Lightweight harmonic joint module

Abstract

The utility model discloses a lightweight harmonic joint module which comprises a shell, a harmonic reducer and a motor, the harmonic reducer and the motor are arranged in the shell, a flexible gear of the harmonic reducer serves as an output end to be connected with an output flange, a motor rotor is connected with a wave generator of the harmonic reducer, and the wave generator and the motor rotor are both of a hollow structure. A feedback shaft penetrates through the hollow structures of the wave generator and the motor rotor, a first bearing is arranged between the wave generator and the feedback shaft, and a second bearing is arranged between the motor rotor and the feedback shaft; the fixed end of the feedback shaft is located in the inner cavity of the flexible gear, a threaded hole is formed in the end face of the fixed end of the feedback shaft, and the output flange, the bottom of the flexible gear and the fixed end of the feedback shaft are connected through screws. The feedback end of the feedback shaft is located outside the shell and is provided with an output end encoder coded disc; according to the utility model, the internal space of the harmonic joint module is effectively utilized, the overall size and volume of the harmonic joint module are reduced, and the weight of the harmonic joint module is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint module technical field especially relates to a kind of lightweight harmonic joint module. BACKGROUND

[0002] Harmonic reducer is a kind of speed reducer mechanism, harmonic joint module by harmonic reducer is often used in robot, mechanical arm etc. Scene, harmonic joint module is used in industry more, and there is higher requirement to module rigidity and reliability;The cavity exists between the flexspline of existing harmonic joint module and wave generator, this part of cavity is not fully utilized, leading to harmonic joint module size (volume) is larger, weight is heavier, and humanoid robot usually needs small size (small volume), lightweight joint module;In order to utilize this part of cavity, the motor part of some harmonic joint module is placed in cavity, but the space at this position is smaller, and the motor that can be placed is smaller, motor and reducer cannot be perfectly matched.

[0003] In order to feedback output end position, joint module is usually equipped with a feedback shaft fixedly connected with output end, and encoder disc is fixed on feedback shaft;The feedback shaft of conventional harmonic joint module is fixed on the outside of output end, and this scheme increases the volume of output end, and the length required for feedback shaft is longer, and the processing cost is increased accordingly. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of lightweight harmonic joint module, to fully utilize harmonic joint module internal cavity, reduce harmonic joint module size (volume), reduce harmonic joint module weight.

[0005] The utility model technical scheme is as follows:

[0006] A kind of lightweight harmonic joint module, comprising:

[0007] Shell;

[0008] Harmonic reducer, is arranged in the shell interior;

[0009] Output flange, is connected with the flexspline of harmonic reducer;

[0010] Motor, is arranged in the shell interior, motor rotor is connected with the wave generator of harmonic reducer, and wave generator and motor rotor are hollow structure;

[0011] The feedback shaft passes through inside the hollow structure of the wave generator and the motor rotor, bearings one are arranged between the wave generator and the feedback shaft, and bearings two are arranged between the motor rotor and the feedback shaft; the fixed end of the feedback shaft is located in the internal cavity of the flexspline, a threaded hole is arranged on the end face of the fixed end of the feedback shaft, the output flange, the bottom of the flexspline and the fixed end of the feedback shaft are connected through screws; the feedback end of the feedback shaft is located outside the shell, and an output end encoder code disc is arranged on the feedback end of the feedback shaft.

[0012] As a preferred embodiment of the utility model, the shell comprises a front end cover, a front shell, a middle shell and a rear shell connected in sequence.

[0013] As a preferred embodiment of the utility model, the output flange is rotatably connected with the front end cover and the front shell through cross roller bearings.

[0014] As a preferred embodiment of the utility model, the flexspline of the harmonic wave reducer is located in the front shell, the rigid wheel of the harmonic wave reducer is located between the front shell and the middle shell, and the front shell and the middle shell are respectively threadedly connected with the outer circumferential surface of the rigid wheel.

[0015] As a preferred embodiment of the utility model, the motor is located in the middle shell, and the motor stator is connected with the middle shell.

[0016] As a preferred embodiment of the utility model, bearings three are arranged between the rear shell and the feedback shaft, and a sleeve is arranged between the bearings three and the bearings two.

[0017] As a preferred embodiment of the utility model, an input end encoder code disc is arranged on the end portion of the motor rotor away from the wave generator.

[0018] As a preferred embodiment of the utility model, a driving plate is arranged on the rear shell, two groups of encoder position detection elements are integrated on the driving plate, and the two groups of encoder position detection elements are respectively used for detecting the positions of the output end encoder code disc and the input end encoder code disc.

[0019] As a preferred embodiment of the utility model, a driving cover is connected to the rear shell, and the driving cover is used for covering the driving plate and the output end encoder code disc.

