Wire harness arrangement structure in joint motor of integrated torque sensor

Abstract

The utility model relates to a wiring harness arrangement structure in a joint motor integrated with a torque sensor, which comprises a motor controller assembly, a motor main body, a harmonic reducer, the torque sensor, a middle pipe and a connecting disc, and the middle pipe penetrates through the motor main body, the harmonic reducer and the torque sensor. A wire of the torque sensor is connected into the motor controller assembly through a middle pipe, and an inlet wire of a power line and an inlet wire of a signal line are arranged in the middle pipe in a penetrating mode. The motor controller assembly comprises a first circuit board, a second circuit board and a wire harness fixing block B, the wire harness fixing block B is clamped in the through hole A of the first circuit board, a through hole B is further formed in the wire harness fixing block B, and an inlet wire of the power line, an inlet wire of the signal line and a wire of the torque sensor penetrate through the through hole B and then are connected with the first circuit board and the second circuit board correspondingly. According to the utility model, the whole structure is tidier, and the wiring harness connection difficulty is reduced; meanwhile, the circuit can be prevented from being broken and loosened, and the stability of the whole machine is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motor structures, and in particular relates to a wiring harness arrangement structure in a joint motor with an integrated torque sensor. Background Art

[0002] The joint motor control of the robot is an advanced technology that relies on motor drivers and control algorithms to complete precise current and speed control to adjust the movement of the motor to ensure the required position, speed and torque. In order to ensure high-precision position control of the joint motor, it is generally necessary to detect the position and speed of the output wheel at the output end of the reducer. The reducer and controller components are usually set at both ends of the motor, which are far away and inconvenient to connect the lines. In the scenario where multiple joint motors are connected, the lines are relatively messy and difficult to maintain. At the same time, since the output wheel at the output end of the reducer will rotate, and the controller component is usually fixed to the shell and remains stationary, the above-mentioned connection harness is prone to entanglement, and in severe cases, it may even cause the harness to break, and the connection between the harness and the controller component may also become loose, affecting the normal use of the joint motor. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a wiring harness arrangement structure in a joint motor with an integrated torque sensor, which makes the wiring harness connection more convenient, prevents the wiring harness from being entangled, avoids line breakage, and improves the overall stability of the joint motor.

[0004] In order to achieve the above utility model purpose, the utility model adopts the following technical solutions:

[0005] A wiring harness arrangement structure in a joint motor with an integrated torque sensor comprises a motor controller assembly, a motor body, a harmonic reducer, a torque sensor and a T-shaped shaft which are fixedly connected in sequence, the T-shaped shaft comprises an integrally formed intermediate tube and a connecting plate, the connecting plate is arranged at one end of the intermediate tube, the middle part of the connecting plate is also provided with a through hole communicating with the intermediate tube, the intermediate tube passes through the motor body, the harmonic reducer and the torque sensor, the wire of the torque sensor is connected to the motor controller assembly through the intermediate tube, the intermediate tube is also provided with an inlet line of a power line and an inlet line of a signal line; the motor controller assembly comprises a first circuit board, a second circuit board and a wiring harness fixing block B, the first circuit board and the second circuit board are fixed by a support column and connected by a connector, the middle part of the first circuit board and the second circuit board are both provided with a through hole A, the wiring harness fixing block B is clamped in the through hole A of the first circuit board, the wiring harness fixing block B is also provided with a through hole B, the inlet line of the power line, the inlet line of the signal line and the wire of the torque sensor are respectively connected to the corresponding first circuit board and the second circuit board after passing through the through hole B.

[0006] As a preferred solution: four plug-in blocks are further provided on the first circuit board at the periphery of the through hole A, and the incoming wires and outgoing wires of the signal wires and the conducting wires and outgoing wires of the torque sensor are respectively connected to the corresponding plug-in blocks.

[0007] As a preferred solution: the incoming wire and the outgoing wire of the power line are both connected to the second circuit board.

