Robot joint module adopting cantilever type rotating shaft

Abstract

A robot joint module adopting a cantilever type rotating shaft comprises a torque sensor, a speed reducer, a motor and an encoder assembly, the speed reducer comprises an input part and an output part, the output part of the speed reducer is hollow, one end of the output part of the speed reducer is connected with the torque sensor, and the input part of the speed reducer is fixed to a rotor of the motor; the motor comprises a machine shell, a stator and a rotor, a supporting frame is arranged on the machine shell, the rotor is connected to the supporting frame through a bearing, the encoder assembly comprises an input end coded disc, an output end coded disc and a circuit board, the rotor is connected with the input end coded disc, and the other end of the output part of the speed reducer penetrates through the rotor to be connected with the output end coded disc. According to the utility model, only one end of the motor rotating shaft is fixed on the motor casing, and a cantilever mechanism is adopted, so that the axial distance can be shortened, and the process cost is saved. And a torque sensor is integrated at the output flange, so that the output torque can be directly measured.

Description

Technical Field

[0001] This utility model relates to robot joint modules, specifically to a robot joint module using a cantilevered pivot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation, replacing or assisting humans in various tasks. It is a crucial production and service device in both industrial and non-industrial sectors, and an indispensable piece of automation equipment in advanced manufacturing technology. Among these components, the robot joint module is the core of the robot's joint system. It is a highly integrated, modular joint design that can quickly fulfill various application and functional requirements of the robot. Therefore, the control and optimization of the robot's joints and other moving parts are particularly important.

[0003] In existing robot joint modules, the motor shaft is supported by two-end bearings, which is complex in structure, heavy in weight, and makes it impossible to directly measure the output torque and has a long axial distance. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to overcome the above-mentioned shortcomings of the prior art and provide a robot joint module with a cantilevered rotating shaft, which makes its structure simple.

[0005] The technical solution adopted by this utility model to solve the above problems is as follows:

[0006] A robot joint module employing a cantilevered pivot includes a torque sensor, a reducer, a motor, and an encoder assembly. The reducer includes an input section and an output section. The output section of the reducer is hollow, with one end connected to the torque sensor. The input section of the reducer is fixed to the rotor of the motor. The motor includes a housing, a stator, and a rotor. A support frame is mounted on the housing, and the rotor is connected to the support frame via bearings. The encoder assembly includes an input code disk, an output code disk, and a circuit board. The rotor is connected to the input code disk, and the other end of the reducer's output section passes through the rotor and connects to the output code disk.

[0007] Preferably, the reducer is a harmonic reducer, which includes a cross roller bearing, a flexible wheel, a hollow shaft, a wave generator, a bearing, a flexible bearing, a rigid wheel, and a rigid wheel seat. The rigid wheel seat is fixed to the housing, the wave generator is connected to the motor shaft, the gear of the flexible wheel meshes with the rigid wheel, the rigid wheel is fixed to the rigid wheel seat, the rigid wheel seat is connected to the housing, the bearing is connected to the rigid wheel seat, the outer ring of the torque sensor is fixed to the inner ring of the cross roller bearing, the inner ring of the torque sensor is connected to the bottom of the flexible bearing and one end of the hollow shaft, and the other end of the hollow shaft is connected to the output encoder.

[0008] Even better, the wave generator of the harmonic reducer is flexibly connected to the motor shaft, which can appropriately compensate for the accuracy, reduce the processing difficulty, effectively reduce the overall weight, and make assembly simpler.

[0009] Even better, the outer ring of the cross roller bearing of the harmonic reducer is fixed to the motor housing.

[0010] Even better, the encoder assembly has a circular hole at the center of the input code disk and an output code disk installed thereon, forming a dual code disk encoder, which makes the structure more compact.

[0011] Even better, the encoder assembly's input code disk, output code disk, and circuit board are enclosed by a rear cover to prevent dust from entering.

[0012] Even better, the input code disk, output code disk, and circuit board of the encoder assembly are all on the same side, making the structure more compact.

[0013] Compared with the prior art, the advantages of this utility model are as follows: The motor shaft of the robot joint module of this utility model adopts a cantilevered rotating shaft, which is fixed to the motor housing at only one end by a cantilever mechanism, which can shorten the axial distance and save process costs.

[0014] This invention also integrates a torque sensor at the output flange, which facilitates direct measurement of the output torque.

[0015] In addition, the output section adopts a hollow structure, with the input and output code disks installed at the end of the output section. Combined with the encoder, this reduces the encoder size, improves the space utilization of the entire joint module, and makes wiring more convenient and neat. Attached Figure Description

[0016] Figure 1 This is a front view of a robot joint module using a cantilevered rotating shaft according to an embodiment of this utility model.

[0017] Figure 2 yes Figure 1 A-A cross-sectional view.

[0018] Figure 3 This is an exploded view of a robot joint module using a cantilevered rotating shaft according to an embodiment of this utility model.

[0019] Figure 4 This is a perspective view of a robot joint module using a cantilevered rotating shaft according to an embodiment of this utility model. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] like Figure 1-4As shown, a robot joint module using a cantilevered pivot includes a torque sensor 1, a harmonic reducer, a motor, and an encoder assembly.

