Compact robot joint module

Abstract

The utility model relates to the technical field of robots, in particular to a compact robot joint module which comprises a motor and a harmonic reducer installed at one end of the motor, the harmonic reducer comprises a rigid wheel provided with a wave generator shaft, and a cross bearing, a flexible wheel and a flexible bearing which are sequentially arranged from outside to inside in the radial direction, the rigid wheel is connected to the inner ring of the cross bearing; the inner ring of the flexible bearing is connected with a cam shaft which is connected with a rotor of the motor, a wave generator shaft is inserted into the cam shaft, and a motor end cover and a motor rear cover are sequentially installed at the end, away from the harmonic reducer, of the motor. The motor end cover is provided with an encoder, the end part of the cam shaft extends into the motor end cover and is provided with a large magnetic ring, the end part of the wave generator shaft extends into the motor end cover and is provided with a small magnetic ring, and the large magnetic ring and the small magnetic ring are arranged in sequence; and a motor bearing is arranged between the motor end cover and the cam shaft. The motor has the advantage that the size is reduced as much as possible under the condition that the torque is guaranteed.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a compact robot joint module. Background Technology

[0002] In today's era of rapid development in robotics technology, robots have been widely applied in numerous fields such as industrial production, medical services, family companionship, and scientific research. Among them, humanoid robots, due to their high degree of mimicry of human form and movement, have demonstrated unique advantages in human-computer interaction and complex environment operations, attracting widespread attention and in-depth research.

[0003] As the core component enabling humanoid robots to move flexibly, the performance of robot joint modules directly determines the accuracy, flexibility, and load-bearing capacity of the robot's movements. In practical applications, humanoid robots often need to handle tasks requiring high torque. For example, in industrial material handling, humanoid robots need to move heavy objects, which requires the joint modules to provide sufficient torque to ensure the robotic arm can stably grasp and move heavy objects. In service scenarios, when humanoid robots assist the elderly or disabled with mobility aids, their joint modules also need to withstand significant torque to ensure smooth and safe movements.

[0004] As is well known, torque generation primarily relies on motors, and generally, the greater the output torque of a motor, the larger its size. However, for humanoid robots, to achieve a more realistic appearance and flexible movements, the joint modules need to be as small as possible while meeting high torque output requirements. This is because a smaller joint volume not only helps improve the overall aesthetics and humanoidness of the humanoid robot, making it more similar to a human form and enhancing the affinity of human-robot interaction; more importantly, a smaller size can effectively reduce the inertia and energy loss during robot movement, improve energy utilization efficiency, and thus extend the robot's endurance. At the same time, a compact joint design can also increase the robot's flexibility in working in confined spaces, enabling it to adapt to more complex and changing working environments. Utility Model Content

[0005] In order to minimize the size while ensuring torque, this application provides a compact robot joint module.

[0006] This application provides a compact robot joint module, which adopts the following technical solution:

[0007] A compact robot joint module includes a motor and a harmonic reducer mounted on one end of the motor. The harmonic reducer includes a rigid wheel with a wave generator shaft, and a cross bearing, a flexible wheel, and a flexible bearing arranged in sequence from the outside to the inside in the radial direction. The rigid wheel is connected to the inner ring of the cross bearing.

[0008] The inner ring of the flexible bearing is connected to a camshaft, which is connected to the rotor of the motor. The wave generator shaft is inserted into the camshaft. The motor end cover and the motor rear cover are installed sequentially at the end of the motor away from the harmonic reducer.

[0009] An encoder is installed on the motor end cover. The end of the camshaft extends into the motor end cover and is fitted with a large magnetic ring. The end of the wave generator shaft extends into the motor end cover and is fitted with a small magnetic ring. The large and small magnetic rings are arranged sequentially. A motor bearing is provided between the motor end cover and the camshaft.

[0010] In one embodiment: a gap is provided between the camshaft and the wave generator shaft, and a sealing ring is provided between the camshaft and the wave generator shaft, the sealing ring being located on the side where the harmonic reducer is located.

[0011] In one embodiment, a motor drive board is installed between the motor end cover and the motor rear cover.

