Large-aperture high-torque joint module integrated with built-in drive

Abstract

The large-aperture high-torque joint module comprises a harmonic reducer body, eight first screws are connected to the inner surface of the harmonic reducer body in a threaded mode and distributed in an annular array mode, the outer surfaces of the eight first screws are connected with an output flange in a threaded mode, and the output flange is connected with the harmonic reducer body in a threaded mode. And the inner surface of the harmonic reducer body is in threaded connection with three second screws, and the second screws are distributed in an annular array. The harmonic reducer body, the motor stator, the electromagnetic brake, the high-speed shaft encoder magnetic ring, the low-speed shaft encoder magnetic ring and the driving plate are integrated into a whole, so that the whole module structure is highly integrated, the high power density of the motor is reserved, at least two thirds of the length of the encoder can be compressed, a large wire passing hole is reserved, and the service life of the motor is prolonged. And the structure is more compact, the torque is higher, the size is flatter, and the device can adapt to various use scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of joint modules, and particularly relates to a large-aperture high-torque joint module with an integrated built-in drive. Background Art

[0002] Robot technology is a disruptive technology that revolutionizes the way of human production and life, and has become a must-compete key technology in the field of science and technology in the world today. Taking the currently popular humanoid robots in the market as an example, there is an urgent need for highly integrated, high-torque, small-sized, and large-threaded-hole joint modules to solve the degree-of-freedom problem, so as to complete high-difficulty actions and achieve the operation purpose.

[0003] However, there are still certain defects in the current market products. For example, in order to meet the size requirements, it is necessary to reduce the power density of the motor, resulting in a smaller actual use torque than the marked parameters. Secondly, the use of a single encoder or a double encoder takes up a large space, and most of them adopt an adhesive installation method, which requires repeated cleaning during disassembly and assembly, increasing the disassembly and assembly time and cost. Content 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 provide a large-aperture high-torque joint module with an integrated built-in drive. By integrating the harmonic reducer body, the motor stator, the electromagnetic brake, the high-speed shaft encoder magnetic ring, the low-speed shaft encoder magnetic ring, and the drive board into one body, the whole module is highly integrated in structure, so that while retaining the high power density of the motor, at least two-thirds of the length of the encoder can be compressed, and a relatively large wire passing hole is retained, the structure is more compact, the torque is higher, the size is flatter, and it can adapt to a variety of use scenarios.

[0005] The utility model also provides a large-aperture high-torque joint module with the above integrated built-in drive, including:

[0006] Harmonic reducer body, the inner surface of the harmonic reducer body is threadedly connected with first screws, the number of the first screws is eight and they are distributed in an annular array, the outer surfaces of the eight first screws are threadedly connected with an output flange, the inner surface of the harmonic reducer body is threadedly connected with second screws, the number of the second screws is three and they are distributed in an annular array, the inner surfaces of the three second screws are threadedly connected with a front end cover, a wave washer is arranged on the inner surface of the front end cover, a first deep groove ball bearing is arranged on the side surface of the wave washer, the outer surfaces of the three second screws are threadedly connected with a motor housing, a motor stator is fixedly connected to the inner surface of the motor housing, a second deep groove ball bearing is fixedly connected to the inner surface of the motor housing, a bearing pressure plate is fixedly connected to the inner side wall of the motor housing, an electromagnetic brake is fixedly connected to the inner side wall of the bearing pressure plate, a third screw is threadedly connected to the inner surface of the electromagnetic brake, the outer surface of the third screw is threadedly connected with a rear end cover, an encoder bushing is arranged on the side inner wall of the rear end cover, a fourth screw is threadedly connected to the inner surface of the encoder bushing, the outer surface of the fourth screw is threadedly connected with a high-speed shaft encoder magnetic ring, a wave generator is fixedly connected to the inner surface of the first deep groove ball bearing, an internal hexagonal flat end set screw is threadedly connected to the inner surface of the encoder bushing, a low-speed shaft encoder magnetic ring is arranged on the inner surface of the high-speed shaft encoder magnetic ring, an encoder cover is arranged on the side surface of the rear end cover, an O-ring is arranged on the inner surface of the encoder cover, a drive plate is fixedly connected to the outer surface of the output flange, a spacer is arranged on the side surface of the second deep groove ball bearing, a motor bushing is fixedly connected to the outer surface of the wave generator, a motor rotor is fixedly connected to the outer surface of the motor bushing, a low-speed bearing is arranged on the outer surface of the output flange, and a fifth screw is threadedly connected to the inner surface of the encoder cover.

