Integrated servo joint module
By adopting the design of steel wheels, flexible wheels and fixed protective components in the servo joint module, the problem of twisting and damage of the conductor is solved, and the orderly fixing and sealing protection of the conductor is achieved, and the stability and reliability of the servo joint are improved.
Patent Information
- Application Number
- CN202422403417.4
- 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
During the movement of existing modular joints, the wires are easily twisted and caused damage or fall off, affecting the stability and reliability of the device.
An integrated servo joint module is designed, using steel wheel and flexible wheel structure, combined with fixed protective components to ensure orderly fixing of the wires, adjust the speed by elastic deformation, and seal the lubricating oil through an oil seal to prevent pollutants from entering.
Improve the stability and reliability of the servo joints, prevent wires from being damaged and falling off, and ensure efficient operation and long life of the system.
Smart Images
Figure CN223115251U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of servo joint modules, and particularly to an integrated servo joint module. Background Art
[0002] Joints are important components of robots. Different specifications of joints can be used to build different robot configurations as needed, such as robotic arms and biped robots. A joint mainly consists of a driving motor and a reducer. The driving motor provides power, and under the action of the reducer, the power is output to drive the actuator of the robot to move. With the development of mechatronics, robot components are developing towards the direction of being lightweight, integrated, intelligent, and systematic.
[0003] Currently, modular joints are the core components of reconfigurable modular robotic arms. Modular joints can be mainly divided into two categories according to the wiring method: external wiring type and hollow internal wiring type. The external wiring type is not modular enough, with a large number of wires, easy to get tangled, and not aesthetically pleasing. Therefore, in recent years, modular joints have been developing towards the hollow internal wiring direction. In the existing technology, the output shaft is set as a hollow structure, and wiring is carried out using the hollow output shaft. However, during the movement of the joint, the two ends of the wire may be twisted, resulting in the wire being straightened, which may cause damage or detachment of the wire, affecting the use of the device. Summary of the Utility Model
[0004] The main purpose of the utility model is to provide an integrated servo joint module, which can solve the problems raised in the above background art.
[0005] To achieve the above purpose, the utility model proposes the following technical solutions:
[0006] Integrated servo joint module, including a housing, a cover body is detachably connected to the upper side of the housing, the middle part of the cover body is penetrated by a wire pipe, a wire pipe bearing is sleeved on the outer wall of the wire pipe, a circuit board mounting plate is fixedly connected to the inner wall of the cover body, a circuit board is fixedly connected to the upper side of the circuit board mounting plate, a code disk, a motor rotor assembly and a motor stator are arranged inside the housing, an outer ring pressing ring is fixedly connected to one end of the housing away from the cover body by bolts; an output flange is fixedly connected to the rotor of the motor rotor assembly; the code disk is sleeved on the outer wall of the wire pipe, the motor stator is fixedly connected to the inner wall of the housing, a steel wheel is arranged inside the motor stator, the steel wheel is inlaid on the outer wall of a rotating sleeve, a flexspline is inlaid on the inner surface of the rotating sleeve, an oil seal cover is fixedly connected to the outer wall of the rotating sleeve. The steel wheel, as a rigid support and transmission component in the servo joint, has characteristics such as high strength, high rigidity and wear resistance, and can withstand large loads and impact forces to ensure the stability and reliability of the servo joint. The flexspline mainly plays a role in transmission and speed reduction. It uses its own elastic deformation to transmit power and adjust the speed, enabling the servo joint to achieve precise position control and speed regulation. The oil seal cover is mainly used to seal the lubricating oil inside the servo joint to prevent oil leakage and entry of external pollutants. Motor shaft bearings I and II are arranged inside the housing, and both motor shaft bearings I and II are sleeved on the outer wall of the wire pipe, and motor shaft bearing I is arranged above motor shaft bearing II.
[0007] Preferably, a fixed protection component is arranged inside the wire pipe, and a sliding groove is opened on the inner wall of the wire pipe. By using the fixed protection component, the wires can be fixed, and the wires can be fixed orderly for convenient wiring and pipe arrangement work. At the same time, after the wires are fixed, loosening and falling off caused by external factors such as vibration and impact can be reduced, thereby improving the stability and reliability of the system.
[0008] Preferably, the fixed protection component includes a sliding ring, the sliding ring is slidably connected in the sliding groove, a fixed sleeve is fixedly connected to the outer wall of the sliding ring, a groove is opened on the inner wall of the fixed sleeve, the grooves are arranged in a circular array with the center line of the fixed sleeve as the center, fixing pieces are arranged in the grooves, an elastic telescopic rod is fixedly connected to one side of the sliding ring close to the fixed sleeve, the telescopic end of the elastic telescopic rod is fixedly connected to the sliding groove, and a rotating pipe is arranged on the side of the fixed sleeve away from the sliding ring, and the rotating pipe is threadedly connected to the fixed sleeve.
