Joint output assembly

Abstract

The invention provides a joint output assembly which comprises a speed reducer, a driving unit and a rotation stopping structure, an extending shaft section is designed between the speed reducer and the driving unit, the speed reducer comprises a cam, the driving unit comprises a rotor part, the rotation stopping structure is connected with the extending shaft section and the rotor part, and the rotation stopping structure comprises a protruding part and a groove which are matched. One of the extending shaft section and the rotor part is connected with the protruding part, the groove is located in the other one, the extending shaft section and the rotor part are limited through cooperation of the protruding part and the groove, the extending shaft section and the cam are assembled and connected or are integrated, and therefore the reliability of connection of the driving unit and the speed reducer is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of execution equipment, and specifically relates to a joint output assembly. Background Art

[0002] The joint output assembly used for the rotary joint generally includes a drive unit and a speed control unit. The speed control unit includes various structural types, such as a planetary gear speed control unit, a harmonic reducer, etc. Taking the harmonic reducer as an example, the drive unit in the joint output assembly is connected to the harmonic reducer by transmission. Specifically, the rotor in the drive unit is connected to the cam in the harmonic reducer. During the operation of the joint output assembly, the rotor drives the cam to rotate. Therefore, the rotor and the cam need to be connected and fixed.

[0003] In the related art, the cylindrical inner wall surface of the rotor contacts the cylindrical outer wall surface of the cam and the two are connected by an interference fit to achieve the connection and fixation of the rotor and the cam. However, if the two only rely on the interference fit connection between the cylindrical surfaces, the reliability of torque transmission when the two are connected will be low. That is, after the joint output assembly has been running for a long time, the probability of relative sliding between the two is relatively high, which ultimately leads to low reliability of the connection between the drive unit and the reducer. Summary of the Invention

[0004] The present application provides a joint output assembly, which aims to improve the reliability of the connection between the drive unit and the reducer.

[0005] In order to achieve the above-mentioned object, the present application provides a joint output assembly, comprising a reducer and a drive unit, wherein the drive unit is transmission-connected to the reducer;

[0006] The reducer includes a cam, and along the axis direction of the drive unit, the joint output assembly includes an extended shaft segment extending from the cam toward the drive unit, and the extended shaft segment is assembled and connected to the cam or is an integral part;

[0007] The driving unit includes a rotor portion, and the extended shaft segment is connected to the rotor portion;

[0008] The joint output assembly includes a rotation-stopping structure including a mating protrusion and a groove. The groove is located on one of the extension shaft segment and the rotor segment, and the protrusion is located on the other of the extension shaft segment and the rotor segment.

[0009] The joint output assembly provided in the present application includes a reducer, a drive unit and a stop structure. An extended shaft segment is designed between the reducer and the drive unit. The reducer includes a cam, and the drive unit includes a rotor part. The stop structure connects the extended shaft segment and the rotor part. The stop structure includes a mating protrusion and a groove. The protrusion is located on one of the extended shaft segment and the rotor part, and the groove is located on the other of the extended shaft segment and the rotor part. The extended shaft segment and the rotor part are limited by the mating of the protrusion and the groove. The extended shaft segment is assembled and connected to the cam or is an integrated part to improve the reliability of the connection between the drive unit and the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A three-dimensional diagram of a joint output assembly provided in one embodiment of the present application;

[0012] Figure 2 A partial exploded schematic diagram of a rotor portion and a cam provided in one embodiment of the present application;

[0013] Figure 3 for Figure 2 a cross-sectional view of the rotor portion and cam shown;

[0014] Figure 4 A three-dimensional diagram of a cam provided in one embodiment of the present application;

[0015] Figure 5 A top view of a rotor portion provided in one embodiment of the present application;

[0016] Figure 6 A partial exploded schematic diagram of a rotor portion and a cam provided in another embodiment of the present application;

[0017] Figure 7 for Figure 6 a cross-sectional view of the rotor portion and cam shown;

[0018] Figure 8 A top view of a rotor portion provided in another embodiment of the present application;

[0019] Figure 9 for Figure 1 a cross-sectional view of the joint output assembly shown;

[0020] Figure 10 for Figure 1 A partial cross-sectional view of the joint output assembly is shown.

