Compact light-weight joint module and robot

Abstract

The utility model discloses a compact light-weight joint module and a robot. The compact light-weight joint module comprises a harmonic speed reducer, an outer shell, a motor and a rear cover. The harmonic speed reducer is fixedly connected with the front end of the outer shell, a high-speed shaft and a low-speed shaft which are coaxially mounted are arranged on the harmonic speed reducer, the high-speed shaft sleeves the periphery of the low-speed shaft, and a gap is formed between the high-speed shaft and the low-speed shaft; a rotor of the motor fixedly sleeves the high-speed shaft, and a stator of the motor is fixedly mounted in the outer shell; a first flange is fixedly installed at the rear end of the high-speed shaft, and a first code disc is installed on the outer side face of the first flange. A second flange is fixedly installed at the rear end of the low-speed shaft, and a second code disc is installed on the inner side face of the second flange. The first code disc and the second code disc are arranged in a spaced mode, a disc-shaped assembly is arranged between the first code disc and the second code disc, the disc-shaped assembly is formed by splicing a driving plate and a reading head plate which are detachable, and the driving plate and the reading head plate are located on the same plane and fixedly connected with the outer shell.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a compact and lightweight joint module used in humanoid robots, collaborative robots and industrial robots. Background Technology

[0002] With the development of robotics and embodied intelligence technologies, the performance of robot joint modules, as core components driving robot movement, is receiving increasing attention. Due to the lightweight requirements of humanoid robots, there are strict limitations on the mass and size of joint modules, while simultaneously ensuring the transmission performance, load-bearing capacity, and manufacturing reliability of the joint model. Currently, robot joint modules are mainly reduced in mass and size by lowering the specifications of the reducers used and by integrating some functions into the design. While these two methods can reduce the mass and size of the joint modules, they also carry the risk of decreased output performance and reduced manufacturing reliability. Utility Model Content

[0003] In view of the above-mentioned shortcomings of the current joint modules, this utility model provides a more compact and lightweight joint module with a better structure, and provides a robot using the compact and lightweight joint module.

[0004] To achieve the above objectives, the technical solution of this utility model regarding the joint module is as follows:

[0005] A compact and lightweight joint module includes a harmonic reducer, a housing, a motor, and a rear cover;

[0006] The harmonic reducer is fixedly connected to the front end of the housing. The harmonic reducer is provided with a high-speed shaft and a low-speed shaft mounted coaxially. The high-speed shaft is sleeved on the outer periphery of the low-speed shaft and there is a gap between the two.

[0007] The rotor of the motor is fixedly sleeved on the high-speed shaft, and the stator of the motor is fixedly installed inside the housing.

[0008] A first flange is fixedly installed at the rear end of the high-speed shaft, and a first code disk is installed on the outer side of the first flange.

[0009] A second flange is fixedly installed at the rear end of the low-speed shaft, and a second code disk is installed on the inner side of the second flange.

[0010] The first code disk and the second code disk are spaced apart and a disk-shaped component is provided between them. The disk-shaped component is composed of a detachable drive board and a read head board. The drive board and the read head board are on the same plane and are respectively fixedly connected to the outer shell.

[0011] The rear cover is fixedly connected to the rear end of the outer shell.

[0012] In the above technical solution, since the drive board and the read head board are spliced ​​into a disc-shaped assembly and installed between the first code disk and the second code disk, the drive board and the read head board are on the same plane and can be separated. This can effectively reduce the axial length of the entire joint module and facilitate subsequent process maintenance. Because there are many easily damaged capacitors and small resistors on the drive board, once the drive board is damaged, only the drive board needs to be removed for repair and replacement. There is no need to remove the read head board, thus avoiding the problem of recalibrating the encoder due to the removal and installation of the read head board.

[0013] In one embodiment, the area of ​​the drive board is larger than the area of ​​the read head board, and the read head board is fixedly connected to the outer casing via a mounting bracket.

[0014] In one embodiment, one end of the mounting base is fixedly connected to the outer casing, and the outer casing has a groove for mounting the mounting base. The other end of the mounting base forms a boss relative to the inner wall of the outer casing, and the boss has a positioning groove adapted to the shape of the read head plate. This grooved mounting base allows for direct positioning of the read head plate, ensuring its installation accuracy, and also increases the stability of the read head plate after installation.

[0015] In one embodiment, a detection chip is installed on each of the inner and outer sides of the read head board.

[0016] In one embodiment, the two detection chips are mounted in asymmetrical positions.

[0017] In one embodiment, a magnetic shielding plate is installed between the motor and the first flange, and the periphery of the magnetic shielding plate is fixedly connected to the outer casing.

