Short-cylinder harmonic speed reduction module for intelligent robot with body

Abstract

The utility model discloses a short-tube harmonic speed reduction module for an intelligent robot with a body, which comprises a motor casing, a harmonic speed reduction module, a harmonic speed reduction module and a harmonic speed reduction module, and is characterized in that a motor component is arranged in the motor casing; a mounting groove is formed in the transverse right end surface of the motor shell; the casing end cover is fixed at the transverse left end of the motor casing, the center of the casing end cover protrudes outwards to form a section of step, and the outer edge of the step is a bearing interface which is used for being connected with external equipment; the left side of an end cover of the brake assembly is fixedly connected with the motor shell through a mounting groove; the right side of the end cover of the brake assembly extends into the cavity of the harmonic reducer flexible gear; the double encoders are arranged between the rotor part of the motor assembly and the left end face of the motor shell; wherein the motor assembly, the brake assembly and the harmonic reducer are sleeved on a shaft of the flange; the steel wheel end face of the harmonic reducer is fixedly connected with a flange plate of the flange. The motor casing extends axially to form a mounting cavity, and the driver assembly is mounted in the mounting cavity.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, specifically to a short-cylinder harmonic deceleration module for a unibody intelligent robot. Background Technology

[0002] Currently, a certain number of harmonic joint modules are used in the rotational joint positions of embodied intelligent robots, especially humanoid robots.

[0003] Taking the upper arm of a humanoid robot as an example, because the axes of the second joint at the shoulder and the fourth joint at the elbow need to be arranged horizontally, and with the addition of connecting rods, in some cases where additional double-support connecting rods are used, the arm's appearance at these two positions protrudes significantly. As for the lower arm, from a bionic perspective, the overall envelope size should be smaller than that of the upper arm. However, due to the limitation of the axial length of the joints themselves, the lower arm wrist position also has a significantly protruding envelope size with the three joints arranged perpendicularly and orthogonally. This seriously affects the streamlined shape of the entire humanoid arm from thick to thin, and is also not conducive to the arrangement of external skin, the need for hollow wiring, and the lightweighting and weight reduction of the arm. Utility Model Content

[0004] In view of this, the present invention provides a short-cylinder harmonic deceleration module for embodied intelligent robots to solve the problem of insufficient lightweighting in existing embodied intelligent robot harmonic joint modules.

[0005] This utility model embodiment provides a short-cylinder harmonic deceleration module for a unibody intelligent robot, comprising:

[0006] The motor housing contains a motor assembly; the right end face of the motor housing has a mounting groove.

[0007] The housing end cover is fixed to the left side of the motor housing. A step protrudes outward from the center of the housing end cover. The outer edge of the step is a bearing interface for connecting with external equipment.

[0008] The brake assembly has its left end cap fixedly connected to the motor housing via a mounting slot; the right end cap of the brake assembly extends into the cavity of the flex wheel of the harmonic reducer.

[0009] Dual encoders are positioned between the rotor component of the motor assembly and the left end face of the motor housing;

[0010] The motor assembly, brake assembly, and harmonic reducer are mounted on the flange shaft; the steel wheel end face of the harmonic reducer is fixedly connected to the flange plate; the motor housing has an axially extending mounting cavity, and the drive assembly is installed in the mounting cavity.

[0011] Optionally, it also includes:

[0012] The first transition sleeve has one end fixedly connected to the rotor component of the motor assembly, and the end of the first transition sleeve near the flange shaft is threaded; the high-speed end code disk of the dual encoder is installed in the motor housing through the thread on the first transition sleeve; in the corresponding area of ​​the low-speed end code disk of the dual encoder, the flange shaft is threaded; the low-speed end code disk of the dual encoder is installed in the motor housing through the thread on the flange shaft.

[0013] The inner ring of the second transition sleeve is fixedly connected to the stator part of the dual encoder, and the outer ring of the second transition sleeve is fixedly connected to the inside of the motor housing.

[0014] Optionally, the left side of the flexure chamber of the harmonic reducer is provided with a mounting step for mounting the stator in the brake assembly; the right side of the flexure chamber of the harmonic reducer is provided with a stepped hole for mounting one end of the first bearing; the other end of the first bearing is fixedly connected to the end cover of the brake assembly.

[0015] The right side of the flexure chamber of the harmonic reducer, near the flange, is provided with a limiting step for installing one end of the second bearing, and the other end of the second bearing is fixed on the flange shaft.

