Harmonic reducer joint module

Abstract

The application 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 cam of the harmonic reducer are inserted into the motor, a bearing positioning plate and a rear cover are sequentially arranged at one end of the motor away from the harmonic reducer, the bearing positioning plate is connected with a rotor of the motor through motor bearings; the rotor and the shaft cam are connected through an expansion ring, the expansion ring is arranged in a C shape, the expansion ring is arranged through a wedge surface between the rotor and / or the shaft cam, a locking nut for abutting against the expansion ring is threadedly connected on the rotor or the shaft cam, and a mounting hole with a diameter larger than that of the locking nut is arranged on the bearing positioning plate, so that the application has the advantages of reducing assembly difficulty under the premise of guaranteeing small size and large torque.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a harmonic reducer joint module. Background Technology

[0002] In the field of robotics, robot joints, as key components enabling flexible robot movement, directly determine the robot's working capabilities and application scope. With the widespread application of robotics technology in various fields such as industrial manufacturing, medical surgery, service companionship, and scientific research, the performance requirements for robot joints are becoming increasingly stringent. Among these, size and torque have become core indicators for measuring robot joint performance. In many application scenarios, small-sized robot joints with high torque are crucial for achieving efficient and precise operations.

[0003] Harmonic reducers play a crucial role in achieving compact size and high torque in robot joint designs. The connection between the harmonic reducer's cam and the motor rotor is a key component of the entire joint structure. Harmonic reducers, through their unique principles, can achieve a large transmission ratio within a limited space, thus providing high torque output to the robot joint. However, in the pursuit of miniaturization, the connection between the harmonic reducer cam and the motor rotor faces significant challenges.

[0004] Due to 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 spatial layout, making it extremely difficult to connect the two parts in a small space, which increases the assembly difficulty of the robot joints. Summary of the Invention

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

[0006] This application provides a harmonic reducer joint module, which adopts the following technical solution: A harmonic reducer joint module includes a harmonic reducer and a motor. The rigid wheel connecting shaft and the shaft-shaped cam of the harmonic reducer are inserted into the motor. A bearing positioning plate and a rear cover are sequentially installed at the end of the motor away from the harmonic reducer. The bearing positioning plate is connected to the rotor of the motor through the motor bearing. The rotor and the shaft-shaped cam are connected by an expansion ring, which is C-shaped. The expansion ring and the rotor or / and the shaft-shaped cam are abutted by a wedge-shaped surface. The rotor or shaft-shaped cam is threaded with a locking nut for abutting the expansion ring. The bearing positioning plate is provided with a mounting hole with a diameter larger than the locking nut.

[0007] By adopting the above technical solution, the shaft cam and the rotor are installed from both ends of the motor respectively. After installation, the shaft cam and the rotor can be connected by installing locking nuts and tightening expansion rings. 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 shaft cam and the rotor.

[0008] In one embodiment, a locking assembly is provided between the rotor and the shaft-shaped 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 shaft-shaped cam needs to be fixed when tightening the locking nut. This ensures that rotating the locking nut creates a pushing and pressing effect with the expansion ring. The locking nut is tightened after both the rotor and shaft-shaped cam are installed. However, due to the compact design of the joint module, fixing the rotor or shaft-shaped cam is difficult. The locking assembly design eliminates the need for manual tightening of the locking nut. During motor startup and rotor rotation, the locking nut automatically moves and presses 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 disposed on the rotor, and an elastic element for maintaining the one-way pawl in engagement with the movable ring, the movable ring having a toothed groove that engages with the one-way pawl, and the locking nut being threadedly connected to the inner side of the movable ring.

[0011] By adopting the above technical solution, the movable ring is threadedly connected to the locking nut, and the movable ring is connected to the rotor through a one-way ratchet. This allows the rotor to drive the movable ring to rotate only when it rotates forward or in reverse. In this way, when the movable ring rotates, the locking nut is driven to press against the expansion ring, thus realizing the rotor's one-way drive of the locking nut's movement.

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

[0013] By adopting the above technical solution and through damping, when the movable ring rotates, the resistance between the locking nut and the shaft 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 is axially sliding and circumferentially fixedly connected to the shaft-shaped cam.