[0020] The utility model discloses the advantages are as follows:

[0021] (1) the feedback shaft is placed in the internal cavity of the harmonic wave joint module, the internal space of the harmonic wave joint module is effectively utilized, the overall size and volume of the harmonic wave joint module are reduced, and the weight of the harmonic wave joint module is reduced;

[0022] (2) the length and diameter of the feedback shaft are reduced, and the part manufacturing cost is reduced;

[0023] (3) A threaded hole is set on the feedback shaft in the flex wheel cavity. The thread can be set to be longer and the thread is less likely to fail. The output flange does not need to be threaded, which reduces the thickness required for the output flange.

[0024] (4) The motor is still arranged in the conventional way without sacrificing motor performance. Attached Figure Description

[0025] Figure 1 This is a cross-sectional structural diagram of the present invention.

[0026] Meaning of the reference numerals in the diagram:

[0027] 1. Front cover, 2. Crossed roller bearing, 3. Front housing, 4. Output flange, 5. Feedback shaft;

[0028] 6. Flexible wheel, 7. Wave generator, 8. Flexible bearing, 9. Bearing 1, 10. Rigid wheel, 11. Screw;

[0029] 12. Middle housing; 13. Motor stator; 14. Motor rotor; 15. Sleeve;

[0030] 16. Input encoder code disk; 17. Bearing 2; 18. Rear housing; 19. Drive board;

[0031] 20. Output encoder code disk, 21. Drive cover, 22. Bearing three. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1 As shown, this embodiment is a lightweight harmonic joint module, including a housing and a harmonic reducer and a motor disposed inside the housing. The flexible wheel 6 of the harmonic reducer serves as the output end and is connected to the output flange 4. The motor rotor 14 is connected to the wave generator 7 of the harmonic reducer. Both the wave generator 7 and the motor rotor 14 are hollow structures. A feedback shaft 5 passes through the hollow structures of the wave generator 7 and the motor rotor 14. A bearing 9 is disposed between the wave generator 7 and the feedback shaft 5, and a bearing 17 is disposed between the motor rotor 14 and the feedback shaft 5. The fixed end of the feedback shaft 5 is located in the internal cavity of the flexible wheel 6, and a threaded hole is provided on the end face of the fixed end of the feedback shaft 5. The output flange 4, the bottom of the flexible wheel 6, and the fixed end of the feedback shaft 5 are connected by screws 11. The feedback end of the feedback shaft 5 is located outside the housing, and an output encoder disk 20 is disposed on the feedback end of the feedback shaft 5.

[0034] The housing of the embodiment comprises a front end cover 1, a front housing 3, a middle housing 12 and a rear housing 18 connected in sequence; an output flange 4 is rotatably connected with the front end cover 1 and the front housing 3 through a cross roller bearing 2; a flexspline 6 of a harmonic reducer is located in the front housing 3, a rigid wheel 10 of the harmonic reducer is located between the front housing 3 and the middle housing 12, and the front housing 3 and the middle housing 12 are respectively threadedly connected with an outer circumferential surface of the rigid wheel 10; a motor is located in the middle housing 12, and a motor stator 13 is connected with the middle housing 12; a bearing three 22 is arranged between the rear housing 18 and a feedback shaft 5, a sleeve 15 is arranged between the bearing three 22 and a bearing two 17 to prevent axial movement of a motor rotor 14, and an input end encoder code disc 16 is arranged at an end of the motor rotor 14 away from a wave generator 7.

[0035] The embodiment is provided with a driving plate 19 on the rear housing 18, two groups of encoder position detection elements are integrated on the driving plate 19, and the two groups of encoder position detection elements are respectively used for detecting positions of an output end encoder code disc 20 and the input end encoder code disc 16; a driving cover 21 is connected to the rear housing 18, and the driving cover 21 is used for covering the driving plate 19 and the output end encoder code disc 20.

[0036] Detailed positional relationships and connection relationships between components of the embodiment are as follows:

[0037] The outer ring of the cross roller bearing 2 is fixedly connected with the front end cover 1 and the front housing 3, the inner ring is fixedly connected with the output flange 4, and the three are coaxially arranged.

[0038] The flexspline 6 of the harmonic reducer is arranged in the front housing 3, the bottom of the flexspline 6 is fixed between the output flange 4 and a fixed end of the feedback shaft 5, a threaded hole is located at the fixed end of the feedback shaft 5, and the three are fixed and pressed by a screw 11.

[0039] The rigid wheel 10 of the harmonic reducer is sleeved outside the flexspline 6 and located between the front housing 3 and the middle housing 12, and the three are threadedly connected.

[0040] The wave generator 7 of the harmonic reducer is located inside the flexspline 6 and is fixedly connected with the motor rotor 14, the wave generator 7 and the motor rotor 14 are both hollow structures, coaxial bearing one 9 and bearing two 17 are arranged, and the bearing one 9 and the bearing two 17 are both sleeved on the feedback shaft 5.

[0041] The inner ring of the flexible bearing 8 of the harmonic reducer is sleeved on the wave generator 7, and the outer ring is in contact with the flexspline 6.