[0021] In the figure: 1- reducer; 11- cam; 111- extension shaft section; 111a- first limiting boss; 12- flexible wheel; 13- flexible bearing; 14- rigid wheel; 2- drive unit; 21- rotor; 211- rotor core; 2110- weight reduction groove; 2111- first groove; 2112- second groove; 211a- first end; 211b- second end; B1- first end face; B2- second end face; 212- magnetic steel; 22- stator; 221- stator core; 222- cladding layer; 23- motor adapter PCB board; 3- output unit; 31- output flange; 32- output member; 321- first plate; 322- barrel; A1- first bearing ;A11-first bearing inner ring;A12-first bearing outer ring;A2-second bearing;A21-second bearing inner ring;A22-second bearing outer ring;A3-third bearing;4-sleeve;51-first limiter;55-fifth limiter;61-first shell;62-second shell;621-shell extension;7-anti-rotation structure;71-protrusion;72-groove;721-groove;70-anti-rotation surface;701-first wall;702-second wall;8-avoidance hole groove;9-sealing ring;10-avoidance space;15-support;16-end cover;17-encoder driver board;18-support;19-low-speed end magnetic ring;20-high-speed end magnetic ring. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0023] The terms used in this application are for the purpose of describing particular embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0024] It should be understood that the words “first”, “second” and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as “a” or “an” do not indicate a quantity limitation, but rather indicate the presence of at least one; “plurality” indicates a quantity of two or more. Unless otherwise indicated, words such as “front”, “rear”, “lower” and / or “upper” are for ease of description only and are not limited to one position or one spatial orientation. Words such as “include” or “comprising” and similar terms mean that the elements or objects appearing before “include” or “comprising” cover the elements or objects listed after “include” or “comprising” and their equivalents, and do not exclude other elements or objects.

[0025] The following is a detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can complement or be combined with each other.

[0026] The present application provides a joint output assembly, which includes a reducer 1 and a drive unit 2 , wherein the drive unit 2 is transmission-connected to the reducer 1 .

[0027] The reducer 1 of the present application includes a cam 11. Along the axis parallel to the drive unit 2, the joint output assembly includes an extended shaft segment 111 extending from the cam 11 toward the drive unit 2. The extended shaft segment 111 is assembled and connected to the cam 11 or is an integral part.

[0028] The drive unit 2 of the present application includes a rotor portion 21 , and an extended shaft segment 111 is connected to the rotor portion 21 ;

[0029] The joint output assembly of the present application includes a rotation-stopping structure 7 , which includes a mating protrusion 71 and a groove 72 , wherein the groove 72 is located at one of the extension shaft section 111 and the rotor section 21 , and the protrusion 71 is located at the other of the extension shaft section 111 and the rotor section 21 .

[0030] In the present application, the extended shaft section 111 and the rotor portion 21 are limited by the cooperation between the protrusion portion 71 and the groove portion 72 to improve the reliability of the connection between the drive unit 2 and the reducer 1 .

[0031] According to a specific embodiment of this application, please refer to Figures 1 to 10 The joint output assembly is applied to the rotary joint. The joint output assembly includes a reducer 1 and a drive unit 2. The drive unit 2 is transmission-connected to the reducer 1. The drive unit 2 provides driving force for the reducer 1. The drive unit 2 in the joint output assembly applied to the rotary joint provides rotational driving force for the reducer 1.

[0032] The reducer 1 includes a cam 11, and along the axial direction parallel to the drive unit 2, the joint output assembly includes an extended shaft segment 111 extending from the cam 11 to the drive unit 2, that is, the extended shaft segment 111 is extended from the cam 11 to the drive unit 2, and the extended shaft segment 111 is assembled and connected to the cam 11 or is an integral part. The axis of the extended shaft segment 111 and the axis of the cam 11 are co-located on the axis of the drive unit 2, that is, the axis of the drive unit 2 passes through the axis of the extended shaft segment 111, and at the same time, the axis of the drive unit 2 passes through the axis of the cam 11, that is, the rotation axis of the drive unit 2 coincides with the rotation axis of the extended shaft segment 111, and the rotation axis of the cam 11 coincides with the rotation axis of the drive unit 2.

