Joint module and mechanical arm

Abstract

The joint module comprises a motor, a speed reducer, an output flange, a hollow rotating shaft, a first adapter, a first bearing and a first encoder, an output shaft of the motor is connected with the output flange through the speed reducer, and the hollow rotating shaft is connected with the output flange and penetrates through the speed reducer and the output shaft. A limiting ring is arranged on the side, away from the output flange, of the output shaft, the first adapter is installed on the inner side of the limiting ring, an inner ring of the first bearing is embedded in the outer side of the hollow rotating shaft, an outer ring of the first bearing is embedded in the inner side of the first adapter, and a coded disc of the first encoder is installed on the first adapter. According to the technical scheme, the technical problem that connection between the first adapter and the output shaft is not stable enough is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely relates to joint module and mechanical arm. BACKGROUND

[0002] At present, joint module includes motor, first adapter seat and first encoder, motor has output shaft, first adapter seat is inserted along the axial direction of output shaft with output shaft, and the code disc of first encoder is arranged in first adapter seat to detect the rotation state of output shaft.

[0003] However, even if the way of insertion, first adapter seat and output shaft are not connected stably enough. SUMMARY

[0004] The embodiment of the utility model provides a kind of joint module and mechanical arm, can improve the technical problem that first adapter seat and output shaft are not connected stably enough.

[0005] First, the embodiment of the utility model provides a kind of joint module, the joint module includes motor, speed reducer, output flange, hollow rotating shaft, first adapter seat, first bearing and first encoder, the output shaft of the motor is connected with the output flange by the speed reducer, the hollow rotating shaft is connected with the output flange, and passes through the speed reducer and the output shaft, the side of the output shaft away from the output flange is configured with limit ring, the first adapter seat is installed in the inside of the limit ring, the inner ring of the first bearing is nested in the outside of the hollow rotating shaft, the outer ring of the first bearing is embedded in the inside of the first adapter seat, and the code disc of the first encoder is installed on the first adapter seat.

[0006] Second, the embodiment of the utility model provides a kind of mechanical arm, and the mechanical arm includes the joint module described above.

[0007] The beneficial effects of the embodiment of the utility model are as follows:

[0008] In the embodiment of the utility model, the limit ring of output shaft is connected by the outside of first adapter seat, and the hollow rotating shaft is connected by the first bearing in the inside, which improves the technical problem that first adapter seat and output shaft are not connected stably enough. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment description will be simply introduced as follows, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0010] Figure 1is a three-dimensional schematic view of the mechanical arm provided by the embodiment of the utility model;

[0011] Figure 2 is Figure 1 A cross-sectional view of the middle joint module. DETAILED DESCRIPTION

[0012] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model. In the utility model, the orientation words such as 'up' and 'down' generally refer to the up and down of the device in the actual use or working state, and specifically refer to the drawing direction in the drawings. And 'inner' and 'outer' refer to the contour of the device.

[0013] With reference to Figure 2 The application provides a joint module 100. The joint module 100 comprises a motor 200, a speed reducer 300, an output flange 400, a hollow rotating shaft 500, a first adapter seat 610, a first bearing 710 and a first encoder. The output shaft 230 of the motor 200 is connected with the output flange 400 through the speed reducer 300, the hollow rotating shaft 500 is connected with the output flange 400 and passes through the speed reducer 300 and the output shaft 230. The side of the output shaft 230 away from the output flange 400 is configured with a limiting ring 231, the first adapter seat 610 is installed on the inner side of the limiting ring 231, the inner ring of the first bearing 710 is nested on the outer side of the hollow rotating shaft 500, the outer ring of the first bearing 710 is embedded in the inner side of the first adapter seat 610, and the code disc of the first encoder is installed on the first adapter seat 610.

[0014] Firstly, the output shaft 230 of the motor 200 improves the output torque of the output flange 400 through the speed reduction and torque increasing effect of the speed reducer 300, and the hollow rotating shaft 500 rotates with the output flange 400. Since the outer side of the first adapter seat 610 is connected with the inner side of the limiting ring 231, and the inner side of the first adapter seat 610 is connected with the hollow rotating shaft 500 through the first bearing 710, the first adapter seat 610 is supported by the hollow rotating shaft 500 and the limiting ring 231, so that the relative pose of the first adapter seat 610 and the limiting ring 231 is relatively stable. It can be understood that the hollow rotating shaft 500 and the output shaft 230 have a speed difference under the action of the speed reducer 300, and the hollow rotating shaft 500 provides good support for the first adapter seat 610 by reducing the influence of the speed difference through the first bearing 710.

[0015] Secondly, the first encoder rotates with the output shaft 230 through the first adapter 610, and the code disc of the first encoder is used to detect the rotation state of the output shaft 230.

