Joint module and robot with same

Abstract

The utility model provides a joint module and a robot with the same. The joint module comprises a motor, the motor comprises a rotor and a motor shaft, and the rotor is arranged on the motor shaft in a sleeving mode; the harmonic reducer comprises a wave generator and a reducer shaft, the reducer shaft is sleeved with the wave generator, the axis of the reducer shaft coincides with the axis of the motor shaft, and the reducer shaft is detachably connected with the motor shaft. According to the technical scheme, the problem that in the prior art, a robot joint is inconvenient to disassemble and assemble is solved.

Description

Technical Field

[0001] The utility model relates to the field of robots, and particularly provides a joint module and a robot with the same. Background Art

[0002] With the rapid development of the robot industry, collaborative robots have been applied to various industries in society at present, and the market demand for robots is also increasing day by day. Collaborative robots are currently mainly used in the 3C and automotive industries, and are gradually promoted in industries such as the service industry and medical devices. With the progress of technology and the improvement of people's living standards, the demand for collaborative robots will be larger and larger in the future, and the requirements for their performance will also be higher and higher. In the related technology of robots, moving parts such as joints of robots play an important and crucial role in robot control.

[0003] Most of the robot joints in the prior art adopt the technical route of motor + reducer + encoder + brake, and multiple components are integrated into a module. It is precisely because the joint module integrates too many components, especially the motor and reducer structures that play a major transmission role are relatively complex. Often, when one component has a problem, the whole needs to be disassembled and installed, resulting in difficult maintenance of the joint.

[0004] Therefore, a new technical solution is needed in this field to solve the above problems. Summary of the Utility Model

[0005] In order to solve the problem that the robot joints in the prior art are not convenient for disassembly and installation, the utility model provides a joint module. The joint module includes: a motor, the motor includes a rotor and a motor shaft, and the rotor is sleeved on the motor shaft; a harmonic reducer, the harmonic reducer includes a wave generator and a reducer shaft, the wave generator is sleeved on the reducer shaft, the axis of the reducer shaft coincides with the axis of the motor shaft, and the reducer shaft is detachably connected to the motor shaft.

[0006] The utility model uses a motor and a harmonic reducer matched with the motor as the main transmission components, wherein the motor includes a rotor and the harmonic reducer includes a wave generator. The rotor is sleeved on the motor shaft, the wave generator is sleeved on the reducer shaft, and the motor shaft and the reducer shaft are detachably connected. When the joint module needs to be repaired, only the corresponding reducer part or the motor part needs to be disassembled and then installed back in place, overcoming the problem that the joint module in the prior art is not convenient for disassembly and installation. In addition, the axes of the reducer shaft and the motor shaft coincide, enabling the rotor to rotate synchronously with the wave generator, and then reducing the speed through other components of the reducer to drive the robot.

[0007] In the preferred technical solution of the above joint module, the reducer shaft includes a housing wall, the housing wall includes a circumferential wall and side walls extending between the circumferential walls, the wave generator is sleeved on the circumferential wall, and the side walls are detachably connected to the motor shaft. Through the above arrangement, the side walls are connected to the motor shaft, so that the space occupied in the radial direction at the connection is small, improving the integration of the joint to meet the requirements of a miniaturized joint.

[0008] In the preferred technical solution of the above joint module, the reducer further includes a first chamber, the first chamber has an opening formed in the housing wall, and the opening faces the side wall. Through the above arrangement, the connecting member between the side wall and the motor shaft can be installed in the first chamber, further reducing the occupation of the external space of the rotating shaft and improving the integration of the joint to meet the requirements of a miniaturized joint. The opening faces the side wall, which is convenient for processing and suitable for other components to pass through.

[0009] In the preferred technical solution of the above joint module, the harmonic reducer further includes a rigid gear and a flexible gear. The flexible gear is sleeved on the radial outer side of the wave generator, the rigid gear is sleeved on the radial outer side of the flexible gear, and the rigid gear includes an output portion for outputting driving force. The output portion is arranged at one end of the reducer shaft opposite to the motor shaft. Through the above arrangement, the output portion of the harmonic reducer is arranged on one side of the reducer shaft opposite to the motor shaft, so that the robot limb connected to the joint assembly is opposite to the motor, which is convenient for the layout of electronic devices inside the robot.

[0010] In the preferred technical solution of the above joint module, the joint module further includes an encoder, and the encoder is arranged at one end of the motor shaft opposite to the reducer shaft. Through the above arrangement of the joint, the robot limb connected to the joint assembly is opposite to the encoder, which is convenient for the layout of electronic devices inside the robot.