[0033] The reducer 1 is selected as a harmonic reducer.

[0034] This embodiment is described by taking the extension shaft section 111 and the cam 11 as an integral part. Figure 2 、 Figure 3 and Figure 4 shown.

[0035] In this embodiment, the drive unit 2 includes a rotor portion 21, and the extended shaft segment 111 is connected to the rotor portion 21. The connection between the extended shaft segment 111 and the rotor portion 21 is preferably but not limited to an interference fit connection. In some other embodiments, the connection between the extended shaft segment 111 and the rotor portion 21 may also be a transition fit connection.

[0036] The extended shaft segment 111 includes a first mating surface, and the rotor portion 21 includes a second mating surface. The first mating surface contacts the second mating surface and is interference fit connected. The first mating surface is a cylindrical surface, and the second mating surface is also a cylindrical surface. The rotor portion 21 provides a rotational driving force for the extended shaft segment 111. The rotational driving force is separated along the tangent direction of the cylindrical surface to produce a radial force that causes the extended shaft segment 111 and the rotor portion 21 to undergo relative displacement. After the joint output assembly has been running for a long time, the extended shaft segment 111 with a cylindrical cross-sectional shape and the rotor portion 21 with a cylindrical cross-sectional shape are more likely to be misaligned, that is, the relative position is changed, resulting in low connection reliability between the drive unit 2 and the reducer 1.

[0037] The joint output assembly of this embodiment includes a rotation-stopping structure 7, which includes a mating protrusion 71 and a groove 72. The groove 72 is located at one of the extended shaft segment 111 and the rotor segment 21, and the protrusion 71 is located at the other of the extended shaft segment 111 and the rotor segment 21. That is, the groove 72 is located at one of the extended shaft segment 111 and the rotor segment 21, and the other is connected to the protrusion 71.

[0038] In this embodiment, the cooperation of the protrusion 71 and the groove portion 72 is utilized to provide a cooperating radial force for the extension shaft segment 111 and the rotor portion 21, so as to balance the rotational driving force generated by the rotor portion 21 and separate the radial force along the tangential direction of the cylindrical surface that causes the extension shaft segment 111 and the rotor portion 21 to undergo relative displacement, thereby reducing the probability of relative sliding / movement between the extension shaft segment 111 and the rotor portion 21, thereby improving the connection reliability of the reducer 1 and the drive unit 2.

[0039] The anti-rotation structure 7 is located between the extended shaft section 111 and the rotor portion 21 , and the anti-rotation structure 7 connects the extended shaft section 111 and the rotor portion 21 .

[0040] In this embodiment, the groove portion 72 is located in the extension shaft section 111, and the protrusion portion 71 is connected to the rotor portion 21. Figure 2 、 Figure 3 、 Figure 4 and Figure 5 shown.

[0041] The connection between the protrusion 71 and the rotor part 21 includes but is not limited to being an integral piece, and may also be achieved through other connection methods such as one or more of welding, gluing, screw connection, bolt connection, and clamping.

[0042] In this embodiment, the groove portion 72 has a groove 721, and the walls forming the groove 721 are located in the same plane. Figure 2 、 Figure 3 and Figure 4 The protrusion 71 includes a rotation-stopping surface 70 that cooperates with the wall forming the groove 721. The rotation-stopping surface 70 is a plane. Figure 2 and Figure 3 shown.

[0043] The wall forming the groove 721 is at least partially in contact with the rotation-stopping surface 70 .

[0044] The anti-rotation structure 7 includes a first wall 701 and a second wall 702 that cooperate with each other, one of the first wall 701 and the second wall 702 is located at the protrusion 71, and the other forms the wall of the groove 721; at least part of the first wall 701 is in contact with at least part of the second wall 702.

[0045] This embodiment is described by taking the example that the first wall 701 forms the wall of the groove 721 and the second wall 702 is located at the protrusion 71. Figure 2 That is, the first wall 701 is located at the extension shaft section 111 and the second wall 702 is located at the rotor portion 21 , that is, the first wall 701 is a plane and the second wall 702 coincides with the anti-rotation surface 70 and is a plane.

