Torsion harmonic reduction electric fan joint module

Abstract

The utility model discloses a torsion harmonic speed reducer motor knuckle module, including torsion sensor, harmonic speed reducer and integral motor, the torsion sensor includes torsion sensor inner ring support, torsion sensor strain beam and torsion sensor outer ring support, and the torsion sensor inner ring support is connected with torsion sensor strain beam and torsion sensor outer ring support through torsion sensor strain beam, and the outside of torsion sensor outer ring support is provided with first cross roller bearing roller installation groove, the harmonic speed reducer includes harmonic speed reducer main part and harmonic speed reducer bearing outer ring, and the harmonic speed reducer bearing outer ring is located first cross roller bearing roller installation groove and is provided with second cross roller bearing roller installation groove, and the cross roller bearing roller is installed between torsion sensor outer ring support and harmonic speed reducer bearing outer ring. The utility model, torsion sensor support and harmonic speed reducer bearing support two parts integration, realize the target of reducing the volume.

Description

Technical Field

[0001] This utility model relates to the field of rotating equipment technology, specifically a torque harmonic reduction motor joint module. Background Technology

[0002] Robot joint module motors, also known as actuator motors, are used as actuators in automatic control systems. They convert received electrical signals into angular displacement or angular velocity output on the motor shaft, which is their main function.

[0003] The existing harmonic deceleration joint motor modules with torque sensors on the market have low integration and large overall size, which cannot meet the needs of humanoid robots for small joint module motors. Utility Model Content

[0004] The purpose of this invention is to provide a torque harmonic reduction motor joint module to solve the problems of low integration and large overall size of existing harmonic reduction joint motor modules, which cannot meet the small size requirements of humanoid robots for joint module motors.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a torque harmonic reducer motor joint module, comprising a torque sensor, a harmonic reducer, and an integrated motor, wherein the torque sensor and the harmonic reducer are mounted at one end of the integrated motor; the torque sensor comprises an inner ring support, a strain beam, and an outer ring support, wherein the inner ring support is connected to the outer ring support via the strain beam, and a first cross roller bearing mounting groove is provided on the outer side of the outer ring support; the harmonic reducer comprises a main body and an outer ring bearing, wherein a second cross roller bearing mounting groove is provided at the first cross roller bearing mounting groove on the outer ring bearing, and cross roller bearings are installed between the outer ring support and the outer ring bearing.

[0006] Preferably, the strain beam of the torque sensor is made of 40Cr, and the material of the first cross roller bearing roller mounting groove is high carbon chromium bearing steel GCr15.

[0007] Preferably, the inner ring support of the torque sensor, the strain beam of the torque sensor, and the outer ring support of the torque sensor are an integral structure.

[0008] Preferably, a sealing ring is provided between the outer surface of the torque sensor and the inner surface of the outer ring of the harmonic reducer bearing.

[0009] Preferably, the integrated motor includes a motor shaft, an annular disk is provided on the outer side of the motor shaft, an end cover is installed on the annular disk of the motor shaft, and the torque sensor is fixed at the end cover.

[0010] Preferably, the annular disk, end cap, and torque sensor are fixed together by bolts.

[0011] Preferably, a bearing is provided between the end cover and the motor.

[0012] Preferably, there are four torsion sensor strain beams, which are evenly distributed.

[0013] Since the strain beam of the torsion sensor requires 40Cr material, the material for the first crossed roller bearing roller mounting groove needs to be high-carbon chromium bearing steel GCr15. This can be achieved in two ways:

[0014] Method 1: Partial Heat Treatment. The strain beam area of ​​the torque sensor is heat-treated with 40Cr steel, while the outer ring support of the torque sensor (which also serves as the inner ring support for the cross roller bearing of the harmonic reducer) and the roller mounting groove area of ​​the first cross roller bearing are heat-treated with high-carbon chromium bearing steel GCr15. This partial heat treatment process achieves different material properties in different areas of a single part.

