Axial fixing device of integrated joint

Abstract

The axial fixing device of the integrated joint comprises a motor shaft, a stator, a rotor, a motor shaft bearing, an encoder rotor, a bearing fixing ring and an encoder, the stator is connected with the rotor, the rotor is in transmission connection with a protruding block on the side edge of the motor shaft, an inner ring of the motor shaft bearing is in transmission connection with the motor shaft, and an outer ring of the motor shaft bearing is in transmission connection with the encoder. One end of the motor shaft is connected with a bearing fixing ring, the bearing fixing ring is connected with an encoder rotor, and the encoder rotor is connected with an encoder. Threads are arranged on the motor shaft, the bearing fixing ring and the encoder rotor, so that the bearing fixing ring axially positions the motor shaft bearing and the encoder rotor, and the motor shaft is fixed through the bearing fixing ring; and a thread fixing mode is high in consistency, torque mounting and tightening can be controlled, the bearing cannot be crushed and dislocated, and an automatic tightening tool of a production line is well designed on a full-automatic production line in the future.

Description

Technical Field

[0001] The utility model relates to the field of joint fixation, and specifically to an axial fixation device for an integrated joint. Background Art

[0002] In the prior art, the encoder set screw is very small. During the installation process, firstly, it is installed manually. The encoder rotor is fixed by tightening the set screw, so there is an inconvenient installation phenomenon. Secondly, it is inconvenient to design the tightening tooling in the automated production line. If the set screw is used for installation, the tooling fixture will be very complex. And during the use process, situations such as misalignment and crushing of the motor shaft bearing are likely to occur, causing damage to the overall structure.

[0003] After retrieval, there is a Chinese utility model patent with the patent number CN219788393U, which discloses a robot joint and a robot, including a housing, a harmonic reducer, and a cover plate. The housing is provided with an installation cavity, and a first positioning portion is provided on the side wall of the installation cavity. The harmonic reducer includes a flexible gear and a rigid gear meshing with the circumferential outer side of the flexible gear. The rigid gear is arranged in the installation cavity, one end of the rigid gear abuts against the bottom wall of the installation cavity, and a second positioning portion adapted to be connected with the first positioning portion is provided on the outer peripheral wall of the rigid gear. The cover plate is arranged at one end of the rigid gear away from the bottom wall of the installation cavity, and the cover plate is connected to the housing and can axially press against the rigid gear along the axial direction of the rigid gear. The above patent does not solve the problem of difficult manual installation. Content of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide an axial fixation device for an integrated joint.

[0005] According to an axial fixation device for an integrated joint provided by the utility model, it includes: a motor shaft, a stator, a rotor, a motor shaft bearing, an encoder rotor, a bearing fixing ring, and an encoder. The stator is connected to the rotor, the rotor is drivingly connected to a convex block on the side of the motor shaft, the inner ring of the motor shaft bearing is drivingly connected to the motor shaft, one end of the motor shaft is connected to the bearing fixing ring, the bearing fixing ring is connected to the encoder rotor, and the encoder rotor is connected to the encoder.

[0006] Preferably, a first threaded section is provided at one end of the motor shaft, a second threaded section is provided on the inner wall of the bearing fixing ring, and the motor shaft is screwed to the bearing fixing ring through the cooperation of the first threaded section and the second threaded section.

[0007] Preferably, a third threaded section is provided on the encoder rotor, and the encoder rotor is tightly fitted to the outer wall of the bearing fixing ring through the third threaded section.

[0008] Preferably, the motor shaft bearing is fixedly connected inside the motor housing, and the motor shaft bearing is drivingly connected to the rotor at intervals through the motor housing.

[0009] Preferably, the motor shaft is radially limited between the motor shaft and the motor housing, and axially limited between the motor shaft and the bearing fixing ring.

[0010] Preferably, the motor shaft bearing includes a first bearing and a second bearing. The first bearing is drivingly connected to the second bearing. The first bearing is limited between the bearing fixing ring and the motor housing, and the second bearing is limited between the motor shaft and the motor housing.

[0011] Preferably, the bearing fixing ring is provided with an annular boss, and the encoder is limited on the annular boss.

[0012] Preferably, one end of the motor shaft is flush with the end of the encoder rotor and the end of the bearing fixing ring respectively.