[0046] The first wall 701 extends continuously with the arc-shaped wall of the extension shaft segment 111 , and the first wall 701 and the arc-shaped wall of the extension shaft segment 111 are connected to form a peripheral wall of the extension shaft segment 111 .

[0047] like Figure 2 As shown, the protrusion 71 and the groove 721 are contacted and limitedly connected by the first wall 701 and the second wall 702. Optionally, the area of ​​the first wall 701 and the area of ​​the second wall 702 of this embodiment are the same, and the shape of the first wall 701 and the shape of the second wall 702 of this embodiment are consistent.

[0048] In some other embodiments, the protrusion 71 and the groove 721 are different from those in this embodiment. The difference is that the protrusion 71 protrudes from one of the extended shaft segment 111 and the rotor portion 21 to the other, and at least part of the protrusion 71 is located in the groove 721, forming a wall of the groove 721 that at least wraps around a part of the protrusion 71.

[0049] In some other embodiments, the description is carried out by taking the protrusion 71 connected to the extension shaft segment 111 and the groove 721 located in the rotor portion 21 as an example. Figure 6 、 Figure 7 and Figure 8 shown.

[0050] In some other embodiments, the connection between the protrusion 71 and the extended shaft segment 111 includes but is not limited to being an integral piece, and may also be achieved through other connection methods such as one or more of welding, gluing, screw connection, bolt connection, and clamping.

[0051] In some other embodiments, the protrusion 71 is higher than the arc-shaped peripheral wall of the extended shaft segment 111. Accordingly, the groove 721 is a rotor arc-shaped groove wall that is concave in the rotor portion 21.

[0052] In some other embodiments, the wall forming the groove 721 is a curved surface, the curved surface encloses a groove cavity, and at least part of the protrusion 71 is located in the groove cavity; or the wall forming the groove 721 includes at least a first wall and a second wall, the first wall and the second wall enclose a groove cavity, and at least part of the protrusion 71 is located in the groove cavity. Figure 8 Taking the illustrated groove 721 as an example, the walls forming groove 721 include a first wall, a second wall, and a third wall. The first wall, the second wall, and the third wall are all planes, and the first wall, the second wall, and the third wall form a rectangular cross-section. Of course, in other embodiments, at least one of the first wall, the second wall, and the third wall is a curved surface. In yet another embodiment, the walls forming groove 721 include a first wall and a second wall. The first wall and the second wall are both planes, and the first wall and the second wall form a triangular cross-section. Of course, the first wall and the second wall may also be curved surfaces in other embodiments.

[0053] In this embodiment, the rotor portion 21 includes a rotor core 211 and a magnet 212 . The magnet 212 is connected to the rotor core 211 , and the rotor core 211 is connected to the extended shaft segment 111 .

[0054] The connection between the rotor core 211 and the extended shaft segment 111 is preferably, but not limited to, an interference fit. The rotor core 211 includes a core seat located at an end of the rotor core 211 away from the cam. The core seat and the rotor core 211 form a limiting boss, and the magnet 212 can be located on the limiting boss and connected to the limiting boss.

[0055] Optionally, the extended shaft section 111 is a stepped shaft section, please refer to Figure 2 、 Figure 3 、 Figure 4 and Figure 6 As shown, along the axis direction of the extended shaft segment 111, the diameter of the extended shaft segment 111 close to the cam 11 is larger than the diameter of the other end. The shaft segment with a smaller diameter of the extended shaft segment 111 is defined as the first shaft segment, and the shaft segment with a larger diameter of the extended shaft segment 111 is defined as the second shaft segment, that is, the second shaft segment is located between the first shaft segment and the cam 11. In this embodiment, as shown in FIG. Figure 4 As shown, the groove 721 is located in the first shaft segment; in some other embodiments, such as Figure 6 As shown, the projection 71 is connected to the first shaft section.

[0056] In this embodiment, the rotor core 211 has weight-reducing slots 2110 .

