Servo joint module and transmission device

Abstract

The utility model belongs to the technical field of joint driving, and discloses a servo joint module and a transmission device. The servo joint module comprises a shell, a rotor, a stator, a harmonic reducer and a transmission assembly. The rotor is rotationally connected in the shell and is provided with a motor shaft; the stator is arranged in the rotor, the motor shaft penetrates through the stator, and a mounting space is formed between the outer side wall of the motor shaft and the inner side wall of the stator; the harmonic reducer is embedded in the mounting space, and the motor shaft is inserted into the harmonic reducer; the transmission assembly is arranged on the shell and connected with the harmonic reducer. Therefore, when the servo joint module is used, the length of the motor shaft does not depend on the sum of the length of the stator or the rotor and the length of the harmonic reducer any more, and only needs to be designed according to the length of the harmonic reducer, so that the length of the motor shaft is reduced, and the overall size of the servo joint module is reduced; and the assembly error between the motor shaft and the harmonic reducer can be reduced, so that the transmission precision is improved and the torque output is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of joint drive, in particular to a servo joint module and a transmission device. Background Art

[0002] The servo joint module integrates multiple structures such as a motor, a sensor, a speed reducer, etc. into one body, which is responsible for providing power, reducing the rotational speed and increasing the torque, measuring the rotational angle of the output shaft, and achieving precise motion control.

[0003] In the prior art, the servo joint module includes an outer rotor, a stator, a motor shaft, and a harmonic speed reducer. Among them, the motor shaft is fixedly connected to the outer rotor, and the motor shaft needs to extend out of the stator and be inserted into the harmonic speed reducer to ensure a stable and effective connection with the harmonic speed reducer.

[0004] However, the harmonic speed reducer and the stator are arranged in sequence along the axial direction of the motor shaft. Then, the motor shaft needs to be relatively long to be inserted into the specified depth in the harmonic speed reducer for transmission. The longer the motor shaft is, the larger the size of the entire servo joint module will be, and the greater the assembly error between it and the harmonic speed reducer will be, resulting in poor transmission accuracy and reduced torque output of the entire servo joint module. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a servo joint module and a transmission device, which solve the problems in the prior art that the overall size of the servo joint module is relatively large, the transmission accuracy is relatively low, and the torque output is reduced due to the too long motor shaft.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The present application provides a servo joint module, which includes:

[0008] A housing;

[0009] A rotor, rotatably connected in the housing, and the rotor has a motor shaft;

[0010] A stator, arranged in the rotor, the motor shaft passes through the stator, and an installation space is formed between the outer side wall of the motor shaft and the inner side wall of the stator;

[0011] A harmonic speed reducer, embedded in the installation space, and the motor shaft is inserted into the harmonic speed reducer;

[0012] And a transmission component, arranged on the housing and connected to the harmonic speed reducer.

[0013] Optionally, the harmonic speed reducer includes:

[0014] A steel wheel, nested inside the stator;

[0015] The flexspline is nested inside the rigid spline and partially extends out of the installation space;

[0016] And a wave generator is arranged on the motor shaft, located inside the flexspline and capable of abutting against the inner side of the flexspline.

[0017] Optionally, the transmission assembly includes:

[0018] A transmission connecting sleeve is sleeved on one end of the flexspline extending out of the installation space;

[0019] And a transmission flange is fixedly connected to the transmission connecting sleeve.

[0020] Optionally, the servo joint module further includes:

[0021] A circuit board is arranged in the housing;

[0022] And a heat dissipation cover is arranged on the housing and covers the circuit board.

[0023] Optionally, a heat conducting part is filled between the circuit board and the heat dissipation cover.

[0024] Optionally, the servo joint module further includes:

[0025] A temperature detector is arranged on the circuit board for detecting the temperatures of various components.

[0026] Optionally, the servo joint module further includes:

[0027] An encoder head is arranged at the middle part of the circuit board and corresponds to an encoder disk, and the encoder head is arranged away from the heat generating elements of the circuit board.

[0028] Optionally, the heat dissipation cover has a plurality of through holes, and the circuit board has a plurality of functional sockets corresponding to the through holes.