[0012] In one embodiment: the small magnetic ring is threadedly mounted on the wave generator shaft, and the large magnetic ring is threadedly mounted on the camshaft.

[0013] In one embodiment, the camshaft is connected to the rotor of the motor by an interference fit.

[0014] In one embodiment: the outer ring of the cross bearing is bolted to the motor housing, and the other end of the flexible wheel is located between the outer ring of the cross bearing and the motor housing.

[0015] In one embodiment, O-rings are provided between the flexible wheel, the outer ring of the cross bearing, and the housing of the motor.

[0016] In one embodiment, an oil seal is provided between the end of the motor housing connected to the harmonic reducer and the camshaft.

[0017] In one embodiment, the diameter of the section of the camshaft that mates with the oil seal is larger than the outer diameter of the rotor.

[0018] In one embodiment, the inner hole of the motor end cover at the end furthest from the motor bearing is larger than the outer diameter of the large magnetic ring.

[0019] In summary, this application has the following beneficial effects:

[0020] 1. The cam structure in the wave generator is integrated with the wave generator shaft into a single camshaft, eliminating the need for a connecting structure, saving installation space and simplifying the installation process.

[0021] 2. The encoder and motor drive board are designed to be separate, so that the encoder is not integrated on the motor drive board. This means that the two do not have to be on the same plane in the radial plane, thereby reducing the radial space.

[0022] 3. The design of large and small magnetic rings arranged in sequence along the radial direction reduces the axial installation space. Combined with the split encoder design, this makes the encoder structure more compact and further reduces the radial space.

[0023] 4. By setting a sealing ring between the camshaft and the wave generator shaft, as long as the machining accuracy of the camshaft and the wave generator shaft is improved to ensure the coaxiality of the two during installation, the transition bearing between the two can be eliminated, thereby further reducing the radial space and simplifying the installation process. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the compact robot joint module in this embodiment.

[0025] Figure 2 This is a schematic diagram of the internal structure of the compact robot joint module in this embodiment;

[0026] Figure 3 This is a schematic diagram of the bursting of the compact robot joint module in this embodiment.

[0027] In the diagram, 100 is the motor; 110 is the housing; 111 is the oil seal; 120 is the stator; 130 is the rotor; 140 is the motor end cover; 150 is the motor rear cover; 160 is the motor drive board; 200 is the harmonic reducer; 210 is the rigid wheel; 220 is the cross bearing; 221 is the sealing ring; 230 is the flexible wheel; 240 is the flexible bearing; 250 is the wave generator shaft; 400 is the O-ring; 500 is the camshaft; 600 is the sealing ring; 700 is the motor bearing; 800 is the encoder; 810 is the large magnetic ring; and 820 is the small magnetic ring. Detailed Implementation

[0028] The present application will be further described in detail below with reference to the accompanying drawings.

[0029] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0030] A compact robot joint module, such as Figure 1 As shown, it includes a motor 100 and a harmonic reducer 200.

[0031] like Figure 2 and Figure 3 As shown, the harmonic reducer 200 includes a rigid wheel 210, a cross bearing 220, a flexible wheel 230, and a flexible bearing 240. The cross bearing 220, the flexible wheel 230, and the flexible bearing 240 are arranged in a radial direction from the inside to the outside. The gear end of the flexible wheel 230 meshes with the gear inside the cross bearing 220, and the flexible bearing 240 is located inside the gear end of the flexible wheel 230.

[0032] The rigid wheel 210 is fixedly mounted on the inner ring end face of the cross bearing 220 by bolts. The inner side of the rigid wheel 210 is integrally provided with a wave generator shaft 250. One end of the wave generator shaft 250 is connected to the rigid wheel 210, and the other end is inserted into the motor 100 through the flexible bearing 240.

[0033] The outer ring of the cross bearing 220 is bolted to the housing 110 of the motor 100, thereby mounting the harmonic reducer 200 to one end of the motor 100. The other end of the flexspline 230 is mounted between the outer ring of the cross bearing 220 and the housing 110 of the motor 100, and is fixed to the housing 110 by the outer ring of the cross bearing 220. Furthermore, O-rings 400 are provided between the flexspline 230, the outer ring of the cross bearing 220, and the housing 110 of the motor 100.

