Novel thin motor joint module

Abstract

The utility model provides a novel thin motor joint module, which relates to the technical field of joint modules and comprises a power component, a speed reducer component and an output component which are all arranged in a shell. A lead shaft penetrates through the centers of the power assembly, the speed reducer assembly and the output assembly, and a threading hole is formed in the side wall of the lead shaft; the power assembly is provided with an axial magnetic flux motor and a driver, the output assembly is provided with a torsion sensor, and the torsion sensor pulls a signal line to the rear end through a hollow lead shaft so that the driver can read torsion information. The joint module has the advantages that the lead shaft penetrating through the center of the power assembly, the center of the speed reducer assembly and the center of the output assembly is arranged, the torsion sensor pulls a signal line to the rear end through the hollow lead shaft so that a driver can read torsion information, and therefore signals can be transmitted in time, and operation of the joint module is more accurate and stable.

Description

Technical Field

[0001] This utility model relates to the field of joint module technology, and in particular to a novel thin motor joint module. Background Technology

[0002] Joint modules are compact, modular products integrating key components such as motors, reducers, encoders, and drivers, and are widely used in robotics, medical devices, and consumer electronics. Because joint modules need to bear significant weight during use, they are typically used in space-constrained environments. Consequently, the internal structure of the joint module is compressed to its limits. This makes it difficult to install communication components within the joint module, often resulting in untimely communication or communication errors that hinder user operation.

[0003] The technical content disclosed in the Chinese patent document (Publication No.: CN114732524B, Patent Title: A Rotary Joint Module) is as follows: a connecting sleeve is connected to a support ring, and simultaneously the connecting sleeve is fixedly connected to a connecting flange. The connecting flange is fixedly connected to the inner ring of a torque sensor. The output flange drives the support ring and the output encoder magnetic ring to rotate together through the connecting sleeve, thereby enabling real-time detection of the output position information and the position information of the connecting arm tube. The support ring is connected to the encoder support frame through a second deep groove ball bearing. The second deep groove ball bearing ensures the stability of the support ring and its coaxiality with the encoder support frame. The support frame is fixedly connected to the support sleeve, and the support sleeve is fixedly connected to the motor housing.

[0004] As can be seen from the above implementation plan and the corresponding drawings, the connecting sleeve in the rotary joint module only serves to connect the various components. However, the module does not specify how the signal lines should be set. If the signal lines are set outside the module, it will be unsightly, making it difficult to achieve both aesthetics and communication performance. Utility Model Content

[0005] This invention overcomes the shortcomings of the prior art by setting a lead shaft that runs through the center of the power component, the reducer component and the output component. The torque sensor uses the hollow lead shaft to pull the signal line to the rear end for the driver to read the torque information, thus enabling the signal to be transmitted in a timely manner, making the operation of the joint module more accurate and stable.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0007] A novel thin motor joint module includes a power component, a reducer component, and an output component, all of which are housed within a housing.

[0008] The center of the power assembly, the reducer assembly and the output assembly are penetrated by a lead shaft, and the side wall of the lead shaft is provided with a wire through hole;

[0009] The power assembly is equipped with an axial flux motor and a driver, and the output assembly is equipped with a torque sensor. The torque sensor uses a hollow lead shaft to pull a signal line to the rear end for the driver to read torque information.

[0010] Furthermore, the housing includes a first housing, a second housing, and a third housing. The first housing is wrapped around the power assembly, the second housing is wrapped around the outer periphery of the reducer assembly, and the third housing is wrapped around the outer periphery of the output assembly.

[0011] Furthermore, the reducer assembly is equipped with a harmonic reducer, and the power assembly is equipped with dual encoders.

[0012] Furthermore, the harmonic reducer includes a camshaft, which is connected to a flexible bearing. The flexible bearing is connected to a flex wheel, which meshes with a rigid wheel.

[0013] The camshaft is connected to the power assembly, the rigid wheel is connected to the reducer assembly, and the flexible wheel is connected to the output assembly.

