Integrated joint internal conductive structure

Abstract

The utility model belongs to the technical field of integrated joints, and particularly relates to an internal conductive structure of an integrated joint. According to the technical scheme, the integrated joint internal conductive structure comprises a hollow shaft, the hollow shaft is connected with a motor stator, the motor stator is provided with a motor rotor in a matched mode, the motor rotor is connected with a harmonic speed reduction unit, output end teeth of the harmonic speed reduction unit are meshed with a harmonic steel wheel, the harmonic steel wheel is connected with a rear cover, and the hollow shaft is fixed to the rear cover. The rear cover is connected with a PCB (Printed Circuit Board); an insulating layer is arranged in the hollow shaft, a hollow pipe is sleeved in the insulating layer, a plurality of copper bars are arranged between the hollow pipe and the insulating layer, the copper bars are electrically connected with the motor stator, and one end of each copper bar extends out of the rear cover and is connected with the PCB through one end extending out of the rear cover. The utility model provides an integrated joint internal conductive structure which ensures reliable connection.

Description

Technical Field

[0001] The utility model belongs to the technical field of integrated joints, and in particular relates to an internal conductive structure of an integrated joint. Background Art

[0002] Harmonic reducers are widely used in mechanical transmission due to their high transmission ratios. Typically, a harmonic reducer consists of a rigid wheel, a flexspline, and a wave generator. The rigid wheel is a highly rigid internal gear ring; the flexspline is cylindrical and made of a less rigid material. External teeth are formed on the outer wall of the flexspline's barrel end, which extends into the rigid wheel. The external teeth of the flexspline mesh with the internal teeth of the rigid wheel. The wave generator is an elliptical cylinder that extends into the barrel end of the flexspline. When the wave generator is driven by a power mechanism and rotated, the external teeth of the flexspline, corresponding to the long axis of the wave generator, continuously mesh with the internal teeth of the rigid wheel, causing the wave generator to drive the flexspline to rotate.

[0003] The wiring of the motor stator of the existing harmonic reducer is passed through a hole in the central shaft and then led out of the housing of the harmonic reducer. The wiring of this wire structure is easily disconnected or damaged during the operation of the harmonic reducer. Utility Model Content

[0004] In order to solve the above problems existing in the prior art, the purpose of the present invention is to provide an integrated joint internal conductive structure that ensures reliable connection.

[0005] The technical solution adopted by this utility model is:

[0006] An integrated joint internal conductive structure includes a hollow shaft, a motor stator is connected to the hollow shaft, a motor rotor is provided in combination with the motor stator, the motor rotor is connected to a harmonic reduction unit, the output end teeth of the harmonic reduction unit are meshed with a harmonic steel wheel, the harmonic steel wheel is connected to a rear cover, the hollow shaft is fixed to the rear cover, and a PCB board is connected to the rear cover; an insulating layer is provided in the hollow shaft, a hollow tube is sleeved in the insulating layer, a plurality of copper bars are provided between the hollow tube and the insulating layer, the copper bars are electrically connected to the motor stator, one end of the copper bar extends out of the rear cover and is connected to the PCB board through the end extending out of the rear cover.

[0007] In this utility model, a copper bar is positioned between the hollow shaft and the hollow tube, with one end of the bar extending beyond the rear cover. This allows the motor stator's wiring to be electrically connected to the PCB on the rear cover via the copper bar, ensuring stable power supply and control of the motor stator. The copper bar provides structural stability and a reliable connection to the PCB, thus preventing the stator wiring from becoming disconnected or damaged during harmonic reducer operation, as would be the case when directly connecting the stator to the PCB.

[0008] As a preferred solution of the present invention, one end of the hollow tube is connected to a positioning plate, which is provided with a plurality of positioning grooves, and the copper bars extend from the positioning grooves. The positioning plate can separate adjacent copper bars to avoid short circuit.

[0009] As a preferred embodiment of the present invention, an inner bore liner is further disposed between the hollow tube and the insulating layer. The inner bore liner has an arc-shaped cross-section and is circumferentially staggered with the copper bars. The inner bore liner supports the area between the hollow tube and the insulating layer where the copper bars are not disposed, ensuring concentricity between the hollow tube and the hollow shaft.

