Compact light-weight joint module and robot

Abstract

The invention discloses a compact light-weight joint module. The compact light-weight joint module comprises a harmonic speed reducer, an outer shell, a motor and a rear cover, the harmonic speed reducer is fixedly connected with the front end of the outer shell, a high-speed shaft and a low-speed shaft which are coaxially mounted are arranged on the harmonic speed reducer, the high-speed shaft sleeves the periphery of the low-speed shaft, and a gap is formed between the high-speed shaft and the low-speed shaft; a rotor of the motor fixedly sleeves the high-speed shaft, and a stator of the motor is fixedly mounted in the outer shell; a first flange is fixedly installed at the rear end of the high-speed shaft, and a first code disc is installed on the outer side face of the first flange. A second flange is fixedly installed at the rear end of the low-speed shaft, and a second code disc is installed on the inner side face of the second flange. The first code disc and the second code disc are arranged in a spaced mode, a disc-shaped assembly is arranged between the first code disc and the second code disc, the disc-shaped assembly is formed by splicing a driving plate and a reading head plate which are detachable, and the driving plate and the reading head plate are located on the same plane and fixedly connected with the outer shell. The axial length of the joint module can be effectively reduced, and later process maintenance is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a compact and lightweight joint module used in humanoid robots, collaborative robots and industrial robots. Background Art

[0002] With the development of robotics and embodied intelligence, the performance of robotic joint modules, the core components that drive robot motion, is attracting increasing attention. Due to the lightweight requirements of humanoid robots, strict restrictions are placed on the mass and size of joint modules. Furthermore, the transmission performance, load capacity, and process reliability of the joint models must also be guaranteed. Currently, the mass and size of robotic joint modules are primarily reduced by reducing the specifications of the reducers used in the joint modules and integrating some functions into the design. While these two design methods can reduce the mass and size of the joint modules, they carry the risk of reduced output performance and reduced process reliability. Summary of the Invention

[0003] In view of the above-mentioned deficiencies of the current joint modules, the present invention provides a compact and lightweight joint module with a better structure, and provides a robot using the compact and lightweight joint module.

[0004] To achieve the above objectives, the technical solution of the joint module of the present invention is: A compact and lightweight joint module includes a harmonic reducer, an outer shell, a motor and a rear cover; The harmonic reducer is fixedly connected to the front end of the outer shell, and the harmonic reducer is provided with a high-speed shaft and a low-speed shaft installed coaxially, and the high-speed shaft sleeve is arranged on the outer periphery of the low-speed shaft with a gap between the two; The rotor of the motor is fixedly sleeved on the high-speed shaft, and the stator of the motor is fixedly installed in the outer shell; A first flange is fixedly mounted on the rear end of the high-speed shaft, and a first code disc is mounted on the outer side of the first flange; A second flange is fixedly mounted on the rear end of the low-speed shaft, and a second code disc is mounted on the inner side of the second flange; The first code disk and the second code disk are spaced apart and a disk-shaped assembly is provided between them. The disk-shaped assembly is composed of a detachable drive plate and a read head plate. The drive plate and the read head plate are in the same plane and are fixedly connected to the outer shell respectively. The head reader is provided with a detection module capable of detecting the movement of the first code disk and the second code disk simultaneously; The rear cover is fixedly connected to the rear end of the outer shell.

[0005] In the above technical solution, since the drive board and the head reader board are spliced ​​into a disc-shaped component installed between the first code disk and the second code disk, the drive board and the head reader board are in the same plane and can be disassembled, which can effectively reduce the axial length of the entire joint module and facilitate later process maintenance. Because there are many fragile capacitors and small resistor components on the drive board, once the drive board is damaged, it is only necessary to remove the drive board for repair and replacement, and there is no need to remove the head reader board, thus avoiding the problem of re-calibrating the encoder due to disassembly and installation of the head reader board.

[0006] In one embodiment, the area of ​​the driving plate is larger than the area of ​​the read head plate, and the read head plate is fixedly connected to the outer shell via a fixing seat.

[0007] In one embodiment, one end of the mounting base is fixedly connected to the outer shell, which is provided with a groove for mounting the mounting base. The other end of the mounting base forms a boss relative to the inner wall of the outer shell, and the boss is provided with a positioning groove adapted to the shape of the read head board. This mounting base with a groove allows for direct positioning of the read head board, ensuring accurate installation of the read head board. The mounting base also increases the stability of the read head board after installation.

[0008] In one embodiment, a detection chip is installed on each of the inner and outer sides of the read head board.

[0009] In one embodiment, the installation positions of the two detection chips are asymmetrical.

