Small compact integrated joint module

Abstract

The utility model discloses a small-sized compact integrated joint module which comprises a shell, a mounting cavity with two open ends is arranged in the shell, and the shell comprises a main body part and a rear shell; the harmonic speed reducer is provided with an input shaft and an output shaft which are coaxially arranged, the input shaft and the output shaft both extend into the mounting cavity inwards, and the output shaft extends out of the outer end of the input shaft; the direct-current brushless motor comprises a motor stator fixed on the inner wall of the mounting cavity and a motor rotor which is arranged on the input shaft and corresponds to the motor stator; the torque sensor is arranged at the front end of the shell; the code disc comprises an input end code disc and an output end code disc, the input end code disc is arranged on the input shaft in a sleeving mode, and the output end code disc is arranged on the output shaft in a sleeving mode through a hollow shaft. The harmonic speed reducer, the motor and other components are integrated through the shell installation cavity, the coded disc is coaxially arranged, the structure is compact, and small-sized integration is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robot joint modules, specifically to a small, compact, integrated joint module. Background Technology

[0002] With the continuous upgrading and development of industry, robots are being used more and more widely in the industrial field and many other fields, and the performance requirements for robots are also increasing. Traditional robots use separate components such as servo motors and harmonic reducers, which have problems such as bulky bodies, complex wiring, and non-compact structures, making it difficult to meet the needs of robots to develop towards lightweight, miniaturized, high-precision, and highly flexible designs.

[0003] Currently, most mainstream servo integrated joints use the joint housing as the outer part. This requires coordinating the size of harmonics and motors, as well as taking into account the installation position of the circumferential screws at the output end. While the integration level is high, the housing structure is complex, the processing is difficult, the joint size is large, and the reusability is poor. Utility Model Content

[0004] The problem to be solved by this utility model is to provide a small, compact, integrated joint module.

[0005] To solve the above problems, this utility model provides a small and compact integrated joint module. To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problems is as follows:

[0006] A small, compact, integrated joint module includes: a housing with an internal mounting cavity open at both ends, the housing comprising a main body and a rear housing; a harmonic reducer having an input shaft and an output shaft coaxially arranged, both the input shaft and the output shaft extending inward into the mounting cavity, and the output shaft extending outward from the outer end of the input shaft; a DC brushless motor including a motor stator fixed to the inner wall of the mounting cavity, and a motor rotor disposed on the input shaft and corresponding to the motor stator; a torque sensor disposed at the front end of the housing; and an encoder disk including an input encoder disk and an output encoder disk, the input encoder disk being sleeved on the input shaft, and the output encoder disk being sleeved on the output shaft via a hollow shaft.

[0007] As a further improvement of this utility model, the torque sensor is installed on the outside of the hollow shaft of the torque output flange at the front end of the joint module, and the torque is reflected by detecting the electrical signal of the strain gauge.

[0008] As a further improvement of this utility model, one side of the harmonic reducer is connected to the torque output flange, and the input shaft on the other side is connected to the motor rotor of the DC brushless motor.

[0009] As a further improvement of this utility model, the DC brushless motor includes a hollow motor shaft, one end of which is connected to the input shaft of the harmonic reducer, and the motor rotor is fixed on the motor shaft.

[0010] As further improvement of the utility model, the input end code disc and the output end code disc are located at one end of the mounting cavity close to the rear shell, and are respectively sleeved on the input shaft and the output shaft.

[0011] As further improvement of the utility model, the brake is further included, the brake block is sleeved on one side of the input shaft away from the motor rotor, and the brake block rotates synchronously with the input shaft.

[0012] As further improvement of the utility model, the control panel is further arranged at the tail end of the mounting cavity, the control panel is fixed on the rear shell through bolts, and is electrically connected with the input end code disc and the output end code disc; the input end code disc and the output end code disc are integrated on the same circuit board, and are coaxially arranged through the hollow shaft structure.

[0013] As further improvement of the utility model, the dustproof baffle is arranged on one side of the brake block close to the control panel, and the dustproof baffle is fixed on the shell.

