor 230 through the rotor frame 600, so that the movable ring 510 is axially fixed on the rotor 230 and can rotate on the rotor 230. In this embodiment, the motor bearing 260 is mounted on the rotor frame 600.

[0042] The end surface where the rotor 230 and rotor frame 600 are mounted is provided with a mounting slot for the one-way pawl 520 and elastic member 530. The elastic member 530 is a spring. In its natural state, the elastic member 530 can push the one-way pawl 520 out of the mounting slot. One end surface of the one-way pawl 520 is a wedge-shaped surface. The tooth groove on the movable ring 510 that mates with the one-way pawl 520. In this embodiment, when the rotor 230 rotates counterclockwise, the wedge surface of the one-way pawl 520 prevents the movable ring 510 from rotating with the rotor 230 when force is applied. When the rotor 230 rotates clockwise, the one-way pawl 520 engages with the tooth groove, driving the movable ring 510 to rotate synchronously clockwise.

[0043] The locking nut 400 is threadedly connected to the inner side of the movable ring 510 .

[0044] like Figure 6 As shown, in order to ensure that the movable ring 510 can normally drive the locking nut 400 to move axially when rotating, the inner circle of the locking nut 400 and the axial cam 150 are damped and matched, or the inner circle of the locking nut 400 and the axial cam 150 are axially sliding and circumferentially fixedly connected.

[0045] In this embodiment, the inner circle of the locking nut 400 and the axial cam 150 are axially sliding and circumferentially fixedly connected. Specifically, a latching tooth 410 is provided on the inner ring of the locking nut 400, and a latching groove 151 is provided on the axial cam 150. The latching tooth 410 cooperates with the latching groove 151 to achieve axial sliding and circumferentially fixed connection between the inner circle of the locking nut 400 and the axial cam 150.

[0046] The movable ring 510 is threadedly connected to the locking nut 400, and the movable ring 510 and the rotor 230 are connected by a one-way pawl 520, so that the movable ring 510 can be driven to rotate only when the rotor 230 rotates forward or reverse. In this way, when the movable ring 510 rotates, the locking nut 400 is driven to press against the expansion ring 300, thereby realizing the one-way driving of the locking nut 400 to move by the rotor 230.

[0047] The embodiments of this specific implementation method are all preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A harmonic reducer joint module, comprising a harmonic reducer (100) and a motor (200), characterized in that: The rigid wheel connecting shaft (170) and the shaft-shaped cam (150) of the harmonic reducer (100) are inserted into the motor (200); a bearing positioning plate (240) and a rear cover (250) are sequentially mounted on one end of the motor (200) away from the harmonic reducer (100); the bearing positioning plate (240) is connected to the rotor (230) of the motor (200) via a motor bearing (260); The rotor (230) and the shaft-shaped cam (150) are connected via an expansion ring (300), the expansion ring (300) is arranged in a C-shape, the expansion ring (300) and the rotor (230) or / and the shaft-shaped cam (150) are abutted against each other via a wedge-shaped surface, a locking nut (400) for tightening the expansion ring (300) is threadedly connected to the rotor (230) or the shaft-shaped cam (150), and a mounting hole having a diameter larger than that of the locking nut (400) is provided on the bearing positioning plate (240).

2. A joint module of a harmonic reducer (100) according to claim 1, characterized in that: A locking assembly (500) is provided between the rotor (230) and the shaft-shaped cam (150) for unidirectionally driving the locking nut (400) toward the expansion ring (300) as the rotor (230) rotates.

3. A joint module of a harmonic reducer (100) according to claim 2, characterized in that: The locking assembly (500) comprises a movable ring (510) rotatably mounted on the rotor (230), a one-way pawl (520) provided on the rotor (230), and an elastic member (530) for maintaining the one-way pawl (520) in engagement with the movable ring (510); a tooth groove on the movable ring (510) engaging with the one-way pawl (520); and a locking nut (400) threadedly connected to the inner side of the movable ring (510).

4. A joint module of a harmonic reducer (100) according to claim 3, characterized in that: The inner circle of the locking nut (400) and the shaft-shaped cam (150) are in damping cooperation.

5. A joint module of a harmonic reducer (100) according to claim 3, characterized in that: The inner circle of the locking nut (400) is connected to the shaft-shaped cam (150) in an axially sliding manner and in a circumferentially fixed manner.

6. A joint module of a harmonic reducer (100) according to claim 3, characterized in that: A rotor frame (600) is mounted on one end of the rotor (230), the movable ring (510) is mounted on the rotor (230) via the rotor frame (600), and the motor bearing (260) is mounted on the rotor frame (600).

7. A joint module of a harmonic reducer (100) according to claim 6, characterized in that: The end surfaces where the rotor (230) and the rotor frame (600) are mounted are provided with mounting grooves for embedding the one-way pawl (520) and the elastic member (530).

8. The joint module of a harmonic reducer (100) according to claim 1, characterized in that: A high-speed magnetic ring (271) is provided at the end of the shaft-shaped cam (150), a low-speed magnetic ring (272) is provided at the end of the rigid wheel connecting shaft (170), an encoder (270) is provided on the bearing positioning plate (240), the high-speed magnetic ring (271) is located outside the low-speed magnetic ring (272), and the encoder (270) is located on one side of the high-speed magnetic ring (271) and the low-speed magnetic ring (272).

9. A joint module of a harmonic reducer (100) according to claim 8, characterized in that: The high-speed magnetic ring (271) is threadedly connected to the shaft-shaped cam (150), and the low-speed magnetic ring (272) is threadedly connected to the rigid wheel connecting shaft (170).

10. A joint module of a harmonic reducer (100) according to claim 9, characterized in that: A driving plate is installed between the bearing positioning plate (240) and the rear cover (250).

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