High-integration-level joint module

Abstract

The high-integration-level joint module comprises a control panel, a motor stator, a motor rotor, a rotating shaft, a planetary reducer and an output disc which are sequentially connected, a shaft hole is formed in the middle of the motor stator, a circle of first silicon steel sheet set is evenly arranged on the side edge of the motor stator, and a second silicon steel sheet set is arranged on the inner wall of the motor rotor; the end where the control panel is located is a kinetic energy input end, and the end where the output disc is located is a kinetic energy output end. The kinetic energy input end of the rotating shaft is connected with the motor rotor, the motor stator and the control panel; the kinetic energy output end of the rotating shaft is connected with the planetary reducer and the output disc. According to the joint module, the integration level of the robot joint module can be remarkably improved, elements such as a controller, an encoder, a brake speed reducer and the like can be integrated, and integration manufacturers can conveniently and rapidly complete robot product development.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a planetary speed reducer with a compact structure, a joint module and a robot thereof. Background Art

[0002] A planetary speed reducer is a speed reducer in which three planetary gears rotate around a sun gear. With the continuous and rapid development of the planetary speed reducer industry, more and more industries and different enterprises are using planetary speed reducers. The main products include planetary gear speed reducers; helical gear - spiral bevel gear speed reducers; spiral bevel gear steering boxes; hard tooth surface helical gear speed reducers; parallel shaft helical gear speed reducers; helical gear - worm gear speed reducers; hard tooth surface industrial gear boxes; continuously variable speed drives; worm gear speed reducers and various series of non-standard speed reducers, etc. It is applicable to industrial sectors such as hoisting and transportation, engineering machinery, metallurgy, mining, petrochemical industry, construction machinery, light industry and textile, medical devices, instruments and meters, automobiles, ships, weapons and aerospace.

[0003] In the existing robot joint modules, the power density and torque density are generally small. They are mainly assembled by robot integrators using standard models of speed reducers and servo motors. Such a design cannot meet the requirements of robots for torque density and power density, and also causes the problem of too low system integration, resulting in certain troubles in system stability and maintainability.

[0004] In the past, robot joints were composed of standard model parts by manufacturers, which could not meet the requirements of high integration, and could not provide sufficient torque density and power density to guarantee the performance of robots. Such a situation would cause problems such as low cycle speed, poor maintainability and poor load capacity of the robot products of integration manufacturers. In some complex applications, sufficient performance cannot be provided. Summary of the Utility Model

[0005] The utility model aims to overcome at least one defect of the above-mentioned existing technologies, and provides a joint module with high integration to achieve the purpose of high integration, small occupied space and volume.

[0006] Specifically, the utility model provides a joint module with high integration, which includes a control board, a motor stator, a motor rotor, a rotating shaft, a planetary speed reducer and an output disk connected in sequence. An axial hole is provided in the middle of the motor stator, and a first group of silicon steel sheets is evenly arranged on the side. A second group of silicon steel sheets is provided on the inner wall of the motor rotor; the end where the control board is located is the kinetic energy input end, and the end where the output disk is located is the kinetic energy output end; the kinetic energy input end of the rotating shaft is connected to the motor rotor, the motor stator and the control board; the kinetic energy output end of the rotating shaft is connected to the planetary speed reducer and the output disk.

[0007] The rotating shaft is both the motor shaft of the motor and the sun gear shaft of the planetary reducer; this design adopts a combination of a brushless motor and a planetary reducer, integrating the two on the same rotating shaft. The sun gear of the planetary reducer is integrated on the motor rotor, improving the torque density and power density of the motor output. By driving the rotation of the rotating shaft, the kinetic energy is reduced in speed through the planetary reducer, and finally the rotation speed of the output disk reaches the expected value.

[0008] Furthermore, the joint module of the present utility model further includes a detection magnet, and the detection magnet is arranged at the kinetic energy input end of the rotating shaft.

[0009] After the rotating shaft penetrates through the motor stator, it extends a small section. A detection magnet is sleeved on the extended small section, and a nut is sleeved outside the detection magnet to realize the connection between the rotating shaft and the motor stator. During the rotation of the rotating shaft, the detection magnet detects the rotation state of the motor.

[0010] In the present utility model, an encoder sensor element is integrated at the kinetic energy input end of the rotating shaft, which can provide angle-related information output for the control board. In addition, the present utility model adopts a brake winding and a brake pin of an electromagnetic brake, which cooperate with the slots between the magnets in the middle of the motor rotor to form an integrated locking brake. It can keep the output position of the joint motor stable when the robot needs to stop rotating, standby or in transportation, without the aging problem caused by the encoder backup battery used in the design of similar products. When the joint is powered on and started up next time, the system can still use the position of the joint motor recorded when shutting down last time.