[0010] As a preferred embodiment of the present invention, the motor stator is connected to an encoder bracket, on which an encoder magnetic ring is mounted, and the other end of the encoder bracket is connected to the hollow shaft. The motor stator is fixed to the hollow shaft by the encoder bracket to ensure stable support of the motor stator.

[0011] As a preferred embodiment of the present invention, the encoder bracket is provided with a threading hole, a PCB is connected to the hollow tube, and the PCB is welded to the copper bar. The motor stator wiring is passed through the threading hole and then welded to the PCB. The motor stator wiring is passed through the threading hole and then welded to the PCB. This ensures that the motor stator wiring has a defined path and is relatively short, ensuring a stable connection. The PCB is directly welded to the copper bar, so that the copper bar, PCB, and wiring function to connect the PCB to the motor stator, ensuring a reliable and stable connection.

[0012] As a preferred solution of the present invention, the number of the copper bars is three, and the number of the wiring of the motor stator is three.

[0013] As a preferred solution of the present utility model, the harmonic reduction unit includes a cam, which is fixed on the motor rotor, and a flexible bearing is installed on the cam. The outer ring of the flexible bearing is provided with a flexible wheel, which is engaged with the teeth of the harmonic steel wheel. The number of teeth of the flexible wheel is less than the number of teeth of the harmonic steel wheel. An output flange is fixed on the flexible wheel, and the output flange is rotatably connected to the harmonic steel wheel.

[0014] The speed of the output end of the harmonic reduction unit is significantly lower than that of the cam, making the output end of the harmonic reduction unit stable and outputting at a low speed. The harmonic reduction unit meshes with the harmonic steel wheel teeth, so the output end of the harmonic reduction unit has a higher transmission accuracy than the cam.

[0015] When the motor is powered on, the motor rotor rotates relative to the motor stator, which in turn drives the cam. The cam, through the flexible bearing, pushes the flexspline to engage with the harmonic steel wheel. If the number of teeth on the flexspline is N less than that on the harmonic steel wheel, the flexspline rotates N teeth relative to the harmonic steel wheel for one revolution of the cam. This significantly reduces the speed of the output flange connected to the flexspline, ensuring stable output force. Transmission accuracy is also guaranteed through gear transmission.

[0016] As a preferred solution of the present invention, the inner side of the cam is connected to the hollow shaft via a rolling bearing. The hollow shaft reliably supports the cam, and the hollow shaft and the cam can rotate relative to each other.

[0017] As a preferred solution of the present invention, the harmonic steel wheel and the output flange are rotatably connected via a cross roller bearing.

[0018] As a preferred solution of the present invention, an encoder control board is fixed on the output flange.

[0019] The beneficial effects of the utility model are:

[0020] In this utility model, a copper bar is positioned between the hollow shaft and the hollow tube, with one end of the bar extending beyond the rear cover. This allows the motor stator's wiring to be electrically connected to the PCB on the rear cover via the copper bar, ensuring stable power supply and control of the motor stator. The copper bar provides structural stability and a reliable connection to the PCB, thus preventing the stator wiring from becoming disconnected or damaged during harmonic reducer operation, as would be the case when directly connecting the stator to the PCB. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a cross-sectional view of the utility model;

[0022] Figure 2 It is a three-dimensional diagram of a half-section structure of the present utility model;

[0023] Figure 3 It is a left view of the utility model;

[0024] Figure 4 It is a partial structural diagram of the utility model;

[0025] Figure 5 This is a partial structural diagram of the harmonic reduction unit.

