Robot joint module adopting harmonic reducer

Abstract

The utility model relates to the technical field of robot joint modules, and discloses a robot joint module adopting a harmonic reducer, which comprises a module shell, radiating columns are mounted on the left side and the right side of the top of the module shell, a planet carrier is mounted at the bottom of the module shell, and a transmission disc is mounted at the bottom of the planet carrier through a bearing; and the arc-shaped grooves are formed in the transmission disc, insertion plates are inserted into the planet carriers, hinge lugs are installed at the outer ends of the insertion plates, and T-shaped columns are inserted into the arc-shaped grooves. According to the robot joint module adopting the harmonic reducer, a T-shaped column can drive an insertion plate and a hinge lug to synchronously expand or contract under the cooperation of an arc-shaped groove by rotating a transmission disc, so that the mounting diameter of the hinge lug can be changed, and the robot joint module can be more easily integrated with other mechanical systems or existing equipment; therefore, different shaft diameters can be adapted, and the universality of the module is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joint modules, in particular to a robot joint module adopting a harmonic reducer. Background Technique

[0002] Due to its unique structure and performance characteristics, the harmonic reducer plays an important role in robot joint modules. They are usually composed of a wave generator, a flexible gear, and a rigid gear. The motion and torque are transmitted through the elastic deformation of the flexible gear to achieve a high reduction ratio and high-precision transmission. The harmonic reducer has the advantages of small volume, light weight, large load-bearing capacity, high transmission accuracy, no backlash in reverse transmission, large single-stage transmission ratio, and high torque. These characteristics make it very suitable for the light-load joints of robots.

[0003] Common robot joint modules are installed through hinge ears and bolts. However, due to the fixed position of the hinge ears, it is more difficult to integrate the robot joint module with other mechanical systems or existing equipment. This makes the joint module unable to use different shaft diameters, reducing the versatility of the module and not meeting the working requirements of the robot joint module. Therefore, a robot joint module adopting a harmonic reducer is proposed. Content of the Utility Model

[0004] (1) Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the utility model provides a robot joint module adopting a harmonic reducer to solve the technical problem that it is more difficult to integrate the robot joint module with other mechanical systems or existing equipment due to the fixed position of the hinge ears.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the utility model provides the following technical solutions: A robot joint module adopting a harmonic reducer, comprising:

[0008] A module housing, heat dissipation columns are installed on both the left and right sides of the top of the module housing, a planet carrier is installed at the bottom of the module housing, and a transmission disc is installed at the bottom of the planet carrier through a bearing;

[0009] Arc-shaped grooves are opened inside the transmission disc, inserting plates are inserted inside the planet carrier, hinge ears are installed at the outer ends of the inserting plates, T-shaped columns are inserted inside the arc-shaped grooves, and the tops of the T-shaped columns are connected to the corresponding positions at the bottoms of the inserting plates.

[0010] Preferably, the number of the arc-shaped grooves, the inserting plates, and the hinge ears is 3-6 groups, and through holes are opened at the middle positions inside the hinge ears, which facilitates installation through the hinge ears.

[0011] Preferably, a cover plate is installed on the top of each of the heat dissipation columns, and a heat dissipation hole is opened in the middle of the top of the cover plate to facilitate heat dissipation.

[0012] Preferably, an annular plate is clamped on the top of the inner cavity of the cover plate, and a sealing block is installed at the middle position of the top of the inner cavity of the cover plate through a bearing, so that the heat dissipation holes can be blocked.

[0013] Preferably, the inner side of the annular plate and the position corresponding to the sealing block are clamped with assembly connecting rods, and the inner ends of the assembly connecting rods are connected to the inner end of the sealing block.