[0007] According to the large-aperture high-torque joint module with integrated built-in drive described above, the outer surface of the wave generator is in contact with the first deep groove ball bearing, and the outer surface of the wave generator is in contact with the second deep groove ball bearing.

[0008] According to the large-aperture high-torque joint module with integrated built-in drive described above, the inner surface of the motor stator is in contact with the motor rotor, the number of the fifth screws is eight and they are distributed in an annular array, and the outer surfaces of the eight fifth screws are threadedly connected with the rear end cover.

[0009] According to the large-aperture high-torque joint module with integrated built-in drive described above, the inner surface of the motor housing is in contact with the electromagnetic brake, and the electromagnetic brake is electrically connected to an external power supply.

[0010] According to the large-aperture high-torque joint module with integrated built-in drive described above, the side surface of the rear end cover is in contact with the motor housing.

[0011] According to the large-aperture high-torque joint module with an integrated built-in drive described above, the outer surface of the wave generator is in contact with the socket set screw with flat end.

[0012] According to the large-aperture high-torque joint module with an integrated built-in drive described above, the outer surface of the output flange is in contact with the magnetic ring of the low-speed shaft encoder, and the outer surface of the output flange is in contact with the wave generator.

[0013] According to the large-aperture high-torque joint module with an integrated built-in drive described above, the outer surface of the output flange is in contact with the encoder cover, and the outer surface of the output flange is in contact with the O-ring.

[0014] Additional aspects and advantages of the present utility model will be given in part in the following description, will become apparent in part from the following description, or will be learned through the practice of the present utility model. Description of the Drawings

[0015] The present utility model will be further described below in conjunction with the drawings and embodiments;

[0016] Figure 1 It is a schematic diagram of the overall structure of a large-aperture high-torque joint module with an integrated built-in drive of the present utility model;

[0017] Figure 2 It is a cross-sectional view of the overall structure of a large-aperture high-torque joint module with an integrated built-in drive of the present utility model;

[0018] Figure 3 It is a front view of the overall structure of a large-aperture high-torque joint module with an integrated built-in drive of the present utility model;

[0019] Figure 4 It is a side view of the overall structure of a large-aperture high-torque joint module with an integrated built-in drive of the present utility model.

[0020] Legend Explanation:

[0021] 1. Harmonic reducer body; 2. Front end cover; 3. Output flange; 4. Wave washer; 5. First deep groove ball bearing; 6. Motor stator; 7. Motor housing; 8. Second deep groove ball bearing; 9. Bearing pressure plate; 10. Electromagnetic brake; 11. Rear end cover; 12. Encoder bushing; 13. Magnetic ring of high-speed shaft encoder; 14. Socket set screw with flat end; 15. Magnetic ring of low-speed shaft encoder; 16. Encoder cover; 17. O-ring; 18. Drive plate; 19. Spacer; 20. Motor bushing; 21. Motor rotor; 22. Low-speed bearing; 23. Wave generator; 24. First screw; 25. Second screw; 26. Third screw; 27. Fourth screw; 28. Fifth screw. Detailed Embodiments

[0022] 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 drawings. The function of the drawings is to supplement the description in 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.