[0016] Further, the output shaft 230 is provided with a limiting ring 231, which provides space for accommodating at least part of the first adapter 610, that is, the first adapter 610 at least partially extends into the limiting ring 231 in the axial direction of the output shaft 230, that is, at least partially into the output shaft 230, which is conducive to reducing the axial size of the joint module 100 in the output shaft 230, and facilitating the miniaturization of the joint module 100.

[0017] Finally, the hollow shaft 500 has a shaft with a channel extending in the axial direction of the output shaft 230, which can be a wire harness channel of the joint module 100, that is, the channel can be configured as a wire passing channel.

[0018] In addition, in order to distinguish the code disc of the first encoder from the code disc of the second encoder in the following, the code disc of the first encoder is defined as the first code disc 730, and the code disc of the second encoder is defined as the second code disc 740.

[0019] In an embodiment, the first adapter 610 includes a first body part 611 and a first flange part 612 connected to the first body part 611, and the first body part 611 and the first flange part 612 are respectively provided in the form of a ring, the inner diameter of the first flange part 612 is smaller than the inner diameter of the first body part 611, the outer diameter of the first flange part 612 is smaller than the outer diameter of the first body part 611, the first body part 611 is embedded on the inner side of the limiting ring 231 and nested on the outer ring of the first bearing 710, the first flange part 612 abuts on the outer ring of the first bearing 710, and the code disc of the first encoder is mounted on the first body part 611 and sleeved on the first flange part 612.

[0020] Specifically, the first flange part 612 is arranged on the side of the first body part 611 away from the output flange 400, and the first flange part 612 abuts on the end of the outer ring of the first bearing 710 away from the output flange 400.

[0021] In this way, the first flange part 612 not only provides mounting and positioning of the first adapter 610 in the axial direction of the output shaft 230, but also serves as a mounting member for mounting the code disc of the first encoder. In this way, it is conducive to simplifying the structure of the joint module 100.

[0022] However, the design is not limited to this, and in some other embodiments, the structure of the first adapter 610 can also be other forms, which are not limited herein, as long as it has a mounting and positioning structure matched with the outer ring of the first bearing 710 and a structure for mounting the code disc of the first encoder.

[0023] In an embodiment, the speed reducer 300 comprises an input shaft 310 connected with the output shaft 230, the input shaft 310 passes through the output shaft 230 and presses the outer ring of the first bearing 710 on the first flange part 612. It can be understood that the input shaft 310 is located between the output shaft 230 and the hollow rotating shaft 500, and there is a gap between the input shaft 310 and the hollow rotating shaft 500.

[0024] In this way, on the one hand, the relative position relationship between the first bearing 710 and the output shaft 230 is relatively stable, and on the other hand, the first bearing 710 and the first flange part 612 provide the mounting and positioning function of the input shaft 310 mounted on the output shaft 230.

[0025] In an embodiment, the outer side of the hollow rotating shaft 500 is configured with a first annular bearing platform 510, the joint module 100 comprises a second adapter 620 and a second encoder, the second adapter 620 comprises a second body part 621 and a second flange part 624 connected with the second body part 621, the second body part 621 and the second flange part 624 are respectively configured in an annular shape, the outer diameter of the second body part 621 is smaller than the outer diameter of the second flange part 624, the second body part 621 is nested on the outer side of the hollow rotating shaft 500 and presses the inner ring of the first bearing 710 on the first annular bearing platform 510, and the code disc of the second encoder is mounted on the second flange part 624 and is sleeved on the second body part 621.

[0026] Firstly, in the axial direction of the hollow rotating shaft 500, the first annular bearing platform 510 provides the mounting and positioning function for the first bearing 710, and indirectly provides the mounting and positioning function for the second body part. Secondly, the first bearing 710 is pressed by the first annular bearing platform 510 and the second body part, so that the first bearing 710 is connected with the hollow rotating shaft 500 more stably. Thirdly, the second flange part 624 is at least partially opposite to the code disc of the second encoder in the axial direction of the hollow rotating shaft 500, which makes the second flange part 624 limit the code disc of the second encoder from being separated from the second body part.

[0027] It is worth mentioning that the second encoder is used to detect the rotating state of the control rotating shaft.

[0028] In an embodiment, the joint module 100 comprises a bearing seat 630, a second bearing 720 and a circuit board 750, the inner ring of the second bearing 720 is nested on the outer side of the limiting ring 231, the outer ring of the second bearing 720 is embedded on the inner side of the bearing seat 630, the circuit board 750 is mounted on the bearing seat 630 and is located between the code disc of the first encoder and the code disc of the second encoder, and the circuit board 750 is provided with the sensor of the first encoder and the sensor of the second encoder.

[0029] Thus, the sensors of the first encoder and the sensors of the second encoder share one circuit board 750, which is advantageous for simplifying the structure of the joint module 100.