[0014] As further improvement of the utility model, the brake is sleeved on the input shaft, and is fixed on the end face of the motor rotor and corresponds to the brake stator.

[0015] As further improvement of the utility model, the main body part of the shell and the rear shell are detachably assembled, and the positioning structure for fixing the motor stator is arranged on the inner wall of the mounting cavity.

[0016] The small and compact integrated joint module has the following advantages:

[0017] Firstly, the mounting cavity with two open ends is arranged on the shell, the input shaft and the output shaft of the harmonic reducer are inwardly inserted into the mounting cavity, the output shaft is outwardly extended at the outer end of the input shaft, the motor stator of the brushless DC motor is fixed on the inner wall of the mounting cavity, and the motor rotor is arranged on the input shaft, so that the components can be reasonably arranged in the mounting cavity, the coaxial integration of the harmonic reducer and the brushless DC motor is realized, the overall occupied space is reduced, and the joint module structure is more compact.

[0018] Secondly, the torque sensor is arranged at the front end of the shell, can directly detect the torque output at the front end of the joint module, reflects the torque condition through the corresponding mechanism, realizes the real-time monitoring of the torque output of the joint module, and is helpful for timely understanding the stress state of the joint module.

[0019] Finally, the code disc includes the input end code disc sleeved on the input shaft and the output end code disc sleeved on the output shaft through the hollow shaft, can detect the rotation information of the input shaft and the output shaft respectively, provides accurate position and speed feedback for the motion control of the joint module, is favorable for improving the control precision and motion performance of the joint module, and the setting mode is reasonable in the use of space, and is favorable for the miniaturization and compact design. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is an exploded view of one embodiment of this utility model.

[0022] Figure 2 This is a longitudinal sectional view of one embodiment of the present invention.

[0023] 1-Torque output flange. 2-Harmonic reducer. 201-Reducer shaft. 3-DC brushless motor. 301-Motor shaft. 302-Motor rotor. 303-Motor stator. 4-Dustproof baffle. 5-Input / output encoder. 501-Encoder holder. 6-Dual encoder. 7-Control board. 8-Housing. 9-Rear housing. 10-Cable guard shaft. 11-Brake stop. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to specific embodiments:

[0025] To achieve the purpose of this utility model, a small and compact integrated joint module includes: a housing 8, which has an installation cavity with openings at both ends, the housing 8 including a main body and a rear housing 9; a harmonic reducer 2, having an input shaft and an output shaft coaxially arranged, both the input shaft and the output shaft extending inward into the installation cavity, and the output shaft extending outward from the outer end of the input shaft; a DC brushless motor 3, including a motor stator 303 fixed to the inner wall of the installation cavity, and a motor rotor 302 disposed on the input shaft and corresponding to the motor stator 303; a torque sensor disposed at the front end of the housing; and an encoder, including an input encoder and an output encoder, the input encoder including an encoder seat 501 sleeved on the input shaft, and the output encoder sleeved on the output shaft via a hollow shaft.

[0026] The beneficial effects of the above technical scheme are that the shell 8 is provided with an installation cavity with two open ends, the input shaft and the output shaft of the harmonic reducer 2 both extend into the installation cavity and the output shaft extends outward beyond the input shaft, the motor stator 303 of the DC brushless motor 3 is fixed to the inner wall of the installation cavity, and the motor rotor 302 is arranged on the input shaft, so that the harmonic reducer 2 and the DC brushless motor 3 are coaxially arranged and integrated, and the structure is compact. The torque sensor is arranged at the front end of the shell 8, and the torque output at the front end of the joint module can be detected in real time. The input end code disc is arranged on the input shaft, and the output end code disc is arranged on the output shaft through the hollow shaft, so that the rotation information of the input shaft and the output shaft can be obtained respectively, and accurate feedback is provided for the motion control of the joint module.

