Joint rotating module

Abstract

The utility model discloses a joint rotating module, comprising a motor assembly comprising a stator and a rotor, the rotor being provided with a mounting hole; the speed reduction assembly comprises a cam shaft, the cam shaft is arranged in the mounting hole in a penetrating mode, a transmission face is arranged on the cam shaft, the outer diameter of the transmission face is gradually reduced in the direction close to the motor assembly along the central axis of the cam shaft, and a matching face used for abutting against the transmission face is arranged on the inner wall of the mounting hole; the locking piece abuts against the side, away from the speed reduction assembly, of the rotor and is locked with the end of the cam shaft, and the rotor is jointly clamped by the locking piece and the transmission face of the cam shaft. According to the utility model, the transmission surface and the matching surface are obliquely arranged, so that the coaxiality error between the rotor and the cam shaft can be avoided through the transmission surface and the matching surface which are propped against each other during installation, and meanwhile, the transmission surface and the matching surface ensure a larger contact area between the rotor and the cam shaft, so that the stable transmission between the rotor and the cam shaft is ensured.

Description

Technical Field

[0001] This utility model belongs to the field of drive equipment, and specifically relates to a joint rotation module. Background Technology

[0002] With the rapid development of industrial automation technology, the application of articulated rotary modules is becoming increasingly widespread. In articulated rotary modules, due to manufacturing errors, gaps are easily generated between the motor rotor and the reducer camshaft during operation, leading to coaxiality errors. These coaxiality errors cause significant vibrations in the articulated rotary module during operation, affecting its stable transmission.

[0003] To solve this problem, existing technology sets up mounting grooves at the ends of the rotor and camshaft furthest from the reducer, and inserts expansion sleeves into the mounting grooves. The expansion sleeves abut against the camshaft and rotor respectively to fill the gap between the rotor of the motor and the camshaft of the reducer. However, while the expansion sleeves fill the gap between the rotor and camshaft, they also make it so that the rotor and the camshaft of the reducer can only be driven through the expansion sleeves. Because the expansion sleeves are relatively short, the mating surface between the rotor and the camshaft is greatly shortened, resulting in poor transmission effect between the rotor and the camshaft. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a joint rotation module to solve the problem of poor transmission effect between the rotor and the camshaft.

[0005] To solve the above-mentioned technical problems, this utility model adopts the following technical solution: a joint rotation module, comprising: a motor assembly including a stator and a rotor, the rotor being rotatably mounted in the stator, and a mounting hole penetrating the rotor axially; a reduction assembly including a camshaft passing through the mounting hole, the camshaft having a transmission surface surrounding its outer periphery, the outer diameter of the transmission surface gradually decreasing along the central axis of the camshaft towards the motor assembly, and a mating surface for abutting the transmission surface on the inner wall of the mounting hole; and a locking member abutting against the side of the rotor away from the reduction assembly and locking it to the end of the camshaft, the locking member and the transmission surface of the camshaft together clamping the rotor to achieve linkage with the rotor. This technical solution has the following technical effects:

[0006] This invention involves inserting a camshaft into the mounting hole of the rotor, providing a transmission surface on the camshaft inclined towards the locking element, and a mating surface within the mounting hole of the rotor that mates with the transmission surface. When installing the camshaft, rotor, and locking element, the camshaft is first inserted into the mounting hole of the rotor until the transmission surface and the mating surface abut. Then, the locking element is locked to the end of the camshaft, completing the installation of the camshaft and rotor. At this point, the transmission surface on the camshaft abuts against the mating surface of the rotor, and the locking element abuts against the end face of the rotor away from the reduction gear assembly. This allows the camshaft and locking element to clamp the rotor axially, maintaining contact between the transmission surface and the mating surface. When the rotor rotates, the rotor and camshaft remain linked under the static friction between the transmission surface and the mating surface, achieving stable transmission between the motor assembly and the reduction gear assembly. Because the outer diameter of the transmission surface gradually decreases along the central axis of the camshaft towards the motor assembly, i.e., the transmission surface is inclined towards the locking element, the transmission surface and the mating surface are inclined. During installation, the coaxiality error between the rotor and the camshaft can be avoided by the abutting transmission surface and the mating surface. At the same time, the transmission surface and the mating surface ensure that there is a large contact area between the rotor and the camshaft, thereby ensuring a large static friction force between them. This makes the torque transmission process between the rotor and the camshaft more stable and reliable, ensuring stable transmission between the rotor and the camshaft and reducing the possibility of failure due to poor contact or uneven force on the rotor and the camshaft.