[0057] Furthermore, the weight-reducing groove 2110 is an annular groove, and the center of the weight-reducing groove 2110 coincides with the center of the rotor core 211 ;

[0058] There is at least one weight-reducing groove 2110;

[0059] In this embodiment, the weight-reducing groove 2110 includes a first groove 2111 and a second groove 2112 , and the first groove 2111 and the second groove 2112 are distributed along the axial direction of the driving unit 2 ;

[0060] The rotor core 211 has a first end 211a and a second end 211b. The first end 211a and the second end 211b are distributed along the axial direction of the drive unit 2. The first end 211a is closer to the reducer 1 than the second end 211b.

[0061] like Figure 3 and Figure 7As shown, the rotor core 211 located at the first end 211a includes a first end face B1, the rotor core 211 located at the second end 211b includes a second end face B2, the first slot 2111 extends from the first end 211a to the second end 211b and the first slot 2111 passes through the first end face B1, and the second slot 2112 extends from the second end 211b to the first end 211a and the second slot 2112 passes through the second end face B2.

[0062] The driving unit 2 includes a stator portion 22 , which is in transmission connection with the rotor portion 21 , and is located on a side of the rotor portion 21 away from the extended shaft segment 111 ;

[0063] In this embodiment, the stator portion 22 and the rotor portion 21 constitute a driving motor of the inner rotor and outer stator type.

[0064] The extension shaft section 111 includes a first limiting boss 111a, which is in contact with the rotor core 211. A fifth limiting member 55 is provided at one end of the rotor core 211 away from the first limiting boss 111a. The rotor core 211 is connected to the fifth limiting member 55, which is connected to the extension shaft section 111. Figure 10 shown.

[0065] Optionally, the fifth limiting member 55 is preferably but not limited to a retaining spring.

[0066] The first limiting boss 111 a cooperates with the fifth limiting member 55 to achieve axial positioning of the rotor core 211 relative to the extended shaft segment 111 , thereby achieving axial positioning of the rotor core 211 relative to the cam 11 .

[0067] In the present application, the joint output assembly includes a first shell 61 and a second shell 62 , at least part of the reducer 1 is located in the shell cavity of the first shell 61 , and at least part of the drive unit 2 is located in the shell cavity of the second shell 62 .

[0068] Optionally, the first shell 61 and the second shell 62 are arranged along the axial direction of the driving unit 2 .

[0069] In this embodiment, the driving unit 2 is located in the housing cavity of the second housing 62. Figure 10 As shown, the stator portion 22 and the rotor portion 21 are located in the housing cavity of the second housing 62 .

[0070] The joint output assembly includes a first bearing A1 and a second bearing A2. The first bearing A1 and the second bearing A2 are arranged along the axial direction of the drive unit 2. Compared with the first bearing A1, the second bearing A2 is closer to the drive unit 2.

[0071] The second housing 62 includes a housing extension 621, the second bearing A2 is located between the cam 11 and the housing extension 621 and the second bearing A2 connects the cam 11 and the housing extension 621, or, the second bearing A2 is located between the extended shaft segment 111 and the housing extension 621 and the second bearing A2 connects the extended shaft segment 111 and the housing extension 621.

[0072] In this embodiment, the speed reducer 1 includes a flexspline 12 and a flexible bearing 13 . The flexible bearing 13 is located between the cam 11 and the flexspline 12 , and the flexible bearing 13 connects the cam 11 and the flexspline 12 .

[0073] The reducer 1 further includes a rigid wheel 14 , which is transmission-connected to the flexspline 12 . The rigid wheel 14 is located on a side of the flexspline 12 away from the flexible bearing 13 .

[0074] At least one of the first housing 61 and the second housing 62 is connected to the circular spline 14 .

[0075] Part of the rigid wheel 14 is clamped and limited between the first shell 61 and the second shell 62. The first shell 61, the second shell 62 and part of the rigid wheel 14 can be connected and limited by the same screw or pin. The rigid wheel 14 forms a first limiting portion for limiting the first shell 61, and the rigid wheel 14 forms a second limiting portion for limiting the second shell 62, which has the effect of reducing weight.