[0018] In one embodiment, the outer diameters of the first code disk and the second code disk are the same or similar. Since the first code disk and the second code disk are spaced apart and their outer diameters are the same or similar, this avoids the problem of the outer code disk having an excessively large outer diameter when the two code disks are on the same plane, which would increase the moment of inertia and require the installation of a support bearing. Compared with the prior art, this is equivalent to reducing one bearing, thereby making the joint module lighter.

[0019] In one embodiment, the outer ring of the crossed roller bearing of the harmonic reducer is made of PEEK material. PEEK material has good wear resistance and strength, and is lightweight, which can further reduce the weight of the harmonic reducer.

[0020] The technical solution of this utility model regarding robots is: a robot, including the compact and lightweight joint module described in this utility model.

[0021] The joint module provided by this utility model not only has a shorter axial length, but also solves the process maintenance problem of the drive board and the reading head board. On the other hand, thanks to the shorter axial length of the joint module, and because the first code disk and the second code disk are spaced apart, the problem of excessive inertia caused by the outer diameter of the outer code disk being too large when the two code disks are on the same plane can be avoided. This reduces the number of support bearings, thereby making the joint module lighter. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments 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.

[0023] Figure 1 This is an overall cross-sectional view of the compact and lightweight joint module in the embodiment of this utility model;

[0024] Figure 2 This is a partial cross-sectional view of the compact and lightweight joint module in the embodiment of this utility model;

[0025] Figure 3 for Figure 1 A schematic diagram of the planar structure of the left end face after removing the back cover;

[0026] Figure 4 Is Figure 3 A schematic diagram of the planar structure after removing the second flange;

[0027] Figure 5 for Figure 1 A schematic diagram of the planar structure of the right end face.

[0028] The attached diagram is labeled as follows: 1. Harmonic reducer; 2. Housing; 3. Motor; 4. Rear cover; 5. High-speed shaft; 6. Low-speed shaft; 7. First flange; 8. First encoder; 9. Second flange; 10. Second encoder; 11. Drive plate; 12. Reader plate; 13. Mounting base; 14. Magnetic shielding plate. Detailed Implementation

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0033] like Figures 1 to 5 As shown, a compact and lightweight joint module includes a harmonic reducer 1, a housing 2, a motor 3, and a rear cover 4. The harmonic reducer 1 is fixedly connected to the front end of the housing 2. A high-speed shaft 5 and a low-speed shaft 6 are coaxially mounted on the harmonic reducer 1. The high-speed shaft 5 is sleeved on the outer periphery of the low-speed shaft 6, with a gap between them. The rotor of the motor 3 is fixedly sleeved on the high-speed shaft 5, and the stator of the motor 3 is fixedly installed inside the housing 2. A first flange 7 is fixedly mounted on the rear end of the high-speed shaft 5, and a first encoder 8 is mounted on the outer side of the first flange 7. A second flange 9 is fixedly mounted on the rear end of the low-speed shaft 6. A second code disk 10 is installed on the inner side of flange 9; a magnetic shielding plate 14 is installed between motor 3 and first flange 7, and the periphery of magnetic shielding plate 14 is fixedly connected to housing 2; first code disk 8 and second code disk 10 are spaced apart and a disc-shaped assembly is provided between them. The disc-shaped assembly is composed of a detachable drive plate 11 and a read head plate 12. The drive plate 11 and read head plate 12 are on the same plane and are fixedly connected to housing 2 respectively; a detection chip is installed on each of the inner and outer sides of read head plate 12, and the installation positions of the two detection chips are not symmetrical; rear cover 4 is fixedly connected to the rear end of housing 2.

[0034] like Figures 1 to 4 As shown, since the drive board 11 and the read head board 12 are spliced ​​into a disc-shaped assembly and installed between the first code disk 8 and the second code disk 10, the drive board 11 and the read head board 12 are on the same plane and can be separated. This can effectively reduce the axial length of the entire joint module and facilitate subsequent process maintenance. Because there are many easily damaged capacitors and small resistors on the drive board 11, once the drive board 11 is damaged, it can be repaired and replaced by removing the drive board 11 alone, without removing the read head board 12. This avoids the problem of recalibrating the encoder due to the removal and installation of the read head board 12.

