Robot joint module bearing structure

Abstract

The utility model belongs to the technical field of robots, and particularly discloses a robot joint module bearing structure which comprises a shell. The speed reducer assembly is installed in the shell and comprises a sun wheel shaft. The motor assembly is installed in the shell and comprises a rotor flange, one end of the sun wheel shaft is installed on the speed reducer assembly through a first bearing, the other end of the sun wheel shaft sleeves the rotor flange, and a second bearing is installed on the outer side of the rotor flange. According to the utility model, the joint module can still provide high-precision input power and output power under the condition that the sun wheel shaft axially moves during rotation, so that the action precision of the robot is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a robot joint module bearing structure. Background Art

[0002] The joint module is a crucial component in a robot that connects and drives various parts. Its performance directly impacts the robot's mobility and efficiency. The joint module is a complex kinematic subsystem, encompassing multiple key components, including a driver, controller, and joint motor. Considered the robot's actuator, the joint module is responsible for controlling joint movement according to commands, thereby driving the robot to perform a range of actions, such as walking, running, and jumping. All operations within the joint module are driven by the internal joint motor, whose performance directly determines the robot's overall performance. Prior art robotic joint motors have achieved a high degree of integration between motor, drive, encoder, and reducer technologies. This integration has significantly improved the performance of robotic joint motors, but some challenges remain. During the assembly process of robotic joint motors, due to the use of multiple parts, tolerance issues between these parts are often difficult to completely avoid. This tolerance can cause axial play in the reducer's sun gear shaft as it rotates. This axial play can affect steering smoothness, thereby reducing the accuracy of the robot's movements. Utility Model Content

[0003] The purpose of the utility model is to provide a robot joint module bearing structure, so that the joint module can still provide high-precision input power and output power under the condition of axial movement when the sun gear shaft rotates, thereby improving the accuracy of the robot's movement.

[0004] The purpose of the present invention is achieved through such a technical solution, specifically providing a robot joint module bearing structure, including:

[0005] case;

[0006] A reducer assembly is installed in the housing, and the reducer assembly includes a sun gear shaft;

[0007] The motor assembly is installed in the housing and includes a rotor flange. One end of the sun gear shaft is installed on the reducer assembly through a first bearing, and the other end is sleeved on the rotor flange.

[0008] The second bearing is installed on the outside of the rotor flange.

[0009] Preferably, two sets of second bearings are provided and symmetrically mounted on both outer sides of the rotor flange.

[0010] Preferably, the inner wall of the rotor flange is connected to the sun gear shaft via a first spline; and the sun gear shaft is connected to the reducer assembly via a second spline.

[0011] Preferably, the motor assembly further comprises a sensor signal shaft, which is rotatably sleeved in the sun gear shaft, and one end of the sensor signal shaft is installed in the reducer assembly.

[0012] Preferably, the motor assembly further includes an encoder, which includes an output encoder and an input encoder. The output encoder is sleeved and mounted on the other end of the sensor signal shaft, and the input encoder is mounted on the outside of the rotor flange.

[0013] Preferably, the input encoder and the output encoder are arranged in parallel.

[0014] Preferably, the reducer assembly further includes a third bearing, which is installed between the housing and the reducer assembly.

[0015] Preferably, it further comprises a rotary seal, the outer side of which abuts against the housing, and the inner wall of the rotary seal is sleeved on the outer side of the sun gear shaft.

[0016] Due to the adoption of the above technical solution, the utility model has the following advantages:

[0017] The present invention's robot joint module bearing structure features a sun gear shaft with one end mounted on the reduction assembly and the other end mounted on the rotor flange. The rotor flange synchronously drives the sun gear shaft in rotation. A second bearing is positioned outside the rotor flange to provide a high-precision constraint on the rotor flange, allowing it to operate smoothly in a circular motion without being affected by the floating motion of the sun gear shaft, thereby improving the precision of the rotor flange's smooth operation. The first bearing is positioned to constrain the reducer assembly, ensuring smooth operation without being affected by the floating motion of the sun gear shaft, thereby improving the precision of the reducer assembly's output power. By improving the precision of both input and output power, the accuracy of the robot's movements is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the specific embodiments. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0019] Figure 1 This is a schematic diagram of a bearing structure of a robot joint module of the present invention;

[0020] Figure 2 A schematic diagram of the planetary system.

[0021] Reference numerals:

[0022] 1-shell, 11-shell body, 12-front cover, 13-rear cover,

[0023] 2- reducer assembly, 21- sun gear shaft, 22- planetary carrier, 23- sun gear, 24- planetary gear, 25- ring gear, 26- third bearing,

[0024] 3-motor assembly, 31-stator, 32-rotor, 33-rotor flange, 34-first spline, 35-second spline, 36-sensor signal shaft, 37-encoder, 371-output encoder, 372-input encoder,

[0025] 4-first bearing, 5-second bearing, 6-rotating part. DETAILED DESCRIPTION

[0026] See also Figure 1 and Figure 2 A robot joint module bearing structure includes: a housing 1, a reducer assembly 2, a motor assembly 3, a first bearing 4 and a second bearing 5.

