Robot joint module

Abstract

The utility model discloses a robot joint module in the field of robots, which comprises a shell cover body and a reducing sleeve arranged on one side of the shell cover body, a supporting sleeve is arranged on one side of the reducing sleeve, a shaft sleeve fixing seat is arranged on one side of the supporting sleeve, a rotating end cover is arranged on one side of the shaft sleeve fixing seat, and the rotating end cover is arranged on the other side of the shaft sleeve fixing seat. A hollow rotating shaft is integrally formed in the middle of the rotating end cover, and a rotating sleeve body is installed in the shaft sleeve fixing base in an interference mode. When the robot joint is not used, connection between the rotating end cover and the shaft sleeve fixing base can be achieved through the fixed connecting holes, when the robot joint is used, the robot joint and the rotating end cover can be connected through the external threaded holes by removing screws in the fixed connecting holes, driving is achieved, and the protection effect can be achieved in the transportation process; the hollow rotating shaft is prevented from shaking and bumping in the transportation process, safety is higher, and through reasonable matching of metal and plastic, the weight is reduced, and meanwhile the strength of key parts is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot field, concretely is a kind of robot joint module. BACKGROUND

[0002] Robot joint module is the core component of determining robot motion performance, and its material selection, size design directly influences the load capacity of module, service life and motion accuracy.In prior art, due to lack of fixing measures of rotating part, when transporting, especially when transporting at long distance, it can cause bumping when rotating part moves, is unsafe, and part joint module exists unreasonable material matching (such as metal part weight is too large, plastic part strength is insufficient), it is difficult to consider light weight and stability.Therefore, a robot joint module is needed to be designed to optimize the material and size.

[0003] Therefore, the person skilled in the art provides a robot joint module to solve the problems raised in the background art. SUMMARY

[0004] The utility model aims at providing a kind of robot joint module to solve the problems raised in the background art.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of robot joint module, including shell cover body and the adapter sleeve being arranged at the one side of shell cover body, the adapter sleeve one side is provided with support sleeve, the support sleeve one side is provided with shaft sleeve fixed seat, the shaft sleeve fixed seat one side is provided with rotating end cover, the rotating end cover middle part is integrally formed with hollow shaft, the shaft sleeve fixed seat is installed with the adapter sleeve body with interference, the adapter sleeve body with the hollow shaft rotates and cooperates, fixed connecting hole is uniformly distributed and is opened on the side wall of rotating end cover along circumference, fixed connecting hole one side is provided with external thread hole.

[0007] As a further scheme of the utility model: the shell cover body with the adapter sleeve are connected by the connecting screw two of being set, the shaft sleeve fixed seat, the support sleeve and the adapter sleeve are fixed by the connecting screw one of being threaded.

[0008] As a further scheme of the utility model: the shell cover body with the end of the hollow shaft between is provided with support bearing one, rotating speed detection sensor is fixedly connected on the inner wall of support sleeve, the radial distance of rotating speed detection sensor with the hollow shaft is 2-5mm.

[0009] As a further scheme of the utility model: the hollow rotating shaft is provided with a rotor installation part integrally formed on the outer periphery of the hollow rotating shaft, the stator installation part is provided on the inner side of the rotor installation part, the stator is installed on the stator installation part, and the rotor is installed on the rotor installation part.

[0010] As a further scheme of the utility model: the control panel is fixedly connected in the shell cover body, the control panel center part and the hollow rotating shaft have a movable gap therebetween, and the shell cover body end is provided with a power supply interface electrically connected with the control panel.

[0011] As a further scheme of the utility model: the support sleeve is made of hard plastic material, and is clamped and pressed between the shaft sleeve fixing seat and the adapter sleeve.

[0012] As a further scheme of the utility model: the shell cover body is made of 6061 aluminum alloy material and has a thickness of 3-5 mm; the adapter sleeve is made of 45 steel material; and the first support bearing is a deep groove ball bearing with an inner diameter of 10-30 mm.

[0013] As a further scheme of the utility model: the shaft sleeve fixing seat is made of 304 stainless steel material, and the interference amount between the inner wall of the shaft sleeve fixing seat and the adapter sleeve body is 0.01-0.03 mm; and the rotating end cover is made of 7075 aluminum alloy material and has a thickness of 5-10 mm.

[0014] As a further scheme of the utility model: the shell cover body is integrally formed with a support boss at the center position of one end of the shell cover body.