[0076] In this embodiment, the joint output assembly includes an output unit 3 , and the reducer 1 is in transmission connection with the output unit 3 .

[0077] Furthermore, the output unit 3 includes an output flange 31 and an output member 32. The output flange 31 is connected to the flexspline 12, which is connected to the output member 32. The first bearing A1 is located between the cam 11 and the output member 32, and the first bearing A1 connects the cam 11 and the output member 32. The output member 32 can fix the flexspline 12 and the output flange 31.

[0078] Optionally, the output member 32 , the flexspline 12 and the output flange 31 can be fixed together by a single screw.

[0079] Specifically, the output member 32 includes a first plate portion 321 and a cylindrical portion 322. The first plate portion 321 and the cylindrical portion 322 are assembled and connected or are an integral part. The first plate portion 321 is located on a side of the flexible spline 12 away from the output flange 31. The plate surface of the first plate portion 321 is at least partially in contact with the inner wall of the flexible spline 12. The first plate portion 321 is connected to the flexible spline 12, and the flexible spline 12 is fixedly connected to the output flange 31.

[0080] The joint output assembly includes a sleeve 4 , which is connected to the output flange 31 , and a barrel cavity of the sleeve 4 passes through the sleeve 4 along the length direction of the sleeve 4 .

[0081] Optionally, the output flange 31 has a threaded hole with an internal thread, the sleeve 4 is designed with an external thread, and the sleeve 4 is fixed to the output flange 31 through a threaded connection.

[0082] Optionally, the sleeve 4 has a avoidance slot 8, such as Figure 9 and Figure 10 As shown, the design of the avoidance slot 8 helps to operate the sleeve 4 to achieve the connection between the sleeve 4 and the output flange 31 .

[0083] Optionally, the output flange 31 has a mounting groove, and the joint output assembly includes a sealing ring 9 , which is located in the mounting groove and is fixedly connected to the output flange 31 .

[0084] The first bearing A1 is located between the cam 11 and the cylindrical portion 322 and the first bearing A1 connects the cam 11 and the cylindrical portion 322;

[0085] The second bearing A2 is located between the extended shaft segment 111 and the housing extension 621 and the first bearing A1 connects the extended shaft segment 111 and the housing extension 621 .

[0086] In this embodiment, the joint output assembly further includes a third bearing A3 , which connects the output flange 31 and the first housing 61 .

[0087] The third bearing A3 is preferably but not limited to a cross roller bearing, the first bearing A1 is preferably but not limited to a deep groove ball bearing, and the second bearing A2 is preferably but not limited to a deep groove ball bearing.

[0088] This embodiment is described by taking the third bearing A3 as a cross roller bearing as an example. Figure 9 and Figure 10 As shown, the crossed roller bearing of this embodiment is preferably, but not limited to, a split-type crossed roller bearing. The crossed roller bearing includes a crossed roller inner ring, a crossed roller outer ring, and crossed rollers. The crossed rollers connect the crossed roller inner ring and the crossed roller outer ring. The crossed roller outer ring is fixedly connected to the first housing 61, and the crossed roller inner ring is integrated with the output flange 31. The crossed roller outer ring can be fixed to the first housing 61 using screws, bolts, or pins.

[0089] In this embodiment, the joint output assembly includes a first limiter 51 , which is connected to the barrel portion 322 and cooperates with the first bearing A1 ; the first limiter 51 is preferably but not limited to a retaining spring.

[0090] The first bearing A1 includes a first bearing inner ring A11 and a first bearing outer ring A12. The first bearing inner ring A11 is located between the first bearing outer ring A12 and the output member 32. Figure 9The first limiting member 51 is in contact with the first bearing inner ring A11 , and the first bearing outer ring A12 is connected to the cam 11 .

[0091] The first bearing A1 is axially limited by the first limiting member 51 and the cam 11 , and the second bearing A2 is axially limited by the cam 11 and the housing extension 621 .

[0092] The joint output assembly includes a support member 15, which is connected to the cam 11. The flexible bearing 13 abuts against the support member 15, and the support member 15 is used to support the flexible bearing 13. The support member 15 and the cam 11 are preferably but not limited to being connected by screws.