[0008] As a preferred solution: the first circuit board is arranged in the controller cover, a wire harness fixing block A is arranged in the middle of the controller cover, and the wire harness fixing block A is tightly matched with the controller cover.

[0009] As a preferred solution: the harness fixing block A is a rubber plug, which is also provided with a through hole B, through which the lead wires of the power line, the signal line and the torque sensor all pass.

[0010] As a preferred solution: a through hole C is opened in the middle of the controller cover, and a plurality of downwardly extending protruding claws are arranged at intervals outside the through hole C, and the wiring harness fixing block A is embedded in the through hole C and the plurality of protruding claws.

[0011] As a preferred solution: the wiring harness fixing block B includes an upper limit portion and a lower clamping portion, the outer wall of the lower clamping portion is provided with a protrusion, the outer edge of the through hole A is provided with a notch matching the protrusion, the upper limit portion and the lower clamping portion form a step surface, the step surface is abutted against the upper end surface of the circuit board, and the lower part of the lower clamping portion is also provided with a convex edge, and the outer diameter of the convex edge is larger than the outer diameter of the through hole A.

[0012] As a preferred solution: the upper limit portion is a rubber block, and the horizontal cross section of the upper limit portion is a rectangle or a square, and the horizontal cross section of the lower clamping portion is a circle.

[0013] The utility model adopts a T-shaped shaft structure that runs through the motor body, the harmonic reducer and the torque sensor, and passes the power line, the signal line and the wire of the torque sensor through the inside of the T-shaped shaft structure, which makes the overall structure neater and reduces the difficulty of connection. At the same time, the utility model arranges a wiring harness fixing block on the first circuit board, so that the wiring harnesses on both sides of the wiring harness fixing block are relatively isolated, and the connection ends of the wiring harness and the circuit board remain stationary and do not move synchronously with the moving parts. In this way, the solder joints of the circuit board and the wiring harness can be protected, and the occurrence of line breakage and loosening can be avoided, thereby improving the stability of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0015] Figure 1 It is a structural schematic diagram of the joint motor module of the utility model;

[0016] Figure 2 It is a cross-sectional structural diagram of the joint motor module of the utility model;

[0017] Figure 3 It is a schematic diagram of the disassembled structure of the controller cover, circuit board and motor of the utility model;

[0018] Figure 4 and Figure 5 It is a schematic diagram of the structure of the controller cover and the circuit board of the utility model at two different angles;

[0019] Figure 6 and Figure 7 It is a schematic diagram of the disassembled structure of the controller cover, the wiring harness fixing block A, the circuit board and the wiring harness fixing block B at two different angles of the utility model.

[0020] The figures are marked as follows: 100, motor controller assembly; 200, motor body; 300, harmonic reducer; 400, torque sensor; 401, wire; 1, controller cover; 11, wiring harness fixing block A; 12, claw; 2, first circuit board; 21, connector; 22, wiring harness fixing block B; 221, upper limit portion; 222, lower clamping portion; 23, bump; 24, notch; 25 convex edge; 3, second circuit board; 4, end plate; 5, housing; 6, rotating shaft; 7, intermediate tube; 73, connecting plate; 500, stator core; 600, rotor core. DETAILED DESCRIPTION

[0021] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0023] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" 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, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it 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 an indirect connection 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 invention can be understood according to specific circumstances.

[0026] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0027] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0028] like Figures 1 to 7The wiring harness arrangement structure in a joint motor with an integrated torque sensor shown in the figure includes a motor controller assembly 100, a motor body 200, a harmonic reducer 300, a torque sensor 400 and a T-shaped shaft which are fixedly connected in sequence, and the T-shaped shaft includes an integrally formed intermediate tube 7 and a connecting disk 73, the connecting disk 73 is arranged at one end of the intermediate tube 7, and a through hole connected to the intermediate tube 7 is also provided in the middle of the connecting disk, the intermediate tube 7 passes through the motor body 200, the harmonic reducer 300 and the torque sensor 400, and the wire 401 of the torque sensor 400 is connected to the motor controller assembly 100 through the intermediate tube 7, and the intermediate tube 7 is also penetrated by a power line input and a signal line input.

