Hollow integrated servo joint module structure
Through the hollow integrated servo joint module structure, the central tube and integrated motor are used to solve the problem of volume and weight increase in the prior art, and efficient space utilization and precise control are achieved.
Patent Information
- Application Number
- CN202422402424.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-09-30
AI Technical Summary
The existing servo joint module does not adopt a hollow structure, resulting in the increase in system volume and weight in application scenarios with limited space, and additional space is required to be reserved for lateral wiring.
The hollow integrated servo joint module structure is adopted to reduce external space occupation through the setting of the central tube, and a large reduction ratio and high torque output are achieved using an integrated motor, a harmonic reducer and a coding flange, which ensures stability and safety in combination with the brake.
It effectively reduces the module volume and weight, achieves precise position and speed control, and ensures the stability and safety of the module.
Smart Images
Figure CN223115250U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of hollow integrated servo joint module structures, and specifically relates to a hollow integrated servo joint module structure. Background Technique
[0002] A hollow integrated servo joint module structure is a highly integrated integrated design modular joint, which has various technical characteristics and advantages, and is widely used in multiple fields such as robots and automation equipment. Moreover, the hollow integrated servo joint module structure integrates multiple key components together, reducing the connection and assembly work between components and improving the integrity and reliability of the system.
[0003] Currently, the servo joint modules in the prior art do not adopt a hollow structure and adopt side wiring, which will occupy the external or additional space of the module. This is disadvantageous for application scenarios with limited space. Side wiring requires more space to be reserved around the module to accommodate cables and connectors, which will increase the volume and weight of the entire system. In view of this, we propose a hollow integrated servo joint module structure. Content of the Utility Model
[0004] The main purpose of the utility model is to provide a hollow integrated servo joint module structure, which can solve the problems proposed in the above background technique.
[0005] To achieve the above purpose, the utility model proposes the following technical solutions:
[0006] A hollow integrated servo joint module structure includes a housing. A harmonic reducer is provided below the housing. The harmonic reducer includes a wave generator, a flexspline body, and a circular spline. A central tube is provided inside the housing, and the harmonic reducer is sleeved with an integrated central shaft.
[0007] Preferably, a driver body is provided at the top of the integrated central shaft, and the integrated central shaft is detachably connected to an integrated motor.
[0008] Preferably, a high-speed bearing sleeve and a crossed roller bearing are sleeved outside the integrated central shaft. A brake is embedded in the high-speed bearing sleeve, and an output plate is fixedly connected to the side wall of the crossed roller bearing.
[0009] Preferably, the driver body is detachably connected to a driver flange.
[0010] Preferably, a flexspline end cover is provided above the flexspline body, and the integrated central shaft is sleeved with a low-speed coding flange and a high-speed coding flange.
[0011] Preferably, a square hub, a ball bearing retaining ring, a single-row deep groove ball bearing, and a flexible bearing are sleeved around the outer wall of the integrated central shaft. Through the setting of the central tube, the extra occupied space outside the module is effectively reduced, and at the same time, the overall module is made more aesthetically pleasing. Also, the overall volume and weight of the module are reduced. Moreover, with the integrated motor as the main power source, rotational power is generated through electromagnetic induction. Then, the rotational power of the integrated motor is transmitted to the entire servo joint module through the integrated central shaft. Next, through the interaction of the flexspline body, the circular spline, and the wave generator in the harmonic reducer, a large reduction ratio and high torque output are achieved. The rotational power of the integrated motor is further transmitted to the servo joint module through the output plate. Then, the position and speed of the rotating shaft are monitored in real time through the low-speed coding flange and the high-speed coding flange, and this information is fed back to the driver body. The driver body adjusts the output of the integrated motor according to the feedback signal to eliminate errors, thereby achieving precise position and speed control. Secondly, when it is necessary to stop the rotating shaft, the brake will quickly engage, thus ensuring the stability and safety of the servo joint module.
[0012] The present utility model provides a hollow integrated servo joint module structure, which has the following beneficial effects:
[0013] (1) Through the setting of the central tube, the extra occupied space outside the module can be effectively reduced, and at the same time, the overall module is made more aesthetically pleasing. Also, the overall volume and weight of the module are reduced.
[0014] (2) With the integrated motor as the main power source, rotational power is generated through electromagnetic induction. Then, the rotational power of the integrated motor is transmitted to the entire servo joint module through the integrated central shaft. Next, through the interaction of the flexspline body, the circular spline, and the wave generator in the harmonic reducer, a large reduction ratio and high torque output are achieved. The rotational power of the integrated motor is further transmitted to the servo joint module through the output plate. Then, the position and speed of the rotating shaft are monitored in real time through the low-speed coding flange and the high-speed coding flange, and this information is fed back to the driver body. The driver body adjusts the output of the integrated motor according to the feedback signal to eliminate errors, thereby achieving precise position and speed control. Secondly, when it is necessary to stop the rotating shaft, the brake will quickly engage, thus ensuring the stability and safety of the servo joint module. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.
[0016] Figure 1 This is the overall three-dimensional structure diagram of the present utility model;
[0017] Figure 2 This is the exploded structure diagram of the present utility model;
[0018] Figure 3 This is the overall sectional structure diagram of the present utility model.