[0023] Refer to Figures 1-4, in an embodiment of the present utility model, a large-aperture high-torque joint module with an integrated built-in drive includes: a harmonic reducer body 1. The inner surface of the harmonic reducer body 1 is threadedly connected with eight first screws 24 which are distributed in a circular array. The outer surfaces of the eight first screws 24 are threadedly connected with an output flange 3. The inner surface of the harmonic reducer body 1 is threadedly connected with three second screws 25 which are distributed in a circular array. The inner surfaces of the three second screws 25 are threadedly connected with a front end cover 2. A wave washer 4 is arranged on the inner surface of the front end cover 2. A first deep groove ball bearing 5 is arranged on the side surface of the wave washer 4. The outer surfaces of the three second screws 25 are threadedly connected with a motor housing 7. A motor stator 6 is fixedly connected to the inner surface of the motor housing 7. A second deep groove ball bearing 8 is fixedly connected to the inner surface of the motor housing 7. A bearing pressure plate 9 is fixedly connected to the inner side wall of the motor housing 7. An electromagnetic brake 10 is fixedly connected to the inner side wall of the bearing pressure plate 9. The inner surface of the electromagnetic brake 10 is threadedly connected with a third screw 26. The outer surface of the third screw 26 is threadedly connected with a rear end cover 11. An encoder bushing 12 is arranged on the side inner wall of the rear end cover 11. The inner surface of the encoder bushing 12 is threadedly connected with a fourth screw 27. The outer surface of the fourth screw 27 is threadedly connected with a high-speed shaft encoder magnetic ring 13. A wave generator 23 is fixedly connected to the inner surface of the first deep groove ball bearing 5. An inner hexagon flat end set screw 14 is threadedly connected to the inner surface of the encoder bushing 12. A low-speed shaft encoder magnetic ring 15 is arranged on the inner surface of the high-speed shaft encoder magnetic ring 13. An encoder cover 16 is arranged on the side surface of the rear end cover 11. An O-ring 17 is arranged on the inner surface of the encoder cover 16. A drive plate 18 is fixedly connected to the outer surface of the output flange 3. A spacer 19 is arranged on the side surface of the second deep groove ball bearing 8. A motor sleeve 20 is fixedly connected to the outer surface of the wave generator 23. A motor rotor 21 is fixedly connected to the outer surface of the motor sleeve 20. A low-speed bearing 22 is arranged on the outer surface of the output flange 3. A fifth screw 28 is threadedly connected to the inner surface of the encoder cover 16. The outer surface of the wave generator 23 is in contact with the first deep groove ball bearing 5. The outer surface of the wave generator 23 is in contact with the second deep groove ball bearing 8. The inner surface of the motor stator 6 is in contact with the motor rotor 21. The number of the fifth screws 28 is eight and they are distributed in a circular array. The outer surfaces of the eight fifth screws 28 are threadedly connected with the rear end cover 11. The inner surface of the motor housing 7 is in contact with the electromagnetic brake 10. The electromagnetic brake 10 is electrically connected to an external power supply. The side surface of the rear end cover 11 is in contact with the motor housing 7. The outer surface of the wave generator 23 is in contact with the inner hexagon flat end set screw 14. The outer surface of the output flange 3 is in contact with the low-speed shaft encoder magnetic ring 15. The outer surface of the output flange 3 is in contact with the wave generator 23. The outer surface of the output flange 3 is in contact with the encoder cover 16. The outer surface of the output flange 3 is in contact with the O-ring 17.

[0024] Working principle: During operation, the stator 6 of the motor generates an exciting rotating magnetic field through electromagnetic force to rotate the motor rotor 21, and then transmits the power to the wave generator 23. At this time, the wave generator 23 rotates to drive the harmonic reducer body 1 to rotate at a low speed, and the position signal is fed back to the control device through the real-time rotation of the encoder bushing 12. At the same time, the low-speed bearing 22 adopts bearing seals, which can greatly reduce the sliding friction resistance of the oil seal, making the output efficiency of the motor part higher and the heat generation smaller. Moreover, under the action of the coplanarity of the high-speed shaft encoder magnetic ring 13 and the low-speed shaft encoder magnetic ring 15, the entire module compresses the axial space of the front end cover 2 / output flange 3 compared with the conventional design. And the spatial layout of the first deep groove ball bearing 5 and the second deep groove ball bearing 8 compresses the axial proportion brought by the motor, enabling the motor to have enough space to maintain a high power density, meet the high-torque usage scenario of the harmonic, and be less likely to be damaged in the face of emergencies.

[0025] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the technical field, various changes can be made without departing from the purpose of the present invention.