[0011] Furthermore, the planetary reducer includes a reducer end cover, a planetary gear ring, a planetary carrier, a plurality of planetary gears, and bearings; the plurality of planetary gears are evenly distributed and fixed on the planetary carrier; the rotating shaft penetrates through the planetary carrier and is fixed to the planetary carrier; the planetary gear ring is sleeved outside the planetary carrier and meshes with the planetary gears; the bearing is fitted at the kinetic energy output end of the planetary gear ring; the reducer end cover is sleeved outside the bearing, and the output disk is fixed to the reducer end cover.

[0012] The present utility model selects a relatively large 6707 bearing at the output end of the planetary reducer, which can provide radial and axial supports at the same time. For robot applications, the shafting design outside the robotic arm can be omitted, greatly improving the integration of the system.

[0013] Preferably, there are three groups of planetary gears; each group of planetary gears is installed on the planetary carrier through a fixed shaft; a nut is arranged at the kinetic energy output end of the rotating shaft, and the rotating shaft is fixed to the planetary carrier through the nut.

[0014] Furthermore, three first embedding holes matching the fixed shaft and second embedding holes matching the nut are arranged on the inner side of the output disk.

[0015] Furthermore, the kinetic energy output end of the rotating shaft is in a toothed shape and meshes with the planet gears on its side. The rotating shaft passes through the central axis of the planet carrier, and the planet gears are evenly distributed on the outer periphery of the rotating shaft. In the design of the present utility model, the kinetic energy output end of the rotating shaft is in a toothed shape. When the three planet gears surround it, it can achieve the simultaneous meshing of the three planet gears and the rotating shaft. The gear on the rotating shaft is the sun gear, and finally a mode of the three planet gears surrounding the sun gear and meshing for rotation is formed. Therefore, another inventive point of the present utility model lies in the multi-functional application of the rotating shaft as the motor shaft, the sun gear shaft, and the sun gear, reducing the use of components, further reducing the volume and lowering the cost.

[0016] Furthermore, a plurality of screw fixing posts are provided on the side of the motor stator. A USB interface is provided on one side of the control board, and a plurality of avoidance grooves are provided on the side of the control board. When the control board is installed on the motor stator, the avoidance grooves are attached to the sides of the screw fixing posts. The joint module further includes a front cover, and the front cover is fixed to the motor stator through the screw fixing posts.

[0017] Furthermore, a boss is provided on one side of the screw fixing post, and a threaded hole is provided on the boss. A connection hole matching the threaded hole is provided on the edge of the control board; the threaded hole and the connection hole are fixed by screws.

[0018] Even further, the height of the boss is less than the height of the screw fixing post. A first heat dissipation space is formed between the front cover and the control board, and a second heat dissipation space is formed between the control board and the motor stator.

[0019] Due to the problem of heat generation of the control board, the present utility model cleverly utilizes the space at the kinetic energy input end of the motor stator. Through the design of the height difference between the screw fixing posts and the bosses, after the control board is installed on the bosses, there are heat dissipation spaces on both sides, improving the heat dissipation efficiency.

[0020] Furthermore, the joint module of the present utility model further includes a fixed seat. The power input end of the fixed seat is fixed to the side of the motor stator by screws, and the end face of the power output end of the fixed seat is fixedly connected to the reducer end cover by screws.

[0021] In traditional designs, the motor housing and the reducer housing are generally designed separately and then combined using couplings or other methods. In the solution of the present utility model, the overall housing of the motor of the joint module consists of two parts. One is the housing of the whole machine at the output end, which can also provide a fixed installation function. The other is the integrated motor fixing base, which integrates the fixing base of the motor winding and the housing of the reducer. These two structural components are fastened and locked by special housing locking nuts and screws, and in cooperation with anti-rotation screws, the front and rear covers are axially combined and radially anti-rotated at the same time. Further providing an integrated design of the system can also greatly improve the power density and torque density of the joint module.

[0022] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0023] The joint module of the present utility model can significantly improve the integration degree of the robot joint module, and can integrate components such as controllers, encoders, brakes, and reducers, facilitating the rapid completion of robot product development by integration manufacturers.

[0024] This design reduces redundant connection structures, integrates the input and output on one shaft, greatly improves the stability of torque transmission, and increases the torque density and power density of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an exploded structural schematic diagram of the joint module of the present utility model.

[0026] Figure 2 It is an exploded structural schematic diagram of the planetary reducer of the present utility model.

[0027] Figure 3 It is an assembled structural schematic diagram of the planetary reducer of the present utility model.

[0028] Figure 4 It is an assembled structural schematic diagram of the planetary reducer of the present utility model from another perspective.

[0029] Figure 5 It is a partial exploded structural schematic diagram of the planetary reducer of the present utility model.

[0030] Figure 6 It is a partial exploded structural schematic diagram of the planetary reducer of the present utility model from another perspective.