[0022] The harmonic reducer includes a cross roller bearing 21, a flexible wheel 22, a hollow shaft 23, a wave generator 24, a deep groove ball bearing 25, a flexible bearing 26, a rigid wheel 27, and a rigid wheel seat 28.

[0023] The wave generator 24 and the rotating shaft 32 of the motor 3 are connected by a flexible connection and fastened by screws 241. The gear of the flexible wheel 22 meshes with the rigid wheel 27. The rigid wheel 27 is fixed to the rigid wheel seat 28 by screws 271. The rigid wheel seat 28 is fixedly connected to the housing 33.

[0024] The outer ring of the cross roller bearing 21 is laterally fixed to the housing 33 of the motor 3, and the outer ring of the cross roller bearing 21 is fixed to the outer ring of the torque sensor 1, and the torque sensor 1 measures its output torque.

[0025] One end of the hollow shaft 23 is fixed to the rear cover plate 43, and the other end is fixed to the inner ring of the torque sensor 1 and the bottom of the flexible wheel 22 by the first screw 231.

[0026] The rotating shaft 32 is fixed to the hollow shaft 23. The output shaft 23 and the rotating shaft 32 adopt a hollow structure, which makes it easier to thread the wires, makes the encoder wiring more convenient and neat, effectively reduces the overall weight, and makes assembly simpler.

[0027] The motor drives the rotating shaft 32 to rotate, the rotating shaft 32 drives the wave generator 24 to rotate, and the wave generator 24 then drives the flexible wheel 22 to mesh with the rigid wheel 27 and start to rotate through the flexible bearing 26.

[0028] The motor 3 includes a deep groove ball bearing 31, a rotating shaft 32, a housing 33, and a stator 34.

[0029] The stator 34 is fixed inside the housing 33, and the rotating shaft 32 is designed inside the stator 34. The rotating shaft 32 is connected to the support frame 331 of the housing 33 via a deep groove ball bearing 31. Since the rotating shaft 32 is connected to the support frame 331 at only one end, i.e., it adopts a cantilever structure, omitting the bearing support on the other side. Therefore, it can shorten the axial length, simplify the structure, reduce the number of parts, and thus save costs.

[0030] The encoder assembly includes an input code disk 41, an output code disk 42, a circuit board 44, and a rear cover plate 43.

[0031] The rear cover plate 43 is fixed at the center on the hollow shaft 23, and the outer ring of the rear cover plate 43 is fixed on the housing 33 of the motor 3 to prevent dust from entering.

[0032] The output encoder 42 is fixed to the other side of the hollow shaft 23 of the harmonic reducer 2, and the input encoder 41 is fixed to the rotating shaft 32.

[0033] The input code disk 41 is nested inside the output code disk 42. The two code disks, input code disk 41 and output code disk 42, are on the same plane and are received and detected by the circuit board 44. This allows for simultaneous measurement of the output data of the two code disks, thus simplifying the structure.

Claims

1. A robot joint module employing a cantilevered pivot, characterized in that: The device includes a torque sensor, a reducer, a motor, and an encoder assembly. The reducer includes an input section and an output section. The output section of the reducer is hollow, and one end of it is connected to the torque sensor. The input section of the reducer is fixed to the rotor of the motor. The motor includes a housing, a stator, and a rotor. A support frame is provided on the housing, and the rotor is connected to the support frame through bearings. The encoder assembly includes an input code disk, an output code disk, and a circuit board. The rotor is connected to the input code disk, and the other end of the output section of the reducer passes through the rotor and is connected to the output code disk.

2. The robot joint module employing a cantilevered pivot as described in claim 1, characterized in that: The reducer is a harmonic reducer, which includes a cross roller bearing, a flexible wheel, a hollow shaft, a wave generator, a bearing, a flexible bearing, a rigid wheel, and a rigid wheel seat. The rigid wheel seat is fixed to the housing. The wave generator is connected to the motor shaft. The gear of the flexible wheel meshes with the rigid wheel. The rigid wheel is fixed to the rigid wheel seat. The rigid wheel seat is connected to the housing. The bearing is connected to the rigid wheel seat. The outer ring of the torque sensor is fixed to the inner ring of the cross roller bearing. The inner ring of the torque sensor is connected to the bottom of the flexible bearing and one end of the hollow shaft. The other end of the hollow shaft is connected to the output encoder.

3. The robot joint module employing a cantilevered pivot as described in claim 2, characterized in that: The wave generator of the harmonic reducer is flexibly connected to the motor shaft.

4. The robot joint module employing a cantilevered pivot as described in claim 3, characterized in that: The outer ring of the cross roller bearing of the harmonic reducer is fixed to the motor housing.

5. The robot joint module employing a cantilevered pivot according to claim 1, characterized in that: The encoder assembly has a circular hole at the center of the input code disk and an output code disk is installed thereon, forming a dual code disk encoder.

6. The robot joint module employing a cantilevered pivot according to claim 1, characterized in that: The encoder assembly's input code disk, output code disk, and circuit board are enclosed by a rear cover.

7. The robot joint module employing a cantilevered pivot as described in claim 1, characterized in that: The input code disk, output code disk, and circuit board of the encoder assembly are all on the same side.

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