[0016] Optionally, it also includes: a bearing plate, which is fixed to the right side of the end cap of the brake assembly by screws; the bearing plate presses against the outer ring of the first bearing.

[0017] Optionally, it also includes: a bearing stop, the inner ring of which presses against the inner ring of the second bearing, and the outer ring of the bearing stop is fixedly connected to the right end of the flex wheel of the harmonic reducer.

[0018] Optionally, it also includes: a third bearing, the inner ring of which is fitted on the flange shaft, and the outer ring of the third bearing is mounted on the inner step of the rotor component of the motor assembly; the third bearing is axially fixed to the flange shaft by a snap ring; the flange shaft is provided with a limiting groove at the position corresponding to the snap ring.

[0019] Optionally, it also includes:

[0020] The fourth bearing is located in the bearing chamber formed between the end cover of the housing and the flange shaft.

[0021] Optionally, it also includes: a wiring trough, which is provided in the motor housing corresponding to the mounting cavity.

[0022] Optionally, the driver assembly includes a power board and a processor board; the power board and the processor board are separated and fixed by hexagonal studs located at the four corners; pre-drilled screw holes are provided at the four corners of the inner wall of the mounting cavity, and the power board and the processor board are fixed in the mounting cavity by the hexagonal studs and the pre-drilled screw holes.

[0023] Optionally, it also includes: a cavity cover plate having several wiring ports.

[0024] The beneficial effects of this utility model are:

[0025] Without reducing joint function and performance, this utility model embodiment provides an ultra-short tube harmonic deceleration module for unibody intelligent robots. It has an extremely short axial dimension and takes into account the external double support mounting interface, which greatly reduces the axial length of the corresponding position of the arm after installation. When used with the whole arm, it is easy to install, performs well, and meets the design requirements.

[0026] This embodiment provides a short-cylinder harmonic deceleration module for a unibody intelligent robot. The driver part of the traditional straight-cylinder module is moved from the tail end to the side. While maintaining the same function, it reduces the axial space occupied by the driver part, greatly shortening the axial length of the whole machine. On the other hand, it increases the space for driver placement, allowing the highly integrated driver board to have relatively ample space for board mounting, thus improving the performance stability of the module.

[0027] Traditional straight-tube module mounting methods require a T-shaped cylindrical component to be made to secure the module before connecting it to other links, as the mounting part is located on the outer end face of the roller bearing in the reducer. In this embodiment, the mounting position of the traditional straight-tube module mounting part is adjusted from the end face of the reducer to the side of the housing. From the design perspective of the arm, only plate-like parts are needed to clamp the housing for proper mounting. This saves on parts manufacturing costs and reduces the number of parts, thereby reducing the overall weight of the arm.

[0028] In this embodiment, a bearing interface is reserved on the left side of the module. In actual use, the inner ring of the support bearing on the fixed bracket can be directly installed on the reserved interface. This saves on the use of adapter parts and the axial space occupied by the adapter parts. It also improves the coaxial installation accuracy of the active end mounting rod and the driven end mounting rod of the module output flange.

[0029] The cable exit position of the module has been changed from the end face of the traditional straight cylindrical module to the side face. On the one hand, this saves the axial space occupied by the end face cable exit, and on the other hand, since the side face cable exit is in line with the internal wiring direction of the entire arm, it makes it easier to optimize the wiring harness of the entire arm. Attached Figure Description

[0030] The features and advantages of this utility model will be more clearly understood by referring to the accompanying drawings. The drawings are schematic and should not be construed as limiting the utility model in any way. In the drawings:

[0031] Figure 1 This invention illustrates a structural diagram of a short-cylinder harmonic deceleration module for a unibody intelligent robot according to an embodiment of the present invention.

[0032] Figure 2 An exploded view of a short-tube harmonic deceleration module for a unibody intelligent robot is shown in an embodiment of this utility model.

[0033] Figure 3 This shows a planar cross-sectional view of a short-cylinder harmonic deceleration module for a unibody intelligent robot according to an embodiment of the present invention;

[0034] Figure 4 A perspective cross-sectional view of a short-cylinder harmonic deceleration module for a unibody intelligent robot is shown in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0036] like Figure 1 and Figure 2 As shown, this embodiment of the present invention provides a short-cylinder harmonic reduction module for a unibody intelligent robot, including a motor housing 100, a housing end cover 200, a harmonic reducer 300, a motor assembly 400, a brake assembly, a flange 500, and a driver assembly 600. The motor housing 100 houses the motor assembly 400, which is a frameless torque motor including a stator and a rotor. The housing end cover 200 is fixed to the left end of the motor housing 100 in the lateral direction. A step protrudes outward from the center of the housing end cover 200, and the outer edge of the step serves as a bearing interface for connection to external equipment.