[0015] By adopting the above technical solution, it is ensured that when the movable ring rotates, as long as the shaft-shaped cam is not driven, the locking nut can be driven to move circumferentially to press the expansion ring against it. In this way, when the movable ring is rotating, as long as there is a counter-rotation between the rotor and the shaft-shaped cam, the expansion ring can be continuously pressed against it until the rotor and the shaft-shaped cam rotate synchronously.

[0016] In one embodiment: a rotor frame is mounted at one end of the rotor, the movable ring is mounted on the rotor via 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 setting of the rotor frame.

[0018] In one embodiment: the end face on which the rotor and rotor frame are mounted is provided with a mounting groove for a one-way pawl and an elastic element to be embedded.

[0019] By adopting the above technical solution, the one-way pawl and the elastic element are arranged axially. This reduces the thickness requirement in the radial direction of the rotor and avoids the need to thicken the joint module when the thickness is insufficient, thus increasing 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 solutions, the overall size of the encoder can be 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 drive plate is installed between the bearing positioning plate and the rear cover.

[0024] By adopting the above technical solution and using a split encoder design, the encoder structure becomes more compact, and the radial space can be further reduced. Attached Figure Description

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

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

[0027] The present application will be 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 "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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 orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of 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 flexible wheel 120, a rigid wheel 130, a flexible bearing 140, and a shaft-shaped cam 150. The cross bearing 110, flexible wheel 120, flexible bearing 140, and shaft-shaped cam 150 are arranged radially from the outside to the inside. The rigid wheel 130 is mounted on the inner ring of the cross bearing 110, and the outer ring of the cross bearing 110 is fixedly mounted to the housing 210 of the motor 200 by bolts. The drive end of the flexible wheel 120 meshes with the inner ring of the cross bearing 110, and the other end of the flexible wheel 120 is fixed between the outer ring of the cross bearing 110 and the housing 210.

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

[0032] A stator 220 is installed inside the housing 210 of the motor 200. A bearing positioning plate 240 and a rear cover 250 are sequentially installed at the end of the housing 210 away from the harmonic reducer 100. The bearing positioning plate 240 is bolted to the housing 210, and the rear cover 250 is bolted to the bearing positioning plate 240.

[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 cam 150.

[0034] Combined with appendix Figure 3 The rotor 230 and the shaft cam 150 are connected by an expansion ring 300. The expansion ring 300 is C-shaped and abuts against the rotor 230 and / or the shaft cam 150 through a wedge-shaped surface. In this embodiment, the expansion ring 300 and the rotor 230 abut against each other through a wedge-shaped surface.

[0035] A locking nut 400 for abutting the expansion ring 300 is threaded onto the rotor 230 or the shaft cam 150. In this embodiment, the locking nut 400 is threaded onto 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-shaped cam 150 is provided with a high-speed magnetic ring 271, which is threadedly connected to the shaft-shaped cam 150. The end of the rigid wheel connecting shaft 170 is provided with a low-speed magnetic ring 272, which is threadedly connected to the rigid wheel connecting shaft 170.

[0037] An encoder 270 is mounted on the bearing positioning plate 240. A high-speed magnetic ring 271 is located outside a low-speed magnetic ring 272, and the encoder 270 is located on one side of both the high-speed magnetic ring 271 and the low-speed magnetic ring 272. A drive plate is installed between the bearing positioning plate 240 and the rear cover 250.

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

[0039] Compared to Embodiment 1, since both the rotor 230 and the shaft-shaped cam 150 are movable, it is necessary to fix the rotor 230 or the shaft-shaped cam 150 when tightening the locking nut 400. This is to ensure that rotating the locking nut 400 creates a pushing and pressing effect on the expansion ring 300. The locking nut 400 is tightened after both the rotor 230 and the shaft-shaped cam 150 are installed. However, due to the compactness of the joint module, fixing the rotor 230 or the shaft-shaped cam 150 is difficult. Therefore, this embodiment, through the design of the locking component 500, eliminates the need for manual tightening of the locking nut 400. As the motor 200 starts and drives the rotor 230 to rotate, the locking nut 400 automatically moves and presses 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 element 530.