[0011] In the preferred technical solution of the above joint module, the harmonic reducer further includes an output shaft. The output shaft includes a fixed end and an induction end opposite to each other. The fixed end is fixedly connected to the output portion, and the induction end forms a magnetic induction with the encoder. A second chamber is provided inside the motor shaft, and the output shaft extends through the first chamber and the second chamber. Through the above arrangement, the fixed end is fixedly connected to the output portion, so that the fixed end and the output portion rotate synchronously. At the same time, the induction end forms a magnetic induction with the encoder, enabling the encoder to obtain data such as the rotational speed of the output portion in real time, so as to facilitate the adjustment of the motor speed control. Through the arrangement of the first chamber and the second chamber, it is more convenient for the encoder to obtain the rotational speed of the output portion, and it does not occupy other spaces inside the housing of the joint assembly, improving the integration of the joint to meet the requirements of a miniaturized joint.

[0012] In the preferred technical solution of the above joint module, the joint module further includes a joint housing, and the motor shaft is rotatably connected to the joint housing through a first bearing set. Through the above arrangement, the rotating shaft, that is, the overall formed by the motor shaft and the reducer shaft, is supported in the joint housing by the first bearing set, thereby realizing rotation.

[0013] In the preferred technical solution of the above joint module, the rigid gear is rotatably connected to the reducer shaft through a second bearing set. Through the above arrangement, the second bearing set forms a support at the rigid gear, improving the anti-overturning ability of the rotating shaft.

[0014] In the preferred technical solution of the above joint module, the rotor includes a rotor winding and an installation groove, and the installation groove is arranged on the radially inner side of the rotor winding; the joint module further includes a brake, the brake is sleeved on the outside of the motor shaft and at least part of the brake is accommodated in the installation groove. Through the above arrangement, the brake is accommodated in the installation groove, reducing the axial dimension of the joint module and improving the space utilization rate.

[0015] To solve the problem that the robot joints in the prior art are not convenient for disassembly and installation, the present utility model also provides a robot. The robot of the present utility model includes the joint module described in any one of the above preferred technical solutions. Through the arrangement of the joint module, the maintenance efficiency of the robot at the joints is higher. Description of the Drawings

[0016] The following describes the preferred embodiments of the present utility model with reference to the drawings, in which:

[0017] Figure 1 is a cross-sectional view of an embodiment of the joint module of the present utility model.

[0018] List of Reference Numerals:

[0019] 100, joint module; 10, joint housing; 11, partition; 20, motor; 21, stator; 22, rotor; 221, rotor bracket; 2211, installation groove; 222, rotor winding; 23, motor shaft; 231, first bearing set; 232, second chamber; 30, harmonic reducer; 31, rigid gear; 311, output part; 32, flexible gear; 33, wave generator; 34, reducer shaft; 341, housing wall; 3411, circumferential wall; 3412, side wall; 34121, through hole; 342, first chamber; 3421, opening; 343, second bearing set; 35, output shaft; 351, fixed end; 352, induction end; 40, brake; 50, cross roller bearing; 51, outer ring; 52, inner ring; 60, encoder. Detailed Embodiments

[0020] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present utility model and are not intended to limit the protection scope of the present utility model.

[0021] It should be noted that in the description of the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] In addition, it should also be noted that in the description of the present utility model, unless otherwise clearly specified and limited, the terms "arranged" and "connected" 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 directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0023] To solve the problem that the robot joints in the prior art are not convenient for disassembly and installation, the present utility model provides a joint module. The joint module 100 includes: a motor 20, the motor 20 includes a rotor 22 and a motor shaft 23, and the rotor 22 is sleeved on the motor shaft 23; a harmonic reducer 30, the harmonic reducer 30 includes a wave generator 33 and a reducer shaft 34, the wave generator 33 is sleeved on the reducer shaft 34, the axis of the reducer shaft 34 coincides with the axis of the motor shaft 23, and the reducer shaft 34 is detachably connected to the motor shaft 23.

[0024] Figure 1 is a cross-sectional view of an embodiment of the joint module of the present utility model. As Figure 1 shown, the joint module 100 of the present utility model includes a joint housing 10, a motor 20 and a harmonic reducer 30.