[0026] In the figure: 1-hollow shaft; 2-motor stator; 3-motor rotor; 4-harmonic reduction unit; 5-harmonic steel wheel; 6-hollow tube; 7-PCB small board; 11-insulation layer; 21-encoder bracket; 211-threading hole; 41-cam; 42-flexible bearing; 43-flexible wheel; 44-output flange; 45-rolling bearing; 46-cross roller bearing; 47-encoder control board; 51-back cover; 61-copper bar; 62-positioning plate; 63-inner hole gasket. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without inventive effort are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0029] like Figures 1 to 5 As shown, the internal conductive structure of the integrated joint of this embodiment includes a hollow shaft 1, to which a motor stator 2 is connected, and the motor stator 2 is cooperated with a motor rotor 3, and the motor rotor 3 is connected to a harmonic reduction unit 4, and the output end teeth of the harmonic reduction unit 4 are engaged with a harmonic steel wheel 5, and the harmonic steel wheel 5 is connected to a back cover 51, the hollow shaft 1 is fixed to the back cover 51, and a PCB board is connected to the back cover 51; an insulating layer 11 is provided in the hollow shaft 1, and a hollow tube 6 is sleeved in the insulating layer 11, and three copper bars 61 are provided between the hollow tube 6 and the insulating layer 11, and the copper bar 61 is electrically connected to the motor stator 2, and one end of the copper bar 61 extends out of the back cover 51, and is connected to the PCB board through the end extending out of the back cover 51.

[0030] In the present invention, a copper bar 61 is disposed between the hollow shaft 1 and the hollow tube 6. One end of the copper bar 61 extends out of the rear cover 51, thereby electrically connecting the wiring of the motor stator 2 to the PCB on the rear cover 51 through the copper bar 61, ensuring stable power supply and control of the motor stator 2. The copper bar 61 provides structural stability and a reliable connection to the PCB, thus preventing the wiring of the motor stator 2 from being easily disconnected or damaged during operation of the harmonic reducer when directly connecting the wiring to the PCB.

[0031] Furthermore, one end of the hollow tube 6 is connected to a positioning plate 62, which is provided with several positioning slots, from which copper bars 61 extend. The positioning plate 62 can separate adjacent copper bars 61 to prevent short circuits. An inner hole liner 63 is also provided between the hollow tube 6 and the insulating layer 11. The inner hole liner 63 has an arc-shaped cross-section and is circumferentially staggered with the copper bars 61. The inner hole liner 63 can support the area between the hollow tube 6 and the insulating layer 11 where the copper bars 61 are not provided, ensuring that the hollow tube 6 and the hollow shaft 1 are concentric.

[0032] Specifically, the motor stator 2 is connected to an encoder bracket 21, on which an encoder magnetic ring is mounted. The other end of the encoder bracket 21 is connected to the hollow shaft 1. The motor stator 2 is fixed to the hollow shaft 1 via the encoder bracket 21, ensuring that the motor stator 2 is stably supported. The encoder bracket 21 is provided with a threading hole 211, and a PCB board 7 is connected to the hollow tube 6. The PCB board 7 is welded to the copper bar 61. The wiring of the motor stator 2 passes through the threading hole 211 and is welded to the PCB board 7. The wiring of the motor stator 2 passes through the threading hole 211 and is welded to the PCB board 7. As a result, the wiring of the motor stator 2 has a defined path and is relatively short in length, ensuring the stability of the wiring connection. The PCB board 7 is directly welded to the copper bar 61, so that the copper bar 61, the PCB board 7, and the wiring serve to connect the PCB board to the motor stator 2, ensuring a reliable and stable connection.

[0033] Specifically, the harmonic reduction unit 4 includes a cam 41, which is fixed on the motor rotor 3. A flexible bearing 42 is installed on the cam 41. The outer ring of the flexible bearing 42 is provided with a flexible spline 43. The flexible spline 43 is engaged with the harmonic steel wheel 5. The number of teeth of the flexible spline 43 is less than the number of teeth of the harmonic steel wheel 5. An output flange 44 is fixed on the flexible spline 43, and the output flange 44 is rotatably connected to the harmonic steel wheel 5.

[0034] The speed of the output end of the harmonic reduction unit 4 is significantly lower than the speed of the cam 41, making the output end of the harmonic reduction unit 4 stable and outputting at a low speed. The harmonic reduction unit 4 is meshed with the harmonic steel wheel 5, so that the output end of the harmonic reduction unit 4 has a high transmission accuracy relative to the cam 41.

[0035] When the motor is powered on, the motor rotor 3 rotates relative to the motor stator 2, which in turn drives the cam 41. The cam 41 pushes the flexspline 43 through the flexible bearing 42 to engage the harmonic steel wheel 5. If the number of teeth on the flexspline 43 is N less than that on the harmonic steel wheel 5, the flexspline 43 rotates N teeth relative to the harmonic steel wheel 5 for each rotation of the cam 41. This significantly reduces the speed of the output flange 44 connected to the flexspline 43, ensuring stable output force. The gear transmission also ensures transmission accuracy.