[0035] like Figures 1 to 4 As shown, the area of ​​the drive plate 11 is larger than the area of ​​the read head plate 12. The read head plate 12 is fixedly connected to the outer shell 2 via a fixing seat 13. One end of the fixing seat 13 is fixedly connected to the outer shell 2, and the outer shell 2 has a groove for mounting the fixing seat 13. The other end of the fixing seat 13 forms a boss relative to the inner wall of the outer shell 2, and the boss has a positioning groove adapted to the shape of the read head plate 12. Through this grooved fixing seat 13, the reading head plate 12 can be directly positioned during installation, ensuring the installation accuracy of the reading head plate 12. Moreover, the fixing seat 13 can also increase the stability of the reading head plate 12 after installation.

[0036] like Figure 1 , 2 As shown, the outer diameters of the first code disk 8 and the second code disk 10 are similar. Since the first code disk 8 and the second code disk 10 are spaced apart and their outer diameters are similar, this avoids the problem of the outer code disk having an excessively large outer diameter when the two code disks are on the same plane, which would increase the moment of inertia and require the installation of a support bearing. Compared with the prior art, this is equivalent to reducing one bearing, thus making the joint module lighter.

[0037] In this embodiment, the outer ring of the crossed roller bearing of the harmonic reducer 1 is made of PEEK material. Because PEEK material has good wear resistance and strength, and is relatively lightweight, this further reduces the weight of the harmonic reducer.

[0038] The joint module provided in this embodiment not only has a shorter axial length, but also solves the process maintenance problem of the drive board 11 and the reading head board 12. On the other hand, thanks to the shorter axial length of the joint module, and because the first code disk 8 and the second code disk 10 are spaced apart, the problem of excessive inertia caused by the outer diameter of the outer code disk being too large when the two code disks are on the same plane can be avoided. This reduces the number of support bearings, thereby making the joint module lighter. Example

[0039] A robot including the compact and lightweight joint module of Embodiment 1.

[0040] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the scope of this utility model patent.

[0041] To facilitate understanding by those skilled in the art of the improvements of this utility model over the prior art, some of the drawings and descriptions of this utility model have been simplified, and for clarity, some other elements have been omitted from this application. Those skilled in the art should realize that these omitted elements may also constitute the content of this utility model.

Claims

1. A compact and lightweight joint module, characterized in that: It includes a harmonic reducer (1), a housing (2), a motor (3), and a rear cover (4); The harmonic reducer (1) is fixedly connected to the front end of the outer shell (2). The harmonic reducer (1) is provided with a high-speed shaft (5) and a low-speed shaft (6) coaxially mounted. The high-speed shaft (5) is sleeved on the outer periphery of the low-speed shaft (6) and there is a gap between the two. The rotor of the motor (3) is fixedly sleeved on the high-speed shaft (5), and the stator of the motor (3) is fixedly installed inside the outer casing (2); The rear end of the high-speed shaft (5) is fixedly installed with a first flange (7), and a first code disk (8) is installed on the outer side of the first flange (7); The rear end of the low-speed shaft (6) is fixedly installed with a second flange (9), and a second code disk (10) is installed on the inner side of the second flange (9). The first code disk (8) and the second code disk (10) are spaced apart and a disk-shaped component is provided between them. The disk-shaped component is composed of a detachable drive plate (11) and a read head plate (12). The drive plate (11) and the read head plate (12) are on the same plane and are respectively fixedly connected to the outer shell (2). The rear cover (4) is fixedly connected to the rear end of the outer shell (2).

2. The compact and lightweight joint module according to claim 1, characterized in that: The area of ​​the drive board (11) is larger than the area of ​​the read head board (12), and the read head board (12) is fixedly connected to the outer shell (2) through a fixing seat (13).

3. The compact and lightweight joint module according to claim 2, characterized in that: One end of the fixing seat (13) is fixedly connected to the outer shell (2). The outer shell (2) is provided with a groove for installing the fixing seat (13). The other end of the fixing seat (13) forms a boss relative to the inner wall of the outer shell (2). The boss is provided with a positioning groove that is adapted to the shape of the reading head plate (12).

4. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: A detection chip is installed on each of the inner and outer sides of the read head plate (12).

5. The compact and lightweight joint module according to claim 4, characterized in that: The two detection chips are installed in asymmetrical positions.

6. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: A magnetic shielding plate (14) is installed between the motor (3) and the first flange (7), and the periphery of the magnetic shielding plate (14) is fixedly connected to the outer shell (2).

7. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: The outer diameters of the first code disk (8) and the second code disk (10) are the same or similar.

8. The compact and lightweight joint module according to any one of claims 1 to 3, characterized in that: The outer ring of the cross roller bearing of the harmonic reducer (1) is made of PEEK material.

9. A robot, characterized in that: Includes the compact, lightweight joint module as described in any one of claims 1 to 3.

Images