Low-speed high-torque joint module

Abstract

This invention provides a low-speed, high-torque joint module, including a harmonic reduction module and a planetary reducer. The harmonic reduction module includes a harmonic reducer, a housing, a motor, a hollow shaft, and a rear cover. The harmonic reducer is fixedly connected to the front end of the housing and is also drively connected to the front end of the hollow shaft. The motor rotor is fixedly sleeved on the hollow shaft, and the motor stator is fixedly installed in the housing. An encoder disk is fixedly installed at the rear end of the hollow shaft, and an encoder and a driver are installed between the encoder disk and the rear cover. The rear cover is fixedly connected to the rear end of the housing. The planetary reducer includes an internal gear ring, a planet carrier, planet gears, and a sun gear. The fixed part of the harmonic reducer is fixedly connected to the internal gear ring of the planetary reducer via a connecting disc, and the output part of the harmonic reducer is fixedly connected to the sun gear of the planetary reducer via an output flange. This invention can achieve low-speed, high-torque output while reducing the module's size and weight, and improving transmission efficiency and accuracy.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transmission technology, specifically to a low-speed, high-torque joint module. Background Technology

[0002] In existing mechanical transmission systems, numerous challenges are often encountered in applications requiring low-speed, high-torque output. Taking the joint drive of a new type of aircraft as an example, traditional transmission methods typically employ a common motor paired with a reducer. The reducer has a complex structure and occupies a large space, increasing the overall size and weight of the equipment. This severely affects the performance and flexibility of the equipment and cannot meet the compact design requirements of the new aircraft. Utility Model Content

[0003] The purpose of this invention is to provide a low-speed, high-torque joint module that, while achieving low-speed, high-torque output, can reduce the module's size and weight, improve transmission efficiency and precision, and lower costs, so as to meet the needs of different fields for high-precision, high-torque, and low-speed transmission.

[0004] The technical solution of this utility model is: a low-speed high-torque joint module, including a harmonic reduction module and a planetary reducer, wherein the harmonic reduction module includes a harmonic reducer, a housing, a motor, a hollow shaft and a rear cover;

[0005] The harmonic reducer is fixedly connected to the front end of the housing, and the harmonic reducer is drivenly connected to the front end of the hollow shaft; the rotor of the motor is fixedly sleeved on the hollow shaft, and the stator of the motor is fixedly installed in the housing; an encoder disk is fixedly installed at the rear end of the hollow shaft, and an encoder and a driver are installed between the encoder disk and the rear cover; the rear cover is fixedly connected to the rear end of the housing; a bearing assembly is installed between the hollow shaft and the housing.

[0006] The planetary reducer includes an internal gear ring, a planet carrier, planet gears, and a sun gear;

[0007] The fixed part of the harmonic reducer is fixedly connected to the internal gear ring of the planetary reducer through a connecting plate, and the output part of the harmonic reducer is fixedly connected to the sun gear of the planetary reducer through an output flange.

[0008] In the above technical solution, the "harmonic + planetary" composite deceleration structure can reduce the size and weight of the module while achieving low-speed high-torque output. The high-precision measurement of the encoder can provide accurate feedback for the motion control of the joint module, enabling the control system to grasp the position and motion status of the joint in real time and achieve precise position control. The modular design facilitates later maintenance.

[0009] Furthermore, the mounting surface of the connecting disc is provided with multiple protruding structures, and the mounting surface of the internal gear ring is provided with multiple grooves that mate with the protruding structures. This structure of protrusions and grooves provides a more reliable connection, reduces the number of screws, and facilitates rapid positioning during the assembly of the harmonic reduction module and the planetary reducer.

[0010] Furthermore, the rear end of the hollow shaft is a square shaft, on which a brake is mounted, and the end of the square shaft is fixedly connected to the encoder. The brake keeps the hollow shaft stationary, thereby fixing the output planetary carrier at the desired specific angle.

[0011] Furthermore, the end face of the code disk is provided with a square countersunk hole that mates with the square shaft.

[0012] Furthermore, a semi-circular bracket is installed between the outer casing and the rear cover. One end of the bracket is fixedly connected to the outer casing, and the other end is fixedly fitted with a flange. An encoder is mounted on the front face of the flange, and a driver is mounted on the rear face. The semi-circular bracket facilitates the pre-drilling of motor cable outlet holes in other locations on the outer casing and also reduces weight.