[0019] In the figure: 1. Outer shell; 2. Flexspline end cover; 3. Flexspline body; 4. Crossed roller bearing; 5. Rigid gear; 6. Output plate; 7. Driver body; 8. Low-speed coding flange; 9. High-speed coding flange; 10. Driver flange; 11. High-speed bearing sleeve; 12. Brake; 13. Square hub; 14. Integrated motor; 15. Ball bearing retaining ring; 16. Single-row deep groove ball bearing; 17. Flexible bearing; 18. Integrated central shaft; 19. Central tube; 20. Harmonic reducer.
[0020] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments
[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0022] Please refer to Figures 1 - 3 , the present utility model provides a hollow integrated servo joint module structure, including an outer shell 1, a harmonic reducer 20 is provided below the outer shell 1, the harmonic reducer 20 includes a wave generator, a flexspline body 3, and a rigid gear 5, a central tube 19 is provided inside the outer shell 1, and the harmonic reducer 20 is sleeved with an integrated central shaft 18.
[0023] In the embodiment of the present utility model, in order to enable the hollow integrated servo joint module structure to operate better, specifically, a driver body 7 is provided at the top of the integrated central shaft 18, the integrated central shaft 18 is detachably connected to an integrated motor 14, a high-speed bearing sleeve 11 and a crossed roller bearing 4 are sleeved outside the integrated central shaft 18, a brake 12 is embedded in the high-speed bearing sleeve 11, an output plate 6 is fixedly connected to the side wall of the crossed roller bearing 4, the driver body 7 is detachably connected to a driver flange 10, a flexspline end cover 2 is provided above the flexspline body 3, and a low-speed coding flange 8 and a high-speed coding flange 9 are sleeved on the integrated central shaft 18.
[0024] Furthermore, a square hub 13, a ball bearing retaining ring 15, a single-row deep groove ball bearing 16 and a flexible bearing 17 are sleeved around the outer wall of the integrated central shaft 18. Through the arrangement of the central tube 19, the extra occupied space outside the module is effectively reduced, and at the same time, the overall module is made more aesthetic. At the same time, the volume and weight of the overall module are also reduced. And with the integrated motor 14 as the main power source, rotational power is generated through electromagnetic induction. Then, the rotational power of the integrated motor 14 is transmitted to the entire servo joint module through the integrated central shaft 18. Then, through the interaction of the flexible gear body 3, the steel gear 5 and the wave generator in the harmonic reducer 20, a large reduction ratio and high torque output are achieved. The rotational power of the integrated motor 14 is further transmitted to the servo joint module through the output plate 6. Then, the position and speed of the rotating shaft are monitored in real time through the low-speed coding flange 8 and the high-speed coding flange 9, and this information is fed back to the driver body 7. The driver body 7 adjusts the output of the integrated motor 14 according to the feedback signal to eliminate errors, so as to achieve precise position and speed control. Secondly, when it is necessary to stop the rotating shaft, the brake 12 will quickly engage, thus ensuring the stability and safety of the servo joint module.
[0025] In the present utility model, during use, with the integrated motor 14 as the main power source, rotational power is generated through electromagnetic induction. Then, the rotational power of the integrated motor 14 is transmitted to the entire servo joint module through the integrated central shaft 18. Then, through the interaction of the flexible gear body 3, the steel gear 5 and the wave generator in the harmonic reducer 20, a large reduction ratio and high torque output are achieved. The rotational power of the integrated motor 14 is further transmitted to the servo joint module through the output plate 6. Then, the position and speed of the rotating shaft are monitored in real time through the low-speed coding flange 8 and the high-speed coding flange 9, and this information is fed back to the driver body 7. The driver body 7 adjusts the output of the integrated motor 14 according to the feedback signal to eliminate errors, so as to achieve precise position and speed control. Secondly, when it is necessary to stop the rotating shaft, the brake 12 will quickly engage, thus ensuring the stability and safety of the servo joint module.
[0026] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. All equivalent structural transformations made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present utility model.
Claims
1. A hollow integrated servo joint module structure, including a housing (1), characterized in that: A harmonic reducer (20) is provided below the housing (1). The harmonic reducer (20) includes a wave generator, a flexspline body (3), and a circular spline (5). A central tube (19) is provided inside the housing (1). The harmonic reducer (20) is sleeved with a one-piece central shaft (18).
2. The hollow integrated servo joint module structure according to claim 1, wherein: A driver body (7) is provided at the top of the one-piece central shaft (18). The one-piece central shaft (18) is detachably connected to a one-piece motor (14).
3. The hollow integrated servo joint module structure according to claim 1, wherein: A high-speed bearing sleeve (11) and a crossed roller bearing (4) are sleeved outside the one-piece central shaft (18). A brake (12) is embedded in the high-speed bearing sleeve (11). An output plate (6) is fixedly connected to the side wall of the crossed roller bearing (4).
4. The hollow integrated servo joint module structure according to claim 2, wherein: The driver body (7) is detachably connected to a driver flange (10).
5. The hollow integrated servo joint module structure according to claim 1, wherein: A flexspline end cover (2) is provided above the flexspline body (3). The one-piece central shaft (18) is sleeved with a low-speed coding flange (8) and a high-speed coding flange (9).
6. The hollow integrated servo joint module structure according to claim 1, wherein: A square hub (13), a ball bearing retaining ring (15), a single-row deep groove ball bearing (16), and a flexible bearing (17) are sleeved around the outer wall of the one-piece central shaft (18).