[0007] In the aforementioned joint rotation module, the rotor includes a connecting section and a mating section. The mating section is located on the side of the connecting section closer to the reduction assembly. The inner diameter of the mounting hole in the mating section gradually decreases along the central axis of the mounting hole towards the locking element to form a mating surface. By setting the mating surface on the mating section, the position of the rotor for transmitting power to the camshaft is located on the side of the rotor closer to the reduction assembly. That is, the position of the camshaft for receiving torque is closer to the reduction assembly, allowing the camshaft to work more effectively in the power transmission path and ensuring stable transmission of the camshaft.

[0008] In the aforementioned joint rotation module, the camshaft includes a transmission section with a transmission surface and a mounting section passing through a connecting section. An avoidance ring groove is provided on the outer wall of the camshaft, surrounding the camshaft and located between the transmission section and the mounting section. The avoidance ring groove is used to avoid obstructing the tight insertion of the camshaft and rotor at the connection point between the connecting section and the mating section during installation, ensuring that the transmission surface can tightly abut against the mating surface, thereby enabling stable transmission between the camshaft and the rotor.

[0009] In the aforementioned joint rotation module, a chamfer surrounding the mounting hole is provided at the connection between the rotor's end face and the mating surface. The chamfer further increases the inner diameter of the mounting hole facing the reduction assembly, assisting in quick alignment of the camshaft and mounting hole during insertion, thus reducing the assembly difficulty of the camshaft and rotor.

[0010] In the aforementioned joint rotation module, the transmission surface is a conical surface facing the locking element, and the conical surface surrounds the camshaft. By setting the transmission surface as a conical surface, during installation, the camshaft can be inserted into the mounting hole of the rotor after rotating to any angle along the central axis, reducing assembly difficulty.

[0011] In the aforementioned joint rotation module, the transmission surface includes multiple inclined surfaces facing the locking element, which are joined together to form a transmission surface surrounding the camshaft. This multi-inclined surface increases the contact area between the camshaft and the rotor, preventing slippage and resulting in better transmission performance.

[0012] In the aforementioned joint rotation module, the locking element is a locking nut, which is threaded to the end of the camshaft to lock it in place. By using a locking nut as the locking element, the distance between the transmission surface and the locking element can be adjusted by rotating it on the camshaft. Even if there are machining errors in the camshaft or rotor, rotating the locking element ensures that the camshaft and the locking element always stably clamp the rotor, thereby ensuring that the transmission surface and the mating surface always stably abut against each other, resulting in stable transmission between the camshaft and the rotor.

[0013] In the aforementioned joint rotation module, the locking element is a C-shaped retaining ring. The camshaft has an annular groove, and the C-shaped retaining ring engages within and extends out of the annular groove to abut against the rotor. The structure is simple and easy to install.

[0014] In the aforementioned joint rotation module, a clearance groove is provided on the side of the rotor away from the reduction gear assembly, and a locking member is embedded in the clearance groove. The locking member is embedded in the clearance groove to prevent it from protruding from the end face of the rotor, thereby preventing it from occupying the space of other structures located at the end of the locking member.

[0015] In the aforementioned joint rotation module, the reduction assembly further includes a flexible wheel arranged around the camshaft, a flexible bearing connected between the flexible wheel and the camshaft, a steel wheel sleeved on the outside of the flexible wheel, and an output shaft fixed on the steel wheel. The outer ring teeth of the flexible wheel mesh with the inner ring teeth of the steel wheel, and the output shaft passes through the camshaft.

[0016] The features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0018] Figure 1 This is a cross-sectional view of the joint rotation module in Embodiment 1;

[0019] Figure 2 for Figure 1 Enlarged view of part A;

[0020] Figure 3 This is a partial exploded view of the joint rotation module in Embodiment 1;

[0021] Figure 4 This is a cross-sectional schematic diagram of the rotor in Example 1;

[0022] Figure 5 This is a cross-sectional schematic diagram of the camshaft in Example 1.

