Joint module carrying double encoders
By adopting a simply supported structure with the driven gear positioned at both ends and an iron-containing bearing design in the dual encoder joint module, the problems of deflection and high noise of the driven gear during high-speed rotation are solved, thereby improving the stability of the joint module and reducing operating noise.
Patent Information
- Application Number
- CN202423118243.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-11-11
- Estimated Expiration
- 2034-12-16
AI Technical Summary
In existing dual encoder joint modules, the driven gear is only connected to the shaft by a single bearing, lacking fixed support. This can easily lead to shaft deflection, excessive noise, and tooth skipping during high-speed rotation, thus affecting joint performance.
The design employs a dual encoder joint module, with the driven gear connected to the housing and bearing cover at both ends via bearings, forming a simply supported structure. This enhances the positioning stability of the driven gear, and iron-containing bearings are used instead of magnetic rings to shield against magnetic field interference.
It effectively avoids shaft deflection and noise problems, improves the stability of the joint module, reduces operating noise, and prevents tooth skipping.
Smart Images
Figure CN223532483U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a joint module equipped with dual encoders. Background Technology
[0002] Robot joint motors mainly consist of components such as the robot joint motor itself, encoder, controller, and battery. The robot joint motor is the key component providing driving force. The encoder measures the motor's motion information; the controller receives feedback data from the encoder and performs real-time control; the battery provides power to the drive and ensures the drive signal is not lost. The robot joint uses the encoder to measure the motor's rotation information in real time and then feeds back the position information to the controller, achieving closed-loop control. Existing dual-encoder joint module solutions use a pair of small-module gears with unequal tooth counts to record multiple rotations of data. However, the driven gear is only rotated and positioned via a single bearing, without other fixed support positions. This easily leads to problems such as shaft deflection and lack of axial restraint during high-speed rotation, resulting in excessive operating noise and even tooth skipping in the joint module, affecting joint performance. Utility Model Content
[0003] The purpose of this utility model is to provide a joint module equipped with dual encoders to solve the technical problem that in the prior art, the driven gear is only rotated and positioned by a single bearing without any other fixed support positions. This can easily lead to shaft deflection and lack of axial limit during high-speed rotation, resulting in excessive noise in the joint module or even tooth skipping, which affects the joint performance.
[0004] This utility model provides a joint module equipped with dual encoders, including a housing, a bearing cover, a drive gear, and a driven gear. The driven gear is meshed with the drive gear. One end of the driven gear is rotatably connected to the housing, and the other end is sleeved with a driven bearing. The bearing cover is connected to the housing. The bearing cover is provided with a second clearance hole for avoiding the driven gear. The driven bearing is disposed in the second clearance hole to connect the bearing cover and the driven gear.
[0005] As described above, in the joint module equipped with dual encoders, the driven bearing includes a second bearing portion and a second flange disposed on the outer periphery of the second bearing portion. The second bearing portion is sleeved on the driven gear, and the outer periphery of the second bearing portion abuts against the wall of the second clearance hole. The bearing cover is pressed onto the second flange.
[0006] As described above, in the joint module equipped with dual encoders, the driven gear includes a second gear section, a third connecting post disposed at the upper end of the second gear section, and a fourth connecting post disposed at the lower end of the second gear section. The second gear section meshes with the driving gear, the third connecting post extends into the second clearance hole, the driven bearing is sleeved on the third connecting post, and the fourth connecting post is rotatably connected to the housing.
[0007] As described above, the joint module equipped with dual encoders includes fasteners, a first mounting hole on the bearing cover, and a second mounting hole on the housing. The fasteners pass through the first mounting hole and the second mounting hole in sequence to fix the bearing cover to the housing. The second flange is located between the bearing cover and the housing.
[0008] As described above, in the joint module equipped with dual encoders, one end of the drive gear is used to connect to the motor shaft, and the other end is fitted with a main bearing. The bearing cover is provided with a first clearance hole for avoiding the drive gear, and the main bearing is disposed in the first clearance hole to connect the bearing cover and the drive gear.
[0009] As described above, in the joint module equipped with dual encoders, the main bearing includes a first bearing portion and a first flange disposed on the outer periphery of the first bearing portion. The first bearing portion is sleeved on the drive gear, and the outer periphery of the first bearing portion abuts against the wall of the first clearance hole. The bearing cover is pressed onto the first flange, and the first flange is located between the bearing cover and the housing.
