Mounting structure for T-shaped shaft of joint motor

Abstract

The mounting structure comprises a motor, a harmonic reducer and a torque sensor, the T-shaped shaft comprises a middle pipe and a connecting disc which are integrally formed, the connecting disc is arranged at one end of the middle pipe, a through hole communicated with the middle pipe is further formed in the middle of the connecting disc, and the motor is arranged in the middle of the connecting disc. The middle pipe penetrates through the motor, the harmonic reducer and the torque sensor, the torque sensor comprises an inner flange plate and an outer flange plate which are connected through a strain beam, a strain gauge is further arranged on the strain beam, a signal conditioning module is further arranged between the inner flange plate and the outer flange plate, and one end of the middle pipe is fixed to the outer flange plate through a connecting plate; one end of the middle pipe is supported in a rotating shaft of the motor through a bearing bush. Detection errors of output end position information caused by rotation speed difference of inner and outer flange plates of the torque sensor can be avoided, the middle shaft of the T-shaped shaft penetrates through the torque sensor, the harmonic reducer and the motor, and a circuit of the torque sensor can be conveniently connected to a controller.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motor structures, and in particular relates to a mounting structure of a T-shaped shaft for a joint motor. 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 perform corresponding detection of the position and speed of the output end of the joint motor. The output end of the joint motor and the controller component are usually set at both ends of the motor, which is far away and inconvenient to connect the lines. In addition, due to the structure of the torque sensor itself, there is a slight speed difference between the inner and outer rings, which is easy to cause detection errors and is not conducive to the precise control 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 mounting structure for a T-shaped shaft of a joint motor, which is convenient for line connection and can more accurately detect the position information of the output end of the joint motor.

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

[0005] A mounting structure for a T-shaped shaft of a joint motor comprises a motor, a harmonic reducer and a torque sensor, wherein the T-shaped shaft comprises an integrally formed intermediate tube and a connecting plate, wherein the connecting plate is arranged at one end of the intermediate tube, and a through hole communicating with the intermediate tube is also provided in the middle of the connecting plate, wherein the intermediate tube passes through the motor, the harmonic reducer and the torque sensor, and the torque sensor comprises an inner flange and an outer flange connected by a strain beam, wherein a strain gauge is also provided on the strain beam, and a signal conditioning module is also provided between the inner flange and the outer flange, wherein one end of the intermediate tube is fixed to the outer flange by the connecting plate, and one end of the intermediate tube is supported in the rotating shaft of the motor by a bearing.

[0006] As a preferred solution: the end surface of the outer flange is provided with a circle of convex edges near the periphery, and the outer side wall of the connecting plate abuts against the inner wall of the convex edges.

[0007] As a preferred solution: the connection disk is also provided with a wire hole, and the wire of the signal conditioning module passes through the wire hole.

[0008] As a preferred solution: there are multiple strain beams, which are arranged at equal intervals along the circumference, and grooves are provided between adjacent strain beams, and the signal conditioning module is embedded in the grooves.

[0009] As a preferred solution: a sealing ring A is further provided between the intermediate tube and the rotating shaft, and the sealing ring A is located on the outer side of the bearing shell.

[0010] As a preferred solution: the rotating shaft sleeve is arranged outside the middle tube, and a mounting seat for limiting the sealing ring A is also provided at one end of the rotating shaft.

[0011] As a preferred solution: the intermediate pipe passes through the inner flange, and a sealing ring B is provided between the connection between the intermediate pipe and the connecting plate and the inner flange.

[0012] The utility model designs a T-shaped shaft installation structure for a joint motor with a torque sensor. The connecting plate of the T-shaped shaft is fixed to the outer flange of the torque sensor, which can avoid the detection error of the output end position information caused by the slight rotation speed difference between the inner and outer flanges of the torque sensor. At the same time, the middle tube of the T-shaped shaft runs through the torque sensor, the harmonic reducer and the motor, which is convenient for connecting the circuit of the torque sensor to the controller located at the other end of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the torque sensor of the utility model;

[0016] Figure 3 It is a schematic diagram of the cross-sectional structure of the utility model in a joint motor.

[0017] The accompanying drawings are marked as follows: 5, casing; 500, stator core; 6, rotating shaft; 600, rotor core; 60, bearing; 61, mounting seat; 100, sealing ring; 7, intermediate tube; 73, connecting plate; 731, wire outlet hole; 732, sealing ring; 91, inner flange; 92, strain beam; 93, outer flange; 94, groove; 95, signal conditioning module; 96, strain gauge; 97, wire. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0025] like Figure 3 The illustrated installation structure of a T-shaped shaft for a joint motor includes a motor, a harmonic reducer and a torque sensor. The motor includes an end cover, 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 on the rotating shaft 6 and is located inside the stator core 500. The end plate is fixed to one end of the housing 5. The two ends of the rotating shaft 6 are rotatably connected to the end plate and the housing 5 through bearings respectively. 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. A through hole communicating with the intermediate tube 7 is also provided in the middle of the connecting disk. The intermediate tube 7 passes through the motor, the harmonic reducer and the torque sensor.