[0023] Figure label:

[0024] 100. Motor assembly; 110. Stator; 120. Rotor; 121. Connecting section; 122. Mating section; 123. Mounting hole; 124. Mating surface; 125. Chamfer; 126. Clearance groove;

[0025] 210. Camshaft; 211. Transmission section; 2111. Transmission surface; 212. Mounting section; 213. Clearance ring groove; 220. Flexible wheel; 230. Flexible bearing; 240. Steel wheel; 250. Output shaft;

[0026] 300. Locking components;

[0027] 400. Outer shell. Detailed Implementation

[0028] This utility model proposes a joint rotation module, comprising: a motor assembly including a stator and a rotor, the rotor being rotatably mounted in the stator, and the rotor having a mounting hole extending through the rotor axially; a reduction assembly including a camshaft passing through the mounting hole, the camshaft having a transmission surface surrounding its outer periphery, the outer diameter of the transmission surface gradually decreasing along the central axis of the camshaft towards the motor assembly, and the inner wall of the mounting hole having a mating surface for abutting the transmission surface; and a locking member abutting against the side of the rotor away from the reduction assembly and locking it with the end of the camshaft, the locking member and the transmission surface of the camshaft together clamping the rotor to move in conjunction with the rotor. This invention involves inserting a camshaft into the mounting hole of the rotor, with a transmission surface on the camshaft inclined towards the locking element, and a mating surface in the mounting hole of the rotor that mates with the transmission surface. Because the outer diameter of the transmission surface gradually decreases along the central axis of the camshaft towards the motor assembly, and because the transmission surface is inclined towards the locking element, when installing the camshaft, rotor, and locking element, the camshaft is first inserted into the mounting hole of the rotor until the transmission surface abuts against the mating surface. Then, the locking element is locked to the end of the camshaft, thus completing the installation of the camshaft and rotor. At this point, the transmission surface on the camshaft abuts against the mating surface of the rotor, and the locking element abuts against the end face of the rotor away from the reduction assembly. This allows the camshaft and locking element to clamp the rotor axially, maintaining contact between the transmission surface and the mating surface. When the rotor rotates, the rotor and camshaft remain linked under the static friction between the transmission surface and the mating surface, achieving stable transmission between the motor assembly and the reduction assembly. The inclined transmission and mating surfaces prevent coaxiality errors between the rotor and camshaft during installation by abutting each other. At the same time, the transmission and mating surfaces ensure a large contact area between the rotor and camshaft, thereby ensuring a large static friction force between them. This makes the torque transmission process between the rotor and camshaft more stable and reliable, ensuring stable transmission between the rotor and camshaft and reducing the possibility of failure due to poor contact or uneven force.

[0029] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0030] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., 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.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" 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, unless otherwise expressly defined.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] Example 1:

[0035] A joint rotation module, such as Figures 1 to 5As shown, the device includes a housing 400, and further includes a motor assembly 100, a reduction gear assembly, and a locking member 300 disposed within the housing 400. The motor assembly 100 includes a stator 110 and a rotor 120, with the rotor 120 rotatably mounted within the stator 110. The rotor 120 has a mounting hole 123 extending axially through it. The reduction gear assembly includes a camshaft 210, which passes through the mounting hole 123. The portion of the camshaft 210 passing through the mounting hole 123 has a transmission surface 2111 surrounding its outer periphery. A mating surface 124 for abutting the transmission surface 2111 is provided on the inner wall of the mounting hole 123. The locking member 300 abuts against the side of the rotor 120 opposite to the reduction gear assembly and locks against the end of the camshaft 210. The outer diameter of the transmission surface 2111 gradually decreases along the central axis of the camshaft 210 towards the motor assembly 100, that is, the transmission surface 2111 is inclined toward the locking member 300, which in turn causes the mating surface 124 to be inclined toward the direction away from the locking member 300.

[0036] This invention involves inserting a camshaft 210 into the mounting hole 123 of the rotor 120, providing a transmission surface 2111 on the camshaft 210 that is inclined toward the locking member 300, and providing a mating surface 124 in the mounting hole 123 of the rotor 120 that mates with the transmission surface 2111. This allows for the following steps when installing the camshaft 210, rotor 120, and locking member 300: first, insert the camshaft 210 into the mounting hole 123 of the rotor 120 until the transmission surface 2111 abuts against the mating surface 124; then, lock the locking member 300 to the end of the camshaft 210, thus completing the installation of the camshaft 210 and the rotor 120. At this time, the transmission surface 2111 on the camshaft 210 abuts against the mating surface 124 of the rotor 120, and the locking member 300 abuts against the end face of the rotor 120 away from the reduction assembly, so that the camshaft 210 and the locking member 300 clamp the rotor 120 together in the axial direction, thereby keeping the transmission surface 2111 and the mating surface 124 in contact. When the rotor 120 rotates, the rotor 120 and the camshaft 210 remain linked under the action of static friction between the transmission surface 2111 and the mating surface 124, thereby realizing stable transmission between the motor assembly 100 and the reduction assembly. Because the outer diameter of the transmission surface 2111 gradually decreases along the central axis of the camshaft 210 towards the motor assembly 100, that is, the transmission surface 2111 is inclined toward the locking member 300, the transmission surface 2111 and the mating surface 124 are inclined. During installation, the coaxiality error between the rotor 120 and the camshaft 210 can be avoided by the abutting transmission surface 2111 and the mating surface 124. At the same time, the transmission surface 2111 and the mating surface 124 ensure that there is a large contact area between the rotor 120 and the camshaft 210, thereby ensuring a large static friction force between them. This makes the torque transmission process between the rotor 120 and the camshaft 210 more stable and reliable, ensuring stable transmission between the rotor 120 and the camshaft 210, and reducing the possibility of failure of the fit between the rotor 120 and the camshaft 210 due to poor contact or uneven force.