[0041] The rotor 230 is bolted to a rotor frame 600 at one end away from the harmonic reducer 100. The movable ring 510 is mounted on the rotor 230 via 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 rotor 230 and rotor frame 600 are mounted on an end face with a mounting groove for the one-way pawl 520 and the elastic element 530 to be embedded. The elastic element 530 is a spring, which can push the one-way pawl 520 out of the mounting groove in its natural state. One end face of the one-way pawl 520 is a wedge-shaped surface, and there are tooth grooves on the movable ring 510 that engage with the one-way pawl 520. In this embodiment, when the rotor 230 rotates counterclockwise, the wedge-shaped surface of the one-way pawl 520 causes the movable ring 510 to be under force and not rotate with the rotor 230; while when the rotor 230 rotates clockwise, the one-way pawl 520 will engage with the tooth grooves, causing the movable ring 510 to rotate clockwise synchronously.

[0043] The locking nut 400 is threaded onto the inside of the movable ring 510.

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

[0045] In this embodiment, the inner circle of the locking nut 400 and the shaft-shaped cam 150 are axially sliding and circumferentially fixedly connected. Specifically, the inner circle of the locking nut 400 is provided with a retaining tooth 410, and the shaft-shaped cam 150 is provided with a retaining groove 151. The axial sliding and circumferential fixed connection between the inner circle of the locking nut 400 and the shaft-shaped cam 150 is achieved by the engagement of the retaining tooth 410 and the retaining groove 151.

[0046] The movable ring 510 is threadedly connected to the locking nut 400, and the movable ring 510 is connected to the rotor 230 through a one-way ratchet 520. This allows the rotor 230 to drive the movable ring 510 to rotate only when it rotates forward or in reverse. Thus, when the movable ring 510 rotates, the locking nut 400 is driven to press against the expansion ring 300, thereby realizing the one-way drive of the rotor 230 to move the locking nut 400.

[0047] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this 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 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 installed in sequence at the 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) through the motor bearing (260). The rotor (230) and the shaft cam (150) are connected by an expansion ring (300), the expansion ring (300) being C-shaped. The expansion ring (300) and the rotor (230) or / and the shaft cam (150) are abutted by a wedge-shaped surface. A locking nut (400) for abutting the expansion ring (300) is threaded onto the rotor (230). The bearing positioning plate (240) is provided with a mounting hole with a diameter larger than that of the locking nut (400). A mounting hole for the rotor (230) to follow the rotor (230) and the shaft cam (150) is provided between the rotor (230) and the shaft cam (150). 30) A locking assembly (500) that rotates and drives the locking nut (400) in one direction toward the expansion ring (300); the locking assembly (500) includes a movable ring (510) rotatably mounted on the rotor (230), a one-way pawl (520) provided on the rotor (230), and an elastic element (530) that keeps the one-way pawl (520) engaged with the movable ring (510), the movable ring (510) having a toothed groove that engages with the one-way pawl (520), and the locking nut (400) being threadedly connected to the inner side of the movable ring (510).

2. The harmonic reducer joint module according to claim 1, characterized in that: The inner circle of the locking nut (400) is damped in conjunction with the shaft cam (150).

3. The harmonic reducer joint module according to claim 1, characterized in that: The inner circle of the locking nut (400) is axially sliding and circumferentially fixedly connected to the shaft cam (150).

4. A harmonic reducer joint module according to claim 1, characterized in that: A rotor frame (600) is installed at one end of the rotor (230), the movable ring (510) is installed on the rotor (230) through the rotor frame (600), and the motor bearing (260) is installed on the rotor frame (600).

5. A harmonic reducer joint module according to claim 4, characterized in that: The rotor (230) and rotor frame (600) are provided with mounting grooves on their end faces for embedding one-way pawls (520) and elastic elements (530).

6. A harmonic reducer joint module according to claim 1, characterized in that: The end of the shaft cam (150) is provided with a high-speed magnetic ring (271), the end of the rigid wheel connecting shaft (170) is provided with a low-speed magnetic ring (272), 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), and the encoder (270) is located on one side of the high-speed magnetic ring (271) and the low-speed magnetic ring (272).

7. A harmonic reducer joint module according to claim 6, characterized in that: The high-speed magnetic ring (271) is threadedly connected to the shaft cam (150), and the low-speed magnetic ring (272) is threadedly connected to the rigid wheel connecting shaft (170).

8. A harmonic reducer joint module according to claim 7, characterized in that: A drive plate is installed between the bearing positioning plate (240) and the rear cover (250).

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