[0027] In some other embodiments of the present application, a torque output flange 1 is arranged at one end of the harmonic reducer 2 away from the DC brushless motor 3 through a screw. The torque sensor is arranged outside the hollow shaft of the torque output flange 1 at the front end of the joint module, and the torque is reflected through the detection of the strain gauge electric signal.

[0028] The beneficial effects of the above technical scheme are that the torque sensor is arranged outside the hollow shaft of the torque output flange 1 at the front end of the joint module, the torque is reflected through the detection of the strain gauge electric signal, the torque change at the output end of the joint module can be directly monitored, and real-time and accurate monitoring of the torque output is realized.

[0029] In some other embodiments of the present application, the harmonic reducer 2 is connected to the torque output flange 1 on one side, and the harmonic reducer 2 includes a reducer shaft 201, the reducer shaft 201 includes an input shaft and an output shaft, and the input shaft on the other side is connected to the motor rotor 302 of the DC brushless motor 3.

[0030] The beneficial effects of the above technical scheme are that the harmonic reducer 2 is connected to the torque output flange 1 on one side, and the input shaft on the other side is connected to the motor rotor 302 of the DC brushless motor 3, so that the motor power is directly transmitted to the harmonic reducer 2 through the input shaft, and then transmitted to the torque output flange 1 through the output shaft, the power transmission path is shortened, the structure is compact, and the transmission efficiency is high.

[0031] In some other embodiments of the present application, the DC brushless motor assembly 3 includes a hollow motor shaft 301, a motor rotor 302 and a motor stator 303, one end of the motor shaft 301 is connected to the input shaft of the harmonic reducer, and the motor rotor is fixed to the motor shaft.

[0032] In addition, the wire protection shaft 10 is inserted into one end of the hollow motor shaft 301, so that the power of the motor assembly 3 is transmitted through the harmonic reducer assembly 2 and output through the torque output flange 1.

[0033] The beneficial effect of the above technical scheme is that the hollow motor shaft 301 is used to realize coaxial connection of the motor and the harmonic reducer 2, and the hollow structure can be used to pass through the cable, thereby optimizing the internal space layout.

[0034] In some other embodiments of the present application, the input end code disc and the output end code disc are located at one end of the mounting cavity close to the rear shell 9, and are respectively sleeved on the input shaft and the output shaft.

[0035] The input end code disc and the output end code disc are input / output code discs 5, the input / output code discs 5 and the double encoder 6 are installed at the end of the dustproof baffle 4 close to the control panel 7, and the control panel 7 is installed on the rear shell 9.

[0036] The beneficial effect of the above technical scheme is that the double encoder 6 is used, the traditional low-speed shaft and low-speed shaft encoder are simplified, and the miniaturization and light weight of the joint are facilitated. The code discs are arranged at the rear end of the shell 8, integrated design is facilitated, the space occupied by the code disc arrangement at the front end is reduced, and the radial size of the joint module is further reduced.

[0037] In some other embodiments of the present application, the brake stop plate 11 is sleeved on the input shaft on the side away from the motor rotor 303, and the brake stop plate 11 rotates synchronously with the input shaft.

[0038] The beneficial effect of the above technical scheme is that the brake stop plate 11 rotates synchronously with the input shaft, and the brake stop plate 11 can be matched with an external brake structure (such as a brake stop pin) to realize the limitation or brake of the rotation of the input shaft, thereby providing a brake protection function for the joint module.

[0039] In some other embodiments of the present application, the brake stop plate 11 is provided with a dustproof baffle on the side close to the control panel 7, and the dustproof baffle is fixed on the shell.

[0040] The brake stop plate 11 is installed on the motor shaft 301 inside the dustproof baffle 4. Specifically, the brake stop plate 12 is provided with a center hole, the hole is slightly larger than the outer diameter of the motor shaft 301, the brake stop plate 11 can rotate with the motor shaft 301, and when the brake stop plate 11 is blocked by the brake stop pin, the brake stop plate 11 can move relative to the motor shaft 301, so that the motor shaft 301 is slowed down and stopped.

