A cycloid joint module

Abstract

The utility model discloses a cycloid joint module, which includes: a shell, the shell has an input end and an output end along the axial direction; a driving mechanism, the driving mechanism includes a motor stator, a motor rotor and a motor shaft, the motor stator is fixed to the inner side of the shell around the axial direction, the motor rotor is fixed to the outer side of the motor shaft inside the motor stator, and a transmission is arranged between the motor rotor and the motor stator; a cycloid pinwheel reducer mechanism, the cycloid pinwheel reducer mechanism includes an input shaft, and the input shaft extends along the axial direction; wherein, at least part of the input shaft is penetrated toward the input end side and fixed on the motor shaft toward the output end side, so that the motor shaft can drive the input shaft to rotate. Through the structure of the utility model, the motor shaft can be directly connected with the input shaft to achieve the lightness of the cycloid joint module to the greatest extent.

Description

Technical Field

[0001] The utility model relates to a robot joint module, in particular to a cycloid joint module. Background Art

[0002] The description in this section merely provides background information related to the disclosure of the present utility model and does not constitute prior art.

[0003] The cycloid joint module is a mechanical device that uses a cycloid reducer and is commonly used in robots, automation equipment, and precision machinery. It combines a cycloid reducer and a joint structure to provide high precision, high torque, and a compact design.

[0004] With the rapid development of the humanoid robot industry, the joint modules used in robots are becoming increasingly lightweight. While the cycloid pinwheel reducer is used to achieve high-precision operation of the robot, the lightweight requirement is difficult to guarantee. At the same time, not only is the weight difficult to control, but the mechanical structure of the cycloid joint module of the existing robot is also relatively complex, making it difficult to assemble during the production process, requiring high process requirements, and resulting in high maintenance costs and difficulty after the robot is put into use.

[0005] Currently, there is no cycloid joint module that can solve the above problems. Utility Model Content

[0006] The purpose of the utility model is to provide a cycloid joint module which can be directly connected to the input shaft through the motor shaft, so as to realize the lightness of the cycloid joint module to the greatest extent.

[0007] In order to achieve the above object, the utility model discloses the following cycloid joint module, wherein the cycloid joint module comprises:

[0008] A housing having an input end and an output end along an axial direction;

[0009] A driving mechanism, the driving mechanism comprising a motor stator, a motor rotor and a motor shaft, the motor stator being fixed to the inner side of the housing around the axial direction, the motor rotor being fixed to the outer side of the motor shaft within the inner periphery of the motor stator, and a transmission arrangement being arranged between the motor rotor and the motor stator;

[0010] A cycloid pinwheel reducer mechanism, wherein the cycloid pinwheel reducer mechanism comprises the input shaft, and the input shaft extends in the axial direction;

[0011] Wherein, at least a portion of the input shaft is passed through and fixed on a side of the motor shaft facing the output end, so that the motor shaft can drive the input shaft to rotate.

[0012] Furthermore, the cycloid pinwheel reducer mechanism also includes an output shaft, which is passed through the interior of the input shaft, and a magnet is fixed to the end of the output shaft facing the input end, and a joint encoder is provided at a corresponding position of the end of the magnet facing the input end of the outer shell, so that the joint encoder can monitor the operating status of the output shaft through the magnet.

[0013] Furthermore, it also includes a motor encoder, which is fixedly arranged on the housing on one side of the motor shaft along the radial direction, so that the motor encoder can monitor the operating state of the motor shaft.

[0014] Furthermore, it also includes a fastener, which penetrates the motor shaft and the input shaft simultaneously along the radial direction to ensure a fixed connection between the motor shaft and the input shaft.

[0015] Furthermore, the number of the fasteners is multiple, and the multiple fasteners are arranged at equal angles around the axial direction.

[0016] Furthermore, a cylindrical retaining glue is applied to the fastener and then cured.

[0017] Furthermore, the cycloid pinwheel reducer mechanism also includes a bearing, and the bearing is sleeved on the outside of the input shaft along the radial direction.

[0018] Furthermore, there are multiple bearings, and the multiple bearings are separately arranged along the axial direction.

