Large-reduction-ratio self-locking joint module motor

Abstract

The utility model discloses a self-locking joint module motor with a large reduction ratio, which relates to the technical field of joint modules and comprises a torque motor and a control panel connected with the torque motor, and the interior of the torque motor is connected with a motor shaft through a bearing. When the multiple speed reducers are connected, the multiple speed reducers transmit power in a common friction force mode. The joint module is light in weight and compact in structure, can be independently produced and manufactured, effectively controls cost and period, supports series connection of a plurality of different types of speed reducers, realizes power-off self-locking under the condition of no band-type brake, effectively solves the problem that the self-locking of the joint module needs to add the band-type brake, and improves the reliability of the joint module. And when a robot mechanical arm is loaded at the tail end, self-locking force can be generated after power failure, so that the load or the mechanical arm cannot fall off, and meanwhile, the high reliability of the joint module is also improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint modules, and in particular relates to a self-locking joint module motor with a large reduction ratio. Background Art

[0002] The joint module integrates multiple robot joint core components including servo drive, frameless torque motor, harmonic reducer, encoder and brake, and is connected to the external controller through the communication bus and power cord, and connected to the next joint of the robot through screws. As the application of collaborative robots becomes more and more common, major domestic and foreign robot manufacturers have launched their own joint module products based on their own collaborative robots. At the same time, joint modules can also be applied to other equipment such as servo turntables, automation equipment, mechanical equipment, etc. with high integration requirements.

[0003] The existing joint modules are restricted by the external environment, resulting in high prices and extended delivery times. When the structure requires self-locking, a brake needs to be added. The brake will generate a lot of heat when working for a long time, causing the overall temperature of the joint module to increase too quickly, and overheating protection is prone to occur during long-term operation. At the same time, it will increase the power consumption of the equipment, and the brake pads will produce certain wear during the operation process, increasing the risk of equipment failure. To this end, we designed and proposed a large reduction ratio self-locking joint module motor. Utility Model Content

[0004] The purpose of the utility model is to solve the disadvantage of the prior art that the joint module self-locking needs to be braked, and to propose a large reduction ratio self-locking joint module motor. The large reduction ratio self-locking joint module motor can improve the reliability of the joint module.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A large reduction ratio self-locking joint module motor is designed, including a torque motor and a control board connected to the torque motor. The interior of the torque motor is connected to a motor shaft via a bearing. The invention is characterized in that at least one reducer is connected to the motor shaft in series. When multiple reducers are connected, the multiple reducers transmit power by means of common friction force.

[0007] Furthermore, the reducer is a star reducer, a harmonic reducer or a cycloid pinwheel reducer.

[0008] Furthermore, the multiple reducers include a first reducer and a second reducer, a first output shaft is fixedly provided on the axis of the first reducer, a second output shaft is rotatably connected to the outer side of the first output shaft in a sleeve manner, the second output shaft is connected to the second reducer, and the first reducer and the second reducer are connected by a friction transmission plate in a common friction force manner.

[0009] Furthermore, the moment arm of the second output shaft is greater than that of the first output shaft, and the load is directly connected to the first output shaft to achieve movement with a large reduction ratio, and is connected to the second output shaft to achieve movement with a small reduction ratio.

[0010] Furthermore, a heat dissipation cover plate is fixedly provided on the outer side of the control board, and a heat conduction component is provided between the heat dissipation cover plate and the heating device of the control board.

[0011] The utility model proposes a large reduction ratio self-locking joint module motor, which has the beneficial effects of: the utility model is light in weight and compact in structure, supports the series connection of multiple different types of reducers, and realizes power-off self-locking without a brake.

[0012] (1) The utility model is light in weight and compact in structure, and can be independently manufactured, effectively controlling costs and cycles.

[0013] (2) The utility model effectively solves the problem that the joint module needs to be braked for self-locking, and improves the reliability of the joint module. Multiple reducers are connected in series and have a common friction force with each other, so that the joint module has a certain self-locking force. When the end load and the load robot arm are powered off, a self-locking force will be generated to prevent the load or the arm from falling.

[0014] (3) The utility model increases the contact area between the heating element of the control board and the heat dissipation cover plate, dissipates the heat to the entire motor body in a timely manner, thereby improving the contact between the entire motor and the surrounding air and improving the high reliability of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] The markings in the figure are: 1. torque motor; 2. motor shaft; 3. control board; 4. heat dissipation cover; 5. first reducer; 6. second reducer; 7. bearing; 8. first output shaft; 9. second output shaft; 10. friction transmission plate; 11. heat conduction component. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0019] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0021] The structural features of the utility model are now described in detail with reference to the accompanying drawings of the specification.