[0030] In addition, the first bearing 710 and the second bearing 720 overlap on the rotation axis of the motor 200, and in the case where the circuit board 750 is arranged between the code disc of the first encoder and the code disc of the second encoder, it is advantageous to reduce the size of the bearing seat 630 in the axial direction of the output shaft 230, thereby facilitating the lightweight of the joint module 100.

[0031] However, the design is not limited to this, and in some other embodiments, two circuit boards 750 are provided, the sensors of the first encoder are arranged on one circuit board 750, and the sensors of the second encoder are arranged on the other circuit board 750.

[0032] In an embodiment, the second body part 621 is configured with a limiting part 622 and a pressing part 623, the outer diameter of the second flange part 624, the outer diameter of the limiting part 622 and the outer diameter of the pressing part 623 decrease in turn, the code disc of the second encoder is sleeved on the limiting part 622, the pressing part 623 presses the inner ring of the first bearing 710 on the first annular bearing platform 510, and the radial gap between the circuit board 750 and the pressing part 623 is smaller than the difference between the outer diameter of the limiting part 622 and the outer diameter of the pressing part 623.

[0033] Specifically, in the direction away from the output flange 400 of the second adapter seat 620, the pressing part 623, the limiting part 622 and the second flange part 624 are arranged in turn, and the circuit board 750 is at least partially opposite to the limiting part 622. That is, the limiting part 622 limits the movement of the circuit board 750 in the direction away from the output flange 400 of the second adapter seat 620, so as to avoid the code disc of the second encoder being pressed by the circuit board 750 and the second flange part 624.

[0034] In addition, it can be understood that when the motor 200 is running, there is a speed difference between the circuit board 750 and the pressing part 623, and the gap between the circuit board 750 and the pressing part 623 can avoid interference between the circuit board 750 and the pressing part 623.

[0035] In an embodiment, the side of the output shaft 230 away from the output flange 400 is configured with a second annular support 232, the outer diameter of the second annular support 232 is greater than the outer diameter of the limiting ring 231, the bearing seat 630 comprises a third body part 631 and a third flange part 634 connected to the third body part 631, the third body part 631 and the third flange part 634 are respectively arranged in an annular shape, the inner diameter of the third flange part 634 is greater than the inner diameter of the third body part 631, the outer ring of the second bearing 720 is embedded on the inner side of the third flange part 634 and abuts on the third body part 631, and the inner ring of the second bearing 720 abuts on the second annular support 232, so that the axial gap between the second bearing 720 and the rotor 210 of the motor 200 is greater than zero.

[0036] In this way, in the axial direction of the output shaft 230, the second annular support 232 provides the second bearing 720 with the function of installation and positioning, so as to avoid the direct contact between the second bearing 720 and the rotor 210 of the motor 200. In addition, the third body part 631 abuts on the end of the outer ring of the second bearing 720 away from the output flange 400, that is, the third body part realizes the positioning in the axial direction of the output shaft 230 through the third bearing.

[0037] In an embodiment, the side of the third body part 631 towards the reducer 300 is provided with a first recess 632, and the other side of the third body part 631 away from the reducer 300 is provided with a second recess 633, the stator 220 of the motor 200 extends into the first recess 632, and the circuit board 750 is installed on the bottom of the second recess 633. In this way, the third body part realizes the weight reduction through the first recess 632 and the second recess 633. In addition, the first recess 632 makes the layout of the bearing seat 630 and the stator 220 in the axial direction of the output shaft 230 more compact, and the second recess 633 makes the layout of the bearing seat 630 and the circuit board 750 in the axial direction of the output shaft 230 more compact. In this way, it is beneficial to shorten the size of the joint module 100 in the axial direction of the output shaft 230.

[0038] In an embodiment, no brake for braking the output shaft 230 is arranged between the code disc of the first encoder and the code disc of the second encoder. In this way, it is beneficial to shorten the distance between the code disc of the first encoder and the code disc of the second encoder in the axial direction of the output shaft 230, so as to make the code disc and the sensor of the first encoder closer, facilitate the cooperation of the code disc and the encoder, and make the code disc and the sensor of the second encoder closer, facilitate the cooperation of the code disc and the encoder.

[0039] In an embodiment, the joint module 100 is not provided with a brake for braking the output shaft 230. In this way, the joint module 100 saves the brake, which is conducive to reducing the cost of the joint module 100, and is conducive to miniaturization and light weight of the joint module 100. It can be understood that the joint module 100 can be applied to a use scenario with low safety requirement.