[0014] Furthermore, a first O-ring is provided between the rigid wheel and the front cover of the rigid wheel, and a second O-ring is provided between the rigid wheel and the second outer shell.

[0015] Furthermore, a second oil seal is provided between the reducer assembly and the power assembly, and a first oil seal is provided between the reducer assembly and the output assembly.

[0016] Furthermore, a connecting sealing cover is provided on the side of the torque sensor near the reducer assembly, and a first oil seal is provided on the outer periphery of the connecting sealing cover. The other side of the torque sensor is connected to an output flange, and a cross roller bearing is connected to the outer periphery of the output flange. The cross roller bearing is connected to the third housing.

[0017] Furthermore, the output flange is made of PEEK material.

[0018] Furthermore, the lead shaft is connected to a first rubber-capped bearing and a second rubber-capped bearing. The first rubber-capped bearing is connected to the reducer assembly, and the second rubber-capped bearing is connected to the power assembly.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. A lead shaft is set up that runs through the center of the power unit, reducer unit and output unit. The torque sensor uses the hollow lead shaft to pull the signal line to the rear end for the driver to read the torque information, so that the signal can be transmitted in time, making the operation of the joint module more accurate and stable.

[0021] 2. The output flange is made of PEEK material, which makes the output flange lightweight and sturdy, making the operation of the output flange more stable, and also reducing the weight of the joint module. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the present invention and, together with the embodiments of the present invention, are used to explain the present invention. They do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of the overall joint module according to an embodiment of the present invention;

[0024] Figure 2 This is a first exploded view of the joint module according to an embodiment of the present invention;

[0025] Figure 3 This is a cross-sectional view of the joint module according to an embodiment of the present invention;

[0026] Figure 4 This is a second exploded view of the joint module according to an embodiment of the present invention;

[0027] Figure 5 This is a third exploded view of the joint module according to an embodiment of the present invention;

[0028] Figure 6 This is an exploded schematic diagram of the power component according to an embodiment of the present invention;

[0029] Figure 7 This is an exploded schematic diagram of the speed reducer assembly according to an embodiment of the present invention;

[0030] Figure 8 This is an exploded schematic diagram of the harmonic reducer according to an embodiment of the present invention;

[0031] Figure 9 This is a first exploded view of the output component according to an embodiment of the present invention;

[0032] Figure 10 This is a second exploded view of the output component according to an embodiment of the present invention.

[0033] In the diagram: 1. Power assembly; 101. Driver; 102. Dual encoder; 103. Steering flux motor; 2. Reducer assembly; 201. Harmonic reducer; 2011. Flexible wheel; 2012. Flexible bearing; 2013. Camshaft; 2014. Rigid wheel; 202. First O-ring; 203. Second O-ring; 204. Third O-ring; 205. Rigid wheel front cover; 3. Output assembly; 301. Torque sensor; 302. Cross roller bearing; 303. Output flange; 304. Connecting seal cover; 4. Lead shaft; 401. First rubber-capped bearing; 402. Second rubber-capped bearing; 403. Output shaft locking ring; 5. First housing; 6. Second housing; 7. Third housing; 8. First oil seal; 9. Second oil seal. Detailed Implementation

[0034] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0035] like Figures 1 to 10 As shown, a thin motor joint module includes a power component 1, a reducer component 2, and an output component 3, all of which are housed within a housing; thus forming a joint module with high torque, high energy density, and light weight.

[0036] The power assembly 1 is equipped with an axial flux motor 103. Unlike traditional radial flux motors, the axial flux motor 103 contains a stator in the middle and two rotors arranged back and forth along the axial direction. The axial flux motor 103 has the characteristics of flat structure, high power density, high torque output and high efficiency. Therefore, it can greatly shorten the length of the joint module and has a larger torque, which makes the steering power of the joint module better.