[0022] See also Figure 1 A self-locking joint module motor with a large reduction ratio includes a torque motor 1 and a control board 3 connected to the torque motor 1. The interior of the torque motor 1 is connected to a motor shaft 2 through a bearing 7. At least one reducer is connected to the motor shaft 2 in series, and the reducer is a star reducer, a harmonic reducer or a cycloidal pinwheel reducer. When multiple reducers are connected, the multiple reducers transmit power by means of a common friction force. In this embodiment, the multiple reducers include a first reducer 5 and a second reducer 6. A first output shaft 8 is fixedly provided on the axis of the first reducer 5. The outer side of the first output shaft 8 is rotatably connected to a second output shaft 9 in a sleeve manner. The second output shaft 9 is connected to the second reducer 6. The first reducer 5 and the second reducer 6 are connected to a friction transmission plate 10 in a common friction force. The force arm of the second output shaft 9 is greater than that of the first output shaft 8. The load is directly connected to the first output shaft 8 to achieve a movement with a large reduction ratio, and is connected to the second output shaft 9 to achieve a movement with a small reduction ratio.

[0023] A heat dissipation cover plate 4 is fixedly provided on the outer side of the control board 3, and a heat conducting component 11 is provided between the heat dissipation cover plate 4 and the heating device of the control board 3, wherein the heating device is a control chip, etc. In order to improve the high reliability of the joint module, the contact area between the heating device of the control board 3 and the heat dissipation cover plate 4 is increased, and the heat is dissipated to the body of the entire motor in time, thereby improving the contact between the entire motor and the surrounding air.

[0024] The large reduction ratio self-locking joint module motor of the utility model is light in weight and compact in structure. It supports the series connection of multiple reducers of different types and realizes self-locking when power is off without a brake. On the one hand, it can be independently produced and manufactured to effectively control costs and cycles. On the other hand, multiple reducers have a series structure and mutual friction force through which the joint module has a certain self-locking force. When loading the end and loading the robot arm, a self-locking force will be generated after power is off to prevent the load or the arm from falling.

[0025] Specifically, when in use, the inner rotor of the frameless torque motor 1 is connected to the motor shaft 2, the outer rotor is fixed on the motor housing of the torque motor 1, and the rotation of the motor is realized by driving the control board 3. The motor shaft 2 connects the first reducer 5 and the second reducer 6 in series to realize the deceleration of the motor and the transmission of torque. The load can be directly connected to the first output shaft 8 of the first reducer 5 to realize the movement of a small reduction ratio, and can also be connected to the second reducer 6 to realize the movement of a large reduction ratio. Due to the common friction force of the first reducer 5 and the second reducer 6 and the special series structure, the joint module has a certain self-locking force. When loading at the end and loading the robot arm, a self-locking force will be generated after power failure to prevent the load or the arm from falling.

[0026] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A self-locking joint module motor with a large reduction ratio, comprising a torque motor (1) and a control board (3) connected to the torque motor (1), wherein the interior of the torque motor (1) is connected to a motor shaft (2) via a bearing (7), characterized in that: At least one reducer is connected to the motor shaft (2) in series, and when multiple reducers are connected, the multiple reducers transmit power by means of common friction force.

2. A large reduction ratio self-locking joint module motor according to claim 1, characterized in that: The reducer is a star reducer, a harmonic reducer or a cycloid pinwheel reducer.

3. A large reduction ratio self-locking joint module motor according to claim 2, characterized in that: The multiple reducers include a first reducer (5) and a second reducer (6), a first output shaft (8) is fixedly provided on the axis of the first reducer (5), a second output shaft (9) is rotatably connected to the outer side of the first output shaft (8) in a sleeve-type manner, the second output shaft (9) is connected to the second reducer (6), and the first reducer (5) and the second reducer (6) are connected to a friction transmission plate (10) in a manner of common friction force.

4. A large reduction ratio self-locking joint module motor according to claim 3, characterized in that: The force arm of the second output shaft (9) is greater than that of the first output shaft (8); the load is directly connected to the first output shaft (8) to achieve movement with a large reduction ratio, and is connected to the second output shaft (9) to achieve movement with a small reduction ratio.

5. A large reduction ratio self-locking joint module motor according to any one of claims 1 to 4, characterized in that: A heat dissipation cover plate (4) is fixedly arranged on the outer side of the control plate (3), and a heat conduction component (11) is arranged between the heat dissipation cover plate (4) and the heating device of the control plate (3).

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