[0036] It should be noted that the arrangement of the motor stator 2 and the motor rotor 3 of the present invention can be that the motor stator 2 is arranged inside the motor rotor 3 , or that the motor rotor 3 is arranged inside the motor stator 2 . Figure 1 and Figure 2 In the embodiment, the motor rotor 3 is arranged in the motor stator 2.

[0037] The inner side of the cam 41 is connected to the hollow shaft 1 via a rolling bearing 45. The hollow shaft 1 provides reliable support for the cam 41, and the two shafts are capable of relative rotation. The harmonic steel wheel 5 is rotationally connected to the output flange 44 via a cross-roller bearing 46. An encoder control board 47 is secured to the output flange 44.

[0038] The present invention is not limited to the above-mentioned optional implementation methods. Anyone can derive various other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An integrated joint internal conductive structure, characterized by: The invention comprises a hollow shaft (1), wherein the hollow shaft (1) is connected to a motor stator (2), the motor stator (2) is matched with a motor rotor (3), the motor rotor (3) is connected to a harmonic reduction unit (4), the output end teeth of the harmonic reduction unit (4) are meshed with a harmonic steel wheel (5), the harmonic steel wheel (5) is connected to a rear cover (51), the hollow shaft (1) is fixed to the rear cover (51), and a PCB board is connected to the rear cover (51); an insulating layer (11) is provided in the hollow shaft (1), a hollow tube (6) is sleeved in the insulating layer (11), a plurality of copper bars (61) are provided between the hollow tube (6) and the insulating layer (11), the copper bars (61) are electrically connected to the motor stator (2), one end of the copper bar (61) extends out of the rear cover (51) and is connected to the PCB board through the end extending out of the rear cover (51).

2. The integrated joint internal conductive structure according to claim 1, characterized in that: One end of the hollow tube (6) is connected to a positioning plate (62), and a plurality of positioning grooves are provided on the positioning plate (62), and the copper bars (61) extend from the positioning grooves.

3. The integrated joint internal conductive structure according to claim 2, characterized in that: An inner hole liner (63) is further provided between the hollow tube (6) and the insulating layer (11). The cross section of the inner hole liner (63) is arc-shaped, and the inner hole liner (63) and the plurality of copper bars (61) are staggered on the circumference.

4. The integrated joint internal conductive structure according to claim 1, characterized in that: An encoder bracket (21) is connected to the motor stator (2), an encoder magnetic ring is installed on the encoder bracket (21), and the other end of the encoder bracket (21) is connected to the hollow shaft (1).

5. The integrated joint internal conductive structure according to claim 4, characterized in that: The encoder bracket (21) is provided with a threading hole (211), a PCB small board (7) is connected to the hollow tube (6), the PCB small board (7) is welded to the copper bar (61), and the wiring of the motor stator (2) passes through the threading hole (211) and is then welded to the PCB small board (7).

6. The integrated joint internal conductive structure according to claim 5, characterized in that: The number of the copper bars (61) is three, and the number of the wiring of the motor stator (2) is three.

7. The integrated joint internal conductive structure according to claim 1, characterized in that: The harmonic reduction unit (4) includes a cam (41), which is fixed on the motor rotor (3). A flexible bearing (42) is installed on the cam (41). The outer ring of the flexible bearing (42) is provided with a flexible wheel (43). The flexible wheel (43) is engaged with the teeth of the harmonic steel wheel (5). The number of teeth of the flexible wheel (43) is less than the number of teeth of the harmonic steel wheel (5). An output flange (44) is fixed on the flexible wheel (43), and the output flange (44) is rotatably connected to the harmonic steel wheel (5).

8. The integrated joint internal conductive structure according to claim 7, characterized in that: The inner side of the cam (41) is connected to the hollow shaft (1) via a rolling bearing (45).

9. The integrated joint internal conductive structure according to claim 7, characterized in that: The harmonic steel wheel (5) and the output flange (44) are rotatably connected via a cross roller bearing (46).

10. The integrated joint internal conductive structure according to claim 7, characterized in that: An encoder control board (47) is fixed on the output flange (44).

Images