A joint module

Abstract

This utility model relates to a joint module, including a motor, a torque sensor, and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. The harmonic reducer includes a wave generator, a flexible wheel, and a support bearing. The wave generator is fixed to one end of the rotating shaft. The flexible wheel is hat-shaped, with one end fixed to the end face of one end of the housing and the other end sleeved on the outside of the wave generator. The support bearing includes an inner ring and an outer ring rotatably connected to each other. The outer ring is fixed to the end face of one end of the housing. The inner wall of the inner ring has a toothed ring that sleeves on the outside of the flexible wheel. The wave generator drives the flexible wheel to engage in staggered tooth transmission with the inner ring of the support bearing. This utility model not only shortens the power transmission path from the motor shaft to the reducer and reduces assembly tolerance accumulation, but also achieves high-precision torque output through the staggered tooth transmission between the inner ring of the support bearing and the flexible wheel, ultimately achieving a high-rigidity, low-loss joint drive function within a compact space.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint module technology, and in particular relates to a joint module. Background Technology

[0002] In the fields of robotics and precision transmission, joint modules, as core drive units, must balance high torque output, compact structure, and transmission accuracy. Traditional joint modules typically employ a separate design for the motor and reducer, resulting in excessively large axial dimensions and difficulty in meeting the requirements for lightweighting and integration. Especially for harmonic reducer applications, existing technologies often use cantilevered or asymmetrical support structures for the flexible gear, which are prone to deformation due to uneven stress, reducing transmission stability and lifespan. Furthermore, the design of the fit between the support bearing and the reducer often suffers from the following defects:

[0003] Structural redundancy: The motor and reducer are connected by multi-stage flanges or adapters, which increases the axial length and assembly complexity, limiting the miniaturization of the module; Insufficient rigidity: The flexspline is fixed on one side or the outer ring of the support bearing is floating, resulting in weak radial load bearing capacity. It is prone to vibration under high speed or high load conditions, affecting the accuracy of torque transmission; Transmission efficiency loss: The wave generator and flexspline lack a rigid alignment structure. During the misaligned meshing process, it is easy to generate off-center load friction, which aggravates the fatigue wear of the flexspline.

[0004] In addition, in existing technologies, torque sensors are usually placed externally at the output end of the reducer, which requires additional space and has a long signal transmission path, resulting in sluggish dynamic response and making it difficult to achieve high-precision closed-loop control. Utility Model Content

[0005] To address the aforementioned technical problems, the purpose of this utility model is to provide a joint module with a compact structure and high torque output accuracy.

[0006] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0007] A joint module includes a motor, a torque sensor, and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. The stator assembly is fixed to the inner wall of the housing, and the rotor assembly is disposed within the stator assembly. The rotor assembly includes a rotating shaft and a rotor core fixed to the rotating shaft. One end of the rotating shaft extends into the harmonic reducer, and the other end is rotatably connected to the housing via a bearing. The harmonic reducer includes a wave generator, a flexible wheel, and a support bearing. The wave generator is fixed to one end of the rotating shaft. The flexible wheel is top-hat shaped, with one end fixed to the end face of one end of the housing and the other end sleeved on the outside of the wave generator. The support bearing includes an inner ring and an outer ring rotatably connected to each other. The outer ring is fixed to the end face of one end of the housing. The inner wall of the inner ring has a toothed ring that sleeves the flexible wheel. The wave generator drives the flexible wheel to engage in staggered tooth transmission with the inner ring of the support bearing.

[0008] As a preferred embodiment, a torque sensor is also fixed on the end face of one end of the housing, and the flexible wheel is connected to the sensing plate on the torque sensor.

[0009] As a preferred embodiment, a controller cover is also fixed to the other end of the housing, forming a receiving cavity between the housing and the controller cover, and a double-layer circuit board is also fixed inside the receiving cavity.

[0010] As a preferred embodiment, an output disk is also fixed on the end face of the inner ring of the support bearing, and a hollow output shaft is provided in the middle of the output disk. One end of the hollow output shaft is connected through the output disk, and the other end of the hollow output shaft extends into the receiving cavity.

[0011] As a preferred embodiment, an encoder sensing circuit is also provided on the circuit board near the rotating shaft, and magnetic induction rings are respectively provided at the ends of the rotating shaft and the hollow output shaft.

