Lightweight large-aperture joint module

Abstract

The utility model discloses a light-weight large-aperture joint module which comprises a protective cover and a hollow wire passing pipe, the protective cover is fixedly connected with a motor casing, the motor casing is respectively provided with a motor front end cover, a rear bearing pressing plate, a position sensor, a rear bearing and a stator coil, the motor casing is fixedly connected with a bearing seat, and the bearing seat is fixedly connected with the hollow wire passing pipe. And the side surface of the bearing seat is fixedly connected with a mechanical oil retainer. Through the arrangement of the structure, a traditional module type speed reducer is abandoned, an ultra-short cup type with the larger meshing pitch circle diameter is adopted under the condition of the same output torque, and therefore the weight of module accessories is reduced, and in addition, due to the fact that gears with the larger meshing pitch circle diameter are adopted for meshing, a hollow wire passing hole can be made to be larger, and the size of the hollow wire passing hole is reduced. The whole device is more harmonious, passing of multiple wire harnesses of the robot is greatly facilitated, abrasion and dragging when the cable passes through the rotation axis do not need to be worried about, and then damage to the cable is avoided.

Description

Technical Field

[0001] The utility model relates to the field of robot accessories, in particular to a lightweight large-aperture joint module. Background Art

[0002] With the increasingly hot future market of humanoid robots, many domestic enterprises are developing humanoid biped robots. Based on the characteristics of humanoid biped standing, the lightweight design of the whole body, especially the upper limbs and waist, is extremely important. For the joint module, it is necessary to overcome the remaining torque after driving the load (limb) gravity moment to enable the robot to walk dynamically.

[0003] In the prior art, the structural form of traditional collaborative robots cannot meet the extreme lightweight requirements of humanoid robots. Moreover, humanoid robots have many joints and require a considerable number of control cables. If they cannot pass through the axis of rotation of the joint module, when routing the cables externally, the cable lengths required at different angles will be inconsistent. In severe cases, the cables will be worn or even torn. Therefore, a lightweight large-aperture joint module is needed. Summary of the Utility Model

[0004] The purpose of the utility model is to solve at least one of the technical problems existing in the prior art, and to provide a lightweight large-aperture joint module. Through the setting of the above structure, the traditional module form reducer is abandoned, and a super-short cup type with a larger pitch diameter of the meshing pitch circle is adopted under the condition of the same output torque, thereby reducing the weight of the module accessories. Moreover, due to the use of gears with a larger pitch diameter of the meshing pitch circle, the hollow wire passing hole can be made larger, which not only makes the whole more coordinated, but also greatly facilitates the passing of multiple wire harnesses of the robot. There is no need to worry about wear and dragging when the cable passes through the axis of rotation, thereby avoiding damage to the cable.

[0005] The utility model also provides the above-mentioned lightweight large-aperture joint module, including a protective cover and a hollow wire-passing tube, the protective cover is fixedly connected to a motor casing, the motor casing is respectively provided with a motor front end cover, a rear bearing pressure plate, a position sensor, a rear bearing and a stator coil, the motor casing is fixedly connected to a bearing seat, the side surface of the bearing seat is fixedly connected to a mechanical oil retaining ring, the bearing seat is respectively fixedly connected to a cross roller bearing and a rigid inner gear ring, the cross roller bearing is fixedly connected to an output flange, the output flange is provided with a front bearing pressure plate, and the output method The inner surface of the flange is threadedly connected with a fastening screw, the outer surfaces of the fastening screw are respectively threadedly connected with a washer and a flexible gear, the inner surface of the mechanical oil retaining ring is provided with an adjusting screw, the front end cover of the motor is fixedly connected with a front bearing, the rear bearing and the front bearing are fixedly connected with the same rotor shaft, the rotor shaft is respectively provided with a transition sleeve, a rotor sleeve and an elliptical cam, the rotor sleeve is provided with a rotor yoke, the transition sleeve is fixedly connected with a code disk, the elliptical cam is respectively provided with an oil-proof bearing and a flexible bearing, the protective cover is provided with a protective bearing, and this scheme abandons The traditional modular reducer adopts an ultra-short cup type with a larger meshing pitch diameter under the same output torque conditions. The axial size of the single reducer is shortened from the original 34 mm to 24 mm, and the outer diameter is maintained at 116 mm. The weight of the whole machine is one-third lighter than before. In addition, the gear meshing with a larger meshing pitch diameter is adopted, so that the hollow wire hole can be made larger, and the output of the cup-type flexible wheel is more stable, and the output end runout size is easier to guarantee. At the same time, the structure is innovatively designed with bearing preload adjustment, which can be adjusted accordingly according to different load conditions and different required speed occasions. , ensuring that the bearing balls will not slide relative to the raceway and collide at high speed and high frequency due to the gyro effect during operation, thereby extending the service life of the entire machine. This structure is extremely convenient to use in waist and hip joints. It has a shorter length and an extra-large aperture, which is not only more coordinated as a whole, but also greatly facilitates the passage of multiple wiring harnesses in the robot, and there is no need to worry about wear and drag when the cables pass through the rotating axis. This product adopts an extremely lightweight design, weighing only 2.3 kg in a volume of φ116x90.5 mm, with a rated torque of 133 N.m and a peak torque of 194 N.m.