[0037] The brake assembly uses a permanent magnet brake. The left side of the brake assembly's end cover is fixedly connected to the motor housing 100 via a mounting groove on the inner side of the right end face. The right side of the brake assembly's end cover extends into the cavity of the harmonic reducer's flexspline.

[0038] Dual encoders are positioned between the rotor component of the motor assembly and the left end face of the motor housing. The dual encoders read the angular information of the high-speed and low-speed shaft positions collected by the inner and outer rings and convert it into electrical signals for use by the drive assembly.

[0039] The motor assembly, brake assembly, and harmonic reducer are mounted on the shaft of flange 500; the steel wheel end face of the harmonic reducer is fixedly connected to the flange plate of the flange; the motor housing extends axially with an installation cavity 700, and the drive assembly is installed in the installation cavity.

[0040] pass Figure 3 and Figure 4 The cross-sectional view shown further illustrates the short-cylinder harmonic deceleration module provided in this embodiment:

[0041] The harmonic reducer 2 is mounted on the right end face of the motor housing 13 with screws. The left side of the brake end cover 10 is installed in the mounting groove on the right end face of the motor housing 13, and the right side of the brake end cover 10 extends into the cavity of the flexure of the harmonic reducer 2. The left side of the flexure cavity structure has a mounting step for installing the stator of the permanent magnet brake 9, and the right side has a stepped hole for installing the first bearing 8. The bearing pressure plate 7 is fixed to the right end face with screws, pressing down the outer ring of the first bearing 8. The wave generator shaft of the harmonic reducer 2 is supported by the first bearing 8 and the second bearing 6. The rotor part of the frameless torque motor 11 is mounted on its left end face and locked with screws. The inner ring of the third bearing 20 is fitted on the left-hand shaft of the flange 1, and the outer ring of the third bearing 20 is mounted on the inner step of the rotor part and axially fixed by the snap ring 21. Flange 1 is mounted on the end face of the rigid wheel of the harmonic reducer 2 via a mounting straight end and screws. The left-hand shaft of the flange supports the inner rings of the second bearing 6 and the third bearing 20. The high-speed end code disk 17 of the dual encoder is mounted on the left end face of the rotor of the frameless torque motor 11 via the thread on the first transition sleeve 19. The low-speed end code disk 18 of the dual encoder is mounted on the threaded shaft section of flange 1. The two form an inner and outer ring to collect the position angle information of the high and low speed shafts. The stator section 16 of the dual encoder is mounted on the left end face of the motor housing 13 via the second transition sleeve 15. It reads the position angle information of the high and low speed shafts collected by the inner and outer rings and converts it into an electrical signal for use by the driver 3. The fourth bearing 22 is mounted in the bearing chamber of the rear end cover 23 and supports the left end shaft section of flange 1. A step protrudes outward on the left side of the rear end cover 23. The outer circle of the step is a standard bearing interface, which is convenient for the use of external double-support connecting rod bearings. An mounting cavity extends upward from the motor housing 13. The power board and processor board of the driver 3 are separated by hexagonal studs 4 and mounted on the pre-drilled screw holes in the housing cavity. The encoder cover 5 is mounted on the upper surface of the cavity, with driver information silkscreened on it and clearance holes to expose the external terminals on the driver for easy wiring. Mounting screw holes and pin holes are symmetrically arranged on the front and rear end faces of the motor housing 13 for easy external mounting and fixing. The motor's power cable and the encoder's communication cable are connected to the driver board via a perforated wiring channel inside the outer edge of the housing cavity.

[0042] This embodiment provides a short-cylinder harmonic deceleration module for a unibody intelligent robot. The driver part of the traditional straight-cylinder module is moved from the tail end to the side. While maintaining the same function, it reduces the axial space occupied by the driver part, greatly shortening the axial length of the whole machine. On the other hand, it increases the space for driver placement, allowing the highly integrated driver board to have relatively ample space for board mounting, thus improving the performance stability of the module.