[0029] Optionally, the servo joint module further includes:

[0030] A wire passing tube is penetrated through the motor shaft and the transmission assembly and has a wire passing cavity for wires to pass through.

[0031] In a second aspect, the present application further provides a transmission device, which includes:

[0032] An actuating element;

[0033] And a servo joint module as described in any one of the first aspect, which is connected to the actuating element.

[0034] Advantageous effects of the present utility model:

[0035] In a first aspect, by forming an installation space inside the stator and embedding the harmonic reducer in the installation space, at least partial overlap is formed between the harmonic reducer and the stator. Then, the length of the motor shaft only needs to meet the length of the harmonic reducer to ensure that the motor shaft can be inserted into the harmonic reducer, ensuring that the motor shaft can form an effective and stable connection with the harmonic reducer. In this way, when the servo joint module is in use, the length of the motor shaft no longer depends on the sum of the lengths of the stator or rotor and the harmonic reducer, but only needs to be designed according to the length of the harmonic reducer, reducing the length of the motor shaft. Thus, while reducing the overall size of the servo joint module, it can also reduce the assembly error between the motor shaft and the harmonic reducer, thereby improving the transmission accuracy and increasing the torque output.

[0036] In a second aspect, when the transmission device is in use, it can use the power transmitted by the servo joint module to drive the actuator to act. The transmission accuracy of the servo joint module is relatively high, and the space occupied is relatively small. Thus, while efficiently driving the actuator to act, it can also reduce the size of the transmission device. Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of the servo joint module from the first perspective in an embodiment of the present utility model;

[0038] Figure 2 is a sectional view of the structure of the servo joint module in an embodiment of the present utility model;

[0039] Figure 3 is a schematic structural diagram of the servo joint module from the second perspective in an embodiment of the present utility model.

[0040] In the figure:

[0041] 1. Housing; 11. First bearing; 12. Installation part; 13. Second bearing; 14. Circuit mounting board;

[0042] 2. Rotor; 21. Motor shaft;

[0043] 3. Stator;

[0044] 4. Harmonic reducer; 41. Steel wheel; 42. Flexspline; 43. Wave generator; 44. Oil seal cover; 45. Flexspline bearing; 46. Flexspline gland;

[0045] 5. Transmission assembly; 51. Transmission connecting sleeve; 52. Transmission flange; 53. Crossed roller bearing; 54. Compression ring;

[0046] 6. Circuit board; 61. Function socket;

[0047] 7. Heat dissipation cover;

[0048] 8. Cable conduit. Detailed implementation mode

[0049] The present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the sake of description, only the parts related to the present utility model are shown in the drawings, rather than all the structures.

[0050] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0051] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on the top" of the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "below", and "under the bottom" of the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0052] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left", and "right" are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0053] The embodiments of the present application disclose a servo joint module and a transmission device.

[0054] Refer to Figures 1 to 3, the servo joint module includes a housing 1, a rotor 2, a stator 3, a harmonic reducer 4, and a transmission component 5. The rotor 2 is rotatably connected within the housing 1, and the rotor 2 has a motor shaft 21; the stator 3 is disposed within the rotor 2, the motor shaft 21 passes through the stator 3, and an installation space is formed between the outer sidewall of the motor shaft 21 and the inner sidewall of the stator 3; the harmonic reducer 4 is embedded within the installation space, and the motor shaft 21 is inserted into the harmonic reducer 4; the transmission component 5 is disposed on the housing 1 and connected to the harmonic reducer 4.

[0055] Specifically, the interior of the housing 1 is hollow, the rotor 2 is disposed inside the housing 1, a motor shaft 21 is integrally formed in the middle of the rotor 2, a stator 3 is disposed between the rotor 2 and the motor shaft 21, and an installation portion 12 extends from the inner sidewall in the middle of the housing 1, and the stator 3 is disposed on the installation portion 12. An installation space is formed between the stator 3 and the motor shaft 21, and the harmonic reducer 4 is embedded within the installation space. The harmonic reducer 4 can be entirely embedded within the installation space or partially embedded within the installation space, and the transmission component 5 can be correspondingly disposed according to the embedding situation of the harmonic reducer 4.