[0034] A sealing ring 221 is provided at the end of the cross bearing 220 away from the housing 110, and the sealing ring 221 seals the gap between the outer ring and the inner ring of the cross bearing 220.

[0035] The inner ring of the flexible bearing 240 is connected to a camshaft 500. The camshaft 500 is located outside the wave generator shaft 250. There is a gap between the camshaft 500 and the wave generator shaft 250. A sealing ring 600 is provided between the camshaft 500 and the wave generator shaft 250. The sealing ring 600 is located on the side where the harmonic reducer 200 is located.

[0036] The camshaft 500 is a structure formed by integrating the cam structure in the wave generator with the wave generator shaft 250. This eliminates the need for a connection between the cam structure and the wave generator shaft 250, saving installation space and simplifying the installation process.

[0037] In this embodiment, the camshaft 500 extends into the motor 100, and the rotor 130 is fixedly mounted on the camshaft 500. The camshaft 500 and the rotor 130 of the motor 100 are connected by an interference fit. For ease of installation, the diameter of the section of the camshaft 500 that mates with the oil seal 111 is larger than the outer diameter of the rotor 130. Furthermore, an oil seal 111 is provided between the end of the motor 100 housing 110 connected to the harmonic reducer 200 and the camshaft 500. Thus, the rotor 130 can be installed on the camshaft 500 first, and then the rotor and rotor 130 can be installed together.

[0038] A stator 120 is installed inside the housing 110 of the motor 100. A motor end cover 140 and a motor rear cover 150 are installed sequentially at the end of the housing 110 away from the harmonic reducer 200. A motor drive board 160 is installed between the motor end cover 140 and the motor rear cover 150. The motor end cover 140 and the motor rear cover 150 are installed together on the housing 110 by bolts.

[0039] The ends of the camshaft 500 and the wave generator shaft 250 are both inserted into the motor end cover 140. A motor bearing 700 is provided between the motor end cover 140 and the camshaft 500. The inner and outer rings of the motor bearing 700 are installed on the motor end cover 140 and the camshaft 500 by interference fit.

[0040] An encoder 800 is installed on the motor end cover 140. The encoder 800 is located on the end face of the motor end cover 140 away from the rotor 130.

[0041] A large magnetic ring 810 is threaded onto one end of the camshaft 500 that extends into the motor end cover 140, and a small magnetic ring 820 is threaded onto one end of the wave generator shaft 250 that extends into the motor end cover 140. The large magnetic ring 810 and the small magnetic ring 820 are arranged sequentially.

[0042] To facilitate the installation of the large magnetic ring 810 and the small magnetic ring 820, the inner hole of the end of the motor end cover 140 away from the motor bearing 700 is larger than the outer diameter of the large magnetic ring 810.

[0043] Installation steps:

[0044] 1. Press-fit stator 120 to housing 110: By heating motor 100 and housing 110, the stator 120 is pressed into housing 110 using a heat assembly method.

[0045] 2. Press-fit oil seal 111 to housing 110: Apply adhesive to the groove of oil seal 111 in motor 100 housing 110 and press in oil seal 111;

[0046] 3. Assemble the camshaft 500 and rotor 130 assembly: heat the camshaft 500, hot press the rotor 130 onto the camshaft 500, cool the camshaft 500 while heating the motor bearing 700, hot press the motor bearing 700 onto the camshaft 500;

[0047] 4. Assemble the camshaft 500 and rotor 130 assembly into the harmonic reducer 200: Install the camshaft 500 into the flexible bearing 240 of the harmonic reducer 200;

[0048] 5. Assemble the harmonic reducer 200 to the motor 100 housing 110: Apply a small amount of grease to the groove of the O-ring 400 in the motor 100 housing 110, insert the O-ring 400, and then assemble the harmonic reducer 200 to the housing 110 using bolt connection, while fixing the flexible wheel 230.