[0031] Figure 7 It is a partial disassembled structural schematic diagram of the joint module of the present utility model.

[0032] Figure 8 It is a longitudinal sectional schematic diagram of the joint module of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The accompanying drawings in the embodiments are used to describe the technical solutions in the embodiments of the present utility model in more detail. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The described embodiments are some, but not all, of the embodiments of the present utility model. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as a limitation to the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the protection scope of the present utility model. The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0034] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by this application.

[0036] Embodiment 1

[0037] This embodiment provides a highly integrated joint module, which includes a control board 1, a motor stator 2, a motor rotor 3, a rotating shaft 4, a planetary reducer 5, an output disk 6, and a detection magnet 7 connected in sequence. A shaft hole is provided in the middle of the motor stator 2, and a first silicon steel sheet group 10 is evenly provided on the side. A second silicon steel sheet group 20 is provided on the inner wall of the motor rotor 3; the end where the control board 1 is located is the kinetic energy input end, and the end where the output disk 6 is located is the kinetic energy output end; the kinetic energy input end of the rotating shaft 4 is connected to the motor rotor 3, the motor stator 2, and the control board 1; the kinetic energy output end of the rotating shaft 4 is connected to the planetary reducer 5 and the output disk 6; the detection magnet 7 is provided at the kinetic energy input end of the rotating shaft 4.

[0038] After the rotating shaft 4 passes through the motor stator 2, it will extend a small section, and a detection magnet 7 is sleeved on the extended small section, combined with Figures 3 - 4, a nut is sleeved outside the detection magnet 7 to realize the connection between the rotating shaft 4 and the motor stator 2. During the rotation of the rotating shaft 4, the detection magnet 7 detects the rotation state of the motor.

[0039] As Figures 2 - 4 shown, the planetary reducer 5 includes a reducer end cover 51, a planetary gear ring 52, a planet carrier 53, three planetary gears 54, and 6707 bearings 55. One end of the planetary gear ring 52 is also provided with a partition 56; the three planetary gears 54 are evenly distributed and fixed on the planet carrier 53; the rotating shaft 4 passes through the planet carrier 53 and is fixed to the planet carrier 53; the planetary gear ring 52 is sleeved outside the planet carrier 53 and meshes with the planetary gears 54; the bearing 55 is fitted at the kinetic energy output end of the planetary gear ring 52; the reducer end cover 51 is sleeved outside the 6707 bearing 55, and the output disc 6 is fixed to the reducer end cover 51. Combining Figure 5 shown, each group of planetary gears 54 is installed on the planet carrier 53 through a fixed shaft 30; combining Figure 6 shown, a nut 40 is provided at the kinetic energy output end of the rotating shaft 4, and the rotating shaft 4 is fixed to the planet carrier 53 through the nut 40.

[0040] Combining Figure 5 shown, three first embedding holes 50 matching the fixed shaft 30 and a second embedding hole 60 matching the nut 40 are provided inside the output disc 6. The plug-in fixation is realized through the fixed shaft or the nut and the first embedding hole 50 and the second embedding hole 60, and the disassembly and assembly are convenient.

[0041] Combining Figures 5 - 8 shown, the kinetic energy output end of the rotating shaft 4 is in a toothed shape and meshes with the planetary gears 54 on the side. The rotating shaft 4 passes through the central axis of the planet carrier 53, and the planetary gears 54 are evenly distributed on the outer periphery of the rotating shaft 4. In the present invention, the kinetic energy output end of the rotating shaft 4 is designed to be in a toothed shape. When the three planetary gears 54 surround, the three planetary gears 54 can be meshed with the rotating shaft 4 at the same time. The gear on the rotating shaft 4 is the sun gear, and finally a mode of the three planetary gears 54 surrounding and meshing with the sun gear to rotate is formed. Therefore, another inventive point of the present invention lies in the multi-functional application of the rotating shaft 4 as the motor shaft, the sun gear shaft, and the sun gear, reducing the use of parts, further reducing the volume and lowering the cost.

[0042] As Figure 7As shown, a plurality of screw fixing posts 21 are provided on the side of the motor stator 2. A USB interface 11 is provided on one side of the control board 1. A plurality of avoidance grooves 12 are provided on the side of the control board 1. When the control board 1 is mounted on the motor stator 2, the avoidance grooves 12 are in contact with the sides of the screw fixing posts 21. The joint module further includes a front cover 8, and the front cover 8 is fixed to the motor stator 2 through the screw fixing posts 21.

[0043] As Figure 7 shown, a boss 22 is further provided on one side of the screw fixing post 21. A threaded hole is provided on the boss 22, and a connection hole matching the threaded hole is provided on the edge of the control board 1; the threaded hole and the connection hole are fixed by screws. The height of the boss 22 is less than the height of the screw fixing post 21. A first heat dissipation space is formed between the front cover 8 and the control board 1, and a second heat dissipation space is formed between the control board 1 and the motor stator 2.

