A whole machine two-end support type joint module

CN224334479UActive Publication Date: 2026-06-09ZHEJIANG FANGDE ROBOT JOINT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
ZHEJIANG FANGDE ROBOT JOINT TECH CO LTD
Filing Date
2025-06-05
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Traditional harmonic deceleration joint modules suffer from insufficient support rigidity, contradictions between hollow wiring and high rigidity, and difficulty in integrating torque sensors. This results in weak bending moment resistance at the output end, vibration and positioning drift, and decreased dynamic response performance.

Method used

The machine adopts a two-end support structure. A wave generator is set on the rotating shaft and a support bearing is arranged between the wave generator and the hollow output shaft. The other end of the rotating shaft is rotatably connected to the housing through a bearing. A torque sensor is integrated into the end cover, achieving double-sided support and a compact design.

Benefits of technology

Completely eliminate the cantilever structure, improve resistance to off-center loads and transmission stability, shorten the power transmission path, improve transmission efficiency and accuracy, and achieve seamless integration of torque sensors.

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    Figure CN224334479U_ABST
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Abstract

The utility model relates to a whole machine both ends support formula joint module, including the casing, stator subassembly, rotor subassembly, harmonic reducer and T shape axle, rotor subassembly includes the pivot and rotor core, and the one end of pivot is connected with the casing through the bearing rotation, and the one end fixed of casing has the apron, and the other end of pivot penetrates the apron, harmonic reducer includes wave generator, flexspline and output bearing, and wave generator sets up at the other end of pivot, and bearing outer ring is fixed with end cover, and still has the steel wheel integrated on bearing inner ring, and flexspline is covered in wave generator outside, and with steel wheel is wrong tooth transmission, T shape axle includes the output disc and hollow output axle that intercommunication, and the end surface fixed of output disc and bearing inner ring, and hollow output axle penetrates wave generator and pivot, and with wave generator is through support bearing rotation connection between. The utility model realizes whole machine both sides support, thoroughly eliminates cantilever structure, and greatly promotes the ability of resisting eccentric load, promotes transmission stability.
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