Motor module and robot

Abstract

This application provides a motor module and robot, including: a housing; a motor; a reducer having an input component and an output component, both disposed within the housing, the input component being configured to be driven to rotate by the motor; a torque sensor connected to the output component of the reducer and configured to be driven to rotate by the reducer; and a support member including a first component and a second component, the first component and the second component being sleeved together and rotatably connected, the first component being fixedly connected to the housing, the second component being drively connected to the torque sensor, the second component being configured to be driven to rotate by the torque sensor, and the second component being configured to connect to a load; wherein the first component and the second component have zero or negative clearance in the radial direction of the support member, and the torque sensor is connected to the load through the support member. This application reduces the measurement crosstalk of radial force and bending moment on the elastic body of the torque sensor, improving the torque measurement accuracy.

Description

Technical Field

[0001] This application relates to the field of drive device technology, and in particular to a motor module and a robot. Background Technology

[0002] In the field of robotics, torque sensors are core components for achieving force perception and compliant control. Their function is to accurately measure the rotational torque transmitted by the drive mechanism. In related designs, the end face of the torque sensor is typically used as the mounting surface for the external load.

[0003] During operation, external loads inevitably experience stray forces other than those in the torsional direction. These stray forces directly affect the torque sensor, leading to inaccurate torque sensor measurements. Utility Model Content

[0004] This application provides a motor module and a robot, aiming to solve the problem that the torque sensor is affected by stray forces in the non-torsional direction of the external load, which affects the detection accuracy in existing joint modules.

[0005] On one hand, this application provides a motor module, including: a housing; a motor; a reducer having an input component and an output component disposed within the housing, the input component being configured to be driven to rotate by the motor; a torque sensor connected to the output component of the reducer and configured to be driven to rotate by the reducer; and a support member including a first component and a second component, the first component and the second component being sleeved together and rotatably connected, the first component being fixedly connected to the housing, the second component being drively connected to the torque sensor, the second component being configured to be driven to rotate by the torque sensor, and the second component being configured to connect to a load; wherein the first component and the second component have zero or negative clearance in the radial direction of the support member, and the torque sensor is connected to the load through the support member.

[0006] Optionally, the first component and the second component are fixed relative to each other in the axial direction of the support.

[0007] Optionally, the torque sensor includes a first rotating component, a second rotating component, and an elastic component. The elastic component is configured to connect the first rotating component and the second rotating component. The first rotating component is connected to the reducer, and the second rotating component is connected to the support component. The first rotating component can drive the second rotating component to rotate through the elastic component.

[0008] Optionally, the support member is a crossed roller bearing.

[0009] Optionally, in the axial direction of the support member, one end of the support member connected to the load protrudes from the end of the torque sensor near the load.

[0010] Optionally, one of the torque sensor and the housing is provided with a groove, and the other of the torque sensor and the housing is provided with a protrusion, the protrusion and the groove being clearance-fitted to form a labyrinth seal.

[0011] Optionally, the motor includes a motor rotor, a motor stator, and a connector arranged sequentially from the inside out; the connector is located between the motor stator and the housing, and the opposite sides of the connector are respectively connected to the motor stator and the housing;

[0012] The motor rotor is connected to the input device to drive the input device to rotate.

[0013] Optionally, the connector is provided with a first positioning member, which protrudes along the radial direction of the connector and is configured to block the motor stator.

[0014] Optionally, the housing is provided with a second positioning member, which protrudes along the radial direction of the connector and is configured to block the connector.

[0015] On the other hand, embodiments of this application provide a robot including the aforementioned motor module.

[0016] This application achieves a zero-clearance or negative-clearance fit between the first and second components of the support member in the radial direction. This allows the radial force or overturning moment generated by external loads to be directly transmitted to the housing via the second and first components of the support member. The inner ring, elastic component, and outer ring of the torque sensor only bear the rotational torque, reducing the amount of non-torsional forces it experiences. This reduces the measurement crosstalk of radial force and bending moment to the torque sensor's elastic element, improves torque measurement accuracy, and effectively protects the torque sensor from damage caused by external impact loads. Attached Figure Description

[0017] Figure 1 This is an overall view of a motor module provided in one embodiment of this application;

[0018] Figure 2 This is a half-sectional view of a motor module provided in an embodiment of this application;

[0019] Figure 3 This is an exploded view of a motor module provided in one embodiment of this application.