[0044] Due to the problem of heat generation of the control board 1, the present invention ingeniously utilizes the space at the kinetic energy input end of the motor stator 2. Through the design of the height difference between the screw fixing post 21 and the boss 22, after the control board 1 is mounted on the boss 22, there are heat dissipation spaces on both sides, improving the heat dissipation efficiency.

[0045] Combined Figure 1 and as Figure 7 shown, the joint module of the present invention further includes a fixed seat 9. The power input end of the fixed seat 9 is fixed to the side of the motor stator 2 by screws, and the end face of the power output end of the fixed seat 9 is fixedly connected to the reducer end cover 51 by screws.

[0046] Embodiment 2

[0047] The present invention also provides a robot, including the above planetary reduction gearbox or the above joint module.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention. Those skilled in the art can also make other changes within the spirit of the present invention for use in the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made according to the spirit of the present invention should all be included within the scope of protection required by the present invention.

Claims

1. A highly integrated joint module, characterized in that: The invention comprises a control panel (1), a motor stator (2), a motor rotor (3), a rotating shaft (4), a planetary reducer (5) and an output disk (6) which are connected in sequence, wherein a shaft hole is provided in the middle of the motor stator (2), a circle of first silicon steel sheet groups (10) are evenly provided on the sides, and a second silicon steel sheet group (20) is provided on the inner wall of the motor rotor (3); The end where the control board (1) is located is the kinetic energy input end, and the end where the output disk (6) is located is the kinetic energy output end; the kinetic energy input end of the rotating shaft (4) is connected to the motor rotor (3), the motor stator (2) and the control board (1); the kinetic energy output end of the rotating shaft (4) is connected to the planetary reducer (5) and the output disk (6).

2. The joint module according to claim 1, characterized in that: It also comprises a detection magnet (7), wherein the detection magnet (7) is arranged at the kinetic energy input end of the rotating shaft (4).

3. The joint module according to claim 1, characterized in that: The planetary reducer (5) comprises a reducer end cover (51), a planetary ring gear (52), a planet carrier (53), a plurality of planetary gears (54), and a bearing (55); The plurality of planetary wheels (54) are evenly distributed and fixed on the planetary frame (53); the rotating shaft (4) passes through the planetary frame (53) and is fixed to the planetary frame (53); The planetary gear ring (52) is sleeved on the outer side of the planetary carrier (53) and meshes with the planetary gear (54); the bearing (55) is engaged with the kinetic energy output end of the planetary gear ring (52); the reducer end cover (51) is sleeved on the outer side of the bearing (55), and the output disc (6) is fixed to the reducer end cover (51).

4. The joint module according to claim 3, characterized in that: The planetary gears (54) are in three groups; each group of planetary gears (54) is mounted on the planetary carrier (53) via a fixed shaft (30); a nut (40) is provided at the kinetic energy output end of the rotating shaft (4), and the rotating shaft (4) is fixed to the planetary carrier (53) via the nut (40).

5. The joint module according to claim 4, characterized in that: The inner side of the output disk (6) is provided with three first embedding holes (50) matching the fixed shaft (30) and a second embedding hole (60) matching the nut (40).

6. The joint module according to claim 4, characterized in that: The kinetic energy output end of the rotating shaft (4) is in a meshing shape, and the side edge is meshed with the planetary gear (54).

7. The joint module according to claim 1, characterized in that: The side of the motor stator (2) is provided with a plurality of screw fixing columns (21), one side of the control board (1) is provided with a USB interface (11), and the side of the control board (1) is provided with a plurality of avoidance grooves (12). When the control board (1) is installed on the motor stator (2), the avoidance grooves (12) are in contact with the side of the screw fixing columns (21). The joint module also includes a front cover (8), and the front cover (8) is fixed to the motor stator (2) via the screw fixing columns (21).

8. The joint module according to claim 7, characterized in that: A boss (22) is also provided on one side of the screw fixing column (21), a threaded hole is provided on the boss (22), and a connecting hole matching the threaded hole is provided on the edge of the control panel (1); the threaded hole and the connecting hole are fixed by screws.

9. The joint module according to claim 8, characterized in that: The height of the boss (22) is smaller than the height of the screw fixing column (21); a first heat dissipation space is formed between the front cover (8) and the control board (1); and a second heat dissipation space is formed between the control board (1) and the motor stator (2).

10. The joint module according to claim 3, characterized in that: It also includes a fixing seat (9), the power input end of the fixing seat (9) is fixed to the side of the motor stator (2) by means of screws, and the end surface of the power output end of the fixing seat (9) is fixedly connected to the reducer end cover (51) by means of screws.

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