[0015] Compared with the prior art, the utility model has the advantages that:

[0016] The utility model can realize the connection between the rotating end cover and the shaft sleeve fixing seat through the fixed connection hole when not in use, can realize the driving by connecting the robot joint and the rotating end cover through the external thread hole when in use, can play a protective effect during transportation, avoids shaking and bumping of the hollow rotating shaft during transportation, is safer, and can reduce the weight while ensuring the strength of the key part through the reasonable matching of metal and plastic. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a structural schematic view of the utility model;

[0018] Fig. 2 It is a rear view structural view of the utility model;

[0019] Fig. 3 It is a sectional view of the utility model;

[0020] Fig. 4 The 90-degree sectional view structure of the present application;

[0021] Fig. 5 The present application Fig. 3 The local enlarged view of A in the middle.

[0022] In the figure: 1, shell cover; 101, support boss; 2, adapter sleeve; 3, shaft sleeve fixing seat; 4, connecting screw one; 5, rotating end cover; 501, fixed connection hole; 502, external thread hole; 6, hollow rotating shaft; 7, rotating sleeve body; 8, control panel; 9, support bearing one; 10, connecting screw two; 11, power supply interface; 12, support sleeve; 13, rotating speed detection sensor; 14, stator mounting part; 15, rotor mounting part. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Please refer to Figs. 1-5 In the embodiments of the present application, a robot joint module comprises a shell cover 1 and an adapter sleeve 2 arranged on one side of the shell cover 1. The adapter sleeve 2 is provided with a support sleeve 12 on one side. The support sleeve 12 is provided with a shaft sleeve fixing seat 3 on one side. The shaft sleeve fixing seat 3 is provided with a rotating end cover 5 on one side. The rotating end cover 5 is integrally formed with a hollow rotating shaft 6 at the middle part. The shaft sleeve fixing seat 3 is internally fitted with a rotating sleeve body 7. The rotating sleeve body 7 is rotationally matched with the hollow rotating shaft 6. The fixed connection hole 501 is uniformly and circumferentially arranged on the side wall of the rotating end cover 5. The external thread hole 502 is arranged on one side of the fixed connection hole 501.

[0025] After the above technical solution is adopted, the connection between the rotating end cover 5 and the shaft sleeve fixing seat 3 can be realized through the fixed connection hole 501 when not in use. When in use, the screw in the fixed connection hole 501 can be removed, and the robot joint and the rotating end cover 5 can be connected through the external thread hole 502 to realize driving. The protective effect can be achieved during transportation to avoid shaking and bumping of the hollow rotating shaft 6 during transportation, which is more secure.

[0026] Wherein, the shell cover 1 and adapter sleeve 2 are connected by the connecting screw two 10, the shaft sleeve fixing base 3, support sleeve 12 and adapter sleeve 2 are fixed by the connecting screw one 4, the shell cover 1 and the end of hollow shaft 6 are provided with support bearing one 9, support sleeve 12 inner wall is fixedly connected with rotational speed detection sensor 13, the radial distance between rotational speed detection sensor 13 and hollow shaft 6 is 2-5mm, rotational speed detection sensor 13 selects Hall sensor or photoelectric encoder, which is used to monitor the rotational speed of hollow shaft 6 in real time.

[0027] Wherein, the stator mounting portion 14 is integrally formed on the inner wall of the adapter sleeve 2, the rotor mounting portion 15 is integrally formed on the outer periphery of the hollow shaft 6 inside the stator mounting portion 14, the stator is mounted on the stator mounting portion 14, and the rotor is mounted on the rotor mounting portion 15.

[0028] Wherein, the control panel 8 is fixedly connected inside the shell cover 1, the control panel 8 has a movable gap between the center part and the hollow shaft 6, the shell cover 1 is provided with a power supply interface 11 electrically connected with the control panel 8 at the end, the support sleeve 12 is made of hard plastic material, and the support sleeve 12 is clamped and pressed between the shaft sleeve fixing base 3 and the adapter sleeve 2, and the reasonable matching of metal and plastic can reduce the weight while ensuring the strength of the key parts.

[0029] Wherein, the shell cover 1 is made of 6061 aluminum alloy material with a thickness of 3-5mm; the adapter sleeve 2 is made of 45 steel material; the support bearing one 9 is made of deep groove ball bearing; the shaft sleeve fixing base 3 is made of 304 stainless steel material, and the interference amount between the inner wall and the adapter sleeve body 7 is 0.01-0.03mm; the rotating end cover 5 is made of 7075 aluminum alloy material with a thickness of 5-10mm.

[0030] Wherein, the support boss 101 is integrally formed on the outer periphery of the support bearing one 9 at the center position of one end of the shell cover 1.