[0020] Explanation of reference numerals in the attached figures:

[0021] 1. Housing; 10. Second positioning component; 2. Motor; 21. Rotor; 22. Stator; 23. Connector; 24. First positioning component; 3. Reducer; 31. Input component; 32. Output component; 4. Torque sensor; 41. First rotating component; 42. Second rotating component; 5. Support component; 51. First component; 52. Second component; 6. Labyrinth seal; 61. Groove; 62. Protrusion. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] Reference Figures 1 to 3 This application provides a motor module including a housing 1, a motor 2, a torque sensor 4, a reducer 3, and a support member 5. The reducer 3 has an input member 31 and an output member 32, which are disposed within the housing 1. The input member 31 is configured to be driven to rotate by the motor 2. The torque sensor 4 is connected to the output member 32 of the reducer 3 and is configured to be driven to rotate by the reducer 3. The support member 5 includes a first component 51 and a second component 52, which are sleeved together and rotatably connected. The first component 51 is fixedly connected to the housing 1, and the second component 52 is drively connected to the torque sensor 4. The second component 52 is configured to be driven to rotate by the torque sensor 4 and is configured to connect to a load. The first component 51 and the second component 52 have zero or negative clearance in the radial direction of the support member 5, and the torque sensor 4 is connected to the load through the support member 5.

[0024] Motor 2 drives the input component 31 (e.g., a wave generator) of reducer 3 to rotate. The flexible or rigid wheel of reducer 3 can rotate as output component 32. Output component 32 can drive the inner ring (first rotating component 41) of torque sensor 4 connected thereto to rotate. The inner ring of torque sensor 4 drives the outer ring (second rotating component 42) of torque sensor 4 to rotate via an elastic component. The outer ring of torque sensor 4 is driven to rotate via a second component 52 (e.g., the inner ring of a crossed roller bearing) of support component 5. The second component 52 of support component 5 is directly connected to and drives the external load to rotate. The first component 51 (e.g., the outer ring of a crossed roller bearing) of support component 5 is fixedly connected to housing 1. The first component 51 and the second component 52 have zero or negative clearance in the radial direction. It is understood that in some other embodiments, output component 32 can also drive the outer ring (second rotating component 42) of torque sensor 4 connected thereto to rotate. The outer ring of torque sensor 4 drives the inner ring (first rotating component 41) of torque sensor 4 to rotate via an elastic component. The inner ring (first rotating member 41) of the torque sensor 4 can drive the support member 5 to rotate. In other embodiments, the second part 52 of the support member 5 (e.g., the inner ring of a crossed roller bearing) can be fixedly connected to the housing 1, and the first part 51 of the support member 5 (e.g., the outer ring of a crossed roller bearing) can be driven by the torque sensor 4 to rotate relative to the second part 52 of the support member 5.

[0025] When an external load generates radial force or overturning moment, this non-torsional force can be directly transmitted to the second component 52 of the support 5 through the load. Since there is no relative movement gap between the second component 52 and the first component 51 in the radial direction, the force is immediately transmitted to the housing 1 through the first component 51. The inner ring, elastic component, and outer ring of the torque sensor 4 do not participate in bearing the radial force or overturning moment, but only transmit rotational torque, thereby reducing the negative impact of external radial force and bending moment acting directly on the elastic body of the torque sensor 4, which would cause measurement crosstalk and improve the torque measurement accuracy. At the same time, it protects the torque sensor 4 from damage by external impact loads to a certain extent.

[0026] In this embodiment, the first component 51 is located outside the second component 52, so that the first component 51 and the housing 1 can be connected by means of bonding, welding, interference fit, etc., and the second component 52 can be connected to the torque sensor 4 by press fitting and adhesive bonding.

[0027] In other embodiments, the first component 51 is located inside the second component 52. The first component 51 and the housing 1 can be connected by adding a bracket or the like. The second component 52 can also be connected to the torque sensor 4 by adding a bracket or the like.

[0028] In this embodiment, the axial direction is based on the rotation axis of the support member 5. The axial direction refers to the direction parallel to this axis, that is, the direction extending along the axis. The radial direction refers to the direction perpendicular to the rotation axis of the support member 5, that is, the direction from the axis to the circumference.