[0026] like Figure 1 and Figure 2 As shown, the torque sensor includes an inner flange 91 and an outer flange 93 connected by a strain beam 92, a strain gauge 96 is also provided on the strain beam 92, a signal conditioning module 95 is also provided between the inner flange 91 and the outer flange 93, one end of the intermediate tube 7 is fixed to the outer flange 93 through a connecting plate 73, and one end of the intermediate tube 7 is supported in the rotating shaft 6 of the motor through a bearing 60.

[0027] There are multiple strain beams 92, which are arranged at equal intervals along the circumference. A groove 94 is provided between adjacent strain beams 92, and the signal conditioning module 95 is embedded in the groove 94. The end surface of the outer flange 93 is provided with a circle of convex edges near the periphery, and the outer side wall of the connecting plate 73 abuts against the inner wall of the convex edge. The connecting plate 73 is also provided with a wire hole 731, and the wire 97 of the signal conditioning module 95 passes through the wire hole 731.

[0028] The above structure makes the overall structure of the torque sensor compact, and the T-shaped shaft is connected to the end surface of the torque sensor smoothly, which is convenient for connecting the output end of the joint motor to other structures.

[0029] A sealing ring A100 is also provided between the intermediate tube 7 and the rotating shaft 6, and the sealing ring A100 is located outside the bearing bush 60. The rotating shaft 6 is sleeved outside the intermediate tube 7, and a mounting seat 61 for limiting the sealing ring A100 is also provided at one end of the rotating shaft 6. The intermediate tube 7 passes through the inner flange 91, and a sealing ring B732 is also provided between the connection between the intermediate tube 7 and the connecting plate 73 and the inner flange 91.

[0030] Sealing rings are provided at both ends of the T-shaped shaft and between the motor and the torque sensor, respectively, which can prevent oil leakage in the harmonic reducer sandwiched between the motor and the torque sensor, thereby ensuring the stable operation of the joint motor.

[0031] The utility model designs a T-shaped shaft installation structure for a joint motor with a torque sensor. The connecting plate of the T-shaped shaft is fixed to the outer flange of the torque sensor, which can avoid the detection error of the output end position information caused by the slight rotation speed difference between the inner and outer flanges of the torque sensor. At the same time, the middle tube of the T-shaped shaft runs through the torque sensor, the harmonic reducer and the motor, which is convenient for connecting the circuit of the torque sensor to the controller located at the other end of the motor.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", 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 utility model. 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 can be combined in any one or more embodiments or examples in a suitable manner.

[0033] 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 limitations on 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 T-shaped shaft mounting structure for a joint motor, comprising a motor, a harmonic reducer and a torque sensor, characterized in that: The T-shaped shaft comprises an integrally formed intermediate tube (7) and a connecting plate (73), wherein the connecting plate (73) is arranged at one end of the intermediate tube (7), and a through hole communicating with the intermediate tube (7) is also provided in the middle of the connecting plate, wherein the intermediate tube (7) passes through the motor, the harmonic reducer and the torque sensor, wherein the torque sensor comprises an inner flange (91) and an outer flange (93) connected by a strain beam (92), wherein a strain gauge (96) is also provided on the strain beam (92), and a signal conditioning module (95) is also provided between the inner flange (91) and the outer flange (93), wherein one end of the intermediate tube (7) is fixed to the outer flange (93) by the connecting plate (73), and one end of the intermediate tube (7) is supported in the rotating shaft (6) of the motor by a bearing bush (60).

2. The T-shaped shaft installation structure for a joint motor according to claim 1, characterized in that: The end surface of the outer flange (93) is provided with a convex edge near the periphery, and the outer wall of the connecting plate (73) abuts against the inner wall of the convex edge.

3. The T-shaped shaft installation structure for a joint motor according to claim 1, characterized in that: The connection plate (73) is also provided with a wire hole (731), and the wire (97) of the signal conditioning module (95) passes through the wire hole (731).

4. The T-shaped shaft installation structure for a joint motor according to claim 1, characterized in that: There are a plurality of strain beams (92) which are arranged at equal intervals along the circumference; a groove (94) is provided between adjacent strain beams (92); and the signal conditioning module (95) is embedded in the groove (94).

5. The T-shaped shaft installation structure for a joint motor according to claim 1, characterized in that: A sealing ring A (100) is also provided between the intermediate tube (7) and the rotating shaft (6), and the sealing ring A (100) is located outside the bearing bush (60).

6. The installation structure of a T-shaped shaft for a joint motor according to claim 5, characterized in that: The rotating shaft (6) is sleeved outside the intermediate tube (7), and one end of the rotating shaft (6) is also provided with a mounting seat (61) for limiting the position of the sealing ring A (100).

7. The installation structure of a T-shaped shaft for a joint motor according to claim 1, characterized in that: The intermediate pipe (7) passes through the inner flange (91), and a sealing ring B (732) is provided between the connection between the intermediate pipe (7) and the connecting plate (73) and the inner flange (91).

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