[0043] Traditional straight-tube module mounting methods require a T-shaped cylindrical component to be made to secure the module before connecting it to other links, as the mounting part is located on the outer end face of the roller bearing in the reducer. In this embodiment, the mounting position of the traditional straight-tube module mounting part is adjusted from the end face of the reducer to the side of the housing. From the design perspective of the arm, only plate-like parts are needed to clamp the housing for proper mounting. This saves on parts manufacturing costs and reduces the number of parts, thereby reducing the overall weight of the arm.

[0044] In this embodiment, a bearing interface is reserved on the left side of the module. In actual use, the inner ring of the support bearing on the fixed bracket can be directly installed on the reserved interface. This saves on the use of adapter parts and the axial space occupied by the adapter parts. It also improves the coaxial installation accuracy of the active end mounting rod and the driven end mounting rod of the module output flange.

[0045] The cable exit position of the module has been changed from the end face of the traditional straight cylindrical module to the side face. On the one hand, this saves the axial space occupied by the end face cable exit, and on the other hand, since the side face cable exit is in line with the internal wiring direction of the entire arm, it makes it easier to optimize the wiring harness of the entire arm.

[0046] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A short-cylinder harmonic deceleration module for an embodied intelligent robot, characterized in that, include: The motor housing contains a motor assembly; the right end face of the motor housing has a mounting groove. A housing end cover is fixed to the left end of the motor housing in the horizontal direction. A step protrudes outward from the center of the housing end cover. The outer edge of the step is a bearing interface for connecting with external equipment. The brake assembly has its left end cap fixedly connected to the motor housing via the mounting groove; the right end cap of the brake assembly extends into the cavity of the harmonic reducer flexspline. A dual encoder is disposed between the rotor component of the motor assembly and the left end face of the motor housing; The motor assembly, the brake assembly, and the harmonic reducer are mounted on the shaft of the flange; the steel wheel end face of the harmonic reducer is fixedly connected to the flange plate of the flange; the motor housing extends axially with an installation cavity, and the driver assembly is installed in the installation cavity.

2. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, Also includes: A first transition sleeve, one end of which is fixedly connected to the rotor component of the motor assembly, has a thread at the end of the first transition sleeve near the flange shaft; the high-speed end code disk of the dual encoder is installed in the motor housing through the thread on the first transition sleeve; in the corresponding area of ​​the low-speed end code disk of the dual encoder, the flange shaft has a thread; the low-speed end code disk of the dual encoder is installed in the motor housing through the thread on the flange shaft. The inner ring of the second transition sleeve is fixedly connected to the stator part of the dual encoder, and the outer ring of the second transition sleeve is fixedly connected to the inside of the motor housing.

3. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, The left side of the flex wheel cavity of the harmonic reducer is provided with an installation step for installing the stator in the brake assembly; the right side of the flex wheel cavity of the harmonic reducer is provided with a step hole for installing one end of the first bearing; the other end of the first bearing is fixedly connected to the end cover of the brake assembly. The right side of the flexure chamber of the harmonic reducer, near the flange, is provided with a limiting step for mounting one end of the second bearing, and the other end of the second bearing is fixed on the flange shaft.

4. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 3, characterized in that, Also includes: bearings A pressure plate is fixed to the right side of the end cap of the brake assembly by screws; the bearing pressure plate presses down on the outer ring of the first bearing.

5. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 3, characterized in that, Also includes: A bearing stop block, the inner ring of which presses against the inner ring of the second bearing, and the outer ring of the bearing stop block is fixedly connected to the right end of the flex wheel of the harmonic reducer.

6. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, Also includes: The third bearing has its inner ring fitted on the flange shaft, and its outer ring mounted on the inner step of the rotor component of the motor assembly; the third bearing is axially fixed to the flange shaft by a snap ring; the flange shaft has a limiting groove at the position corresponding to the snap ring.

7. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, Also includes: The fourth bearing is disposed in the bearing chamber formed between the end cover of the housing and the flange shaft.

8. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, Also includes: The wiring channel is formed in the motor housing corresponding to the mounting cavity.

9. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, The driver assembly includes a power board and a processor board; the power board and the processor board are separated and fixed by hexagonal studs at the four corners; the inner wall of the mounting cavity is provided with reserved screw holes at the four corners, and the power board and the processor board are fixed in the mounting cavity by the hexagonal studs and the reserved screw holes.

10. The short-cylinder harmonic deceleration module for a unibody intelligent robot according to claim 1, characterized in that, Also includes: The cavity cover plate has several wiring ports.

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