[0014] Preferably, a slide groove is provided inside the annular plate, and a limit bolt is inserted inside the slide groove, and the top of the limit bolt is connected to the top of the inner cavity of the cover plate. A lever is connected to the outer side of the annular plate, and the movement of the annular plate can be driven by the lever, so that the sealing block can be driven to open and close by the assembly connecting rod, and the openable and closable heat dissipation holes can be opened when the reducer is working, which increases the air circulation and helps the heat sink or coolant to take away heat faster, thereby effectively reducing the working temperature of the reducer and improving the safety of the robot joint module.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the utility model provides a robot joint module using a harmonic reducer, which has the following beneficial effects:

[0017] The robot joint module using a harmonic reducer can rotate the transmission plate so that the T-shaped column can drive the plug plate and the hinge ear to expand or contract synchronously with the cooperation of the arc groove, thereby changing the installation diameter of the hinge ear. This makes it easier to integrate the robot joint module with other mechanical systems or existing equipment to adapt to different shaft diameters, thereby increasing the versatility of the module. When replacing or upgrading the joint module, the directly convertible hinge ear can reduce the need to redesign the mechanical interface, thereby simplifying the assembly process and improving the adaptability of the robot joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the planet carrier and the transmission plate of the utility model;

[0020] Figure 3 This is a schematic diagram of the transmission disc and arc groove structure of the utility model;

[0021] Figure 4 This is a schematic diagram of the bottom structure of the planetary carrier of the utility model;

[0022] Figure 5This is a schematic diagram of the internal structure of the cover plate of the present utility model.

[0023] In the figure: 1, module housing; 2, heat dissipation column; 3, planet carrier; 4, drive disk; 5, arc groove; 6, insertion plate; 7, hinge ear; 8, T-shaped column; 9, cover plate; 10, annular plate; 11, sealing block; 12, assembly connecting rod; 13, chute; 14, limit bolt; 15, heat dissipation hole. Specific embodiments

[0024] 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 of 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.

[0025] The present utility model provides a technical solution, a robot joint module using a harmonic reducer, including a module housing 1, a heat dissipation column 2, a planet carrier 3, a drive disk 4, an arc groove 5, an insertion plate 6, a hinge ear 7, a T-shaped column 8, a cover plate 9, an annular plate 10, a sealing block 11, an assembly connecting rod 12, a chute 13, a limit bolt 14 and a heat dissipation hole 15:

[0026] Please refer to Figure 1 , heat dissipation columns 2 are installed on both the left and right sides of the top of the module housing 1, and a planet carrier 3 is installed at the bottom of the module housing 1. Please refer to Figure 2 , a drive disk 4 is installed at the bottom of the planet carrier 3 through a bearing;

[0027] Please refer to Figure 3 , an arc groove 5 is opened inside the drive disk 4. Please refer to Figure 4 , insertion plates 6 are inserted into the inside of the planet carrier 3, hinge ears 7 are installed at the outer ends of the insertion plates 6, T-shaped columns 8 are inserted into the inside of the arc groove 5, and the tops of the T-shaped columns 8 are connected to the corresponding positions at the bottom of the insertion plates 6. The number of the arc groove 5, the insertion plates and the hinge ears 7 is 3-6 groups. Through holes are opened at the middle positions inside the hinge ears 7. By rotating the drive disk 4, the T-shaped columns 8 can drive the synchronous outward expansion or contraction of the insertion plates 6 and the hinge ears 7 under the cooperation of the arc groove 5, so as to change the installation diameter of the hinge ears 7. Furthermore, the robot joint module can be more easily integrated with other mechanical systems or existing equipment to adapt to different shaft diameters, increasing the versatility of the module. Moreover, when replacing or upgrading the joint module, the directly changeable hinge ears 7 can reduce the need for re-designing the mechanical interface, thereby simplifying the assembly process and improving the adaptability of the robot joint module;