[0013] Furthermore, to avoid interference with the screws, the bracket is provided with multiple axial clearance grooves.

[0014] In one embodiment, the bearing assembly (240) includes a support flange (241), a first bearing (242), and a cover plate (243).

[0015] In one embodiment, the planetary reducer further includes an oil seal, bearings, cylindrical pins, needle roller cages, and flat washers. Attached Figure Description

[0016] Figure 1 This is a schematic cross-sectional view of the joint module in an embodiment of the present utility model;

[0017] Figure 2 This is a schematic diagram of the overall exploded structure of the joint module in an embodiment of this utility model;

[0018] Figure 3 This is a schematic cross-sectional view of the planetary reducer in an embodiment of the present utility model;

[0019] Figure 4 This is a three-dimensional structural diagram of the planetary reducer in an embodiment of the present utility model;

[0020] Figure 5 This is a cross-sectional view of the harmonic deceleration module in an embodiment of the present utility model;

[0021] Figure 6This is a schematic diagram of the exploded structure of the harmonic deceleration module in an embodiment of this utility model;

[0022] Figure 7 This is a three-dimensional structural diagram of the connecting disk in an embodiment of the present utility model;

[0023] Figure 8 This is a three-dimensional structural diagram of the outer shell in an embodiment of the present utility model;

[0024] Figure 9 This is a schematic diagram of the hollow shaft three-dimensional structure in an embodiment of the present utility model;

[0025] Figure 10 This is a schematic diagram of the three-dimensional structure of the encoder disk in an embodiment of the present utility model;

[0026] Figure 11 This is a schematic diagram of the three-dimensional structure of the bracket in the embodiment of this utility model;

[0027] Figure 12 This is a schematic diagram of the bearing assembly structure in an embodiment of the present utility model;

[0028] The attached figures are labeled as follows:

[0029] 100. Planetary reducer; 101. Internal gear ring; 102. Planetary carrier; 103. Oil seal; 104. Second bearing; 105. Planetary gear; 106. Cylindrical pin; 107. Needle roller cage; 108. Flat washer; 110. Connecting disc; 120. Sun gear; 130. Output flange; 140. Harmonic reducer; 150. Hollow shaft; 160. Housing; 170. Motor; 180. Brake; 190. Encoder; 200. Bracket; 210. Encoder; 220. Driver; 230. Rear cover; 240. Bearing assembly; 241. Support flange; 242. First bearing; 243. Cover plate. Detailed Implementation

[0030] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0031] It should be noted in advance that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" in this utility model 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 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.

[0032] like Figures 1 to 11As shown, a low-speed, high-torque joint module includes a harmonic reduction module and a planetary reducer 100 connected together by screws.

[0033] like Figure 1 , 2 As shown in Figures 5 to 11, the harmonic reduction module includes a harmonic reducer 140, a housing 160, a motor 170, a hollow shaft 150, and a rear cover 230. The harmonic reducer 140 is fixedly connected to the front end of the housing 160, and the harmonic reducer 140 is drively connected to the front end of the hollow shaft 150. The rotor of the motor 170 is fixedly sleeved on the hollow shaft 150, and the stator of the motor 170 is fixedly installed inside the housing 160. A bearing assembly 240 is installed between the hollow shaft 150 and the housing 160. The bearing assembly 240 includes a support flange 241, a first bearing 242, and a cover plate 243. The rear end of the hollow shaft 150 is a square shaft, and a brake 180 is fitted on the square shaft. The brake 180 can engage the hollow shaft 150. 0 remains fixed, thereby fixing the output planetary carrier 102 at the required specific angle; a code disk 190 is fixedly installed at the end of the square shaft, and the end face of the code disk 190 is provided with a square countersunk hole that mates with the square shaft; the rear cover 230 is fixedly connected to the rear end of the outer shell 160, and a semi-annular bracket 200 is installed between the outer shell 160 and the rear cover 230. In order to avoid interference with the screws, the bracket 200 is provided with multiple axial clearance grooves. One end of the bracket 200 is fixedly connected to the outer shell 160, and a flange is fixedly installed at the other end. An encoder 210 is installed on the front end face of the flange, and a driver 220 is installed on the rear end face. The encoder 210 and the driver 220 are located between the code disk 190 and the rear cover 230.