[0027] The reducer assembly 2 is mounted in the housing 1 and includes a sun gear shaft 21. The motor assembly 3 is also mounted in the housing 1 and includes a rotor flange 33. One end of the sun gear shaft 21 is mounted to the reducer assembly 2 via a first bearing 4, and the other end is sleeved on the rotor flange 33. A second bearing 5 is mounted on the outside of the rotor flange 33. Specifically, the reducer assembly 2 also includes a planet carrier 22, which is connected to the outside of the first bearing 4. The sun gear shaft 21 sleeves within the first bearing 4. The housing 1 includes a housing body 11, a front cover 12, and a rear cover 13. The front cover 12 and rear cover 13 are respectively fixedly mounted at the two ends of the housing body 11, protecting the reducer assembly 2 and motor assembly 3 mounted within the housing 1. The motor assembly 3 also includes a stator 31 and a rotor 32. The stator 31 is fixedly mounted in the housing body 11, and the rotor 32 is mounted on the outside of the stator 31. When the stator 31 is energized, it drives the rotor 32 to rotate. Rotor flange 33 is bolted to rotor 32. Rotation of rotor 32 drives rotor flange 33, providing input power. Rotation of rotor flange 33 synchronously drives sun gear shaft 21, thereby outputting power from reducer assembly 2 and driving the robot. Second bearing 5 is mounted on the outside of rotor flange 33 using existing hot pressing technology.

[0028] The robot joint module bearing structure of this utility model provides a second bearing 5 to provide a high-precision constraint on the rotor flange 33. This allows the rotor flange 33 and rotor 32 to operate smoothly in a circular motion without being affected by the floating of the sun gear shaft 21. This improves the precision of the smooth operation of the rotor flange 33 and rotor 32, thereby improving the precision of the smooth operation of the input power. The first bearing 4 also provides a constraint on the planetary carrier 22, ensuring the smooth operation of the reducer assembly 2 without being affected by the floating of the sun gear shaft 21, thereby improving the precision of the output power of the reducer assembly 2. By improving the precision of the input and output power, the accuracy of the robot's movements is improved.

[0029] Furthermore, two sets of second bearings 5 ​​are provided, which are symmetrically mounted on the outside of the rotor flange 33. The second bearings 5 ​​are symmetrically arranged on the rotor flange 33, and the rotor flange 33 rotates smoothly, thereby improving the accuracy of the smooth operation of the rotor flange 33 and the rotor 32.

[0030] Furthermore, the inner wall of the rotor flange 33 is connected to the sun gear shaft 21 via a first spline 34; the sun gear shaft 21 is connected to the reducer assembly 2 via a second spline 35. Specifically, the first spline 34 includes an internal spline provided on the inner wall of the rotor flange 33 and an external spline provided on the outer side of the sun gear shaft 21 for use with the internal spline. The internal spline and the external spline cooperate, and when the rotor flange 33 rotates, it will synchronously drive the sun gear shaft 21 to rotate. The second spline 35 is similarly configured. Please refer to Figure 2 The reducer assembly 2 utilizes existing technology and includes a sun gear 23, multiple planetary gears 24, and a ring gear 25, which together form a conventional planetary system. When the sun gear shaft 21 operates, the sun gear 23 rotates, driving the planetary gears 24 in rotation and revolution. Preferably, three planetary gears 24 are provided. This structure ensures the planetary gear system operates with a stable and stable structure, preventing the multiple planetary gears 24 from experiencing different forces and torques during operation due to inconsistent parts manufacturing and assembly, which can shorten the overall life of the planetary gear system. This is because the sun gear shaft 21 is constrained by the first bearing 4 at one end and by the second spline 35 at the other end. This creates radial and circumferential play between the sun gear shaft 21 and the spline or first bearing 4, allowing for minor circumferential movement. The small, free movement of the sun gear shaft 21 during operation automatically equalizes the forces and torques on each planetary gear 24, thereby improving the overall life of the planetary gear system.

[0031] Furthermore, the motor assembly 3 further includes a sensor signal shaft 36 , which is rotatably sleeved in the sun gear shaft 21 , and one end of the sensor signal shaft 36 is installed in the reducer assembly 2 .

[0032] Furthermore, the motor assembly 3 also includes an encoder 37, which includes an output encoder 371 and an input encoder 372. The output encoder 371 is sleeved and mounted on the other end of the sensor signal shaft 36, and the input encoder 372 is mounted on the outside of the rotor flange 33. The output encoder 371 is used to monitor the operation of the planetary carrier 22, and the input encoder 372 is used to monitor the operation of the rotor 32.

[0033] Furthermore, the input encoder 372 is arranged in parallel with the output encoder 371. Specifically, the diameter of the magnetic ring of the input encoder 372 is larger than the diameter of the magnetic ring of the output encoder 371, so that the input encoder 372 and the output encoder 371 can be arranged in parallel and coaxially, shortening the overall axial distance, thereby reducing the overall volume of the robot joint module.