[0093] like Figure 9 As shown, the cam 11 has an escape space 10 for escaping the cylindrical portion 322 .

[0094] In this embodiment, the joint output assembly includes an end cover 16 and an encoder driver board 17. The end cover 16 is connected to the second shell 62. The end cover 16 is located at one end of the second shell 62 away from the first shell 61. The end cover 16 and the second shell 62 can be fixed by screws.

[0095] In this embodiment, the end cap 16 has a limiting cylindrical surface, and the encoder driver board 17 is located on the limiting cylindrical surface, which can improve the installation concentricity between the second housing 62 and the encoder driver board 17. Of course, in other embodiments, the limiting cylindrical surface can also be located on the second housing 62 to improve the installation concentricity between the encoder driver board 17 and the second housing 62.

[0096] In this embodiment, the joint output assembly further includes a support 18, a low-speed end magnetic ring 19 and a high-speed end magnetic ring 20. Figure 9 and Figure 10 As shown, the low-speed end magnetic ring 19 is connected to the sleeve 4, the high-speed end magnetic ring 20 is connected to the bracket 18, the bracket 18 is connected to the rotor part 21, and the bracket 18 connects the high-speed end magnetic ring 20 and the rotor part 21. Specifically, the bracket 18 connects the high-speed end magnetic ring 20 and the rotor core 211.

[0097] The low-speed end magnetic ring 19 and the sleeve 4 can be connected and fixed together using mounting components. Bracket 18 isolates the magnetic field of the low-speed end magnetic ring 19 from the magnetic field of the high-speed end magnetic ring 20. Furthermore, bracket 18 can also be made of a magnetic isolation material to enhance its magnetic isolation effect.

[0098] Preferably, at least one of the output flange 31 , the drive unit 2 , the end cover 16 , the upper shell 61 and the lower shell 62 has a slot for reducing weight.

[0099] Furthermore, in this embodiment, the stator portion 22 includes a stator core 221 and a cladding layer 222, and the cladding layer 222 wraps the stator core 221. Figure 10 The coating layer 222 may be a potting material.

[0100] In this embodiment, the covering layer 222 of the stator portion 22 has an inclined surface 2220 for avoiding the bracket 18 .

[0101] In this embodiment, the drive unit 2 includes a motor adapter PCB board 23 , and the motor adapter PCB board 23 is coated on the coating layer 222 of the stator portion 22 . In other words, the coating layer 222 wraps the motor adapter PCB board 23 .

[0102] Some technical implementations in the above embodiments can be combined or replaced.

[0103] The technical principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the above description is merely for the purpose of explaining the principles of the present application and is not to be construed in any way as a specific limitation on the scope of protection of the present application. Based on the explanations herein, those skilled in the art can, without inventive effort, conceive of other specific embodiments of the present application or equivalent alternatives, which fall within the scope of protection of the present application.

Claims

1. A joint output assembly, characterized in that: It includes a reducer and a drive unit, wherein the drive unit is in transmission connection with the reducer; The reducer includes a cam, and the joint output assembly includes an extended shaft segment extending from the cam toward the drive unit in a direction parallel to the axis of the drive unit, and the extended shaft segment is assembled and connected to the cam or is an integral part; The driving unit includes a rotor portion, and the extended shaft segment is connected to the rotor portion; The joint output assembly includes a rotation-stopping structure including a mating protrusion and a groove. The groove is located on one of the extension shaft segment and the rotor segment, and the protrusion is located on the other of the extension shaft segment and the rotor segment.

2. The joint output assembly according to claim 1, characterized in that: The groove portion has a groove, and the walls forming the groove are located in the same plane. The protrusion portion includes a rotation-stopping surface that cooperates with the wall forming the groove, and the rotation-stopping surface is a plane.

3. The joint output assembly according to claim 2, characterized in that: The anti-rotation structure includes a first wall and a second wall that cooperate with each other, one of the first wall and the second wall is located at the protrusion, and the other forms a wall of the groove; At least a portion of the first wall contacts at least a portion of the second wall.