[0010] As described above, in the joint module equipped with dual encoders, the driving gear includes a first gear section, a first connecting post disposed at the upper end of the first gear section, and a second connecting post disposed at the lower end of the first gear section. The first gear section meshes with the driven gear, the first connecting post extends into the first clearance hole, the main bearing is sleeved on the first connecting post, and the second connecting post is used to connect with the motor shaft.
[0011] As described above, in the joint module equipped with dual encoders, the housing has a shaft hole, and a rotating bearing is provided in the shaft hole. The fourth connecting post is inserted into the rotating bearing to make the driven gear rotatably connected to the housing.
[0012] As described above, in the joint module equipped with dual encoders, the drive gear is provided with a main magnet, which is coaxially arranged with the drive gear, and the drive gear rotates synchronously with the main magnet; the driven gear is provided with a slave magnet, which is coaxially arranged with the driven gear, and the drive gear drives the driven gear and the slave magnet to rotate.
[0013] In the joint module equipped with dual encoders as described above, both the main bearing and the slave bearing are iron-containing bearings.
[0014] Implementing the embodiments of this utility model will have the following beneficial effects:
[0015] In this invention, the joint module includes a housing, a bearing cover, a driving gear, and a driven gear. The driven gear meshes with the driving gear. One end of the driven gear is rotatably connected to the housing, and the other end is fitted with a driven bearing. The bearing cover is connected to the housing, and the bearing cover has a second clearance hole for accommodating the driven gear. The driven bearing is disposed in the second clearance hole to connect the bearing cover and the driven gear. One end of the driven gear is rotatably connected to the housing, and the other end is rotatably connected to the bearing cover via the driven bearing. This achieves end positioning of the driven gear, changing the original cantilever structure to a simply supported structure, enhancing the structural stability of the driven gear, avoiding shaft deflection and lack of axial restraint during high-speed rotation, reducing noise during operation, preventing tooth skipping, and increasing the stability of the joint module. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is an exploded view of the joint module according to an exemplary embodiment;
[0018] Figure 2 This is a cross-sectional view of a joint module according to an exemplary embodiment;
[0019] Figure 3 This is a schematic diagram of a partial structure of a joint module according to an exemplary embodiment;
[0020] Figure 4 This is a partial structural cross-sectional view of a joint module according to an exemplary embodiment;
[0021] Figure 5 This is a schematic diagram of the structure of a bearing cover according to an exemplary embodiment;
[0022] Figure 6 This is a structural schematic diagram of the bearing cover from another perspective, according to an exemplary embodiment.
[0023] The components are: 1. Housing; 11. Shaft hole; 2. Bearing cover; 21. First clearance hole; 22. Second clearance hole; 3. Driving gear; 31. First gear section; 32. First connecting post; 33. Second connecting post; 34. Main magnet; 4. Driven gear; 41. Second gear section; 42. Third connecting post; 43. Fourth connecting post; 44. Driven magnet; 5. Main bearing; 51. First bearing section; 52. First flange; 6. Driven bearing; 61. Second bearing section; 62. Second flange; 7. Rotary bearing. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.
[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
[0029] See Figures 1-6 This utility model provides a joint module equipped with dual encoders, including a housing 1, a bearing cover 2, a driving gear 3, and a driven gear 4. The driven gear 4 is meshed with the driving gear 3. One end of the driven gear 4 is rotatably connected to the housing 1, and the other end is fitted with a driven bearing 6. The bearing cover 2 is connected to the housing 1, and the bearing cover 2 is provided with a second clearance hole 22 for avoiding the driven gear 4. The driven bearing 6 is disposed in the second clearance hole 22 to connect the bearing cover 2 and the driven gear 4. One end of the driven gear 4 is rotatably connected to the housing 1, and the other end is rotatably connected to the bearing cover 2 through the driven bearing 6, realizing the positioning of both ends of the driven gear 4. The positioning method of the driven gear 4 is changed from the original cantilever structure to a simply supported structure, which enhances the structural stability of the driven gear 4, avoids the situation of shaft deflection and lack of axial limit during high-speed rotation, reduces noise during operation, avoids tooth skipping, and increases the stability of the joint module.
[0030] Furthermore, the driven bearing 6 includes a second bearing portion 61 and a second flange 62 disposed on the outer periphery of the second bearing portion 61. The second bearing portion 61 is sleeved on the driven gear 4, and the outer periphery of the second bearing portion 61 abuts against the wall of the second clearance hole 22. The bearing cover 2 is pressed against the second flange 62. By pressing the second flange 62 with the bearing cover 2, the driven bearing 6 is fixed, preventing the driven bearing 6 from coming out of the second clearance hole 22.