[0034] Furthermore, the reducer assembly 2 further includes a third bearing 26, which is installed between the housing (1) and the reducer assembly 2. Specifically, the third bearing 26 is rotatably installed on the outer side of the planet carrier 22, and has a restraining effect on the planet carrier 22, so that the reducer assembly 2 can operate smoothly without being affected by the floating of the sun gear shaft 21, thereby further improving the output power accuracy of the reducer assembly 2.

[0035] Furthermore, it also includes a rotating member 6, the outer side of which abuts against the housing 1, and the inner wall of the rotary seal member (6) is sleeved on the outer side of the sun gear shaft 21. Specifically, the rotating member 6 is provided with an outer ring and an inner ring, the outer ring is pressed into the housing body 11, and the inner ring is sleeved on the outer side of the sun gear shaft 21 with pressure, and the rotating member 6 rotates as the sun gear shaft 21 rotates. The rotating member 6 can help reduce the vibration of the sun gear shaft 21.

[0036] The robot joint module bearing structure of the present invention features two sets of symmetrically positioned second bearings 5 ​​on either side of the rotor flange 33, providing high-precision constraints on the rotor flange 33. This allows the rotor flange 33 and rotor 32 to operate smoothly in a circular motion without being affected by the fluctuations of the sun gear shaft 21, thereby improving the precision of the smooth operation of the rotor flange 33 and rotor 32. The first and third bearings 4 and 26 constrain the planetary carrier 22, ensuring smooth operation of the reducer assembly 2 without being affected by the fluctuations of the sun gear shaft 21, thereby improving the output power precision of the reducer assembly 2. This improves the precision of input and output power, thereby enhancing the precision of robot motion. The splined fit of the second bearings 5 ​​allows the sun gear shaft 21 to move slightly freely during planetary gear train operation, automatically balancing the forces and torques on each planetary gear 24 and improving the overall lifespan of the planetary gear train. An output encoder 371 monitors the operation of the planetary carrier 22, while an input encoder 372 monitors the operation of the rotor 32, thereby monitoring the operation of the robot joint module.

[0037] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the utility model in detail. It should be understood that the above is only a specific implementation method of the utility model and is not intended to limit the utility model. Any modifications, equivalent replacements and improvements made within the scope of the present utility model should be included in the scope of protection of the present utility model.

Claims

1. A robot joint module bearing structure, characterized in that: include: Housing (1); A reducer assembly (2) is installed in the housing (1), and the reducer assembly (2) includes a sun gear shaft (21); A motor assembly (3) is installed in the housing (1) and includes a rotor flange (33); one end of the sun gear shaft (21) is installed on the reducer assembly (2) through a first bearing (4), and the other end is sleeved on the rotor flange (33); and The second bearing (5) is mounted on the outside of the rotor flange (33).

2. The robot joint module bearing structure according to claim 1, characterized in that: The second bearings (5) are provided in two groups and are symmetrically mounted on the two outer sides of the rotor flange (33).

3. The robot joint module bearing structure according to claim 1 or 2, characterized in that: The inner wall of the rotor flange (33) is connected to the sun gear shaft (21) via a first spline (34); the sun gear shaft (21) is connected to the reducer assembly (2) via a second spline (35).

4. The robot joint module bearing structure according to claim 1 or 2, characterized in that: The motor assembly (3) further comprises a sensor signal shaft (36), which is rotatably sleeved in the sun gear shaft (21), and one end of the sensor signal shaft (36) is installed in the reducer assembly (2).

5. The robot joint module bearing structure according to claim 4, characterized in that: The motor assembly (3) further includes an encoder (37), which includes an output encoder (371) and an input encoder (372). The output encoder (371) is sleeved and mounted on the other end of the sensor signal shaft (36), and the input encoder (372) is mounted on the outside of the rotor flange (33).

6. The robot joint module bearing structure according to claim 5, characterized in that: The input encoder (372) is arranged in parallel with the output encoder (371).

7. The robot joint module bearing structure according to claim 1, 2, 5 or 6, characterized in that: The reducer assembly (2) further comprises a third bearing (26), which is installed between the housing (1) and the reducer assembly (2).

8. The robot joint module bearing structure according to claim 3, characterized in that: The reducer assembly (2) further comprises a third bearing (26), which is installed between the housing (1) and the reducer assembly (2).

9. The robot joint module bearing structure according to claim 4, characterized in that: The reducer assembly (2) further comprises a third bearing (26), which is installed between the housing (1) and the reducer assembly (2).

10. The robot joint module bearing structure according to claim 1, 2, 5, 6, 8 or 9, characterized in that: It also includes a rotary seal (6), the outer side of which abuts against the housing (1), and the inner wall of the rotary seal (6) is sleeved on the outer side of the sun gear shaft (21).

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