Claims

1. An integrated built-in drive large-aperture high-torque joint module, characterized in that Comprising: Harmonic reducer body (1), the inner surface of the harmonic reducer body (1) is threadedly connected with first screws (24), the number of the first screws (24) is eight and they are distributed in an annular array, the outer surfaces of the eight first screws (24) are threadedly connected with an output flange (3), the inner surface of the harmonic reducer body (1) is threadedly connected with second screws (25), the number of the second screws (25) is three and they are distributed in an annular array, the inner surfaces of the three second screws (25) are threadedly connected with a front end cover (2), a wave washer (4) is arranged on the inner surface of the front end cover (2), a first deep groove ball bearing (5) is arranged on the side surface of the wave washer (4), the outer surfaces of the three second screws (25) are threadedly connected with a motor housing (7), a motor stator (6) is fixedly connected to the inner surface of the motor housing (7), a second deep groove ball bearing (8) is fixedly connected to the inner surface of the motor housing (7), a bearing pressing plate (9) is fixedly connected to the inner side wall of the motor housing (7), an electromagnetic brake (10) is fixedly connected to the inner side wall of the bearing pressing plate (9), a third screw (26) is threadedly connected to the inner surface of the electromagnetic brake (10), the outer surface of the third screw (26) is threadedly connected with a rear end cover (11), an encoder sleeve (12) is arranged on the side inner wall of the rear end cover (11), a fourth screw (27) is threadedly connected to the inner surface of the encoder sleeve (12), the outer surface of the fourth screw (27) is threadedly connected with a high-speed shaft encoder magnetic ring (13), a wave generator (23) is fixedly connected to the inner surface of the first deep groove ball bearing (5), a hexagon socket flat end set screw (14) is threadedly connected to the inner surface of the encoder sleeve (12), a low-speed shaft encoder magnetic ring (15) is arranged on the inner surface of the high-speed shaft encoder magnetic ring (13), an encoder cover (16) is arranged on the side surface of the rear end cover (11), an O-ring (17) is arranged on the inner surface of the encoder cover (16), a drive plate (18) is fixedly connected to the outer surface of the output flange (3), a spacer ring (19) is arranged on the side surface of the second deep groove ball bearing (8), a motor sleeve (20) is fixedly connected to the outer surface of the wave generator (23), a motor rotor (21) is fixedly connected to the outer surface of the motor sleeve (20), a low-speed bearing (22) is arranged on the outer surface of the output flange (3), and a fifth screw (28) is threadedly connected to the inner surface of the encoder cover (16).

2. The integrated built-in drive large-aperture high-torque joint module according to claim 1, wherein The outer surface of the wave generator (23) is in contact with the first deep groove ball bearing (5), and the outer surface of the wave generator (23) is in contact with the second deep groove ball bearing (8).

3. The large-aperture high-torque joint module with an integrated built-in drive according to claim 1, characterized in that The inner surface of the motor stator (6) is in contact with the motor rotor (21), the number of the fifth screws (28) is eight and they are distributed in an annular array, and the outer surfaces of the eight fifth screws (28) are threadedly connected with the rear end cover (11).

4. An integrated built-in drive large-aperture high-torque joint module according to claim 1, wherein, The inner surface of the motor housing (7) is in contact with the electromagnetic brake (10), and the electromagnetic brake (10) is electrically connected to an external power supply.

5. The integrated built-in drive large-aperture high-torque joint module according to claim 1, wherein The side surface of the rear end cover (11) is in contact with the motor housing (7).

6. The integrated built-in drive large-aperture high-torque joint module according to claim 1, characterized in that, The outer surface of the wave generator (23) is in contact with the socket head cap screw (14).

7. An integrated built-in drive large-aperture high-torque joint module according to claim 1, characterized in that, The outer surface of the output flange (3) is in contact with the low-speed shaft encoder magnetic ring (15), and the outer surface of the output flange (3) is in contact with the wave generator (23).

8. An integrated built-in drive large-aperture high-torque joint module according to claim 1, characterized in that The outer surface of the output flange (3) is in contact with the encoder cover (16), and the outer surface of the output flange (3) is in contact with the O-ring (17).

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