[0025] In one or more embodiments, the motor 20 includes a stator 21, a rotor 22, and a motor shaft 23 disposed within the joint housing 10. The stator 21 forms a fixed connection with the joint housing 10. The rotor 22 is disposed radially inside the stator 21 and sleeved on the motor shaft 23. Alternatively, the rotor 22 and the stator 21 may also be configured in other structures according to actual situations. For example, the stator 21 is disposed radially inside the rotor 22. In one or more embodiments, the rotor 22 includes a rotor bracket 221 and a rotor winding 222 fixed to the rotor bracket 221. The rotor bracket 221 is sleeved on the motor shaft 23. The connection manner between the rotor bracket 221 and the motor shaft 23 includes but is not limited to integral molding, screwing, clamping, etc. When the rotor 22 rotates under magnetic drive, the motor shaft 23 rotates together with the rotor 22 at the same rotational speed. In one or more embodiments, the joint housing 10 includes a partition portion 11 for spacing apart partial structures of the motor 20 and the harmonic reducer 30. The motor shaft 23 is rotatably connected to the partition portion 11 through a first bearing set 231. Exemplarily, the first bearing set 231 is configured as a double-row deep groove ball bearing. Alternatively, the first bearing set 231 may also be disposed at other suitable positions between the motor shaft 23 and the joint housing 10.

[0026] Continue to refer to Figure 1 , in one or more embodiments, the rotor bracket 221 is provided with a mounting groove 2211, and the mounting groove 2211 is disposed radially inside the rotor winding 222. The joint module 100 further includes a brake 40, and at least a part of the brake 40 is received in the mounting groove 2211. When the rotor 22 and the motor shaft 23 need to decelerate, the braking component of the brake 40 clamps the motor shaft 23 inward to provide frictional force. The brake 40 includes but is not limited to an electromagnetic brake 40, etc. Alternatively, the setting of the mounting groove 2211 may also be cancelled, and instead, the brake 40 is mounted at other suitable positions of the joint module 100.

[0027] In one or more embodiments, a second chamber 232 is formed inside the motor shaft 23, which can provide a passage space for the sensing device of the joint module 100 or implement other functions. Alternatively, the setting of the second chamber 232 may also be cancelled according to actual needs.

[0028] Continue to refer to Figure 1 , in one or more embodiments, the harmonic reducer 30 is disposed on one side of the motor 20 and is spaced apart by the partition portion 11. The harmonic reducer 30 includes a rigid gear 31, a flexible gear 32, a wave generator 33, and a reducer shaft 34. The reducer shaft 34 is detachably connected to the motor shaft 23, and the connection manner includes but is not limited to screwing, clamping, etc. The axes of the reducer shaft 34 and the motor shaft 23 coincide so as to rotate at the same rotational speed, thereby outputting the rotational speed of the rotor 22 through the harmonic reducer 30 as a driving force that can drive the robot limb.

[0029] In one or more embodiments, the reducer shaft 34 includes a housing wall 341 and a first chamber 342 formed within the housing wall 341. The housing wall 341 includes a circumferential wall 3411 and side walls 3412 extending between the circumferential walls 3411. The wave generator 33 is sleeved on the outer side of the circumferential wall 3411. The side walls 3412 are detachably connected to the motor shaft 23. Through holes 34121 are provided in the side walls 3412 for threaded fasteners that fix the side walls 3412 and the motor shaft 23 together. Alternatively, the side walls 3412 can also be fixed to the motor shaft 23 by other suitable means. In an alternative embodiment, the reducer shaft 34 is fixed to the motor shaft 23 through the circumferential wall 3411. Exemplarily, the circumferential wall 3411 can be sleeved on the outer side of the motor shaft 23 and screwed or pinned. In one or more embodiments, the first chamber 342 has an opening 3421 formed in the housing wall 341. The opening 3421 is opposite to the side walls 3412 and is for fasteners that fix the side walls 3412 and the motor shaft 23 together. Alternatively, the opening 3421 can also be formed at other suitable positions on the housing wall 341.

[0030] In one or more embodiments, the flexspline 32 is sleeved on the radially outer side of the wave generator 33, and the rigid spline 31 is sleeved on the radially outer side of the flexspline 32. The rigid spline 31 includes an output portion 311 for outputting driving force. Exemplarily, the output portion 311 can be configured as a flange for connecting to a limb of the robot. Alternatively, the wave generator 33 can also be configured to output driving force to the flexspline 32 according to actual situations. In one or more embodiments, the output portion 311 is provided at one end of the reducer shaft 34 opposite to the motor shaft 23, so that the output portion 311 is located at one end of the whole formed by the motor shaft 23 and the reducer shaft 34, facilitating the output portion 311 to control other limb parts of the robot, and at the same time hiding components such as the motor 20 in the torso of the robot, facilitating the integration of the controllers and wire harnesses of multiple components in the torso. Alternatively, the output portion 311 can also be provided at other suitable positions of the joint module 100 according to actual needs.