[0031] Furthermore, the driven gear 4 includes a second gear section 41, a third connecting post 42 disposed at the upper end of the second gear section 41, and a fourth connecting post 43 disposed at the lower end of the second gear section 41. The second gear section 41 meshes with the driving gear 3. The third connecting post 42 extends into the second clearance hole 22. The driven bearing 6 is sleeved on the third connecting post 42. The fourth connecting post 43 is rotatably connected to the housing 1. The third connecting post 42 and the fourth connecting post 43, located at the upper and lower ends respectively, are rotatably connected to the housing 1 and the bearing housing, making the driven gear 4 a simply supported structure with the upper and lower ends positioned, thus improving the structural stability of the driven gear 4 and preventing tooth skipping.
[0032] Furthermore, the joint module includes fasteners, which can be screws, bolts, or bolts. The bearing cover 2 has a first mounting hole, and the housing 1 has a second mounting hole. The fasteners pass through the first mounting hole and the second mounting hole in sequence to fix the bearing cover 2 to the housing 1. The second flange 62 is located between the bearing cover 2 and the housing 1. The bearing cover 2 and the housing 1 are fixedly connected together, and the two ends of the driven gear 4 are rotatably connected to the bearing cover 2 and the housing 1, respectively.
[0033] Furthermore, one end of the driving gear 3 is used to connect to the motor shaft, and the other end is fitted with a main bearing 5. The bearing cover 2 is provided with a first clearance hole 21 for avoiding the driving gear 3. The main bearing 5 is disposed in the first clearance hole 21 to connect the bearing cover 2 and the driving gear 3. The main bearing 5 realizes the rotational connection between the driving gear 3 and the bearing cover 2, further strengthening the positioning of the driving gear 3, so that the driving gear 3 and the driven gear 4 have axial positioning positions and a stable center distance.
[0034] Furthermore, the main bearing 5 includes a first bearing portion 51 and a first flange 52 disposed on the outer periphery of the first bearing portion 51. The first bearing portion 51 is sleeved on the drive gear 3, and the outer periphery of the first bearing portion 51 abuts against the wall of the first clearance hole 21. The bearing cover 2 is pressed against the first flange 52, and the first flange 52 is located between the bearing cover 2 and the housing 1. By pressing the first flange 52 with the bearing cover 2, the main bearing 5 is fixed, preventing the main bearing 5 from coming out of the first clearance hole 21.
[0035] Furthermore, the driving gear 3 includes a first gear part 31, a first connecting post 32 disposed at the upper end of the first gear part 31, and a second connecting post 33 disposed at the lower end of the first gear part 31. The first gear part 31 is meshed with the driven gear 4. The first connecting post 32 extends into the first clearance hole 21. The main bearing 5 is sleeved on the first connecting post 32. The second connecting post 33 is used to connect with the motor shaft.
[0036] Furthermore, the housing 1 is provided with a shaft hole 11, and a rotary bearing 7 is provided in the shaft hole 11. The fourth connecting post 43 is inserted into the rotary bearing 7 to make the driven gear 4 rotatably connected to the housing 1. The rotary bearing 7 realizes the rotatable connection between the driven gear 4 and the housing 1, and realizes the positioning of the lower end of the driven gear 4.
[0037] Furthermore, the driving gear 3 is equipped with a main magnet 34, and the main magnet 34, the driving gear 3, and the motor shaft are all coaxially arranged. The driving gear 3 and the main magnet 34 rotate synchronously with the motor shaft. The driven gear 4 is equipped with a driven magnet 44, and the driven magnet 44 is coaxially arranged with the driven gear 4. The driving gear 3 drives the driven gear 4 and the driven magnet 44 to rotate. The driven gear 4 is rotatably mounted on the housing 1 through a rotary bearing. The driving gear 3 can drive the driven gear 4 and the driven magnet 44 to rotate, and the driven gear 4 and the driven magnet 44 rotate synchronously.
[0038] Furthermore, both the main bearing 5 and the slave bearing 6 are iron-containing bearings. Iron-containing bearings can shield magnetic field interference, replacing the magnetic rings currently installed on encoder gears, solving the problems of needing glue and specific fits for installing magnetic rings, while also saving installation space for magnetic rings.