[0056] By forming an installation space inside the stator 3 and embedding the harmonic reducer 4 within the installation space, at least partial overlap is formed between the harmonic reducer 4 and the stator 3. Then, the length of the motor shaft 21 only needs to satisfy the length of the harmonic reducer 4 to ensure that the motor shaft 21 can be inserted into the harmonic reducer 4 and ensure that the motor shaft 21 can form an effective and stable connection with the harmonic reducer 4. Thus, when this servo joint module is in use, the length of the motor shaft 21 no longer depends on the sum of the lengths of the stator 3 or the rotor 2 and the harmonic reducer 4, but only needs to be designed according to the length of the harmonic reducer 4, so that the length of the motor shaft 21 is reduced. Thereby, while reducing the overall size of the servo joint module, the assembly error between the motor shaft 21 and the harmonic reducer 4 can also be reduced, thereby improving the transmission accuracy and increasing the torque output.

[0057] Optionally, the harmonic reducer 4 includes a steel gear 41, a flexible gear 42, and a wave generator 43. The steel gear 41 is nested inside the stator 3; the flexible gear 42 is nested inside the steel gear 41 and partially extends out of the installation space; the wave generator 43 is disposed on the motor shaft 21 and is located inside the flexible gear 42 and can abut against the inner side of the flexible gear 42.

[0058] Specifically, the steel gear 41 is disposed inside the stator 3, and the height of the steel gear 41 is less than the height of the stator 3. On the upper side of the steel gear 41, a plurality of oil seal covers 44 connected by bolts are arranged in a ring, and the inner side of the oil seal cover 44 is connected to the motor shaft 21 through a first bearing 11. On the lower side of the steel gear 41, it is fixedly connected to the installation portion 12 through bolts.

[0059] The flexspline 42 is located inside the circular spline 41. The flexspline 42 extends along the axis of the motor shaft 21 and protrudes out of the installation space to facilitate adaptation to the transmission assembly 5. A flexspline bearing 45 is provided at a position inside the flexspline 42 corresponding to the circular spline 41. A wave generator 43 is provided inside the flexspline bearing 45. The wave generator 43 uses a cam. Snap rings are respectively provided on the upper and lower sides of the wave generator 43. A waveform spring is also provided between the snap ring on the lower side and the wave generator 43 to adjust the installation clearance of the wave generator 43.

[0060] By providing the circular spline 41 inside the stator 3, the flexspline 42 that protrudes out of the installation space inside the circular spline 41, and the wave generator 43 at the corresponding position, the harmonic reducer 4 can be partially embedded in the installation space, and the wave generator 43 is provided corresponding to the circular spline 41. Since the size of the circular spline 41 is small, the motor shaft 21 only needs to pass through the wave generator 43 to achieve the deceleration of the harmonic generator 43, thereby effectively reducing the length of the motor shaft 21.

[0061] Optionally, the transmission assembly 5 includes a transmission connection sleeve 51 and a transmission flange 52. The transmission connection sleeve 51 is sleeved on one end of the flexspline 42 that protrudes out of the installation space; the transmission flange 52 is fixedly connected to the transmission connection sleeve 51.

[0062] Specifically, the transmission connection sleeve 51 is sleeved on the outer side of the flexspline 42. A crossed roller bearing 53 is provided between the outer side wall of the transmission connection sleeve 51 and the inner side wall of the housing 1. The connection flange is arranged opposite to the flexspline 42, and its edge part is fixedly connected to the transmission connection sleeve 51 by bolts. The connection flange is correspondingly attached to the inner ring of the crossed roller bearing 53. A pressing ring 54 is further provided on the outer side of the transmission flange 52. The pressing ring 54 presses against the outer ring of the crossed roller bearing 53 and is fixedly connected to the housing 1. The fixing method can be bolt connection, welding or bonding, etc.

[0063] By sleeving the transmission connection sleeve 51 on the outer side wall of the flexspline 42, the transmission connection sleeve 51 is also located inside the housing 1. By providing the connection flange at a position opposite to the flexspline 42, the connection flange can be arranged as close as possible to the housing 1, thereby further reducing the size of the servo joint module. At the same time, the extending direction of the transmission connection sleeve 51 is perpendicular to the transmission flange 52, ensuring an effective and stable connection between the transmission connection sleeve 51 and the transmission flange 52. The setting of the transmission flange 52 can provide sufficient space for connection with the actuator, ensuring a stable connection between the servo joint module and the actuator, which is beneficial to improving the stability of transmission.