[0006] According to the lightweight large-aperture joint module, the hollow wire-passing tube is provided with a step, and the outer surface of the hollow wire-passing tube is respectively fixedly connected to the protective bearing and the oil-proof bearing.

[0007] According to the lightweight large-aperture joint module, the inner surface of the protective cover is in contact with a position sensor, and the position sensor is electrically connected to an external power source.

[0008] According to the lightweight large-aperture joint module described above, the side surface of the washer is in contact with the flexible gear. Under the action of the washer, it can prevent the end face of the flexible gear from being damaged when the fastening screw is tightened.

[0009] According to the lightweight large-aperture joint module described above, the side surface of the front end cover of the motor is in contact with the rigid internal gear ring.

[0010] According to the lightweight large-aperture joint module described above, the side surface of the mechanical oil baffle ring is in contact with the crossed roller bearing, and the side surface of the bearing seat is in contact with the rigid internal gear ring.

[0011] According to the lightweight large-aperture joint module described above, the side surface of the elliptical cam is in contact with the bearing seat.

[0012] Additional aspects and advantages of the present utility model will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present utility model will be further described below in conjunction with the drawings and embodiments;

[0014] Figure 1 is the overall structure diagram of a lightweight large-aperture joint module of the present utility model;

[0015] Figure 2 is the structural schematic diagram of the bearing seat part of a lightweight large-aperture joint module of the present utility model;

[0016] Figure 3 is the structural schematic diagram of the cross-section part of the hollow wire passing tube of a lightweight large-aperture joint module of the present utility model;

[0017] Figure 4 is the structural schematic diagram of the protective cover part of a lightweight large-aperture joint module of the present utility model.

[0018] Legend Explanation:

[0019] 1. Protective cover; 2. Adjusting screw; 3. Hollow wire passing tube; 4. Washer; 5. Fastening screw; 6. Output flange; 7. Front bearing pressure plate; 8. Mechanical oil baffle ring; 9. Crossed roller bearing; 10. Bearing seat; 11. Rigid internal gear ring; 12. Front end cover of the motor; 13. Motor housing; 14. Flexible gear; 15. Rear bearing pressure plate; 16. Position sensor; 17. Code disk; 18. Transition sleeve; 19. Rear bearing; 20. Rotor shaft; 21. Rotor sheath; 22. Rotor yoke; 23. Stator coil; 24. Protective bearing; 25. Oil-proof bearing; 26. Flexible bearing; 27. Elliptical cam; 28. Front bearing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The function of the accompanying drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present utility model. However, it should not be construed as a limitation on the protection scope of the present utility model.

[0021] Referring to Figures 1-4 , an embodiment of the present utility model is a lightweight large-aperture joint module, which includes a protective cover 1 and a hollow wire passing tube 3. A motor housing 13 is fixedly connected to the protective cover 1. A motor front end cover 12, a rear bearing pressure plate 15, a position sensor 16, a rear bearing 19, and a stator coil 23 are respectively arranged on the motor housing 13. A bearing seat 10 is fixedly connected to the motor housing 13. A mechanical oil baffle ring 8 is fixedly connected to the side surface of the bearing seat 10. A crossed roller bearing 9 and a rigid internal gear ring 11 are respectively fixedly connected to the bearing seat 10. An output flange 6 is fixedly connected to the crossed roller bearing 9. A front bearing pressure plate 7 is arranged on the output flange 6. A fastening screw 5 is threadedly connected to the inner surface of the output flange 6. A washer 4 and a flexible gear 14 are respectively threadedly connected to the outer surface of the fastening screw 5. An adjusting screw 2 is arranged on the inner surface of the mechanical oil baffle ring 8. A front bearing 28 is fixedly connected to the motor front end cover 12. The rear bearing 19 and the front bearing 28 are fixedly connected to the same rotor shaft 20. A transition sleeve 18, a rotor sheath 21, and an elliptical cam 27 are respectively arranged on the rotor shaft 20. A rotor yoke 22 is arranged on the rotor sheath 21. A code disk 17 is fixedly connected to the transition sleeve 18. An oil-proof bearing 25 and a flexible bearing 26 are respectively arranged on the elliptical cam 27. A protective bearing 24 is arranged on the protective cover 1. The inner surface of the protective cover 1 is in contact with the position sensor 16. The position sensor 16 is electrically connected to an external power source. The side surface of the washer 4 is in contact with the flexible gear 14. The side surface of the motor front end cover 12 is in contact with the rigid internal gear ring 11. The side surface of the mechanical oil baffle ring 8 is in contact with the crossed roller bearing 9. The side surface of the bearing seat 10 is in contact with the rigid internal gear ring 11. The side surface of the elliptical cam 27 is in contact with the bearing seat 10. The hollow wire passing tube 3 is provided with a step. The outer surface of the hollow wire passing tube 3 is respectively fixedly connected to the protective bearing 24 and the oil-proof bearing 25.