[0012] As a preferred embodiment, a transition bearing is also provided between the wave generator and the hollow output shaft.

[0013] As a preferred embodiment, a sealing ring is also provided on the end face of the output disk that contacts the inner ring of the support bearing.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention significantly improves the bending stiffness of the flexible wheel by designing it in a top hat shape and directly fixing it to the end face of the housing, forming a double-sided rigid constraint. Simultaneously, the outer ring of the support bearing is integrated into the end face of the housing, and the inner ring meshes with the flexible wheel via a gear ring, constructing a highly integrated rigid-flexible coupling transmission chain along the axis. This design not only shortens the power transmission path from the motor shaft to the reducer and reduces the accumulation of assembly tolerances, but also achieves high-precision torque output through the staggered gear transmission between the inner ring of the support bearing and the flexible wheel. Ultimately, it achieves high-rigidity, low-loss joint drive function within a compact space, providing key technical support for the lightweighting and high-performance of robot joint modules. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0017] Figure 1 This is a cross-sectional structural diagram of the present invention.

[0018] The attached figures are labeled as follows: 1. Housing; 2. Controller cover; 3. Stator assembly; 41. Shaft; 42. Rotor core; 5. Wave generator; 6. Flexible wheel; 7. Inner ring of support bearing; 8. Outer ring of support bearing; 91. Output disc; 92. Hollow output shaft; 10. Torque sensor; 11. Transition bearing; 12. Circuit board assembly; 13. Induction magnetic ring. Detailed Implementation

[0019] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Furthermore, 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," and "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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0026] like Figure 1As shown, a joint module includes a motor, a torque sensor 10, and a harmonic reducer. The motor includes a housing 1, a stator assembly 3, and a rotor assembly. The stator assembly 3 is fixed to the inner wall of the housing 1. The rotor assembly is disposed within the stator assembly. The rotor assembly includes a rotating shaft 41 and a rotor core 42 fixed on the rotating shaft. One end of the rotating shaft 41 extends into the harmonic reducer, and the other end is rotatably connected to the housing 1 via a bearing. The harmonic reducer includes a wave generator 5, a flexible wheel 6, and a support bearing. The wave generator 5 is fixed to one end of the rotating shaft 41. The flexible wheel 6 is top-hat shaped. One end of the flexible wheel 6 is fixed to the end face of one end of the housing 1. The other end of the flexible wheel 6 is sleeved on the outside of the wave generator 5. The support bearing includes an inner ring 7 and an outer ring 8 that are rotatably connected to each other. The outer ring 8 is fixed to the end face of one end of the housing 1. The inner wall of the inner ring 7 of the support bearing is provided with a toothed ring, which is sleeved on the outside of the flexible wheel 6. The wave generator 5 drives the flexible wheel 6 to perform a toothed transmission with the inner ring 7 of the support bearing.

[0027] The aforementioned structure, through direct shaft connection to the wave generator, reduces intermediate transmission components and shortens the axial dimension, resulting in a more compact overall structure. Simultaneously, the top-hat shaped flexure design enhances its deformation capability, and combined with staggered gear transmission, improves the reduction ratio and torque output accuracy of the harmonic reducer. Furthermore, the inner ring of the support bearing meshes with the flexure, sharing the radial load, reducing the impact of flexure deformation on transmission stability, and extending service life.

[0028] A torque sensor 10 is also fixed to one end face of the housing 1, and the flexible wheel 6 is connected to the sensing plate on the torque sensor 10. The deformation of the flexible wheel under force is directly transmitted to the torque sensor, realizing high-precision dynamic load monitoring and improving the closed-loop control response speed; and the torque sensor is set on the housing, which can avoid the entanglement of the torque sensor's wiring harness during the movement of the joint module, avoiding damage to the wiring harness and affecting accuracy.

[0029] The other end of the housing 1 is also fixed with a controller cover 2, forming a receiving cavity between the housing 1 and the controller cover 2. A double-layer circuit board is also fixed inside the receiving cavity. The integrated design of the control circuit and power components reduces external wiring and lowers the risk of electromagnetic interference. The enclosed cavity protects the circuit board from dust and moisture corrosion, and the double-layer circuit board layout optimizes the heat dissipation path.