[0019] Furthermore, the motor rotor and the motor shaft are fixedly connected via a motor sleeve.

[0020] Furthermore, a cylindrical retaining glue is applied between the motor sleeve and the motor shaft and then cured.

[0021] By means of the above technical solution, the beneficial effects of the utility model are as follows:

[0022] 1. The cycloid joint module of the utility model can be directly sleeved and fixedly connected with the input shaft through the motor shaft, so that the motor shaft directly drives the operation of the input shaft, so that the cycloid pinwheel reducer mechanism of the utility model can realize bearingless operation, and the transmission bearing in the cycloid joint module is directly used as the force-bearing support bearing. There are fewer parts, which significantly reduces the axial size of the cycloid joint module, and the structure is simple, the cost is low, and the difficulty of later maintenance is low.

[0023] 2. The output shaft of the cycloid joint module of the utility model is arranged inside the input shaft, and the operation status of the output shaft is monitored by means of the joint encoder and the magnetic steel inside the shell; synchronously, the utility model also includes a motor encoder arranged on one side of the radial direction of the motor shaft to monitor the operation status of the motor shaft. By synchronously monitoring the rotation status of the drive mechanism and the cycloid pinwheel reducer mechanism, full closed-loop control is achieved, and the output accuracy of the entire module is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 It is a cross-sectional schematic diagram of a cycloid joint module provided in an embodiment of this specification;

[0026] Figure 2 It is a three-dimensional cross-sectional schematic diagram of a cycloid joint module provided in an embodiment of this specification;

[0027] In the figure: 1. housing; 2. driving mechanism; 21. motor stator; 22. motor rotor; 23. motor shaft; 24. motor bushing; 3. cycloid pinwheel reducer mechanism; 31. input shaft; 32. output shaft; 322. magnet; 33. bearing; 4. joint encoder; 5. motor encoder; 6. fastener. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0029] In the description of the present utility model, it should be noted that the terms "upper", "middle", "lower", "inner", "outer", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model. The terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The following describes the implementation method of the present utility model based on its overall structure.

[0030] See also Figure 1-2 , is a cycloid joint module of this embodiment, wherein the cycloid joint module includes:

[0031] A housing 1 having an input end and an output end along an axial direction;

[0032] The driving mechanism 2 includes a motor stator 21, a motor rotor 22 and a motor shaft 23. The motor stator 21 is axially fixed to the inner side of the housing 1, and the motor rotor 22 is fixed to the outer side of the motor shaft 23 inside the motor stator 21. The motor rotor 22 and the motor stator 21 are provided with a transmission.

[0033] The cycloid pinwheel reducer mechanism 3 includes an input shaft 31, and the input shaft 31 extends in the axial direction;

[0034] At least a portion of the input shaft 31 is disposed toward the input end and fixed to the motor shaft 23 toward the output end, so that the motor shaft 23 can drive the input shaft 31 to rotate.

[0035] Through the above structure, when in use, the drive mechanism 2 is started by external power supply, and after the motor stator 21 or the motor shaft 23 of the drive mechanism 2 is energized, under the action of electromagnetic induction, since the motor stator 21 is connected to the fixed housing 1, the motor rotor 22 rotates relative to the motor stator 21, and drives the motor shaft 23 fixedly connected to the motor rotor 22 along the axial inner periphery to rotate around the axial direction. Then, the input shaft 31 connected end to end with one end of the motor shaft 23 in the cycloid pinwheel reducer mechanism 3 can rotate around the axial direction under the drive of the motor shaft 23. The kinetic energy of the input shaft 31 causes the eccentric shaft in the cycloid pinwheel reducer mechanism 3 to rotate at a high speed, and drives the cycloid wheel to rotate at a lower speed, large torque, and more precise movement, and finally completes the precise and stable power output with the help of the output shaft 32 of the cycloid pinwheel reducer mechanism 3, and transmits the kinetic energy to the external load, so that the structure of the mechanical arm and the like realizes the movement in accordance with the preset.