[0039] Furthermore, the joint module also includes an end cap, a first magnetic encoder, and a second magnetic encoder. The first magnetic encoder and the second magnetic encoder are both disposed on the end cap, and the first magnetic encoder and the second magnetic encoder are respectively arranged facing the main magnet 34 and the slave magnet 44.
[0040] The above embodiments are only used to illustrate the technical solution of this utility model, and are not intended to limit the scope of protection of the utility model.
Claims
1. A joint module equipped with dual encoders, characterized in that, The device includes a housing (1), a bearing cover (2), a drive gear (3), and a driven gear (4). The driven gear (4) is meshed with the drive gear (3). One end of the driven gear (4) is rotatably connected to the housing (1), and the other end is fitted with a driven bearing (6). The bearing cover (2) is connected to the housing (1). The bearing cover (2) has a second clearance hole (22) for avoiding the driven gear (4). The driven bearing (6) is disposed in the second clearance hole (22) to connect the bearing cover (2) and the driven gear (4).
2. The joint module equipped with dual encoders according to claim 1, characterized in that, The driven bearing (6) includes a second bearing portion (61) and a second flange (62) disposed on the outer periphery of the second bearing portion (61). The second bearing portion (61) is sleeved on the driven gear (4). The outer periphery of the second bearing portion (61) abuts against the wall of the second clearance hole (22). The bearing cover (2) is pressed against the second flange (62).
3. The joint module equipped with dual encoders according to claim 2, characterized in that, The driven gear (4) includes a second gear part (41), a third connecting post (42) disposed at the upper end of the second gear part (41), and a fourth connecting post (43) disposed at the lower end of the second gear part (41). The second gear part (41) meshes with the driving gear (3). The third connecting post (42) extends into the second clearance hole (22). The driven bearing (6) is sleeved on the third connecting post (42). The fourth connecting post (43) is rotatably connected to the housing (1).
4. The joint module equipped with dual encoders according to claim 3, characterized in that, The joint module includes fasteners, the bearing cover (2) is provided with a first mounting hole, the housing (1) is provided with a second mounting hole, the fasteners pass through the first mounting hole and the second mounting hole in sequence to fix the bearing cover (2) and the housing (1) in a fixed connection, and the second flange (62) is located between the bearing cover (2) and the housing (1).
5. The joint module equipped with dual encoders according to claim 1, characterized in that, One end of the drive gear (3) is used to connect to the motor shaft, and the other end is fitted with a main bearing (5). The bearing cover (2) is provided with a first clearance hole (21) for avoiding the drive gear (3). The main bearing (5) is disposed in the first clearance hole (21) to connect the bearing cover (2) and the drive gear (3).
6. The joint module equipped with dual encoders according to claim 5, characterized in that, The main bearing (5) includes a first bearing portion (51) and a first flange (52) disposed on the outer periphery of the first bearing portion (51). The first bearing portion (51) is sleeved on the drive gear (3). The outer periphery of the first bearing portion (51) abuts against the wall of the first clearance hole (21). The bearing cover (2) is pressed onto the first flange (52). The first flange (52) is located between the bearing cover (2) and the housing (1).
7. The joint module equipped with dual encoders according to claim 6, characterized in that, The driving gear (3) includes a first gear part (31), a first connecting post (32) disposed at the upper end of the first gear part (31), and a second connecting post (33) disposed at the lower end of the first gear part (31). The first gear part (31) meshes with the driven gear (4). The first connecting post (32) extends into the first clearance hole (21). The main bearing (5) is sleeved on the first connecting post (32). The second connecting post (33) is used to connect with the motor shaft.
8. The joint module equipped with dual encoders according to claim 3, characterized in that, The housing (1) is provided with a shaft hole (11), and a rotating bearing (7) is provided in the shaft hole (11). The fourth connecting column (43) is inserted into the rotating bearing (7) to make the driven gear (4) rotatably connected to the housing (1).
9. The joint module equipped with dual encoders according to claim 5, characterized in that, The driving gear (3) is provided with a main magnet (34), which is coaxially arranged with the driving gear (3) and rotates synchronously with the main magnet (34); the driven gear (4) is provided with a driven magnet (44), which is coaxially arranged with the driven gear (4) and the driving gear (3) drives the driven gear (4) and the driven magnet (44) to rotate.
10. The joint module equipped with dual encoders according to claim 5, characterized in that, Both the main bearing (5) and the slave bearing (6) are iron-containing bearings.