[0013] Preferably, the other end of the motor shaft is drivingly connected to a harmonic reducer. The harmonic reducer is clamped between the motor housing and the flexspline cover, and the harmonic reducer is fixedly connected to the flexspline cover.

[0014] Preferably, the motor housing is connected to a rear cover and a drive plate respectively, and the drive plate is limited between the motor housing and the rear cover. A rear cover bearing is connected to the rear cover.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] In this application, threads are provided on the motor shaft, the bearing fixing ring, and the encoder rotor respectively, so that the bearing fixing ring axially positions the motor shaft bearing and the encoder rotor, and the motor shaft is fixed through the bearing fixing ring; moreover, the thread fixing method has strong consistency and can control the torque during installation and tightening, so that the bearing will not be crushed or misaligned. In the future fully automated production line, the automated tightening tooling of the production line is very easy to design. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects, and advantages of the utility model will become more apparent:

[0018] Figure 1 is a cross-sectional view of the utility model;

[0019] Figure 2 is a three-dimensional schematic diagram of the utility model;

[0020] Figure 3 is Figure 1 a partial enlarged view of the structure of

[0021] In the figure: flexspline cover 1, harmonic reducer 2, motor shaft 3, stator 4, rotor 5, motor shaft bearing 6, motor housing 7, rear cover 8, drive plate 9, rear cover bearing 10, encoder rotor 11, bearing fixing ring 12, encoder 13. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0023] Embodiment

[0024] An axial fixing device for an integrated joint according to the present utility model, as Figures 1-3 shown, includes: a flexspline cover 1, a harmonic reducer 2, a motor shaft 3, a stator 4, a rotor 5, a motor shaft bearing 6, a motor housing 7, a rear cover 8, a drive plate 9, a rear cover bearing 10, an encoder rotor 11, a bearing retaining ring 12, and an encoder 13. The stator 4 is connected to the rotor 5, and the rotor 5 is drivingly connected to a convex block on the side of the motor shaft 3. The motor shaft bearings 6 are respectively connected to the motor shaft 3 and the bearing retaining ring 12, and the motor shaft bearings 6 are radially limited between the motor shaft 3 and the motor housing 7. The outer ring of the motor shaft bearing 6 is fixedly connected to the motor housing 7, and the inner ring of the motor shaft bearing 6 is fixedly connected to the motor shaft 3. The motor shaft bearings 6 are axially limited between the motor shaft 3 and the bearing retaining ring 12. The motor shaft bearings 6 are connected inside the motor housing 7, and the motor shaft bearings 6 are spaced from the rotor 5 through the motor housing 7. The motor shaft bearing 6 includes a first bearing and a second bearing. The first bearing is drivingly connected to the second bearing. The first bearing is limited between the bearing retaining ring 12 and the motor housing 7, and the second bearing is limited between the motor shaft 3 and the motor housing 7.

[0025] A first threaded section is provided at one end of the motor shaft 3, and a second threaded section is provided on the inner wall of the bearing retaining ring 12. The motor shaft 3 is screwed to the bearing retaining ring 12 through the cooperation of the first threaded section and the second threaded section. A third threaded section is provided on the encoder rotor 11, and the encoder rotor 11 is tightly fitted to the outer wall of the bearing retaining ring 12 through the third threaded section. The motor shaft 3, the bearing retaining ring 12, and the encoder rotor 11 are sequentially threadedly connected and fixed from the inside to the outside, and one end of the motor shaft 3 is flush with the ends of the encoder rotor 11 and the bearing retaining ring 12 respectively. The encoder rotor 11 is connected to the encoder 13, and the encoder 13 is limited on a ring-shaped convex platform on the bearing retaining ring 12. The function of the encoder 13 is to record the position, and a Hall sensor is provided on the encoder 13 to sense the alternating magnetic field generated by the stator 4.