[0009] Preferably, a hinge rod is hinged to the inner surface of the fixing piece, and one end of the hinge rod away from the fixing piece is hinged to the groove.
[0010] Preferably, multiple groups of the fixing members are provided, and two groups of hinge rods hinged to the inner surface of each group of the fixing members are provided. The two hinge rods hinged to the inner surface of the fixing member are in a horizontal state. The hinge shaft of the hinge rod hinged on the groove is elastically connected to the inner surface of the groove through a button spring. By rotating the rotating tube, the rotating tube descends and presses the fixing member, and then the hinge rod rotates to compress the button spring, so that the fixing member can move downward and also move inward, realizing the fixing of the wire.
[0011] The utility model provides an integrated servo joint module, which has the following beneficial effects: By rotating the rotating tube, the rotating tube descends and presses the fixing member, and then the hinge rod rotates to compress the button spring, so that the fixing member can move downward and also move inward, realizing the fixing of the wire. At the same time, the sliding ring can slide in the chute to compress the telescopic end of the elastic telescopic rod. When the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod is compressed, and the wire can displace and compensate towards both ends, preventing the wire from being straightened, damaged and falling off, and improving the use effect of the device; By using the fixing component, the wires can be fixed orderly, facilitating wiring and pipe laying work. At the same time, after the wires are fixed, loosening and falling off caused by external factors such as vibration and impact can be reduced, thereby improving the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] 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 the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.
[0013] Figure 1 It is a front view sectional structure schematic diagram of Embodiment 1 of the present utility model;
[0014] Figure 2 It is an overall three-dimensional structure schematic diagram of Embodiment 1 of the present utility model;
[0015] Figure 3 It is an exploded structure schematic diagram of Embodiment 1 of the present utility model;
[0016] Figure 4 It is an internal structure schematic diagram of the wire passing tube in Embodiment 2 of the present utility model;
[0017] Figure 5 It is a partial sectional structure schematic diagram of the wire passing tube in Embodiment 2 of the present utility model;
[0018] Figure 6Schematic diagram of the internal sectional structure of the wire passing tube in the second embodiment of the present utility model;
[0019] Figure 7 For the present utility model Figure 6 Schematic diagram of structure A;
[0020] Figure 8 For the present utility model Figure 7 Schematic diagram of structure B.
[0021] In the figure: 1. Housing; 2. Cover body; 3. Wire passing tube; 4. Wire passing tube bearing; 5. Circuit board mounting plate; 6. Circuit board; 7. Code disk; 8. Motor rotor assembly; 9. Motor stator; 10. Motor shaft bearing I; 11. Motor shaft bearing II; 12. Cam; 13. Output flange; 14. Oil seal cover; 15. Steel wheel; 16. Flexure wheel; 17. Flexure wheel bearing; 18. Crossed roller bearing; 19. Outer ring pressing ring; 30. Fixed protection assembly; 31. Chute; 301. Sliding ring; 302. Fixed sleeve; 303. Groove; 304. Fixed part; 305. Elastic telescopic rod; 306. Rotating tube; 3041. Hinge rod. Specific embodiments
[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0023] Embodiment 1: Please refer to Figures 1 - 3 , the present utility model proposes an integrated servo joint module, including a housing 1, a cover body 2 is detachably connected to the upper side of the housing 1, the middle of the cover body 2 is penetrated by a wire passing tube 3, a wire passing tube bearing 4 is sleeved on the outer wall of the wire passing tube 3, a circuit board mounting plate 5 is fixedly connected to the inner wall of the cover body 2, a circuit board 6 is fixedly connected to the upper side of the circuit board mounting plate 5, a code disk 7, a motor rotor assembly 8 and a motor stator 9 are arranged inside the housing 1, an outer ring pressing ring 19 is fixedly connected to one end of the housing 1 away from the cover body 2 by bolts, and an output flange 13 is fixedly connected to the rotor of the motor rotor assembly 8;
[0024] Among them, the code disk 7 is sleeved on the outer wall of the wire passing pipe 3, the motor stator 9 is fixedly connected to the inner wall of the housing 1, a steel wheel 15 is arranged inside the motor stator 9, the steel wheel 15 is inlaid and installed on the outer wall of the rotating sleeve, a flexible gear 16 is inlaid and installed on the inner surface of the rotating sleeve, and an oil seal cover 14 is fixedly connected to the outer wall of the rotating sleeve. The steel wheel 15, as a rigid support and transmission component in the servo joint, has characteristics such as high strength, high rigidity, and wear resistance, and can bear large loads and impact forces, ensuring the stability and reliability of the servo joint. The flexible gear 16 mainly plays a role in transmission and speed reduction. It uses its own elastic deformation to transmit power and adjust the speed, enabling the servo joint to achieve precise position control and speed regulation. The oil seal cover 14 is mainly used to seal the lubricating oil inside the servo joint, prevent oil leakage and the entry of external pollutants, and can also prevent pollutants such as dust and water vapor from invading the interior through the opening part of the joint, thereby protecting key components such as the internal iron core and winding from pollution and damage, and thus extending the service life of the servo joint.