[0049] 6. Install the motor end cover 140 to the housing 110 and the motor bearing 700: Heat the motor end cover 140 to thermally assemble the motor end cover 140 with the outer ring of the motor bearing 700;

[0050] 7. Install the rigid wheel 210 into the harmonic reducer 200: Apply a small amount of grease to the groove of the sealing ring 600 of the wave generator shaft 250, install the O-ring sealing ring 600, then insert the threaded end of the wave generator shaft 250 into the camshaft 500, and connect the rigid wheel 210 and the inner ring of the cross bearing 220 with screws.

[0051] 8. Install the large magnetic ring 810 to the camshaft 500: Install the large magnetic ring 810 on the threaded end of the camshaft 500;

[0052] 9. Install the small magnetic ring 820 to the wave generator shaft 250: Install the small magnetic ring 820 on the threaded end of the wave generator shaft 250;

[0053] 10. Install encoder 800 to motor end cover 140: Install encoder 800 with the read head side close to the magnetic ring in the mounting slot of motor end cover 140;

[0054] 11. Install the motor drive board 160 to the motor end cover 140: Fix the motor drive board 160 to the motor end cover 140 with screws, with the communication interface facing outwards;

[0055] 12. Install the motor rear cover 150 to the motor end cover 140: Secure the rear cover to the outer casing 110 with screws.

[0056] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A compact robot joint module, comprising a motor (100) and a harmonic reducer (200) mounted at one end of the motor (100), characterized in that: The harmonic reducer (200) includes a rigid wheel (210) with a wave generator shaft (250), and a cross bearing (220), a flexible wheel (230) and a flexible bearing (240) arranged in the radial direction from the outside to the inside. The rigid wheel (210) is connected to the inner ring of the cross bearing (220). The inner ring of the flexible bearing (240) is connected to a camshaft (500), the camshaft (500) is connected to the rotor (130) of the motor (100), the wave generator shaft (250) is inserted into the camshaft (500), and a motor end cover (140) and a motor rear cover (150) are installed sequentially on the end of the motor (100) away from the harmonic reducer (200). An encoder (800) is installed on the motor end cover (140). The end of the camshaft (500) extends into the motor end cover (140) and is fitted with a large magnetic ring (810). The end of the wave generator shaft (250) extends into the motor end cover (140) and is fitted with a small magnetic ring (820). The large magnetic ring (810) and the small magnetic ring (820) are arranged sequentially along the camshaft. A motor bearing (700) is provided between the motor end cover (140) and the camshaft (500).

2. A compact robot joint module according to claim 1, characterized in that: The camshaft (500) and the wave generator shaft (250) are provided with a gap, and a sealing ring (600) is provided between the camshaft (500) and the wave generator shaft (250), and the sealing ring (600) is located on the side where the harmonic reducer (200) is located.

3. A compact robot joint module according to claim 1, characterized in that: A motor drive plate (160) is installed between the motor end cover (140) and the motor rear cover (150).

4. A compact robot joint module according to claim 1, characterized in that: The small magnetic ring (820) is threaded onto the wave generator shaft (250), and the large magnetic ring (810) is threaded onto the camshaft (500).

5. A compact robot joint module according to claim 1, characterized in that: The camshaft (500) is connected to the rotor (130) of the motor (100) by an interference fit.

6. A compact robot joint module according to claim 1, characterized in that: The outer ring of the cross bearing (220) is bolted to the housing (110) of the motor (100), and the other end of the flexible wheel (230) is located between the outer ring of the cross bearing (220) and the housing (110) of the motor (100).

7. A compact robot joint module according to claim 6, characterized in that: O-rings (400) are provided between the flexible wheel (230), the outer ring of the cross bearing (220), and the housing (110) of the motor (100).

8. A compact robot joint module according to claim 1, characterized in that: An oil seal (111) is provided between the housing (110) of the motor (100) and the end of the harmonic reducer (200) connected to the camshaft (500).

9. A compact robot joint module according to claim 8, characterized in that: The diameter of the section of the camshaft (500) that mates with the oil seal (111) is larger than the outer diameter of the rotor (130).

10. A compact robot joint module according to claim 9, characterized in that: The inner hole of the motor end cap (140) at the end away from the motor bearing (700) is larger than the outer diameter of the large magnetic ring (810).

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