[0029] Reference Figure 1 and Figure 2 In some optional embodiments, the first component 51 and the second component 52 are fixed relative to each other in the axial direction of the support 5. This embodiment further specifies that there is no relative clearance between the first component 51 and the second component 52 of the support 5 in the axial direction. When an external load applies an axial push or pull force, this axial force is directly transmitted to the first component 51 (e.g., the outer ring of a crossed roller bearing) through the second component 52 of the support 5, and then to the housing 1, without being transmitted to the torque sensor 4. This ensures that the torque sensor 4 is not significantly affected by the axial force, further purifying the torque signal. Simultaneously, it avoids impactful axial displacement caused by the presence of axial clearance, ensuring the stability of the torque sensor 4's measurement and the smoothness of the load movement.

[0030] In some optional embodiments, the torque sensor 4 includes a first rotating member 41, a second rotating member 42, and an elastic member. The elastic member is configured to connect the first rotating member 41 and the second rotating member 42. The first rotating member 41 is connected to the reducer 3, and the second rotating member 42 is connected to the support member 5. The first rotating member 41 can drive the second rotating member 42 to rotate via the elastic member. The output member 32 of the reducer 3 drives the first rotating member 41 to rotate, and the first rotating member 41 drives the second rotating member 42 to rotate via the elastic member. The second rotating member 42 then drives the second component 52 of the support member 5 and the load to rotate. When transmitting torque, the elastic member undergoes a small deformation proportional to the magnitude of the torque. The elastic member only bears the shear or torsional stress caused by the rotational motion, and its deformation has a strictly linear relationship with the torque, thereby ensuring the accuracy of torque measurement.

[0031] Reference Figures 1 to 3 In some optional embodiments, the support member 5 is selected as a crossed roller bearing. Specifically, in this embodiment, the support member 5 is a negative clearance crossed roller bearing.

[0032] In other embodiments, the support member 5 may be a bearing with negative clearance, or a four-point contact ball bearing, or a double-row angular contact ball bearing mounted back-to-back.

[0033] In some alternative embodiments, in the axial direction of the support 5, the end of the support 5 that connects to the load protrudes beyond the end of the torque sensor 4 near the load. The inner ring of the support 5 (e.g., a crossed roller bearing) that connects to the load protrudes axially further outward than the end face of the second rotating member 42 of the torque sensor 4 (e.g., the outer ring of the torque sensor 4) facing the load. When an external load is mounted on the module, the mounting surface of the load first contacts and presses against the protruding inner ring end face of the crossed roller bearing, while there is a small gap or non-contact relief area between the end face of the outer ring of the torque sensor 4 and the load surface. This physical avoidance ensures that the physical transmission path of axial force and overturning moment is entirely through the inner ring of the crossed roller bearing, the outer ring of the crossed roller bearing, and the housing 1, without the torque sensor 4 being subjected to the pressure of these forces.

[0034] In other embodiments, the torque sensor 4 may be flush with or protrude outward from the load surface of the support member 5. In this case, an avoidance groove needs to be provided on the external load. The avoidance groove makes the external load spaced apart from the torque sensor 4, thereby also achieving a physical distance between the torque sensor 4 and the external load.

[0035] In some optional embodiments, one of the torque sensor 4 and the housing 1 is provided with a groove 61, and the other is provided with a protrusion 62. The protrusion 62 and the groove 61 are clearance-fitted to form a labyrinth seal 6. Between the torque sensor 4 and the stationary housing 1, a tortuous sealed channel is formed by the nested groove 61 and the protrusion 62, with a small gap maintained between them. When contaminants such as dust and liquid attempt to enter the interior of the motor module, they must pass through this complex labyrinthine path. Compared to contact seals, the labyrinth seal 6 structure does not cause the technical problem of frictional torque interfering with measurement accuracy. It achieves the technical effect of effectively protecting internal precision components (such as sensor elastomers, bearings, etc.) from external contamination without increasing additional frictional resistance or introducing additional torque crosstalk.

[0036] Reference Figure 2 In some optional embodiments, the motor 2 includes a motor rotor 21, a motor stator 22, and a connector 23, which are sequentially arranged from the inside out. The connector 23 is located between the motor stator 22 and the housing 1, and its opposite sides are connected to the motor stator 22 and the housing 1, respectively. The motor rotor 21 is connected to the input component 31 to drive the input component 31 to rotate. The motor rotor 21 directly drives the input component 31 (wave generator) of the reducer 3. The motor stator 22 is not directly fixed to the housing 1, but is fixed to the housing 1 through the connector 23. The connector 23 connects the stator 22 and the housing 1 on its radially inner and outer sides, respectively, serving as a bridge for installation. The connector 23 can be made of different materials (such as materials with good thermal conductivity or lightweight materials) to optimize heat dissipation, vibration reduction, or weight reduction.