[0022] Working principle: When the joint module receives the position instruction from the driver, the real-time position of the code disk 17 can be read through the position sensor 16 and fed back to the driver. The driver outputs the command current to the stator coil 23 through the PID regulator. The stator coil 23 generates a corresponding magnetic field intensity and magnetic field rotation speed to perform electromagnetic force coupling with the rotor yoke 22, so that the rotor yoke 22 rotates and drives the rotor shaft 20 to rotate, and then a certain torque is generated. When the rotor shaft 20 rotates, it can synchronously drive the elliptical cam 27 to rotate. The rotation of the elliptical cam 27 will cause continuous deformation of the flexible bearing 26, and the amplitude will change sinusoidally with time in the orthogonal coordinate system. The flexible gear 14 will synchronously deform due to the deformation of the flexible bearing 26. The flexible gear 14 has two fewer teeth than the rigid internal gear ring 11. When the flexible bearing 26 rotates one circle along the circumference, the flexible gear 14 will rotate two teeth along the circumference. Since the axial clearance of the deep groove ball bearing is 7-8 times the radial clearance, if no preloading is applied, the motor will generate a large noise during self-rotation. This product adjusts the axial position of the hollow conduit 3 through the adjusting screw 2 to achieve axial preloading of the overall shafting such as the rotor shaft 20, and can improve the positioning accuracy of the position sensor 16 from the mechanical structure and extend the service life of the product.

[0023] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art in the said technical field, various changes can also be made without departing from the gist of the present invention.

Claims

1. A lightweight large-aperture joint module, characterized in that, Including: A protective cover (1) and a hollow cable passing pipe (3), a motor housing (13) is fixedly connected to the protective cover (1), a motor front end cover (12), a rear bearing pressure plate (15), a position sensor (16), a rear bearing (19) and a stator coil (23) are respectively arranged on the motor housing (13), a bearing seat (10) is fixedly connected to the motor housing (13), a mechanical oil baffle ring (8) is fixedly connected to the side surface of the bearing seat (10), a crossed roller bearing (9) and a rigid internal gear ring (11) are respectively fixedly connected to the bearing seat (10), an output flange (6) is fixedly connected to the crossed roller bearing (9), a front bearing pressure plate (7) is arranged on the output flange (6), a fastening screw (5) is threadedly connected to the inner surface of the output flange (6), a washer (4) and a flexible gear (14) are respectively threadedly connected to the outer surface of the fastening screw (5), an adjusting screw (2) is arranged on the inner surface of the mechanical oil baffle ring (8), a front bearing (28) is fixedly connected to the motor front end cover (12), the rear bearing (19) and the front bearing (28) are fixedly connected to the same rotor shaft (20), a transition sleeve (18), a rotor sheath (21) and an elliptical cam (27) are respectively arranged on the rotor shaft (20), a rotor yoke (22) is arranged on the rotor sheath (21), a code disk (17) is fixedly connected to the transition sleeve (18), an oil-proof bearing (25) and a flexible bearing (26) are respectively arranged on the elliptical cam (27), and a protective bearing (24) is arranged on the protective cover (1).

2. The lightweight large-aperture joint module according to claim 1, wherein A step is arranged on the hollow cable passing pipe (3), and the outer surface of the hollow cable passing pipe (3) is respectively fixedly connected to the protective bearing (24) and the oil-proof bearing (25).

3. The lightweight large-aperture joint module according to claim 1, wherein The inner surface of the protective cover (1) is in contact with the position sensor (16), and the position sensor (16) is electrically connected to an external power supply.

4. A lightweight large-aperture joint module according to claim 1, characterized in that, The side surface of the washer (4) is in contact with the flexible gear (14).

5. The lightweight large-aperture joint module according to claim 1, characterized in that The side surface of the motor front end cover (12) is in contact with the rigid internal gear ring (11).

6. The lightweight large-aperture joint module according to claim 1, wherein The side surface of the mechanical oil baffle ring (8) is in contact with the crossed roller bearing (9), and the side surface of the bearing seat (10) is in contact with the rigid internal gear ring (11).

7. A lightweight large-aperture joint module according to claim 1, wherein, The side surface of the elliptical cam (27) is in contact with the bearing seat (10).

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