Flattened rotary joint module

Abstract

The utility model discloses a flattened rotary joint module which comprises a fixed rear cover, an electromagnetic shielding ring is fixedly arranged on one side of the outer wall of the fixed rear cover, a motor cover is fixedly arranged on the side, away from the fixed rear cover, of the electromagnetic shielding ring, and a front end cover and a rear end cover are fixedly arranged on the sides, away from each other, of the motor cover and the fixed rear cover respectively. A motor rotor is rotatably arranged between the front end cover and the rear end cover, one side of the outer wall of the fixed rear cover and one side of the outer wall of the motor cover are sleeved with a speed reducer mounting frame, the outer wall of the speed reducer mounting frame is fixedly arranged between the front end cover and the rear end cover, and a planetary speed reducer is fixedly embedded in the inner wall of the speed reducer mounting frame. Through the radial integrated design and the application of lightweight materials, the technical problems that a traditional axial layout joint module is large in size, lagged in dynamic response and low in heat dissipation efficiency are solved.

Description

TECHNICAL FIELD

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

[0002] At present in the field of robot technology, joint module as the core component of motion system, its performance directly influences the dynamic response, load capacity and environmental adaptability of robot, with the diversification of robot application scene, especially humanoid robot, medical rehabilitation equipment and precision manufacturing field, lightweight, flat design of joint module is proposed higher requirement.

[0003] Traditional rotary joint module usually adopts the combination of axial layout motor and speed reducer, structure is relatively cumbersome, it is difficult to meet the high-precision action demand in compact space, and traditional joint module is long in axial length, leading to bulky whole machine structure, limit the flexible movement of robot in narrow environment. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of flattened rotary joint module, by radial integration design and lightweight material application, solve the technical problems such as the volume of traditional axial layout joint module, dynamic response lag and low heat dissipation efficiency.

[0005] To achieve the above object, the utility model is realized by the following technical scheme:

[0006] A kind of flattened rotary joint module, including fixed rear cover, the outer wall of the fixed rear cover one side is fixed with electromagnetic shield ring, the side of the electromagnetic shield ring away from fixed rear cover is fixed with motor cover, the side of the motor cover and fixed rear cover away from each other is respectively fixed with front end cover and rear end cover, motor rotor is rotatably arranged between the front end cover and rear end cover, the outer wall of the fixed rear cover and motor cover one side is sleeved with speed reducer mounting bracket, and the outer wall of speed reducer mounting bracket is fixed between front end cover and rear end cover, the inner wall of speed reducer mounting bracket is fixedly embedded with planetary reducer.

[0007] As preferred, the planetary reducer and motor rotor are connected by trapezoidal tooth synchronous transmission belt and pulley cooperation.

[0008] As preferred, the planetary reducer and motor rotor are connected by gear meshing.

[0009] Further, the inner wall of the rear end cover is fixedly provided with a micro vector control drive board, and an encoder is sleeved on the end of the motor rotor.

[0010] Further, the inner wall of the motor cover is fixedly provided with a motor stator, and the motor rotor is placed in the motor stator.

[0011] Further, the front end cover is fixed with a protection cover away from the side of the motor cover.

[0012] Further, the planetary reducer is provided with a reducer end cover away from one end of the trapezoidal tooth synchronous transmission belt.

[0013] Further, the motor cover and the inner surface of the fixed rear cover are embedded with heat-conducting silica gel pads.

[0014] Further, the front end cover is provided with a positioning pin for identifying the installation direction.

[0015] Further, the fixed rear cover, the motor cover, the front end cover, the rear end cover and the protection cover are all made of high-thermal-conductivity carbon fiber composite material.

[0016] The utility model provides a kind of flat rotary joint module.There is following beneficial effect:

[0017] Motor stator and planetary reducer are arranged radially side by side, replace traditional axial series structure, make module axial length shorten more than 40%, significantly reduce the overall volume of robot, especially applicable to high-precision motion control in narrow space;

[0018] Fixed rear cover, front end cover and other shell components made of high-thermal-conductivity carbon fiber composite material make module weight reduce 35%, cooperate trapezoidal tooth synchronous transmission belt or gear meshing double mode transmission scheme, realize rotation inertia reduction 25%, significantly improve start-stop response speed and trajectory tracking accuracy;

[0019] Through electromagnetic shielding ring, in combination with the PWM frequency self-adaptive adjustment function of micro vector control drive board, effectively inhibit high-frequency noise interference, radiation emission value is lower than EN 55022 Class A limit 10dB μ V / m. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0021] Figure 2 It is the partial sectional view of the utility model;

[0022] Figure 3 It is the explosion drawing of the utility model.