[0036] During the above-mentioned use, since one end of the motor shaft 23 and one end of the input shaft 31 in the cycloidal pinwheel reducer mechanism 3 are connected end to end, the driving mechanism 2 directly transmits power to the cycloidal pinwheel reducer mechanism 3. Compared with the prior art, there is no bearing structure for supporting the motor rotor 22 in the driving mechanism 2. The input shaft 31 connected to the motor rotor 22 is in direct contact with and supported by other bearings of the cycloidal pinwheel reducer mechanism 3, so that the motor rotor 22 in the driving mechanism 2 does not need to be supported by additional bearings, but is indirectly supported directly by other bearings and other structures in the cycloidal pinwheel reducer mechanism 3, and the structure is simplified, especially the structural size along the axial direction is significantly reduced, and ultimately the structural weight of the utility model is reduced, achieving a lightweight effect, and can be adapted to use in more equipment scenarios.

[0037] For further information, see Figure 1-2 The housing 1 is generally configured as a regular rectangular geometric shape, the production process is simple and the cost can be effectively controlled, and the balance is also good. The motor stator 21 fixedly arranged around the inner side of the housing 1 is fixed to the inner wall of the housing 1 by means of fasteners or welding, and the preset gap retained between the motor stator 21 and the motor rotor 22 can be an air gap to ensure that there is no physical contact between the two, prevent friction and wear, and increase the service life.

[0038] Furthermore, the cycloid pinwheel reducer mechanism 3 also includes an output shaft 32, which is inserted into the input shaft 31, and a magnetic steel 322 is fixed to one end of the output shaft 32 facing the input end. The housing 1 is provided with a joint encoder 5 at a corresponding position of the magnetic steel 322 facing the input end, so that the joint encoder 5 can monitor the running state of the output shaft 32 through the magnetic steel 322. At the same time, it also includes a motor encoder 5, which is fixedly arranged on the housing 1 on one side of the motor shaft 23 along the radial direction, so that the motor encoder 5 can monitor the running state of the motor shaft 23. Through the above structure, with the help of the output shaft 32 extending to one end of the input end, the output state of the cycloid pinwheel reducer mechanism 3 can be obtained through the joint encoder 4, and the output state of the drive mechanism 2 can be obtained in real time by monitoring the motor shaft 23 in the drive mechanism 2, and the data of the two can be combined to realize full closed-loop control, rely on real-time feedback signals to adjust and control the behavior of the system, and use more accurate dual feedback to achieve the predetermined goal, adjust the input according to the error to minimize the error, and improve the output accuracy of the entire module. The motor shaft 23 and the input shaft 31 are hollow shaft structures. The above structure is achieved by virtue of the motor shaft 23 and the input shaft 31 in this embodiment being both hollow shaft structures, the motor shaft 23 and the input shaft 31 being connected end to end and having a shorter wheelbase.

[0039] Furthermore, it also includes a fastener 6, which penetrates the motor shaft 23 and the input shaft 31 in the radial direction at the same time, so that the motor shaft 23 and the input shaft 31 are fixedly connected. At the same time, the number of fasteners 6 is multiple, and multiple fasteners 6 are arranged at equal angles around the axial direction. Specifically, the fasteners 6 are arranged at intervals of 90 degrees around the axial direction, and there are four fasteners in total, so that the motor shaft 23 and the input shaft 31 have strong stability and balance when rotating.

[0040] Furthermore, a cylindrical retaining glue is applied to the fastener 6 for curing. The cylindrical retaining glue is a special adhesive used to fix and bond the parts of the mechanical structure to ensure that they do not slide or loosen relative to each other during use. In this embodiment, by applying the coating between the motor shaft 23 and the input shaft 31 at the fastener 6, the fixing effect and stability between the motor shaft 23 and the input shaft 31 are improved, and the hollow shaft wall of the motor shaft 23 and the input shaft 31 is prevented from being too thin and loose.