[0025] In the embodiment of the present utility model, a first motor shaft bearing 10 and a second motor shaft bearing 11 are arranged inside the housing 1. Both the first motor shaft bearing 10 and the second motor shaft bearing 11 are sleeved on the outer wall of the wire passing pipe 3. The first motor shaft bearing 10 is arranged above the second motor shaft bearing 11. The wire passing pipe 3 penetrates through the cam 12, and the cam 12 is detachably connected to the rotating sleeve. A flexible gear bearing 17 is sleeved on the outer wall of the cam 12. An crossed roller bearing 18 is inlaid and installed inside the housing 1. Among them, a main control chip, a MOS tube, a servo control chip, a bus communication chip, and a gate driver are fixedly installed on the circuit board 6. The housing 1 is a metal heat dissipation shell, which is used to conduct the heat generated by the main control chip, the MOS tube, the servo control chip, the bus communication chip, and the gate driver, so that these components can still operate at the rated temperature even in a high-temperature environment. A plurality of temperature detection devices are fixedly installed in the cover body 2, which are used to monitor the real-time temperatures of heat-sensitive components such as the MCU and the MOS tube and the motor rotor assembly 8 in real time, and prevent these devices from operating in an environment where the temperature exceeds the rated temperature. If the device temperature has reached or even exceeded the rated temperature, the main control chip will, according to the program setting, enable alarm, low-power state output, stop working, etc. to deal with it. A single-channel magnetic encoder head is arranged in the housing 1, which is adapted to the code disk 7 and supports multi-turn counting. There is a certain distance in space between the read head and the heat-sensitive components, avoiding the situation of data drift caused by too high temperature, and ensuring the accuracy of data acquisition and the operation stability in a high-temperature environment.
[0026] It should be noted that the flexible gear 16 and the motor rotor assembly 8 are in a nested structure, further compressing the overall space, providing high torque output while ensuring accuracy. At the same time, it is thinner and lighter than similar products. Moreover, through multiple sensors, the operating state can be monitored in real time, and adaptive responses can be made according to different situations. It can operate in high-temperature environments, has a large acceptable environmental temperature margin, and is not easily prone to failures caused by its own generated heat.
[0027] Embodiment 2: On the basis of Embodiment 1, please refer to Figures 4 - 8 , a fixed protection component 30 is arranged inside the wire passing pipe 3. A sliding groove 31 is opened on the inner wall of the wire passing pipe 3. The fixed protection component 30 includes a sliding ring 301 which is slidably connected in the sliding groove 31. A fixed sleeve 302 is fixedly connected to the outer wall of the sliding ring 301. A groove 303 is opened on the inner wall of the fixed sleeve 302. The grooves 303 are arranged in a circular array with the center line of the fixed sleeve 302 as the center. A fixing member 304 is arranged in the groove 303. One side of the sliding ring 301 close to the fixed sleeve 302 is fixedly connected with an elastic telescopic rod 305. The telescopic end of the elastic telescopic rod 305 is fixedly connected to the sliding groove 31. A rotating pipe 306 is arranged on the side of the fixed sleeve 302 away from the sliding ring 301. The rotating pipe 306 is threadedly connected to the fixed sleeve 302. An articulated rod 3041 is hinged to the inner surface of the fixing member 304. One end of the articulated rod 3041 away from the fixing member 304 is hinged to the groove 303. Multiple groups of fixing members 304 are provided, and two groups of articulated rods 3041 hinged to the inner surface of each group of fixing members 304 are provided. The two groups of articulated rods 3041 hinged to the inner surface of the fixing member 304 are in a horizontal state. The articulated shaft of the articulated rod 3041 hinged to the groove 303 is elastically connected to the inner surface of the groove 303 through a torsion spring. When it is necessary to fix the wire, by rotating the rotating pipe 306, the rotating pipe 306 descends, compresses the fixing member 304, and then the articulated rod 3041 rotates to compress the torsion spring, so that the fixing member 304 can move downward and also move inward, realizing the fixing of the wire. At the same time, the sliding ring 301 can slide in the sliding groove 31 to compress the telescopic end of the elastic telescopic rod 305. When the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod 305 is compressed, and the wire can displace and compensate toward both ends, preventing the wire from being straightened, damaged and falling off, improving the use effect of the device. After the wires are fixed in an orderly manner, it is convenient for wiring and pipe laying work. Moreover, after the wires are fixed, loosening and falling off caused by external factors such as vibration and impact can be reduced, thereby improving the stability and reliability of the system.