[0023] In the drawing: 1, fixed rear cover;2, electromagnetic shielding ring;3, motor cover;4, front end cover;5, rear end cover;6, motor rotor;7, reducer mounting frame;8, planetary reducer;9, trapezoidal tooth synchronous transmission belt;10, micro vector control drive board;11, encoder;12, motor stator;13, protection cover;14, reducer end cover. DETAILED DESCRIPTION

[0024] 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 of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0025] Please refer to Figures 1-3 A flat rotary joint module, comprising a fixed rear cover 1, the outer wall of the fixed rear cover 1 is fixedly provided with an electromagnetic shielding ring 2, which can effectively block high-frequency electromagnetic interference and improve control accuracy. The side of the electromagnetic shielding ring 2 away from the fixed rear cover 1 is fixedly provided with a motor cover 3, the sides of the motor cover 3 and the fixed rear cover 1 away from each other are respectively fixedly provided with a front end cover 4 and a rear end cover 5, a motor rotor 6 is rotatably arranged between the front end cover 4 and the rear end cover 5, a motor stator 12 is fixedly arranged on the inner wall of the motor cover 3, the outer wall of the fixed rear cover 1 and the motor cover 3 is detachably connected with a speed reducer mounting rack 7, the outer wall of the speed reducer mounting rack 7 is fixedly arranged between the front end cover 4 and the rear end cover 5, a planetary reducer 8 is fixedly and embededly arranged on the inner wall of the speed reducer mounting rack 7, and a blocking ring for preventing axial movement of the planetary reducer 8 is correspondingly arranged. The inner wall of the motor cover 3 is fixedly provided with a motor stator 12, and the motor rotor 6 is arranged in the motor stator 12.

[0026] A positioning pin or flange surface is additionally arranged in the speed reducer mounting rack 7, and the planetary reducer 8 is rigidly fixed by bolts.

[0027] The fixed rear cover 1, the electromagnetic shielding ring 2, the motor cover 3, the front end cover 4 and the rear end cover 5 are connected and fixed by bolts.

[0028] As an embodiment, the planetary reducer 8 and the motor rotor 6 are connected by cooperating a trapezoidal tooth synchronous transmission belt 9 with a pulley. This design can realize zero-slip transmission, has a buffering and damping function, and is suitable for medium and low load scenes.

[0029] As another embodiment, the planetary reducer 8 and the motor rotor 6 are connected by gear meshing, which has a more compact structure, high bearing capacity and low noise, and is suitable for large torque scenes.

[0030] In the embodiment, a micro vector control drive board 10 is fixedly arranged on the inner wall of the rear end cover 5, which integrates current loop, speed loop and position loop closed-loop control algorithms. An encoder 11 is arranged on the end of the motor rotor 6 to feed back the rotor angular displacement signal to the drive board in real time.

[0031] In the embodiment, a protection cover 13 is fixedly arranged on the side of the front end cover 4 away from the motor cover 3 to prevent external foreign matters from invading.

[0032] In the embodiment, the planetary reducer 8 is provided with a reducer end cover 14 at one end away from the trapezoidal tooth synchronous transmission belt 9, which seals the output end of the planetary reducer 8 and internally provides a grease lubrication channel.

[0033] In the embodiment, the motor cover 3 and the inner surface of the fixed rear cover 1 are both embedded with heat-conducting silica gel pads (not shown in the figure) to enhance the heat dissipation performance, avoid overheat and reduce the capacity, and solve the heat dissipation problem caused by flattening.

[0034] In the embodiment, the front end cover 4 is provided with a positioning pin (not shown in the figure) for identifying the installation direction, so that the unique installation direction is identified through the positioning pin to avoid assembly errors.

[0035] The fixed rear cover 1, the motor cover 3, the front end cover 4, the rear end cover 5 and the protective cover 13 are all made of high-thermal-conductivity carbon fiber composite materials.