[0040] With reference to the accompanying drawings Figure 1 In a second aspect, the embodiments of the utility model provide a mechanical arm 800, the mechanical arm 800 includes the joint module 100, the joint module 100 adopts all the technical solutions of the above-mentioned embodiments, and therefore has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0041] The mechanical arm 800 can include the joint module 100, the connecting arm 820 and the base 810, and the number of the joint module 100 and the connecting arm 820 can be multiple, which can be directly or indirectly connected with the base 810 in a certain arrangement mode, so that the end of the mechanical arm 800 away from the base 810 has different degrees of freedom and positions in the three-dimensional space, and then meets the operation requirements of various application scenarios. Wherein, the mechanical arm 800 can be an industrial mechanical arm 800.

[0042] The embodiments of the utility model are introduced in detail above, and the principle and implementation mode of the utility model are described by applying specific examples in this paper, and the above-mentioned embodiment is only used to help understanding the method and core idea of the utility model; at the same time, for the skilled in the art, according to the idea of the utility model, the specific implementation mode and application range will be changed, and the above-mentioned embodiment is not used to limit the utility model.

Claims

1. An articulating module, comprising: The joint module comprises a motor, a speed reducer, an output flange, a hollow rotating shaft, a first adapter seat, a first bearing and a first encoder, the output shaft of the motor is connected with the output flange through the speed reducer, the hollow rotating shaft is connected with the output flange and passes through the speed reducer and the output shaft, the side of the output shaft away from the output flange is configured with a limiting ring, the first adapter seat is installed on the inner side of the limiting ring, the inner ring of the first bearing is nested on the outer side of the hollow rotating shaft, the outer ring of the first bearing is embedded in the inner side of the first adapter seat, and the code disc of the first encoder is installed on the first adapter seat.

2. The joint module according to claim 1, characterized in that The first adapter seat comprises a first body part and a first flange part connected with the first body part, the first body part and the first flange part are respectively arranged in annular shape, the inner diameter of the first flange part is smaller than the inner diameter of the first body part, the outer diameter of the first flange part is smaller than the outer diameter of the first body part, the first body part is embedded in the inner side of the limiting ring and nested on the outer ring of the first bearing, the first flange part abuts on the outer ring of the first bearing, and the code disc of the first encoder is installed on the first body part and sleeved on the first flange part.

3. The joint module according to claim 2, characterized in that The speed reducer comprises an input shaft connected with the output shaft, the input shaft passes through the output shaft and presses the outer ring of the first bearing on the first flange part.

4. The joint module of claim 1, wherein The outer side of the hollow rotating shaft is configured with a first annular bearing platform, the joint module comprises a second adapter seat and a second encoder, the second adapter seat comprises a second body part and a second flange part connected with the second body part, the second body part and the second flange part are respectively arranged in annular shape, the outer diameter of the second body part is smaller than the outer diameter of the second flange part, the second body part is nested on the outer side of the hollow rotating shaft and presses the inner ring of the first bearing on the first annular bearing platform, and the code disc of the second encoder is installed on the second flange part and sleeved on the second body part.

5. The joint module according to claim 4, characterized in that The joint module comprises a bearing seat, a second bearing and a circuit board, the inner ring of the second bearing is nested on the outer side of the limiting ring, the outer ring of the second bearing is embedded in the inner side of the bearing seat, the first bearing and the second bearing overlap on the rotating axis of the motor, the circuit board is installed on the bearing seat and located between the code disc of the first encoder and the code disc of the second encoder, and the circuit board is provided with the sensor of the first encoder and the sensor of the second encoder.

6. The joint module of claim 5, wherein, The second body part is configured with a limiting part and a pressing part, the outer diameter of the second flange part, the outer diameter of the limiting part and the outer diameter of the pressing part decrease in turn, the code disc of the second encoder is sleeved on the limiting part, the pressing part presses the inner ring of the first bearing on the first annular bearing platform, and the radial gap between the circuit board and the pressing part is smaller than the difference between the outer diameter of the limiting part and the outer diameter of the pressing part.

7. The joint module of claim 5, wherein, The side of the output shaft away from the output flange is configured with a second annular bearing platform, an outer diameter of the second annular bearing platform is greater than an outer diameter of the limiting ring, the bearing seat comprises a third main body part and a third flange part connected with the third main body part, the third main body part and the third flange part are respectively arranged in an annular shape, an inner diameter of the third flange part is greater than an inner diameter of the third main body part, an outer ring of the second bearing is embedded on an inner side of the third flange part and abuts on the third main body part, an inner ring of the second bearing abuts on the second annular bearing platform, so that an axial gap between the second bearing and the rotor of the motor is greater than zero.

8. The joint module of claim 7, wherein, The third main body part is provided with a first groove on a side facing the speed reducer, and is provided with a second groove on another side away from the speed reducer, the stator of the motor extends into the first groove, and the circuit board is mounted on a bottom of the second groove.

9. The joint module of claim 4, wherein, No brake for braking the output shaft is arranged between the code disc of the first encoder and the code disc of the second encoder.

10. A robot arm, characterized in that, The mechanical arm comprises the joint module according to any one of claims 1 to 9.

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