[0037] like Figure 2 and Figure 4 As shown, in this embodiment, the rotor 120 includes an integrally formed connecting section 121 and a mating section 122. The mating section 122 is located on the side of the connecting section 121 closer to the reduction assembly. A mounting hole 123 is provided through the connecting section 121 and the mating section 122. The inner diameter of the mounting hole 123 in the mating section 122 gradually decreases along the central axial direction of the mounting hole 123 towards the locking member 300, so as to form a mating surface 124 on the inner wall of the mating section 122. By setting the mating surface 124 on the mating section 122, the position of the rotor 120 for transmitting power to the camshaft 210 is located on the side of the rotor 120 closer to the reduction assembly. That is, the position of the camshaft 210 for receiving torque is closer to the reduction assembly, so that the camshaft 210 can work better in the power transmission path, ensuring the stable transmission of the camshaft 210.

[0038] like Figure 3 and Figure 5 As shown, the camshaft 210 includes a transmission section 211 and a mounting section 212. The transmission section 211 passes through the mounting hole 123 of the mating section 122, and the transmission surface 2111 is located on the outer periphery of the transmission section 211. The outer diameter of the mounting section 212 remains constant and passes through the connecting section 121. A clearance ring groove 213 is provided on the outer wall of the camshaft 210, surrounding the camshaft 210. The clearance ring groove 213 is located between the transmission section 211 and the mounting section 212 to avoid the edges at the connection between the connecting section 121 and the mating section 122 in the mounting hole 123 during the installation process. This prevents the edges from obstructing the tight insertion of the camshaft 210 and the rotor 120, ensuring that the transmission surface 2111 can tightly abut against the mating surface 124, so that the camshaft 210 and the rotor 120 can transmit power stably.

[0039] In this embodiment, the end face of the rotor 120 and the mating surface 124 are provided with a chamfer 125. The chamfer 125 is provided around the mounting hole 123 to further increase the inner diameter of the mounting hole 123 facing the reduction assembly. When the camshaft 210 and the mounting hole 123 are inserted, it helps the camshaft 210 and the mounting hole 123 to be quickly aligned, reducing the difficulty of inserting the camshaft 210 and the rotor 120.

[0040] In this embodiment, it is preferred that, as Figure 3 As shown, the transmission surface 2111 is a conical surface. The conical surface surrounds the outer periphery of the camshaft 210 and is set towards the locking member 300. By setting the transmission surface 2111 as a conical surface, the camshaft 210 can be inserted into the mounting hole 123 of the rotor 120 after rotating along the central axis to any angle during installation, thus reducing the assembly difficulty.

[0041] In this embodiment, the locking element 300 is a locking nut, which is threaded to the end of the camshaft 210 to lock it in place. By using a locking nut as the locking element 300, the locking element 300 can be rotated on the camshaft 210 to adjust the distance between the transmission surface 2111 and the locking element 300. Even if there are machining errors in the camshaft 210 or the rotor 120, the camshaft 210 and the locking element 300 can be rotated to ensure that the rotor 120 is always stably clamped by the locking element 300, thereby ensuring that the transmission surface 2111 and the mating surface 124 are always stably in contact, so that the camshaft 210 and the rotor 120 can transmit power stably.

[0042] In this embodiment, a clearance groove 126 is provided on the side of the rotor 120 away from the deceleration assembly, and the locking member 300 is embedded in the clearance groove 126 to prevent the locking member 300 from protruding from the end face of the rotor 120, thereby preventing the locking member 300 from occupying the space of other structures provided at the end of the locking member 300.