[0034] like Figures 1 to 7 As shown, the planetary reducer 100 includes an internal gear ring 101, a planet carrier 102, planet gears 105, a sun gear 120, an oil seal 103, a bearing 104, a cylindrical pin 106, a needle roller retainer 107, and a flat washer 108. The fixing part of the harmonic reducer 140 is fixedly connected to the internal gear ring 101 of the planetary reducer 100 through a connecting plate 110. The mounting surface of the connecting plate 110 is provided with multiple protrusions, and the mounting surface of the internal gear ring 101 is provided with multiple grooves that mate with the protrusions. This structure of protrusions and grooves provides a more reliable connection, reduces the number of screws, and facilitates quick positioning when assembling the harmonic reducer module with the planetary reducer 100. The output part of the harmonic reducer 140 is fixedly connected to the sun gear 120 of the planetary reducer 100 through an output flange 130.

[0035] This embodiment adopts a "harmonic + planetary" composite deceleration structure, which can reduce the size and weight of the module while achieving low-speed high-torque output. The high-precision measurement of the encoder can provide accurate feedback for the motion control of the joint module, enabling the control system to grasp the position and motion status of the joint in real time and achieve precise position control. The modular design facilitates later maintenance.

[0036] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

[0037] To facilitate understanding by those skilled in the art of the improvements of this utility model over the prior art, some of the drawings and descriptions of this utility model have been simplified, and for clarity, some other elements have been omitted from this application. Those skilled in the art should realize that these omitted elements may also constitute the content of this utility model.

Claims

1. A low-speed, high-torque joint module, characterized in that: Includes harmonic deceleration module and planetary reducer (100); The harmonic reduction module includes a harmonic reducer (140), a housing (160), a motor (170), a hollow shaft (150), and a rear cover (230); The harmonic reducer (140) is fixedly connected to the front end of the housing (160), and the harmonic reducer (140) is drivenly connected to the front end of the hollow shaft (150); the rotor of the motor (170) is fixedly sleeved on the hollow shaft (150), and the stator of the motor (170) is fixedly installed inside the housing (160); an encoder disk (190) is fixedly installed at the rear end of the hollow shaft (150), an encoder (210) and a driver (220) are installed between the encoder disk (190) and the rear cover (230), and the rear cover (230) is fixedly connected to the rear end of the housing (160); a bearing assembly (240) is installed between the hollow shaft (150) and the housing (160). The planetary reducer (100) includes an internal gear ring (101), a planet carrier (102), planet gears (105), and a sun gear (120); The fixed part of the harmonic reducer (140) is fixedly connected to the internal gear ring (101) of the planetary reducer (100) via a connecting plate (110), and the output part of the harmonic reducer (140) is fixedly connected to the sun gear (120) of the planetary reducer (100) via an output flange (130).

2. The low-speed, high-torque joint module according to claim 1, characterized in that: The mounting surface of the connecting disc (110) is provided with multiple protrusions, and the mounting surface of the internal gear ring (101) is provided with multiple grooves that cooperate with the protrusions.

3. The low-speed, high-torque joint module according to claim 1 or 2, characterized in that: The rear end of the hollow shaft (150) is a square shaft, on which a brake (180) is mounted, and the end of the square shaft is fixedly connected to the code disk (190).

4. The low-speed, high-torque joint module according to claim 3, characterized in that: The end face of the code disk (190) is provided with a square countersunk hole that mates with the square shaft.

5. The low-speed, high-torque joint module according to claim 1 or 2, characterized in that: A semi-circular bracket (200) is also installed between the outer casing (160) and the rear cover (230). One end of the bracket (200) is fixedly connected to the outer casing (160), and a flange is fixedly installed at the other end. An encoder (210) is installed on the front end face of the flange, and a driver (220) is installed on the rear end face.

6. The low-speed, high-torque joint module according to claim 5, characterized in that: The bracket (200) is provided with multiple axial clearance slots.

7. The low-speed, high-torque joint module according to claim 1 or 2, characterized in that: The bearing assembly (240) includes a support flange (241), a first bearing (242), and a cover plate (243).

8. The low-speed, high-torque joint module according to claim 1 or 2, characterized in that: The planetary reducer (100) also includes an oil seal (103), a second bearing (104), a cylindrical pin (106), a needle roller cage (107), and a flat washer (108).

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