[0010] In one embodiment, a magnetic isolation plate is installed between the motor and the first flange, and the periphery of the magnetic isolation plate is fixedly connected to the outer shell.

[0011] In one embodiment, the first and second code discs have the same or similar outer diameters. Because the first and second code discs are spaced apart and have the same or similar outer diameters, this avoids the problem of the outer code disc having an excessively large outer diameter when the two code discs are in the same plane, which increases the moment of inertia and necessitates the installation of a support bearing. Compared to the prior art, this eliminates one bearing, thereby making the joint module lighter.

[0012] In one embodiment, the outer ring of the cross roller bearing of the harmonic reducer is made of PEEK material. PEEK material has good wear resistance and strength, and is lightweight, which can further reduce the weight of the harmonic reducer.

[0013] The technical solution of the present invention regarding a robot is: a robot comprising the compact and lightweight joint module described in the present invention.

[0014] The joint module provided by the present invention not only has a shorter axial length, but also solves the process maintenance problems of the drive plate and the read head plate. On the other hand, the joint module benefits from the shorter axial length, and the first code disc and the second code disc are arranged at intervals, which can avoid the problem of excessive inertia caused by the outer diameter of the outer code disc being too large when the two code discs are in the same plane. In this way, one supporting bearing can be reduced, thereby making the joint module lighter. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. 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 these drawings without paying any creative work.

[0016] Figure 1 is an overall cross-sectional view of a compact and lightweight joint module in an embodiment of the present invention; Figure 2 is a partial cross-sectional view of a compact and lightweight joint module according to an embodiment of the present invention; Figure 3 for Figure 1 A schematic diagram of the planar structure after removing the back cover from the left end face of FIG. Figure 4 is Figure 3 Schematic diagram of the planar structure after removing the second flange; Figure 5 for Figure 1 Schematic diagram of the planar structure of the right end face.

[0017] The accompanying drawings are marked as follows: 1. Harmonic reducer; 2. Outer shell; 3. Motor; 4. Back cover; 5. High-speed shaft; 6. Low-speed shaft; 7. First flange; 8. First code disk; 9. Second flange; 10. Second code disk; 11. Drive plate; 12. Read head plate; 13. Fixed seat; 14. Magnetic isolation plate. DETAILED DESCRIPTION

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0019] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0021] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention. Example

[0022] like Figures 1 to 5 As shown, a compact and lightweight joint module includes a harmonic reducer 1, an outer shell 2, a motor 3 and a back cover 4; the harmonic reducer 1 is fixedly connected to the front end of the outer shell 2, and the harmonic reducer 1 is provided with a coaxially mounted high-speed shaft 5 and a low-speed shaft 6, and the high-speed shaft 5 is sleeved on the outer periphery of the low-speed shaft 6 with a gap between the two; the rotor of the motor 3 is fixedly sleeved on the high-speed shaft 5, and the stator of the motor 3 is fixedly installed in the outer shell 2; the rear end of the high-speed shaft 5 is fixedly installed with a first flange 7, and the outer side of the first flange 7 is installed with a first code disk 8; the rear end of the low-speed shaft 6 is fixedly installed with a second flange 9, and the second A second code disk 10 is installed on the inner side of the flange 9; a magnetic isolation plate 14 is installed between the motor 3 and the first flange 7, and the periphery of the magnetic isolation plate 14 is fixedly connected to the outer shell 2; the first code disk 8 and the second code disk 10 are spaced apart and a disc-shaped component is provided between the two, and the disc-shaped component is spliced ​​by a detachable drive plate 11 and a read head plate 12. The drive plate 11 and the read head plate 12 are in the same plane and are respectively fixedly connected to the outer shell 2; a detection chip is installed on each of the inner and outer side surfaces of the read head plate 12, and the installation positions of the two detection chips are asymmetrical; the back cover 4 is fixedly connected to the rear end of the outer shell 2.

[0023] like Figures 1 to 4As shown, since the drive board 11 and the read head board 12 are spliced ​​into a disc-shaped component installed between the first code disk 8 and the second code disk 10, the drive board 11 and the read head board 12 are in the same plane and can be disassembled, which can effectively reduce the axial length of the entire joint module and facilitate later process maintenance. Because there are many fragile capacitors and small resistor components on the drive board 11, once the drive board 11 is damaged, it is only necessary to remove the drive board 11 for repair and replacement, and there is no need to remove the read head board 12, thereby avoiding the problem of re-calibrating the encoder due to disassembly and installation of the read head board 12.