[0042] The motor is located inside the middle housing 12, the motor stator 13 is sleeved outside the motor rotor 14, the three are coaxially arranged, and the motor stator 13 is fixedly connected with the middle housing 12.

[0043] The input end encoder code disc 16 is fixed to the rear part of the motor rotor 14.

[0044] The rear shell 18 is located at the rear end of the motor and is fixedly connected with the middle shell 12, the rear shell 18 is provided with a bearing three 22 in the middle, the inner ring of the bearing three 22 is sleeved on the feedback shaft 5, and the bearing three 22 is provided with a sleeve 15 between the bearing three 22 and the rear bearing two 17 of the motor rotor 14, so as to prevent the motor rotor 14 from moving axially.

[0045] The output end encoder disc 20 is fixed on the feedback shaft 5 and is located outside the rear shell 18.

[0046] The driving plate 19 is fixed outside the rear shell 18, and the driving plate 19 is integrally provided with two groups of encoder position detection elements and is used for detecting the positions of the output end encoder disc 20 and the input end encoder disc 16.

[0047] The driving cover 21 is fixedly connected with the rear shell 18, and the driving plate 19 and the output end encoder disc 20 are covered in the inside.

[0048] When the motor rotates, the motor rotor 14 drives the wave generator 7 to rotate, so that the flexspline 6 is deformed, the flexspline 6 rotates relative to the rigid wheel 10, and the output flange 4 and the feedback shaft 5 are fixedly connected on the flexspline 6, so that the rotation of the flexspline 6 is output to the outside through the output flange 4, and the position of the output flange 4 is fed back to the encoder position detection elements of the driving plate 19 through the feedback shaft 5 and the output end encoder disc 20.

[0049] In the description of the utility model, it is understood that: the orientation or position relationship indicated by the terms 'center', 'longitudinal', 'transverse', 'upper', 'lower', 'front','rear', 'left', 'right','vertical', 'horizontal', 'top', 'bottom', 'inner', 'outer' and the like are all based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model, and are not indicative or suggestive of the device or element being indicated must have a specific orientation, a specific orientation and operation, therefore, it can not be understood as a limitation on the utility model.

[0050] In the description of the utility model, it is understood that: unless otherwise specified and limited, the terms 'installation', 'connection','setting', 'formation' should be understood broadly;For example: it can be fixedly connected, set, or it can be detachably connected, or it can be an integral structure;It can be mechanically connected, or it can be electrically connected;It can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements;For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific situation.

[0051] The above embodiments are only used to illustrate the technical solutions of the present application, and those skilled in the art should understand that the above embodiments do not limit the present application in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A lightweight harmonic joint module, characterized by, The application relates to a harmonic reducer, which comprises the following parts: a shell, a harmonic reducer arranged in the shell, an output flange connected with a flexible wheel of the harmonic reducer, a motor arranged in the shell, a motor rotor connected with a wave generator of the harmonic reducer, the wave generator and the motor rotor being hollow structures, a feedback shaft passing through the hollow structures of the wave generator and the motor rotor, bearings arranged between the wave generator and the feedback shaft and between the motor rotor and the feedback shaft, a fixed end of the feedback shaft located in a cavity in the flexible wheel, a threaded hole arranged on an end face of the fixed end of the feedback shaft, the output flange, the bottom of the flexible wheel and the fixed end of the feedback shaft being connected through screws, a feedback end of the feedback shaft located outside the shell, and an output end encoder disc arranged on the feedback end of the feedback shaft. The shell comprises a front end cover, a front shell, a middle shell and a rear shell connected in sequence. The output flange is rotatably connected with the front end cover and the front shell through crossed roller bearings. The flexible wheel of the harmonic reducer is located in the front shell, the rigid wheel of the harmonic reducer is located between the front shell and the middle shell, and the front shell and the middle shell are respectively threadedly connected with the outer circumferential surface of the rigid wheel. The motor is located in the middle shell, and a motor stator is connected with the middle shell. Bearings are arranged between the rear shell and the feedback shaft, and a sleeve is arranged between the bearings.

2. The lightweight harmonic joint module of claim 1, wherein, An input end encoder disc is arranged on the end of the motor rotor far from the wave generator.

3. The lightweight harmonic joint module of claim 2, wherein, A driving plate is arranged on the rear shell, two groups of encoder position detection elements are integrated on the driving plate, and the two groups of encoder position detection elements are respectively used for detecting the positions of the output end encoder disc and the input end encoder disc.

4. The lightweight harmonic joint module of claim 2, wherein, A driving cover is connected with the rear shell, and the driving cover is used for covering the driving plate and the output end encoder disc.

5. The lightweight harmonic joint module of claim 2, wherein, ​ 6. The lightweight harmonic joint module of claim 2, wherein, ​ 7. The lightweight harmonic joint module of claim 2, wherein, ​ 8. The lightweight harmonic joint module of claim 7, wherein, ​ 9. The lightweight harmonic joint module of claim 8, wherein, ​

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