[0030] An output disk 91 is also fixed to the end face of the inner ring 7 of the support bearing. A hollow output shaft 92 is provided in the middle of the output disk 91. One end of the hollow output shaft 92 is connected to the output disk 91, and the other end of the hollow output shaft 92 extends into the receiving cavity. The hollow structure of the output shaft allows cables to pass through, simplifying external wiring, improving the anti-interference capability of cable signals, and the output disk directly transmits the decelerated torque, reducing energy loss and improving transmission efficiency.

[0031] A transition bearing 11 is also provided between the hollow output shaft 92 and the wave generator 5. The transition bearing shares the radial force of the wave generator and reduces the frictional loss between the flexible wheel and the inner ring of the support bearing. A sealing ring is also clamped on the end face of the output disk 91 that contacts the inner ring 7 of the support bearing. The sealing ring prevents external contaminants from entering the bearing and also prevents grease leakage, thus extending the bearing life.

[0032] An encoder sensing circuit is also provided on the circuit board near the rotating shaft 41, and magnetic induction rings 13 are respectively provided at the ends of the rotating shaft 41 and the hollow output shaft 92. The above structure realizes dual closed-loop control, which detects the speed / position of the motor input shaft (rotating shaft) and output shaft (hollow shaft) respectively, and realizes more precise dual feedback control. Moreover, the non-contact magnetic encoder avoids mechanical wear and is suitable for high dust or humid environments.

[0033] This utility model's joint module achieves high precision, high reliability, and compact joint drive through structural integration (integration of motor, reducer, sensor, and controller), transmission optimization (top hat-shaped flexible wheel + double bearing support + staggered gear transmission) and intelligent sensing (dual encoder + torque feedback). It is suitable for scenarios with demanding space and performance requirements, such as robots and automated equipment.

[0034] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0035] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A joint module, comprising a motor, a torque sensor (10), and a harmonic reducer, wherein the motor comprises a housing (1), a stator assembly (3), and a rotor assembly, the stator assembly (3) being fixed to the inner wall of the housing (1), the rotor assembly being disposed within the stator assembly, the rotor assembly comprising a rotating shaft (41) and a rotor core (42) fixed on the rotating shaft, one end of the rotating shaft (41) extending into the harmonic reducer, and the other end being rotatably connected to the housing (1) via a bearing; characterized in that: The harmonic reducer includes a wave generator (5), a flexible wheel (6), and a support bearing. The wave generator (5) is fixed at one end of the rotating shaft (41). The flexible wheel (6) is hat-shaped. One end of the flexible wheel (6) is fixed to the end face of one end of the housing (1). The other end of the flexible wheel (6) is sleeved on the outside of the wave generator (5). The support bearing includes an inner ring (7) and an outer ring (8) of the support bearing that are rotatably connected to each other. The outer ring (8) of the support bearing is fixed to the end face of one end of the housing (1). The inner wall of the inner ring (7) of the support bearing is provided with a toothed ring, which is sleeved on the outside of the flexible wheel (6). The wave generator (5) drives the flexible wheel (6) and the inner ring (7) of the support bearing to perform toothed transmission.

2. A joint module according to claim 1, characterized in that, A torque sensor (10) is also fixed on one end face of the housing (1), and the flexible wheel (6) is connected to the sensing plate on the torque sensor (10).

3. A joint module according to claim 1, characterized in that, The other end of the housing (1) is also fixed with a controller cover (2), and a receiving cavity is formed between the housing (1) and the controller cover (2), and a double-layer circuit board is also fixed in the receiving cavity.

4. A joint module according to claim 3, characterized in that, An output disk (91) is also fixed on the end face of the inner ring (7) of the support bearing. A hollow output shaft (92) is also provided in the middle of the output disk (91). One end of the hollow output shaft (92) is connected to the output disk (91) through, and the other end of the hollow output shaft (92) extends to the receiving cavity.

5. A joint module according to claim 4, characterized in that, An encoder sensing circuit is also provided on the circuit board near the rotating shaft (41), and magnetic induction rings (13) are respectively provided at the ends of the rotating shaft (41) and the hollow output shaft (92).

6. A joint module according to claim 4, characterized in that, A transition bearing (11) is also provided between the wave generator (5) and the hollow output shaft (92).

7. A joint module according to claim 4, characterized in that, A sealing ring is also provided on the end face of the output disk (91) that contacts the inner ring (7) of the support bearing.

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