[0043] In this embodiment, the deceleration assembly further includes a flexible wheel 220, a flexible bearing 230, a steel wheel 240, and an output shaft 250. The flexible bearing 230 is sleeved outside the camshaft 210 and is linked to the camshaft 210. The flexible wheel 220 is sleeved outside the flexible bearing 230, and the steel wheel 240 is sleeved outside the flexible wheel 220. The outer ring teeth of the flexible wheel 220 mesh with the inner ring teeth of the steel wheel 240. The output shaft 250 is fixed on the steel wheel 240 and passes through the camshaft 210. The rotating camshaft 210 can drive the flexible bearing 230 to rotate. During the rotation, the flexible wheel 220 undergoes radial deformation. During the deformation process, the outer ring teeth of the flexible wheel 220 will mesh with or disengage from the inner ring teeth of the steel wheel, forming a continuous simple harmonic waveform motion to achieve deceleration.

[0044] Example 2:

[0045] The difference between this embodiment and Embodiment 1 is that, in this embodiment, the transmission surface includes multiple inclined surfaces with the same slope, which are inclined toward the locking member. These multiple inclined surfaces are joined together to form a transmission surface surrounding the camshaft. The transmission surface formed by the joining of multiple inclined surfaces increases the contact area between the camshaft and the rotor, and also prevents slippage between the camshaft and the rotor, resulting in better transmission performance.

[0046] Example 3:

[0047] The difference between this embodiment and embodiment one is that in this embodiment, the locking component is a C-shaped retaining ring, and the camshaft is provided with an annular groove. When the C-shaped retaining ring is engaged in the annular groove, the outer ring of the C-shaped retaining ring extends out of the annular groove to abut against the rotor. The structure is simple and easy to install.

[0048] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A joint rotation module, characterized in that, include: An electric motor assembly includes a stator and a rotor, the rotor being rotatably mounted within the stator, and the rotor having a mounting hole extending axially through the rotor; A speed reduction assembly includes a camshaft that passes through the mounting hole. The camshaft has a transmission surface surrounding its outer periphery. The outer diameter of the transmission surface gradually decreases along the central axis of the camshaft towards the motor assembly. The inner wall of the mounting hole has a mating surface for abutting the transmission surface. A locking member abuts against the side of the rotor away from the reduction assembly and locks with the end of the camshaft. The locking member and the transmission surface of the camshaft together clamp the rotor to move in conjunction with the rotor.

2. The joint rotation module according to claim 1, characterized in that: The rotor includes a connecting section and a mating section. The mating section is located on the side of the connecting section closer to the deceleration assembly. The inner diameter of the mounting hole of the mating section gradually decreases along the central axis of the mounting hole towards the locking member to form the mating surface.

3. A joint rotation module according to claim 2, characterized in that: The camshaft includes a transmission section having the transmission surface and a mounting section passing through the connecting section. The outer side wall of the camshaft is provided with a clearance ring groove surrounding the camshaft, and the clearance ring groove is located between the transmission section and the mounting section.

4. A joint rotation module according to claim 2, characterized in that: The end face of the rotor is provided with a chamfer around the mounting hole at the connection between the mating surface and the mating surface.

5. A joint rotation module according to claim 1, characterized in that: The transmission surface is a conical surface facing the locking member, and the conical surface surrounds the camshaft.

6. A joint rotation module according to claim 1, characterized in that: The transmission surface includes multiple inclined surfaces facing the locking element, and the multiple inclined surfaces are spliced ​​together to form a transmission surface surrounding the camshaft.

7. A joint rotation module according to claim 1, characterized in that: The locking element is a locking nut, which is threaded to the end of the camshaft to lock it in place.

8. A joint rotation module according to claim 1, characterized in that: The locking element is a C-shaped retaining ring. The camshaft has an annular groove. The C-shaped retaining ring is engaged in the annular groove and extends out of the annular groove to abut against the rotor.

9. A joint rotation module according to claim 1, characterized in that: The rotor has a clearance groove on the side away from the deceleration assembly, and the locking member is embedded in the clearance groove.

10. A joint rotation module according to claim 1, characterized in that: The reduction assembly also includes a flexible wheel arranged around the camshaft, a flexible bearing connected between the flexible wheel and the camshaft, a steel wheel sleeved on the outside of the flexible wheel, and an output shaft fixed on the steel wheel. The outer ring teeth of the flexible wheel mesh with the inner ring teeth of the steel wheel, and the output shaft passes through the camshaft.

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