[0031] Continue to refer to Figure 1 , in one or more embodiments, the harmonic reducer 30 further includes an output shaft 35. The output shaft 35 includes a fixed end 351 and a sensing end 352. The fixed end 351 forms a fixed connection with the side of the output portion 311 facing the reducer shaft 34, so as to rotate synchronously with the output portion to reflect parameters such as the rotational speed of the output portion. The sensing end 352 is provided with a sensing magnet for transmitting parameter information such as rotational speed to other sensors through magnetic induction. In one or more embodiments, the sensing end 352 extends through the first chamber 342 and the second chamber 232. Alternatively, the sensing end 352 can also be provided at other suitable positions of the joint module 100.

[0032] In one or more embodiments, a rotational connection is formed between the rigid gear 31 and the reducer shaft 34 through the second bearing set 343. The second bearing set 343 and the first bearing set 231 together support the rotation of the overall structure formed by the motor shaft 23 and the reducer shaft 34, improving the anti-overturning ability. Alternatively, the second bearing set 343 can be omitted.

[0033] In one or more embodiments, the harmonic reducer 30 further includes a cross roller bearing 50. The cross roller bearing 50 includes an outer ring 51 and an inner ring 52. Among them, the inner ring 52 is fixedly connected to the rigid gear 31, and the outer ring 51 is fixedly connected to the joint housing 10. Through the arrangement of the cross roller bearing 50, the rigid gear 31 outputs driving force and further improves the stability of the harmonic reducer 30. Alternatively, the cross roller bearing 50 can be omitted, and the driving force output of the rigid gear 31 can be realized through other structures.

[0034] In one or more embodiments, the joint module 100 further includes an encoder 60. The encoder 60 is used to control the rotational speed, torque, etc. of the motor 20. The encoder 60 is arranged on the side of the motor shaft 23 opposite to the reducer shaft 34 to facilitate controlling the magnetic field change of the rotor 22 or the stator 21. In one or more embodiments, the induction end 352 extends through the first chamber 342 and the second chamber 232 and forms a magnetic induction with the encoder 60 arranged at one end of the motor shaft 23, so that the encoder 60 can obtain the rotational speed of the current output part 311 and control the motor 20 to adjust the rotational speed, torque, etc. based on this rotational speed in combination with the instructions in the robot controller.

[0035] The present utility model also provides a robot, which includes the above-mentioned joint module 100. The robot of the present utility model can be any suitable robot, including but not limited to industrial robots, humanoid robots, etc.

[0036] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present utility model.

Claims

1. A joint module, characterized in that: The joint module comprises: A motor, the motor comprising a rotor and a motor shaft, the rotor being sleeved on the motor shaft; and A harmonic reducer comprises a wave generator and a reducer shaft, wherein the wave generator is sleeved on the reducer shaft, the axis of the reducer shaft coincides with the axis of the motor shaft, and the reducer shaft is detachably connected to the motor shaft.

2. The joint module according to claim 1, characterized in that: The reducer shaft comprises a shell wall, the shell wall comprises a circumferential wall and a side wall extending between the circumferential walls, the wave generator is sleeved on the circumferential wall, and the side wall is detachably connected to the motor shaft.

3. The joint module according to claim 2, characterized in that: The speed reducer further includes a first chamber having an opening formed on the housing wall, the opening being opposite to the side wall.

4. The joint module according to claim 3, characterized in that: The harmonic reducer also includes a rigid wheel and a flexible wheel, the flexible wheel is sleeved on the radial outside of the wave generator, the rigid wheel is sleeved on the radial outside of the flexible wheel and the rigid wheel includes an output part for outputting driving force, and the output part is arranged at the end of the reducer shaft opposite to the motor shaft.

5. The joint module according to claim 4, characterized in that: The joint module also includes an encoder, which is arranged at an end of the motor shaft opposite to the reducer shaft.

6. The joint module according to claim 5, characterized in that: The harmonic reducer further comprises an output shaft, wherein the output shaft comprises a fixed end and a sensing end opposite to each other, wherein the fixed end is fixedly connected to the output part, and the sensing end forms a magnetic induction with the encoder; A second cavity is disposed inside the motor shaft, and the output shaft extends through the first cavity and the second cavity.

7. The joint module according to claim 4, characterized in that: The joint module also includes a joint housing, and the motor shaft and the joint housing are rotationally connected via a first bearing group.

8. The joint module according to claim 7, characterized in that: The rigid wheel is rotationally connected to the reducer shaft via a second bearing set.

9. The joint module according to claim 1, characterized in that: The rotor comprises a rotor winding and a mounting groove, wherein the mounting groove is arranged radially inward of the rotor winding; The joint module also includes a brake, which is sleeved on the outside of the motor shaft and at least part of the brake is accommodated in the installation groove.

10. A robot, characterized in that: The robot comprises a joint module according to any one of claims 1-9.

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