[0041] Furthermore, the cycloid pinwheel reducer mechanism 3 also includes a bearing 33, which is radially sleeved on the outside of the input shaft 31. Specifically, the number of bearings 33 is multiple, and the multiple shafts 33 are separated and arranged in the axial direction. In this embodiment, the motor shaft 23 and the input shaft 31 are directly connected, so the motor shaft 23 and the motor rotor 22 can be treated without bearings, and are indirectly supported and driven by multiple bearings 33 arranged in the axial front and rear of the cycloid pinwheel reducer mechanism 3. The purpose of the multiple bearings 33 arranged in the axial direction is to improve the rotation stability of the cycloid pinwheel reducer mechanism 3.

[0042] Furthermore, the motor rotor 22 and the motor shaft 23 are fixedly connected by a motor sleeve 24. The motor sleeve 24 is used to fix the motor rotor 22 on the motor shaft 23 to ensure a close fit between the two, thereby avoiding relative movement, and also to ensure the concentricity of the motor rotor 22, thereby improving the running stability of the motor. At the same time, in this embodiment, a cylindrical retaining glue is applied between the motor sleeve 24 and the motor shaft 23 for curing treatment, and its purpose is also to achieve a better fixing effect between the motor sleeve 24 and the motor shaft 23, and the fixing cost is lower than that of general fasteners, and it does not occupy the internal structure space.

[0043] Although different specific embodiments are mentioned in the content of this application, this application is not limited to the situations described in the industry standards or embodiments, etc. Some industry standards or slightly modified implementation plans based on the implementation of the custom methods or embodiments can also achieve the same, equivalent or similar, or predictable implementation effects after deformation of the above embodiments. The embodiments of data acquisition, processing, output, judgment methods, etc. after these modifications or deformations can still fall within the scope of the optional implementation plans of this application.

[0044] Although the present application has been described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present application without departing from the spirit of the present application. It is intended that the attached embodiments include these modifications and changes without departing from the present application.

Claims

1. A cycloid joint module; characterized in that, The cycloid joint module comprises: A housing having an input end and an output end along an axial direction; A driving mechanism, the driving mechanism comprising a motor stator, a motor rotor and a motor shaft, the motor stator being fixed to the inner side of the housing around the axial direction, the motor rotor being fixed to the outer side of the motor shaft within the inner periphery of the motor stator, and a transmission arrangement being arranged between the motor rotor and the motor stator; A cycloid pinwheel reducer mechanism, the cycloid pinwheel reducer mechanism comprising an input shaft, the input shaft extending in an axial direction; Wherein, at least a portion of the input shaft is passed through and fixed on a side of the motor shaft facing the output end, so that the motor shaft can drive the input shaft to rotate.

2. The cycloid joint module according to claim 1, characterized in that: The cycloid pinwheel reducer mechanism also includes an output shaft, which is passed through the interior of the input shaft, and a magnet is fixed to the output shaft on the side facing the input end. The outer shell is provided with a joint encoder at a corresponding position of the magnet on the side facing the input end, so that the joint encoder can monitor the operating status of the output shaft through the magnet.

3. The cycloid joint module according to claim 2, characterized in that: It also includes a motor encoder, which is fixedly arranged on the housing on one side of the motor shaft along the radial direction, so that the motor encoder can monitor the operating state of the motor shaft.

4. The cycloid joint module according to claim 1, characterized in that: It also includes a fastener, which penetrates the motor shaft and the input shaft simultaneously in the radial direction, so that the motor shaft and the input shaft are fixedly connected.

5. The cycloid joint module according to claim 4, characterized in that: The number of the fasteners is multiple, and the multiple fasteners are arranged at equal angles around the axial direction.

6. The cycloid joint module according to claim 4, characterized in that: A cylindrical retaining glue is applied to the fastener for curing.

7. The cycloid joint module according to claim 1, characterized in that: The cycloid pinwheel reducer mechanism further comprises a bearing, and the bearing is radially sleeved on the outside of the input shaft.

8. The cycloid joint module according to claim 7, characterized in that: The number of the bearings is plural, and the bearings are separately arranged along the axial direction.

9. The cycloid joint module according to claim 1, characterized in that: The motor rotor and the motor shaft are fixedly connected via a motor sleeve.

10. The cycloid joint module according to claim 9, characterized in that: A cylindrical retaining glue is applied between the motor sleeve and the motor shaft for curing.

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