[0037] The reducer assembly 2 is equipped with a harmonic reducer 201, and the housing is made of lightweight metal and PEEK materials, which makes the joint module lighter and improves the torque-to-weight ratio (output torque / module weight) of the joint module, thus making fuller use of the power output of the axial flux motor 103.

[0038] The outer casing includes a first outer casing 5, a second outer casing 6, and a third outer casing 7. The first outer casing 5 is wrapped around the power component 1. The first outer casing 5 is made of a lightweight metal material. The lightweight metal material has a high thermal conductivity, which can quickly dissipate the heat generated by the power component 1.

[0039] The second housing 6 surrounds the outer periphery of the reducer assembly 2, and the third housing 7 surrounds the outer periphery of the output assembly 3. Both the second housing 6 and the third housing 7 are made of PEEK material. PEEK material (Polyether Ether Ketone) is a high-performance polymer material with excellent high temperature resistance, chemical stability, mechanical properties, wear resistance, insulation properties and biocompatibility. Therefore, the second housing 6 and the third housing 7 not only protect the reducer assembly 2 and the output assembly 3, but also reduce the weight of the entire joint module.

[0040] Moreover, the PEEK material allows the second shell 6 to be made thinner, which allows for more space inside the second shell 6. This maximizes the size of the harmonic reducer 201 within a limited space, thereby increasing the energy density of the joint module and enabling the joint module to output greater torque.

[0041] The power assembly 1 is also equipped with dual encoders 102 and driver 101. The driver 101 is integrated with the dual encoders 102 to provide feedback on high-precision angular positioning and reduce axial thickness.

[0042] The harmonic reducer 201 includes a camshaft 2013, which is connected to a flexible bearing 2012. The flexible bearing 2012 is connected to a flexible wheel 2011, which meshes with a rigid wheel 2014. The camshaft 2013 is connected to a power assembly 1, the rigid wheel 2014 is connected to a reducer assembly 2, and the flexible wheel 2011 is connected to an output assembly 3.

[0043] The power unit 1 drives the camshaft 2013 to rotate, and finally transmits the power to the flexible wheel 2011, and finally outputs the power from the output unit 3.

[0044] A first O-ring 202 is provided between the rigid wheel 2014 and the rigid wheel front cover 205; a second O-ring 203 is provided between the rigid wheel 2014 and the second housing 6; an output shaft locking ring 403 is provided between the lead shaft 4 and the flexible wheel 2011; and a third O-ring 204 is provided between the output shaft locking ring 403 and the lead shaft 4. A second oil seal 9 is provided between the reducer assembly 2 and the power assembly 1; and a first oil seal 8 is provided between the reducer assembly 2 and the output assembly 3. The first O-ring 202, the second O-ring 203, the third O-ring 204, the first oil seal 8, and the second oil seal 9 ensure that the lubricating grease only flows inside the reducer assembly 2, which not only ensures the smooth operation of the flexible wheel 2011 and the rigid wheel 2014 but also prevents the lubricating grease from flowing to other areas, causing grease loss and affecting the operation of electronic components.

[0045] Output component 3 is equipped with torque sensor 301. A connecting sealing cover 304 is provided on the side of torque sensor 301 near reducer component 2. A first oil seal 8 is provided on the outer periphery of connecting sealing cover 304. The other side of torque sensor 301 is connected to output flange 303. A crossed roller bearing 302 is connected to the outer periphery of output flange 303. Crossed roller bearing 302 is connected to third housing 7. Third housing 7 is connected to second housing 6. Second housing is connected to rigid wheel 2014. Flexible wheel 2011 meshes with rigid wheel 2014 and rotates in opposite directions. Therefore, crossed roller bearing 302 acts as a connecting component for linkage between flexible wheel 2011 and rigid wheel 2014. Crossed roller bearing 302 can simultaneously bear axial load, radial load and overturning moment, which enhances the stability of joint module structure and operation.

[0046] The output flange 303 is made of PEEK material, which is different from traditional metal materials, making the output flange 303 lighter.