4. The joint output assembly according to claim 1, characterized in that: The protrusion protrudes from one of the extension shaft segment and the rotor portion toward the other. The groove portion has a groove. At least a portion of the protrusion is located in the groove. A wall forming the groove at least wraps around a portion of the protrusion.

5. The joint output assembly according to claim 4, characterized in that: The wall forming the groove is a curved surface, the curved surface encloses a groove cavity, and at least part of the protrusion is located in the groove cavity; Alternatively, the walls forming the groove include at least a first wall and a second wall, the first wall and the second wall enclose a groove cavity, and at least part of the protrusion is located in the groove cavity.

6. The joint output assembly according to any one of claims 1 to 5, characterized in that: The rotor portion includes a rotor core and magnetic steel, the magnetic steel is connected to the rotor core, the rotor core is connected to the extended shaft segment, and the rotor core has a weight-reducing groove.

7. The joint output assembly according to claim 6, characterized in that: The weight-reducing groove is an annular groove, and the center of the weight-reducing groove coincides with the center of the rotor core; There is at least one weight-reducing groove; The driving unit includes a stator portion, the stator portion is in transmission connection with the rotor portion, and the stator portion is located on a side of the rotor portion away from the extended shaft segment; The extended shaft segment includes a first limiting boss, which is in abutment with the rotor core. A fifth limiting member is provided at one end of the rotor core away from the first limiting boss. The rotor core is connected to the fifth limiting member, and the fifth limiting member is connected to the extended shaft segment.

8. The joint output assembly according to claim 6, characterized in that: The weight-reducing groove comprises a first groove and a second groove, wherein the first groove and the second groove are distributed along the axial direction of the driving unit; The rotor core has a first end and a second end, the first end and the second end are distributed along the axial direction of the drive unit, and the first end is closer to the reducer than the second end; The rotor core at the first end includes a first end surface, the rotor core at the second end includes a second end surface, the first slot extends from the first end to the second end and passes through the first end surface, and the second slot extends from the second end to the first end and passes through the second end surface; The joint output assembly includes a first shell and a second shell, at least part of the reducer is located in the shell cavity of the first shell, and at least part of the drive unit is located in the shell cavity of the second shell.

9. The joint output assembly according to claim 8, characterized in that: The joint output assembly includes a first bearing and a second bearing, wherein the first bearing and the second bearing are arranged along the axial direction of the drive unit, and the second bearing is closer to the drive unit than the first bearing; The second housing includes a housing extension, the second bearing is located between the cam and the housing extension and the second bearing connects the cam and the housing extension, or the second bearing is located between the extended shaft segment and the housing extension and the second bearing connects the extended shaft segment and the housing extension; The joint output assembly includes an output unit, and the reducer is transmission-connected to the output unit; The reducer includes a flexible spline and a flexible bearing, wherein the flexible bearing is located between the cam and the flexible spline, and the flexible bearing connects the cam and the flexible spline; The output unit includes an output flange and an output member, the output flange is connected to the flexspline, the flexspline is connected to the output member, and the first bearing is located between the cam and the output member and connects the cam and the output member.

10. The joint output assembly according to claim 9, characterized in that: The joint output assembly includes a sleeve, the sleeve is connected to the output flange, and the sleeve cavity passes through the sleeve along the length direction of the sleeve; The output member includes a first plate portion and a cylindrical portion, the first plate portion and the cylindrical portion are assembled and connected or are an integral part, the first plate portion is located on a side of the flexspline away from the output flange, the plate surface of the first plate portion is at least partially in contact with the inner wall of the flexspline, the first plate portion is connected to the flexspline, and the flexspline is connected to the output flange; The first bearing is located between the cam and the barrel portion and connects the cam and the barrel portion; The joint output assembly includes a first limiter connected to the barrel portion and engaged with the first bearing; The reducer includes a rigid wheel, which is in transmission connection with the flexible wheel, and the rigid wheel is located on a side of the flexible wheel away from the flexible bearing; At least one of the first shell and the second shell is connected to the rigid wheel; The joint output assembly includes a third bearing, and the third bearing connects the output flange and the first housing.

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