[0041] The beneficial effect of the above technical scheme is that the control panel 7 is electrically connected with the input end code disc and the output end code disc, the signal of the code disc is centrally processed, the input end code disc and the output end code disc are integrated on the same circuit board and coaxially arranged through the hollow shaft structure, the number of circuit boards and connecting cables is reduced, the signal transmission efficiency is improved, and the internal structure is further compacted.

[0042] In some other embodiments of the utility model, it further includes control panel 7 arranged at the tail end of installation cavity, control panel 7 is fixed on rear shell 9 by bolt, and is electrically connected with input end code disc and output end code disc. Input end code disc and output end code disc are integrated on the same circuit board, and coaxial arrangement is realized through hollow shaft structure.

[0043] The beneficial effects of the above technical scheme are that the dust baffle 4 is fixed on the shell 8, can block the dust or sundries generated when the brake baffle 11 rotates from entering the control panel 7 area, and plays a dustproof protection role on the control panel 7 and the precision components such as code disc.

[0044] In some other embodiments of the utility model, it further includes a brake, the brake is sleeved on the input shaft, is fixed on the motor rotor end face and corresponds with the brake stator.

[0045] The beneficial effects of the above technical scheme are that the main body part of the shell 8 and the rear shell 9 can be detachably assembled, which facilitates the disassembly and maintenance of the joint module. The positioning structure for fixing the motor stator 303 is arranged on the inner wall of the installation cavity, which can ensure the installation accuracy of the motor stator 303, guarantee the coaxiality of the motor rotor 302 and the input shaft, and improve the stability of the motor operation.

[0046] The torque sensor is installed at the front end of the shell 8, and the torque is reflected by measuring the change of strain gauge electric signal. The harmonic reducer 2 is connected with the output torque flange 1, the input shaft and the output shaft are coaxially arranged on the harmonic reducer 2, both of the input shaft and the output shaft extend into the installation cavity, and the output shaft extends out of the outer end of the input shaft, the input shaft on the harmonic reducer 2 cooperates with the output shaft of the brushless DC motor 3, so that the overall structure is simpler and the integration is better. When assembling, the brushless DC motor 3 can be assembled on the shell 8, and the assembling process is more convenient. The brake is arranged on the other side of the brushless DC motor 3. The dust baffle is arranged on the other side of the brake to protect the control panel 7. The hollow via is arranged to facilitate wiring. The concentricity can be guaranteed through the transmission shaft structure, the installation is facilitated, and the installation efficiency is improved. In addition, the double encoder 6 is arranged through the hollow shaft, so that the double encoder 6 is integrated on the motor control end, and the radial size of the joint is effectively reduced.

[0047] In some other embodiments of the utility model, the main body part of the shell 8 and the rear shell 9 are detachably assembled, and the positioning structure for fixing the motor stator 303 is arranged on the inner wall of the installation cavity.

[0048] As Figure 1 , Figure 2As shown, the small and compact integrated joint module includes a torque output flange 1, a harmonic reducer assembly 2, a direct current brushless motor assembly 3, a dust baffle 4, an input / output encoder disc 5, a double encoder 6 and a control board 7, and forms an independent joint shell, which is assembled with the appearance part of the joint during use. The torque sensor 101 is arranged on the torque output flange 1 at the front end of the shell. The harmonic reducer assembly 2 is connected with the torque output flange 1 where the torque sensor 101 is arranged, and the harmonic reducer assembly 2 has a coaxially arranged input shaft and an output shaft, and the input shaft and the output shaft of the direct current brushless motor assembly 3 are connected by a key. The direct current brushless motor assembly 3 is arranged in the mounting cavity, and the direct current brushless motor assembly 3 includes a motor stator 303 and a motor rotor 302, and the motor stator 303 is fixed to the inner wall of the mounting cavity. The double encoder 6 reads the data of the input / output encoder disc 5 and uploads it to the control board 7, which is used to control the running state of the motor.