[0031] The working principle of the utility model is:

[0032] Component connection and assembly:

[0033] The shell cover 1 and the adapter sleeve 2 are connected by the connecting screw two 10; the shaft sleeve fixing base 3, the support sleeve 12 and the adapter sleeve 2 are also fixed by the connecting screw two 10, which ensures firm connection, the support sleeve 12 is made of hard plastic such as PC and ABS, and is clamped and pressed between the shaft sleeve fixing base 3 and the adapter sleeve 2, which ensures strength and reduces weight.

[0034] Power transmission system:

[0035] The stator installation part 14 of the inner wall of the adapter sleeve 2 installs a stator, and the rotor installation part 15 of the periphery of the hollow rotating shaft 6 installs a rotor; after three-phase alternating current is input to the stator, a rotating magnetic field is generated to drive the rotor to rotate, and in turn drive the hollow rotating shaft 6 and the rotating end cover 5 to rotate synchronously, so as to realize joint power output.

[0036] Rotating stability and control:

[0037] The support bearing 9 such as a deep groove ball bearing is arranged between the shell cover body 1 and the end part of the hollow rotating shaft 6, so as to reduce the radial runout of the hollow rotating shaft 6; the rotating speed detection sensor 13 such as a Hall sensor or a photoelectric encoder on the support sleeve 12 detects the rotating speed in real time, and feeds back a signal to the control board 8; the control board 8 adjusts the driving parameters of the stator according to the feedback, so as to realize precise rotating speed control. The center of the control board 8 and the hollow rotating shaft 6 are provided with a movable gap, so as to avoid rotating interference; the power supply interface 11 at the end part of the shell cover body 1 supplies power for the control board 8, the stator and the like.

[0038] External connection and expansion:

[0039] The fixed connection hole 501 and the external thread hole 502 in the side wall of the rotating end cover 5 are used for fixing with external components such as a robot connecting rod, so as to meet the connection requirements of different application scenarios.

[0040] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A robot joint module, comprising a housing cover (1) and an adapter sleeve (2) arranged on one side of the housing cover (1), characterized in that: One side of the adapter sleeve (2) is provided with a support sleeve (12), one side of the support sleeve (12) is provided with a shaft sleeve fixing seat (3), one side of the shaft sleeve fixing seat (3) is provided with a rotating end cover (5), the middle part of the rotating end cover (5) is integrally formed with a hollow shaft (6), the shaft sleeve fixing seat (3) is internally mounted with a rotating sleeve body (7) in interference, the rotating sleeve body (7) is in rotating cooperation with the hollow shaft (6), a plurality of fixed connection holes (501) are uniformly distributed and arranged on the side wall of the rotating end cover (5) along the circumference, and an external thread hole (502) is arranged on one side of the fixed connection hole (501).

2. The robot joint module of claim 1, wherein: The shell cover body (1) and the adapter sleeve (2) are connected through the connecting screw two (10) arranged, the shaft sleeve fixing seat (3), the support sleeve (12) and the adapter sleeve (2) are fixed through the connecting screw one (4) arranged.

3. The robot joint module of claim 1, wherein: The shell cover body (1) and the end of the hollow shaft (6) are provided with a support bearing one (9), the support sleeve (12) is fixedly connected with a rotating speed detection sensor (13) on the inner wall, and the radial distance between the rotating speed detection sensor (13) and the hollow shaft (6) is 2-5mm.

4. The robot joint module of claim 1, wherein: The inner wall of the adapter sleeve (2) is integrally formed with a stator mounting portion (14), the outer periphery of the hollow shaft (6) is integrally formed with a rotor mounting portion (15) inside the stator mounting portion (14), the stator mounting portion (14) is provided with a stator, and the rotor mounting portion (15) is provided with a rotor.

5. The robot joint module of claim 1, wherein: The control board (8) is fixedly connected inside the shell cover body (1), the control board (8) has an activity gap between the center part and the hollow shaft (6), and the shell cover body (1) is provided with a power supply interface (11) electrically connected with the control board (8) at the end.

6. The robot joint module of claim 1, wherein: The support sleeve (12) is made of hard plastic material, and the support sleeve (12) is clamped and pressed between the shaft sleeve fixing seat (3) and the adapter sleeve (2).

7. The robot joint module of claim 1, wherein: The shell cover body (1) is made of 6061 aluminum alloy material, and the thickness is 3-5mm; the adapter sleeve (2) is made of 45 steel material, and the support bearing one (9) is made of deep groove ball bearing.

8. The robot joint module of claim 1, wherein: The shaft sleeve fixing seat (3) is made of 304 stainless steel material, and the interference amount between the inner wall and the rotating sleeve body (7) is 0.01-0.03mm; the rotating end cover (5) is made of 7075 aluminum alloy material, and the thickness is 5-10mm.

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