[0028] Please refer to Figure 1, a cover plate 9 is installed at the top of each heat dissipation column 2. Please refer to Figure 5 , a heat dissipation hole 15 is opened at the middle position of the top of the cover plate 9. An annular plate 10 is clamped at the top of the inner cavity of the cover plate 9. A sealing block 11 is installed at the middle position of the top of the inner cavity of the cover plate 9 through a bearing. Assembly connecting rods 12 are clamped at the positions corresponding to the inner side of the annular plate 10 and the sealing block 11. The inner ends of the assembly connecting rods 12 are all connected to the inner ends of the sealing block 11. A sliding groove 13 is opened inside the annular plate 10. Limiting bolts 14 are inserted into the inside of the sliding groove 13, and the tops of the limiting bolts 14 are all connected to the top of the inner cavity of the cover plate 9. A dial rod is connected to the outer side of the annular plate 10. The movement of the annular plate 10 can be driven by the dial rod, so that the opening and closing of the sealing block 11 can be driven by the assembly connecting rod 12. The heat dissipation hole 15 that can be opened and closed can be opened when the reducer is working, increasing the air circulation volume, helping the heat sink or coolant to take away heat faster, thereby effectively reducing the working temperature of the reducer and improving the safety of using the robot joint module.

[0029] In this solution, by rotating the transmission disc 4, under the cooperation of the arc-shaped groove 5, the T-shaped column 8 drives the synchronous outward expansion or contraction of the insertion plate 6 and the hinge ear 7, so that the installation diameter size of the hinge ear 7 can be changed. Furthermore, the robot joint module can be more easily integrated with other mechanical systems or existing equipment to adapt to different shaft diameters, increasing the versatility of the module. And when replacing or upgrading the joint module, the directly changeable hinge ear 7 can reduce the need to redesign the mechanical interface, thereby simplifying the assembly process and improving the adaptability of the robot joint module. At the same time, the movement of the annular plate 10 can be driven by the dial rod, so that the opening and closing of the sealing block 11 can be driven by the assembly connecting rod 12. The heat dissipation hole 15 that can be opened and closed can be opened when the reducer is working, increasing the air circulation volume, helping the heat sink or coolant to take away heat faster, thereby effectively reducing the working temperature of the reducer and improving the safety of using the robot joint module.

[0030] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0031] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A robot joint module using a harmonic reducer, characterized in that, Including: A module housing (1), heat dissipation columns (2) are installed on both the left and right sides of the top of the module housing (1), a planet carrier (3) is installed at the bottom of the module housing (1), and a transmission disc (4) is installed at the bottom of the planet carrier (3) through a bearing; Arc-shaped grooves (5) are formed inside the transmission disc (4), insertion plates (6) are inserted into the inside of the planet carrier (3), hinge ears (7) are installed at the outer ends of the insertion plates (6), T-shaped columns (8) are inserted into the inside of the arc-shaped grooves (5), and the tops of the T-shaped columns (8) are connected to the corresponding positions at the bottoms of the insertion plates (6).

2. The robot joint module using a harmonic reducer according to claim 1, wherein: The number of the arc-shaped grooves (5), insertion plates and hinge ears (7) is 3 - 6 groups, and through holes are formed at the middle positions inside the hinge ears (7).

3. The robot joint module using a harmonic reducer according to claim 1, wherein: Covers (9) are installed at the tops of the heat dissipation columns (2), and heat dissipation holes (15) are formed at the middle positions of the tops of the covers (9).

4. The robot joint module using a harmonic reducer according to claim 3, wherein: An annular plate (10) is clamped at the top of the inner cavity of the cover (9), and a sealing block (11) is installed at the middle position of the top of the inner cavity of the cover (9) through a bearing.

5. A robot joint module using a harmonic reducer according to claim 4, characterized in that: Assembly connecting rods (12) are clamped at the positions corresponding to the sealing block (11) on the inner sides of the annular plate (10), and the inner ends of the assembly connecting rods (12) are connected to the inner ends of the sealing block (11).

6. The robot joint module using a harmonic reducer according to claim 5, characterized in that: A sliding groove (13) is formed inside the annular plate (10), limit bolts (14) are inserted into the inside of the sliding groove (13), and the tops of the limit bolts (14) are connected to the top of the inner cavity of the cover (9). A lever is connected to the outer side of the annular plate (10).

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