[0015] Method Two: Segmented and Heat-Constructed Assembly. The structures of the torsion sensor strain beam area, the outer ring support of the torsion sensor (which also serves as the inner ring support of the cross roller bearing in the harmonic reducer), and the first cross roller bearing roller mounting groove area are achieved through structural splicing. This includes, but is not limited to, welding, riveting, adhesive fixing, and screw fixing. Ultimately, this achieves the purpose of distinguishing the materials of the torsion sensor strain beam area and the first cross roller bearing roller mounting groove area.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. The torque sensor includes an inner ring support, a strain beam, and an outer ring support (which also serves as the inner ring support for the cross roller bearing of the harmonic reducer). The inner ring support is connected to the outer ring support via the strain beam. The outer ring support has a first cross roller bearing mounting groove on its outer side. The torque sensor support and the harmonic reducer bearing support are integrated into one unit to achieve a smaller size.

[0018] 2. A sealing ring is provided between the outer side of the torque sensor and the inner side of the outer ring of the harmonic reducer bearing to improve the waterproof and dustproof effect.

[0019] 3. There are four torsion sensor strain beams, which are evenly distributed for better sensing effect. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a cross-sectional view of the present invention;

[0023] Figure 3 This is a cross-sectional view of the torque sensor of this utility model;

[0024] Figure 4 This is a cross-sectional view from another perspective of this utility model;

[0025] Figure 5 This is an exploded view of the present invention;

[0026] Figure 6 This is a utility model Figure 5 Further breakdown diagram.

[0027] In the diagram: 1. Torque sensor; 2. Harmonic reducer; 3. Integrated motor; 4. Sealing ring; 5. Crossed roller bearing roller; 6. End cap; 7. Bearing; 11. Torque sensor inner ring bracket; 12. Torque sensor strain beam; 13. Torque sensor outer ring bracket; 14. First crossed roller bearing roller mounting slot; 21. Harmonic reducer bearing outer ring; 22. Harmonic reducer body; 23. Second crossed roller bearing roller mounting slot; 31. Motor shaft. Detailed Implementation

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the specific implementation methods of this utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0029] To keep the drawings concise, each figure only schematically shows the parts relevant to the utility model, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0030] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0031] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections 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 utility model based on the specific circumstances.

[0032] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

[0033] Please see Figure 1-6 In this embodiment of the utility model, a torque harmonic reducer motor joint module includes a torque sensor 1, a harmonic reducer 2 and an integrated motor 3, wherein the torque sensor 1 and the harmonic reducer 2 are installed at one end of the integrated motor 3.

[0034] The torque sensor 1 includes an inner ring support 11, a strain beam 12, and an outer ring support 13 (the outer ring support 13 also serves as the inner ring support for the cross roller bearing of the harmonic reducer). The inner ring support 11 is connected to the outer ring support 13 via the strain beam 12. The outer ring support 13 has a first cross roller bearing mounting groove 14 on its outer side. The torque sensor support and the harmonic reducer bearing support are integrated into one unit to achieve the goal of reducing size.

[0035] The harmonic reducer 2 includes a harmonic reducer body 22 and a harmonic reducer bearing outer ring 21. The harmonic reducer bearing outer ring 21 is provided with a second cross roller bearing roller mounting groove at the first cross roller bearing roller mounting groove 14. Cross roller bearing rollers are installed between the torque sensor outer ring bracket 13 and the harmonic reducer bearing outer ring 21.

[0036] A sealing ring 4 is provided between the outer side of the torque sensor 1 and the inner side of the outer ring 21 of the harmonic reducer bearing; the integrated motor 3 includes a motor shaft 31, an annular disk is provided on the outer side of the motor shaft 31, an end cover 6 is installed on the annular disk of the motor shaft 31, the torque sensor 1 is fixed at the end cover 6, the annular disk, the end cover 6 and the torque sensor 1 are fixed together by bolts, and a bearing is provided between the end cover 6 and the motor 3.