[0047] The power assembly 1, reducer assembly 2, and output assembly 3 are centered by a lead-wire shaft 4. The lead-wire shaft 4 unifies the axial direction of each component, enhancing the overall integrity of the joint module structure. The lead-wire shaft 4 has a wire-passing hole on its side wall. The lead-wire shaft 4 connects to a first rubber-capped bearing 401 and a second rubber-capped bearing 402. The first rubber-capped bearing 401 is connected to the reducer assembly 2, and the second rubber-capped bearing 402 is connected to the power assembly 1. The first and second rubber-capped bearings 401 and 402 also prevent lubricating grease from flowing into other areas during operation.

[0048] The torque sensor 301 uses a hollow lead shaft 4 to pull the signal line to the rear end for the driver 101 to read torque information, which can be used by the user to make control compensation according to needs. Therefore, the lead shaft 4 plays an essential role in component connection and communication.

[0049] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A novel thin motor joint module, characterized in that, It includes a power assembly (1), a reducer assembly (2), and an output assembly (3), all of which are housed within a housing; The center of the power assembly (1), the reducer assembly (2) and the output assembly (3) is penetrated by the lead shaft (4), and the side wall of the lead shaft (4) is provided with a wire hole; The power assembly (1) is provided with an axial flux motor (103) and a driver (101), and the output assembly (3) is provided with a torque sensor (301). The torque sensor (301) pulls the signal line to the rear end through the hollow lead shaft (4) for the driver (101) to read the torque information.

2. The novel thin motor joint module according to claim 1, characterized in that, The housing includes a first housing (5), a second housing (6) and a third housing (7). The first housing (5) is wrapped around the power assembly (1), the second housing (6) is wrapped around the outer periphery of the reducer assembly (2), and the third housing (7) is wrapped around the outer periphery of the output assembly (3).

3. The novel thin motor joint module according to claim 2, characterized in that, The speed reducer assembly (2) is equipped with a harmonic speed reducer (201), and the power assembly (1) is equipped with a dual encoder (102).

4. The thin motor joint module according to claim 3, characterized in that, The harmonic reducer (201) includes a camshaft (2013), which is connected to a flexible bearing (2012). The flexible bearing (2012) is connected to a flexure wheel (2011), which meshes with a rigid wheel (2014). The camshaft (2013) is connected to the power assembly (1), the rigid wheel (2014) is connected to the reducer assembly (2), and the flexible wheel (2011) is connected to the output assembly (3).

5. The novel thin motor joint module according to claim 4, characterized in that, A first O-ring (202) is provided between the rigid wheel (2014) and the front cover (205) of the rigid wheel, and a second O-ring (203) is provided between the rigid wheel (2014) and the second outer shell (6). An output shaft locking ring (403) is provided between the lead shaft (4) and the flexible wheel (2011), and a third O-ring (204) is provided between the output shaft locking ring (403) and the lead shaft (4).

6. The novel thin motor joint module according to claim 5, characterized in that, A second oil seal (9) is provided between the reducer assembly (2) and the power assembly (1), and a first oil seal (8) is provided between the reducer assembly (2) and the output assembly (3).

7. The novel thin motor joint module according to claim 6, characterized in that, The torque sensor (301) is provided with a connecting sealing cover (304) on the side near the reducer assembly (2). The first oil seal (8) is provided on the outer periphery of the connecting sealing cover (304). The other side of the torque sensor (301) is connected to the output flange (303). The outer periphery of the output flange (303) is connected to the cross roller bearing (302). The cross roller bearing (302) is connected to the third housing (7).

8. The novel thin motor joint module according to claim 7, characterized in that, The output flange (303) is made of PEEK material.

9. The novel thin motor joint module according to any one of claims 1 to 8, characterized in that, The lead shaft (4) is connected to the first rubber cover bearing (401) and the second rubber cover bearing (402). The first rubber cover bearing (401) is connected to the reducer assembly (2), and the second rubber cover bearing (402) is connected to the power assembly (1).

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