[0064] A second bearing 13 is provided at one end where the motor shaft 21 passes through the wave generator 43. A flexspline gland 46 is sleeved outside the second bearing 13, and the flexspline gland 46 is connected to one end of the flexspline 42 close to the output flange. In this way, by limiting the end of the motor shaft 21 far from the rotor 2, the stability of the motor shaft 21 during rotation is ensured, and at the same time, the flexspline 42 can also be limited to ensure the installation stability of the flexspline 42.

[0065] Optionally, the servo joint module further includes a circuit board 6 and a heat dissipation cover 7. The circuit board 6 is disposed in the housing 1, and the heat dissipation cover 7 is disposed on the housing 1 and covers the circuit board 6.

[0066] Specifically, a circuit mounting board 14 is provided on the end face of the housing 1, the circuit board 6 is provided on the circuit mounting board 14, and heat generating components such as chips are provided on the circuit board 6. A heat dissipation cover 7 is sleeved outside the circuit board 6. The heat dissipation cover 7 is made of a metal material, or can also be made of other materials with a relatively high thermal conductivity.

[0067] By covering the heat dissipation cover 7 outside the circuit board 6, the heat generated by the heat generating components on the circuit board 6 can be quickly transferred to the heat dissipation cover 7 and diffused outward, so as to reduce the possibility of damage to the components due to heat concentration on the circuit board 6.

[0068] Optionally, a heat conducting part is filled between the circuit board 6 and the heat dissipation cover 7.

[0069] Specifically, a recess is provided at the position on the circuit board 6 corresponding to the installation of the heat generating components, so that a gap is formed between the heat generating components and the heat dissipation cover 7. A heat conducting silicone grease is filled in the gap as the heat conducting part to improve the heat conduction efficiency between the heat generating components and the heat dissipation cover 7.

[0070] It should be understood that the recess can be made only at the position corresponding to the heat generating components, and then the heat conducting part is filled only corresponding to the installation position of the heat generating components. The recess can also be made in the corresponding area of the circuit board 6, and then the heat conducting part is filled corresponding to the whole area of a certain area of the circuit board 6. The heat conducting part can also be filled integrally between the circuit board 6 and the heat dissipation cover 7. Specifically, it can be designed according to the actual heat dissipation requirements.

[0071] Optionally, the servo joint module further includes a temperature detector. The temperature detector is disposed on the circuit board 6 to detect the temperature of each component.

[0072] Specifically, only one temperature detector may be provided, or one may be provided for each heating element, and a temperature detector may also be provided for each pyrophilic element, which refers to an element that is susceptible to temperature changes and its normal operation. The temperature detection element may be connected to the controller for communication, and a rated temperature may be set in the controller. When a certain temperature detected by the temperature detection element exceeds the rated temperature, the controller may control the heating element of the circuit board 6 to enter a low power state and send out an alarm signal, or directly stop the power supply of the circuit board 6 to avoid damage to the element caused by continuous temperature increase.

[0073] Optionally, the servo joint module further includes an encoder reader, which is disposed in the middle of the circuit board 6 and corresponds to the encoder code disc, and is disposed away from the heating element of the circuit board 6 .

[0074] Specifically, a single-channel magnetic encoder reader is arranged on the circuit board 6 to support multi-turn counting, and the heating elements on the circuit board 6 are all arranged at a position away from the encoder reader, thereby reducing the rate of heat transfer to the encoder reader and reducing the possibility of continuous increase in the temperature of the encoder reader, thereby ensuring that the encoder reader can perform high-precision data acquisition.

[0075] Optionally, the heat dissipation cover 7 has a plurality of through holes, and the circuit board 6 has a plurality of functional sockets 61 corresponding to the through holes.

[0076] Specifically, a plurality of through holes are formed on the end surface of the heat dissipation cover 7, and a plurality of functional sockets 61 can be reserved on the circuit board 6 according to the requirements. The functional sockets 61 can include torque sensor sockets, bus communication control sockets, etc. The number and type of specific functional interfaces can be reserved according to the actual requirements. A cover can also be inserted at the through hole to close the through hole and improve the dustproof performance of the heat dissipation cover 7.