[0037] In some optional embodiments, the connector 23 is provided with a first positioning element 24, which protrudes radially along the connector 23 and is configured to stop the motor stator 22. A radially protruding step is provided on the inner wall of the connector 23 as the first positioning element 24. When assembling the motor stator 22, the stator 22 is pushed in until the end face of the stator 22 contacts the step. The step provides an axial mounting reference for the stator 22, enabling the motor stator 22 to be quickly and accurately positioned, and ensuring the relative positional accuracy of the stator 22 and the rotor 21 in the axial direction.

[0038] In some optional embodiments, a second positioning member 10 is provided on the housing 1. The second positioning member 10 protrudes radially along the connector 23 and is configured to stop the connector 23. A radially protruding step is provided inside the housing 1 as the second positioning member 10. When the connector 23 (with the motor stator and rotor already installed) is installed into the housing 1, the end face of the connector 23 contacts the step, providing axial positioning for the connector 23. This achieves an axial positioning chain from the motor stator 22 to the connector 23 and then to the housing 1, ensuring uniform air gap in the motor, good alignment between the reducer 3 and the torque sensor 4, and improving the concentricity and transmission accuracy of the entire machine.

[0039] On the other hand, embodiments of this application provide a robot including the aforementioned motor module. The motor module from any of the preceding embodiments is integrated into the robot's joint. The output end of the motor module (i.e., the second component 52 of the support 5, the inner ring of the crossed roller bearing) is directly connected to a link or arm segment of the robot, providing driving force to the robot and measuring the joint output torque in real time. This enables the robot to achieve more sensitive, stable, and safer force control interaction (such as drag teaching, adaptive assembly, precision grinding, etc.), thereby improving the robot's intelligence level and operational capabilities to a certain extent.

[0040] In this application, "multiple" refers to two or more.

[0041] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0043] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0044] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0045] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motor module, characterized in that, include: case; Electric motor; A speed reducer having an input and an output, the input and output being disposed within the housing, the input being configured to be driven to rotate by the motor; A torque sensor, which is connected to the output of the reducer and is configured to be driven by the reducer to rotate; as well as The support includes a first component and a second component, the first component and the second component are sleeved together and rotatably connected, the first component is fixedly connected to the housing, the second component is drivenly connected to the torque sensor, the second component is configured to be driven to rotate by the torque sensor, and the second component is configured to connect to a load. The first component and the second component have zero or negative clearance in the radial direction of the support member, and the torque sensor is connected to the load through the support member.

2. The motor module according to claim 1, characterized in that, The first component and the second component are fixed relative to each other in the axial direction of the support.

3. The motor module according to claim 1, characterized in that, The torque sensor includes a first rotating component, a second rotating component, and an elastic component. The elastic component is configured to connect the first rotating component and the second rotating component. The first rotating component is connected to the reducer, and the second rotating component is connected to the support component. The first rotating component can drive the second rotating component to rotate through the elastic component.

4. The motor module according to claim 1, characterized in that, The support component is a crossed roller bearing.

5. The motor module according to claim 1, characterized in that, In the axial direction of the support member, one end of the support member that connects to the load protrudes from the end of the torque sensor that is close to the load.

6. The motor module according to claim 1, characterized in that, One of the torque sensor and the housing is provided with a groove, and the other of the torque sensor and the housing is provided with a protrusion. The protrusion and the groove are fitted together to form a labyrinth seal.

7. The motor module according to claim 1, characterized in that, The motor includes a motor rotor, a motor stator, and a connecting member arranged sequentially from the inside out; the connecting member is located between the motor stator and the housing, and the opposite sides of the connecting member are respectively connected to the motor stator and the housing; The motor rotor is connected to the input device to drive the input device to rotate.

8. The motor module according to claim 7, characterized in that, The connector is provided with a first positioning member, which protrudes along the radial direction of the connector and is configured to block the motor stator.

9. The motor module according to claim 7, characterized in that, The housing is provided with a second positioning member, which protrudes along the radial direction of the connector and is configured to block the connector.

10. A robot, characterized in that, Includes the motor module as described in any one of claims 1-9.

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