[0029] The motor controller assembly 100 includes a first circuit board 2, a second circuit board 3 and a wiring harness fixing block B22. The first circuit board 2 and the second circuit board 3 are fixed by support columns and connected by connectors. A through hole A is opened in the middle of the first circuit board 2 and the second circuit board 3. The wiring harness fixing block B22 is clamped in the through hole A of the first circuit board 2. A through hole B is also provided on the wiring harness fixing block B22. The power line, the signal line and the wire 401 of the torque sensor 400 pass through the through hole B and are respectively connected to the corresponding first circuit board 2 and the second circuit board 3.

[0030] Four plug-in blocks 21 are also provided on the first circuit board 2 at the periphery of the through hole A. The incoming and outgoing wires of the signal line and the wires 401 and outgoing wires of the torque sensor 400 are respectively connected to the corresponding plug-in blocks 21. The incoming and outgoing wires of the power line are both connected to the second circuit board 3.

[0031] The harness fixing block B22 includes an upper limit portion 221 and a lower clamping portion 222. The outer wall of the lower clamping portion 222 is provided with a protrusion 23. The outer edge of the through hole A is provided with a notch 24 that matches the protrusion 23. The upper limit portion 221 and the lower clamping portion 222 form a step surface, and the step surface abuts against the upper end surface of the circuit board 2. The lower portion of the lower clamping portion is also provided with a convex edge 25, and the outer diameter of the convex edge 25 is greater than the outer diameter of the through hole A. The upper limit portion 221 is a rubber block, and the horizontal cross section of the upper limit portion 221 is a rectangle or a square, and the horizontal cross section of the lower clamping portion 222 is a circle. The rubber block can ensure the stable combination with the harness and prevent the harness from being scratched.

[0032] The motor body 200 includes an end plate 4, a housing 5, a stator core 500, a rotating shaft 6 and a rotor core 600. The stator core 500 is fixed to the inner wall of the housing 5. The rotor core 600 is fixed to the rotating shaft 6 and is located inside the stator core 500. The end plate 4 is fixed to one end of the housing 5. The two ends of the rotating shaft 6 are rotatably connected to the end plate 4 and the housing 5 through bearings. The second circuit board 3 is fixed to the end plate 4. The motor controller assembly 100 also includes a controller cover 1. The controller cover 1 is fixed to the end plate 4 and shields the first circuit board 2 and the second circuit board 3. A wiring harness fixing block A11 is provided in the middle of the controller cover 1, and the wiring harness fixing block A11 is tightly matched with the controller cover 1. The wiring harness fixing block A11 is a rubber plug, and a through hole B is also provided on the rubber plug. The lead wires of the power line, the signal line and the torque sensor all pass through the through hole B. The above structure sets the input and output lines of the joint motor separately, and at the same time adds a wiring harness fixing block in the controller cover, which is convenient for fixing and limiting the lead-out lines when multiple joint motors are connected in series to prevent the lines from being entangled.

[0033] A through hole C is provided in the middle of the controller cover 1, and a plurality of downwardly extending protruding claws 12 are provided at intervals outside the through hole C, and the harness fixing block A11 is embedded in the through hole C and the plurality of protruding claws 12. The protruding claws can make the harness fixing block A11 and the controller cover more firmly fixed and not easy to loosen.

[0034] The utility model adopts a T-shaped shaft structure that runs through the motor body, the harmonic reducer and the torque sensor, and passes the power line, the signal line and the wire of the torque sensor through the inside of the T-shaped shaft structure, which makes the overall structure neater and reduces the difficulty of connection. At the same time, the utility model arranges a wiring harness fixing block on the first circuit board, so that the wiring harnesses on both sides of the wiring harness fixing block are relatively isolated, and the connection ends of the wiring harness and the circuit board remain stationary and do not move synchronously with the moving parts. In this way, the solder joints of the circuit board and the wiring harness can be protected, and the occurrence of line breakage and loosening can be avoided, thereby improving the stability of the whole machine.