[0049] The small and compact integrated joint module has the following beneficial effects:

[0050] The torque sensor is arranged outside the hollow shaft of the torque output flange 1, and the torque is reflected by detecting the electric signal of the strain gauge, so that the real-time monitoring of the torque output of the joint module is realized, and overloading is avoided.

[0051] The harmonic reducer 2 is arranged at the front end of the shell 8, and the harmonic reducer 2 has coaxially arranged input and output shafts, and the input and output shafts are both inwardly inserted into the mounting cavity and cooperate with the arrangement of the direct current brushless motor, so that the overall structure is simpler, the integration is better, the assembly process is more convenient, and the disassembly, assembly, maintenance are more convenient.

[0052] The double encoder 6 is adopted and integrated through the hollow shaft, which is beneficial to realize the miniaturization and light weight of the joint compared with the traditional low-speed shaft and low-speed shaft encoder.

[0053] The appearance part of the joint and the joint shell (the shell 8) are split, which reduces the processing difficulty of the appearance part of the joint, avoids the overall failure of the module caused by the poor appearance of the joint, and integrates the joint as an independent module, which can be quickly reused in other products or become an independent product.

[0054] The above embodiments are only for illustrating the technical concept and characteristics of the utility model, and the purpose is to enable persons skilled in the art to understand the content of the utility model and implement it, and cannot limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit and essence of the utility model should be covered within the protection scope of the utility model.

Claims

1. A small and compact integrated joint module characterized by, The application relates to a joint module. The shell comprises a main body and a rear shell. The harmonic reducer comprises coaxially arranged input and output shafts, the input and output shafts are arranged in the installation cavity, and the output shaft is arranged outside the input shaft. The DC brushless motor comprises a motor stator fixed to the inner wall of the installation cavity and a motor rotor arranged on the input shaft and corresponding to the motor stator. The torque sensor is arranged at the front end of the shell. The code disc comprises an input end code disc and an output end code disc, the input end code disc is sleeved on the input shaft, and the output end code disc is sleeved on the output shaft through a hollow shaft.

2. The small and compact integrated joint module according to claim 1, characterized in that: The torque sensor is arranged outside the hollow shaft of the torque output flange at the front end of the joint module, and the torque is reflected through the detection of the strain sheet electric signal.

3. The small and compact integrated joint module according to claim 1, characterized in that: One side of the harmonic reducer is connected with the torque output flange, and the other side of the input shaft is connected with the motor rotor of the DC brushless motor.

4. The small and compact integrated joint module according to claim 1, characterized in that: The DC brushless motor comprises a hollow motor shaft, one end of the motor shaft is connected with the input shaft of the harmonic reducer, and the motor rotor is fixed to the motor shaft.

5. The small and compact integrated joint module according to claim 1, characterized in that: The input end code disc and the output end code disc are arranged at the end of the installation cavity close to the rear shell and are sleeved on the input shaft and the output shaft respectively.

6. The small and compact integrated joint module according to claim 1, characterized in that: The input shaft is sleeved with a brake baffle plate on the side away from the motor rotor, and the brake baffle plate rotates synchronously with the input shaft.

7. The small and compact integrated joint module according to claim 6, characterized in that: The control board is arranged at the tail end of the installation cavity, the control board is fixed to the rear shell through bolts and is electrically connected with the input end code disc and the output end code disc. The input end code disc and the output end code disc are integrated on the same circuit board and are coaxially arranged through the hollow shaft structure.

8. The small and compact integrated joint module according to claim 7, characterized in that: The side of the brake baffle plate close to the control board is provided with a dust baffle plate, and the dust baffle plate is fixed to the shell.

9. The small and compact integrated joint module according to claim 6, characterized in that: The brake is sleeved on the input shaft and is fixed to the end surface of the motor rotor and corresponds to the brake stator.

10. The small and compact integrated joint module according to claim 1, characterized in that: The main body and the rear shell of the shell are detachably assembled, and the inner wall of the installation cavity is provided with a positioning structure for fixing the motor stator.

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