[0028] In addition, the design of the wire passing tube 3 makes the middle part of the device in a hollow state. The hollow structure is beneficial to heat dissipation, and the fixed protection component 30 can further ensure that the wire does not block the heat dissipation channel, so as to keep the servo joint operating at a good working temperature. At the same time, setting the fixed protection component 30 in the wire passing tube 3 to fix the wire can make full use of the internal space, reduce the occupation of the external space, and thus improve the space utilization rate of the overall device.
[0029] It should be noted that the above electrical components are all existing technical products. Those skilled in the art select, install and complete the debugging operation of the circuit according to the needs of use to ensure that all electrical appliances can work normally. The components are all common standard components or components known to those skilled in the art. Their structures and principles can all be known by those skilled in the art through technical manuals or obtained through conventional experimental methods, and no specific limitations are made here.
[0030] During use, after the wire is connected and passed through the wire passing tube 3, rotate the rotating tube 306 in one set of the fixed protection components 30 to lower the rotating tube 306, squeeze the fixing member 304, and then the hinged rod 3041 rotates to compress the button spring, so that the fixing member 304 can move downward and also move inward to fix the wire. Then repeat the above operation for the other set of fixed protection components 30 to fix the other end of the wire. During this process, make the area of the wire between the two sets of fixed protection components 30 in a relaxed state. Then when the two ends of the wire are twisted, the telescopic end of the elastic telescopic rod 305 is compressed, and the sliding ring 301 can move in the chute 31, and the wire can displace and compensate towards both ends.
[0031] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the description and drawings of the present invention under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.
Claims
1. An integrated servo joint module, comprising a housing (1), characterized in that: The upper side of the housing (1) is detachably connected with a cover body (2). The middle part of the cover body (2) is penetrated by a wire passing pipe (3). A wire passing pipe bearing (4) is sleeved on the outer wall of the wire passing pipe (3). A circuit board mounting plate (5) is fixedly connected to the inner wall of the cover body (2). A circuit board (6) is fixedly connected to the upper side of the circuit board mounting plate (5). A code disk (7), a motor rotor assembly (8) and a motor stator (9) are arranged inside the housing (1). One end of the housing (1) far away from the cover body (2) is fixedly connected with an outer ring pressing ring (19) through bolts. An output flange (13) is fixedly connected to the rotor of the motor rotor assembly (8); wherein, the code disk (7) is sleeved on the outer wall of the wire passing pipe (3), the motor stator (9) is fixedly connected to the inner wall of the housing (1), a steel wheel (15) is arranged inside the motor stator (9), the steel wheel (15) is inlaid on the outer wall of a rotating sleeve, a flexible gear (16) is inlaid on the inner surface of the rotating sleeve, and an oil seal cover (14) is fixedly connected to the outer wall of the rotating sleeve; A first motor shaft bearing (10) and a second motor shaft bearing (11) are arranged inside the housing (1). The first motor shaft bearing (10) and the second motor shaft bearing (11) are both sleeved on the outer wall of the wire passing pipe (3). The first motor shaft bearing (10) is arranged above the second motor shaft bearing (11).
2. The integrated servo joint module according to claim 1, wherein: A fixed protection assembly (30) is arranged inside the wire passing pipe (3). A chute (31) is formed on the inner wall of the wire passing pipe (3).
3. The integrated servo joint module according to claim 2, wherein: The fixed protection assembly (30) includes a sliding ring (301). The sliding ring (301) is slidably connected in the chute (31). A fixed sleeve (302) is fixedly connected to the outer wall of the sliding ring (301). A groove (303) is formed on the inner wall of the fixed sleeve (302). The grooves (303) are arranged in a circular array with the center line of the fixed sleeve (302) as the center. Fixing pieces (304) are arranged in the grooves (303). An elastic telescopic rod (305) is fixedly connected to one side of the sliding ring (301) close to the fixed sleeve (302). The telescopic end of the elastic telescopic rod (305) is fixedly connected to the chute (31). A rotating pipe (306) is arranged on one side of the fixed sleeve (302) far away from the sliding ring (301). The rotating pipe (306) is threadedly connected with the fixed sleeve (302).
4. The integrated servo joint module according to claim 3, wherein: A hinge rod (3041) is hinged to the inner surface of the fixing piece (304). One end of the hinge rod (3041) far away from the fixing piece (304) is hinged to the groove (303).
5. The integrated servo joint module according to claim 4, wherein: Multiple groups of fixing pieces (304) are arranged. Two groups of hinge rods (3041) hinged to the inner surface of each group of fixing pieces (304) are arranged. The two groups of hinge rods (3041) hinged to the inner surface of the fixing piece (304) are in a horizontal state. The hinge shaft of the hinge rod (3041) hinged to the groove (303) and the inner surface of the groove (303) are elastically connected through a button spring.