[0035] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0036] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A wiring harness arrangement structure in a joint motor with an integrated torque sensor, characterized in that: The invention comprises a motor controller assembly (100), a motor body (200), a harmonic reducer (300), a torque sensor (400) and a T-shaped shaft which are fixedly connected in sequence, the T-shaped shaft comprising an intermediate tube (7) and a connecting plate (73) which are integrally formed, the connecting plate (73) being arranged at one end of the intermediate tube (7), the middle portion of the connecting plate also being provided with a through hole which is in communication with the intermediate tube (7), the intermediate tube (7) passing through the motor body (200), the harmonic reducer (300) and the torque sensor (400), the lead wire (401) of the torque sensor (400) being connected to the motor controller assembly (100) through the intermediate tube (7), the intermediate tube (7) also being provided with a wire The motor controller assembly (100) comprises a first circuit board (2), a second circuit board (3) and a harness fixing block B (22); the first circuit board (2) and the second circuit board (3) are fixed by a support column and connected by a connector; a through hole A is provided in the middle of each of the first circuit board (2) and the second circuit board (3); the harness fixing block B (22) is clamped in the through hole A of the first circuit board (2); a through hole B is further provided on the harness fixing block B (22); the power line inlet, the signal line inlet and the wire (401) of the torque sensor (400) are respectively connected to the corresponding first circuit board (2) and the second circuit board (3) after passing through the through hole B.

2. The wiring harness arrangement structure in a joint motor with an integrated torque sensor according to claim 1, characterized in that: Four plug-in blocks (21) are also provided on the first circuit board (2) at the periphery of the through hole A, and the incoming wires and outgoing wires of the signal wires and the conducting wires (401) and outgoing wires of the torque sensor (400) are respectively connected to the corresponding plug-in blocks (21).

3. The wiring harness arrangement structure in the joint motor with integrated torque sensor according to claim 2, characterized in that: The incoming wire and the outgoing wire of the power line are both connected to the second circuit board (3).

4. The wiring harness arrangement structure in a joint motor with an integrated torque sensor according to claim 3, characterized in that: The first circuit board (2) is arranged in the controller cover (1); a wire harness fixing block A (11) is provided in the middle of the controller cover (1); and the wire harness fixing block A (11) is tightly matched with the controller cover (1).

5. The wiring harness arrangement structure in the joint motor with integrated torque sensor according to claim 4, characterized in that: The harness fixing block A (11) is a rubber plug, which is also provided with a through hole B. The lead wires of the power line, the signal line and the torque sensor all pass through the through hole B.

6. The wiring harness arrangement structure in a joint motor with an integrated torque sensor according to claim 4, characterized in that: A through hole C is provided in the middle of the controller cover (1), and a plurality of downwardly extending protruding claws (12) are provided at intervals outside the through hole C, and the wiring harness fixing block A (11) is embedded in the through hole C and the plurality of protruding claws (12).

7. The wiring harness arrangement structure in a joint motor with an integrated torque sensor according to claim 1, characterized in that: The harness fixing block B (22) comprises an upper limit portion (221) and a lower clamping portion (222); a protrusion (23) is provided on the outer wall of the lower clamping portion (222); a notch (24) matching the protrusion (23) is provided on the outer edge of the through hole A; the upper limit portion (221) and the lower clamping portion (222) form a step surface, the step surface abuts against the upper end surface of the first circuit board (2); a convex edge (25) is further provided at the lower portion of the lower clamping portion, and the outer diameter of the convex edge (25) is greater than the outer diameter of the through hole A.

8. The wiring harness arrangement structure in a joint motor with an integrated torque sensor according to claim 7, characterized in that: The upper limit positioning portion (221) is a rubber block, and the horizontal cross-section of the upper limit positioning portion (221) is rectangular or square, and the horizontal cross-section of the lower clamping portion (222) is circular.

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