[0036] Table 1 Comparison of measured data of the module with the traditional axial module

[0037] Indicator item Conventional axial module The utility model Lifting amplitude Axial length 180mm ≤108mm -40% Total weight 2.8kg ≤1.82kg -35% Moment of inertia 0.012kg m2 ≤0.009kg m2 -25% Start-stop response time 80ms ≤45ms -43.75% Peak torque 12N m ≥15N m +25% No-load speed 3000rpm ≥3500rpm +16.7% Radiation emission intensity EN 55022 Class A limit +5dB muV / m EN 55022 Class A limit -10dB muV / m -15dB muV / m Continuous operating temperature rise Delta T = 45 DEG C Delta T ≤ 28 DEG C -37.8% MTBF (mean time between failures) 6000h ≥8500h +41.7%

[0038] The utility model discloses a motor stator 12 and planetary reducer 8 are arranged along the radial parallel, replace traditional axial series structure, make module axial length shorten 40% or above. This improvement is especially suitable for humanoid robot hip joint, medical rehabilitation mechanical arm and the like narrow space scene. Adopt high-thermal-conductivity carbon fiber composite materials to manufacture fixed rear cover 1, front end cover 4 and the like shell parts, cooperate topological optimization weight reduction design, make overall weight reduce 35%, guarantee structure strength to meet ISO 9293 standard requirement simultaneously.

[0039] The selection flexibility of trapezoidal tooth synchronous transmission belt 9 and gear meshing double-mode transmission scheme takes into account the different working condition requirements of high speed and light load (such as sorting robot) and low speed and large torque (such as heavy lifting manipulator). The measured data shows that the reduction of rotational inertia by 25% can shorten the start-stop response time to less than 45ms, and the trajectory tracking error is controlled within ±0.05°.

[0040] The micro vector control drive board 10 is equipped with an adaptive PWM frequency adjustment technology, which can dynamically adjust the switching frequency (20kHz-40kHz) according to the load change, thereby suppressing electromagnetic interference and improving power conversion efficiency.

[0041] The design of embedded heat-conducting silica gel pads can control the continuous working temperature rise within 28℃, and the heat dissipation efficiency is improved by 60% compared with the traditional air cooling scheme.

[0042] The reducer end cover 14 integrates a grease filling nozzle and a pressure relief valve, and supports online maintenance; the encoder 11 adopts a magnetostrictive principle, and the service life can reach one million cycles.

[0043] The above merely describes a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any skilled person in the art, according to the technical scheme and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A flattened rotary joint module, characterized by: Including fixed rear cover (1), the outer wall of the fixed rear cover (1) is fixedly provided with an electromagnetic shielding ring (2), the side of the electromagnetic shielding ring (2) away from the fixed rear cover (1) is fixedly provided with a motor cover (3), the side of the motor cover (3) and the fixed rear cover (1) away from each other is respectively fixedly provided with a front end cover (4) and a rear end cover (5), the motor rotor (6) is rotatably arranged between the front end cover (4) and the rear end cover (5), the outer wall of the fixed rear cover (1) and the motor cover (3) is sleeved with a reducer mounting rack (7), and the outer wall of the reducer mounting rack (7) is fixedly arranged between the front end cover (4) and the rear end cover (5), the inner wall of the reducer mounting rack (7) is fixedly embedded with a planetary reducer (8).

2. A flat rotary joint module according to claim 1, characterized in that: The planetary reducer (8) and the motor rotor (6) are connected through the trapezoidal tooth synchronous transmission belt (9) and the pulley.

3. A flattened rotary joint module according to claim 1, characterized in that: The planetary reducer (8) and the motor rotor (6) are connected through gear meshing.

4. A flat rotary joint module according to claim 2 or 3, characterized in that: The inner wall of the rear end cover (5) is fixedly provided with a micro vector control drive board (10), and an encoder (11) is sleeved on the end of the motor rotor (6).

5. A flat rotary joint module according to claim 4, characterized in that: The inner wall of the motor cover (3) is fixedly provided with a motor stator (12), and the motor rotor (6) is arranged in the motor stator (12).

6. A flattened rotary joint module according to claim 4, characterized in that: The side of the front end cover (4) away from the motor cover (3) is fixedly provided with a protective cover (13).

7. A flattened rotary joint module according to claim 2, characterized in that: The planetary reducer (8) is provided with a reducer end cover (14) away from one end of the trapezoidal tooth synchronous transmission belt (9).

8. A flattened rotary joint module according to claim 4, characterized in that: The inner surface of the motor cover and the fixed rear cover is embedded with a heat-conducting silica gel pad.

9. A flattened rotary joint module according to claim 4, characterized in that: The front end cover (4) is provided with a positioning pin for identifying the installation direction.

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