[0026] The other end of the motor shaft 3 is drivingly connected to a harmonic reducer 2. The harmonic reducer 2 is clamped between the motor housing 7 and the flexspline cover 1, and the harmonic reducer 2 is drivingly connected to the flexspline cover 1. The motor housing 7 is connected to a rear cover 8 and a drive plate 9 respectively, and the drive plate 9 is limited between the motor housing 7 and the rear cover 8. A rear cover bearing 10 is connected to the rear cover 8. The motor shaft 3 is connected to a rotor 5. An alternating magnetic field is generated in the stator 4, causing the permanent magnet to receive a magnetic force, and the rotor 5 rotates. The rotor 5 is fixedly connected to the motor shaft 3, the motor shaft 3 is fixedly connected to the harmonic reducer 2, and the harmonic reducer 2 is fixedly connected to the flexspline cover 1, so as to output from the flexspline cover 1 as a torque output disk.

[0027] Working principle: The drive plate 9 issues an instruction to cause the stator 4 to generate an alternating magnetic field, causing the rotor 5 to rotate, the flexspline cover 1 and the motor shaft 3 to rotate, and the bearing fixing ring 12 to rotate synchronously with the motor shaft 3. The rotation of the motor shaft 3 causes the encoder rotor 11 to rotate, and the Hall sensor on the encoder 13 senses the alternating magnetic field, thereby recording the number of position turns, enabling the drive plate 9 to know how many turns the rotor 5 of the motor has rotated, and thus calculating the rotational speed of the output disk of the flexspline cover 1.

[0028] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0029] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present utility model. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. An axial fixing device for an integrated joint, characterized in that, Including: A motor shaft (3), a stator (4), a rotor (5), a motor shaft bearing (6), an encoder rotor (11), a bearing retaining ring (12), and an encoder (13). The stator (4) is connected to the rotor (5), the rotor (5) is drivingly connected to a convex block on the side of the motor shaft (3), the inner ring of the motor shaft bearing (6) is drivingly connected to the motor shaft (3), one end of the motor shaft (3) is connected to the bearing retaining ring (12), the bearing retaining ring (12) is connected to the encoder rotor (11), and the encoder rotor (11) is connected to the encoder (13).

2. The axial fixing device of the integrated joint according to claim 1, characterized in that, A first threaded section is provided on one end of the motor shaft (3), a second threaded section is provided on the inner wall of the bearing retaining ring (12), and the motor shaft (3) is screwed to the bearing retaining ring (12) through the cooperation of the first threaded section and the second threaded section.

3. The axial fixing device of the integrated joint according to claim 2, characterized in that, A third threaded section is provided on the encoder rotor (11), and the encoder rotor (11) is tightly fitted on the outer wall of the bearing retaining ring (12) through the third threaded section.

4. The axial fixing device of the integrated joint according to claim 1, characterized in that, The motor shaft bearing (6) is fixedly connected inside the motor housing (7), and the motor shaft bearing (6) is drivingly connected to the rotor (5) at an interval through the motor housing (7).

5. The axial fixing device of the integrated joint according to claim 4, characterized in that, The motor shaft (3) is radially limited between the motor shaft (3) and the motor housing (7), and the motor shaft (3) is axially limited between the motor shaft (3) and the bearing retaining ring (12).

6. The axial fixing device of the integrated joint according to claim 5, characterized in that, The motor shaft bearing (6) includes a first bearing and a second bearing. The first bearing is drivingly connected to the second bearing. The first bearing is limited between the bearing retaining ring (12) and the motor housing (7), and the second bearing is limited between the motor shaft (3) and the motor housing (7).

7. The axial fixing device of the integrated joint according to claim 3, characterized in that, A ring-shaped boss is provided on the bearing retaining ring (12), and the encoder (13) is limited on the ring-shaped boss.

8. The axial fixing device of the integrated joint according to claim 1, characterized in that, One end of the motor shaft (3) is flush with the ends of the encoder rotor (11) and the bearing retaining ring (12) respectively.

9. The axial fixing device of the integrated joint according to claim 4, characterized in that, The other end of the motor shaft (3) is drivingly connected to a harmonic reducer (2). The harmonic reducer (2) is clamped between the motor housing (7) and the flexspline cover (1), and the harmonic reducer (2) is fixedly connected to the flexspline cover (1).

10. The axial fixing device of the integrated joint according to claim 9, characterized in that, The motor housing (7) is connected to a rear cover (8) and a drive plate (9) respectively, and the drive plate (9) is limited between the motor housing (7) and the rear cover (8). A rear cover bearing (10) is connected to the rear cover (8).

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