[0077] By reserving through holes and functional sockets 61, users can easily expand functions so that the servo joint module can be adapted to a variety of scenarios, effectively improving the adaptability of the servo joint module.

[0078] Optionally, the servo joint module further comprises a wire passing tube 8. The wire passing tube 8 is arranged through the motor shaft 21 and the transmission assembly 5 and has a wire passing cavity for the line to pass through.

[0079] Specifically, the wire passing tube 8 is arranged throughout the entire shell 1, one end of which corresponds to the wire threading hole in the middle of the heat dissipation cover 7, and the other end passes through the transmission flange 52. One end of the wire passing tube 8 that passes through the transmission flange 52 is bent outward and clamped to the transmission flange 52, forming a wire passing cavity inside the wire passing tube 8.

[0080] By arranging the wire conduit 8 through the housing, all the wires to be connected can pass through the wire conduit 8 for layout, so that there is no need to reserve space for the wires outside the housing 1, further reducing the space occupation. At the same time, the wire conduit 8 can also restrain the wires and reduce the possibility of entanglement of multiple wires.

[0081] The transmission device includes an actuator and a servo joint module as in the above embodiment. The servo joint module is connected to the actuator.

[0082] When in use, the transmission device can drive the actuator to act by using the power transmitted by the servo joint module. The transmission accuracy of the servo joint module is relatively high and the space occupation is small, so that while efficiently driving the actuator to act, the size of the transmission device can also be reduced.

[0083] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. Servo joint module, characterized in that: include: Housing (1); A rotor (2) rotatably connected in the housing (1), wherein the rotor (2) has a motor shaft (21); A stator (3) is arranged in the rotor (2), the motor shaft (21) passes through the stator (3), and an installation space is formed between the outer wall of the motor shaft (21) and the inner wall of the stator (3); A harmonic reducer (4) is embedded in the installation space, and the motor shaft (21) is inserted into the harmonic reducer (4); and, A transmission assembly (5) is arranged on the housing (1) and connected to the harmonic reducer (4).

2. The servo joint module according to claim 1, characterized in that: The harmonic reducer (4) comprises: A steel wheel (41) is nested inside the stator (3); A flexible wheel (42) is nested inside the steel wheel (41) and partially extends out of the installation space; And, a wave generator (43) is arranged on the motor shaft (21) and is located inside the flexible wheel (42) and can abut against the inside of the flexible wheel (42).

3. The servo joint module according to claim 2, characterized in that: The transmission assembly (5) comprises: A transmission connection sleeve (51) is sleeved on one end of the flexible wheel (42) extending out of the installation space; And, a transmission flange (52) is fixedly connected to the transmission connecting sleeve (51).

4. The servo joint module according to any one of claims 1 to 3, characterized in that: The servo joint module also includes: A circuit board (6) is arranged on the housing (1); And, a heat dissipation cover (7) is arranged on the housing (1) and covers the circuit board (6).

5. The servo joint module according to claim 4, characterized in that: A heat-conducting portion is filled between the circuit board (6) and the heat dissipation cover (7).

6. The servo joint module according to claim 4, characterized in that: The servo joint module also includes: A temperature detector is arranged on the circuit board (6) to detect the temperature of each component.

7. The servo joint module according to claim 4, characterized in that: The servo joint module also includes: An encoder reader is arranged in the middle of the circuit board (6) and corresponds to the encoder code disc, and the encoder reader is arranged away from the heating element of the circuit board (6).

8. The servo joint module according to claim 4, characterized in that: The heat dissipation cover (7) has a plurality of through holes, and the circuit board (6) has a plurality of functional sockets (61) corresponding to the through holes.

9. The servo joint module according to any one of claims 1 to 3, characterized in that: The servo joint module also includes: A wire passing tube (8) is provided through the motor shaft (21) and the transmission assembly (5) and has a wire passing cavity for the wire to pass through.

10. A transmission device, characterized in that: include: Actuator; And, the servo joint module according to any one of claims 1 to 9 is connected to the actuator.

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