[0037] There are four torsion sensor strain beams 12, which are evenly distributed. The material of the torsion sensor strain beams 12 is 40Cr, and the material of the first cross roller bearing roller mounting groove 14 is high carbon chromium bearing steel GCr15.

[0038] The inner ring support 11 of the torque sensor, the strain beam 12 of the torque sensor, and the outer ring support 13 of the torque sensor are an integral structure.

[0039] Since the strain beam 12 of the torque sensor requires 40Cr material, the material of the first crossed roller bearing mounting groove 14 needs to be high-carbon chromium bearing steel GCr15. This can be achieved in the following two ways:

[0040] Method 1: Partial Heat Treatment. The strain beam 12 area of ​​the torque sensor is heat-treated with 40Cr steel, while the outer ring support 13 of the torque sensor (which also serves as the inner ring support for the cross roller bearing of the harmonic reducer) and the roller mounting groove 14 area of ​​the first cross roller bearing are heat-treated with high-carbon chromium bearing steel GCr15. This partial heat treatment process achieves different material properties in different areas of a single part.

[0041] Method Two: Segmented and Heat-Constructed Assembly. The structure of the torsion sensor strain beam 12 area, the torsion sensor outer ring support 13 (which also serves as the inner ring support for the harmonic reducer crossed roller bearing), and the structure of the first crossed roller bearing roller mounting groove 14 area are achieved through structural splicing. This includes, but is not limited to, welding, riveting, adhesive fixing, and screw fixing. Ultimately, this achieves the purpose of distinguishing the materials of the torsion sensor strain beam 12 area and the first crossed roller bearing roller mounting groove 14 area.

[0042] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A torque harmonic geared motor joint module, characterized in that: It includes a torque sensor (1), a harmonic reducer (2) and an integrated motor (3), wherein the torque sensor (1) and the harmonic reducer (2) are installed at one end of the integrated motor (3); The torque sensor (1) includes an inner ring support (11), a strain beam (12), and an outer ring support (13). The inner ring support (11) is connected to the outer ring support (13) via the strain beam (12). A first cross roller bearing mounting groove (14) is provided on the outer side of the outer ring support (13). The harmonic reducer (2) includes a harmonic reducer body (22) and a harmonic reducer bearing outer ring (21). The harmonic reducer bearing outer ring (21) is provided with a second cross roller bearing roller mounting groove at the first cross roller bearing roller mounting groove (14). Cross roller bearing rollers are installed between the torque sensor outer ring bracket (13) and the harmonic reducer bearing outer ring (21).

2. The torque harmonic geared motor joint module according to claim 1, characterized in that: The strain beam (12) of the torsion sensor is made of 40Cr, and the material of the first cross roller bearing roller mounting groove (14) is high carbon chromium bearing steel GCr15.

3. The torque harmonic geared motor joint module according to claim 1, characterized in that: The inner ring support (11), strain beam (12), and outer ring support (13) of the torque sensor are an integral structure.

4. The torque harmonic geared motor joint module according to claim 1, characterized in that: A sealing ring (4) is provided between the outer side of the torque sensor (1) and the inner side of the outer ring (21) of the harmonic reducer bearing.

5. A torque harmonic geared motor joint module according to claim 1, characterized in that: The integrated motor (3) includes a motor shaft (31), an annular disk is provided on the outside of the motor shaft (31), an end cover (6) is installed on the annular disk of the motor shaft (31), and the torque sensor (1) is fixed at the end cover (6).

6. A torque harmonic geared motor joint module according to claim 5, characterized in that: The annular disk, end cap (6), and torque sensor (1) are fixed together by bolts.

7. A torque harmonic geared motor joint module according to claim 6, characterized in that: A bearing is provided between the end cap (6) and the motor (3).

8. A torque harmonic geared motor joint module according to claim 1, characterized in that: There are four torsion sensor strain beams (12), and the four torsion sensor strain beams (12) are evenly distributed.

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