[0024] like Figures 1 to 4 As shown, the area of ​​the drive plate 11 is larger than that of the read head plate 12. The read head plate 12 is fixedly connected to the outer shell 2 via a fixing seat 13. One end of the fixing seat 13 is fixedly connected to the outer shell 2. The outer shell 2 is provided with a groove for mounting the fixing seat 13. The other end of the fixing seat 13 forms a boss relative to the inner wall of the outer shell 2. The boss is provided with a positioning groove adapted to the shape of the read head plate 12. This fixing seat 13 with a groove allows for direct positioning of the read head plate 12, ensuring accurate installation of the read head plate 12. The fixing seat 13 also increases the stability of the installed read head plate 12.

[0025] like Figure 1 、 2 As shown, the outer diameters of the first code disc 8 and the second code disc 10 are similar. Since the first code disc 8 and the second code disc 10 are spaced apart and have similar outer diameters, this avoids the problem of the outer code disc having an excessively large outer diameter causing an increase in the moment of inertia when the two code discs are in the same plane, which necessitates the installation of a support bearing. Compared with the prior art, this is equivalent to eliminating one bearing, thereby making the joint module lighter.

[0026] In this embodiment, the outer ring of the cross roller bearing of the harmonic reducer 1 is made of PEEK material. Since PEEK material has good wear resistance and strength, and is light in weight, this can further reduce the weight of the harmonic reducer.

[0027] The joint module provided in this embodiment not only has a shorter axial length, but also solves the process maintenance problem of the drive plate 11 and the read head plate 12. On the other hand, the joint module benefits from the shorter axial length, and the first code disc 8 and the second code disc 10 are arranged at intervals, which can avoid the problem of excessive inertia caused by the outer diameter of the outer code disc being too large when the two code discs are in the same plane. In this way, one supporting bearing can be reduced, thereby making the joint module lighter. Example

[0028] A robot includes the compact and lightweight joint module of Example 1.

[0029] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of the patent of the present invention.

[0030] In order to make it easier for ordinary technicians in this field to understand the improvements of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and for the sake of clarity, some other elements are omitted in this application document. Ordinary technicians in this field should realize that these omitted elements may also constitute the content of the present invention.

Claims

1. A compact and lightweight joint module, characterized by: It comprises a harmonic reducer (1), an outer shell (2), a motor (3) and a rear cover (4); The harmonic reducer (1) is fixedly connected to the front end of the outer shell (2), and the harmonic reducer (1) is provided with a high-speed shaft (5) and a low-speed shaft (6) which are coaxially mounted, and the high-speed shaft (5) is sleeved on the outer periphery of the low-speed shaft (6) with a gap between the two. The rotor of the motor (3) is fixedly sleeved on the high-speed shaft (5), and the stator of the motor (3) is fixedly installed in the outer shell (2); A first flange (7) is fixedly mounted on the rear end of the high-speed shaft (5), and a first code disc (8) is mounted on the outer side of the first flange (7); A second flange (9) is fixedly mounted on the rear end of the low-speed shaft (6), and a second code disc (10) is mounted on the inner side of the second flange (9); The first code disk (8) and the second code disk (10) are spaced apart and a disk-shaped assembly is provided between the two. The disk-shaped assembly is formed by splicing a detachable drive plate (11) and a read head plate (12). The drive plate (11) and the read head plate (12) are located in the same plane and are fixedly connected to the outer shell (2). The head reader (12) is provided with a detection module capable of simultaneously detecting the movement of the first code disk (8) and the second code disk (10); The rear cover (4) is fixedly connected to the rear end of the outer shell (2).

2. The compact and lightweight joint module according to claim 1, characterized in that: The area of ​​the driving plate (11) is larger than the area of ​​the head reading plate (12), and the head reading plate (12) is fixedly connected to the outer shell (2) via a fixing seat (13).

3. The compact and lightweight joint module according to claim 2, characterized in that: One end of the fixing seat (13) is fixedly connected to the outer shell (2), and the outer shell (2) is provided with a groove for installing the fixing seat (13). The other end of the fixing seat (13) forms a boss relative to the inner wall of the outer shell (2), and the boss is provided with a positioning groove adapted to the shape of the read head plate (12).

4. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: A detection chip is installed on each of the inner and outer side surfaces of the read head plate (12).

5. The compact and lightweight joint module according to claim 4, characterized in that: The installation positions of the two detection chips are asymmetrical.

6. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: A magnetic isolation plate (14) is installed between the motor (3) and the first flange (7), and the periphery of the magnetic isolation plate (14) is fixedly connected to the outer shell (2).

7. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: The outer diameters of the first code disc (8) and the second code disc (10) are the same or similar.

8. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: The outer ring of the cross roller bearing of the harmonic reducer (1) is made of PEEK material.

9. A robot, characterized in that: Comprising the compact and lightweight joint module according to any one of claims 1 to 3.

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