A lightweight joint module based on CFPEEK material

Abstract

This application discloses a lightweight joint module based on CFPEEK material, relating to the field of joint modules. It includes a housing, an internal rotating frameless torque motor installed within the housing, and a harmonic reducer coaxially connected to the internal rotating frameless torque motor at the bottom of the housing. A crossed roller bearing is fitted onto the rotor fixed shaft of the internal rotating frameless torque motor. The housing is provided with a fixing assembly for mounting the crossed roller bearing. This application utilizes the cooperation between a fixing ring, abutting balls, and an annular push block. During use, the annular push block is inserted into an annular receiving groove, causing the abutting balls to move within a through hole, with one end of each abutting ball abutting against the outer ring sidewall of the crossed roller bearing, thus fixing the crossed roller bearing in place. Disassembly is achieved by simply removing the annular push block, minimizing the need for bolt or press-fit installation methods, which are inconvenient and reduce work efficiency.

Description

Technical Field

[0001] This application relates to the field of joint modules, and in particular to a lightweight joint module based on CFPEEK material. Background Technology

[0002] Joint modules are compact, modular products that integrate key components such as motors, reducers, encoders, and drivers. They are widely used in robotics, medical devices, and consumer electronics. Because joint modules need to bear significant weight during use, they are generally applied in spaces with limited space. Therefore, joint modules are often required to be small in size, have high torque, and be lightweight. If all three can be achieved simultaneously, the joint module can adapt to a wider range of application scenarios.

[0003] Existing joint modules support the motor using crossed roller bearings. However, the installation of these bearings is mostly done by bolts or press-fitting, which is inconvenient and reduces work efficiency. Utility Model Content

[0004] To address the aforementioned issues, this application provides a lightweight joint module based on CFPEEK material.

[0005] This application provides a lightweight joint module based on CFPEEK material, which adopts the following technical solution:

[0006] A lightweight joint module based on CFPEEK material includes a housing, an internal rotating frameless torque motor installed within the housing, and a harmonic reducer installed within the housing and coaxially connected to the internal rotating frameless torque motor. A crossed roller bearing is fitted onto the rotor fixed shaft of the internal rotating frameless torque motor. The housing has a fixing assembly for mounting the crossed roller bearing. The fixing assembly includes a fixing ring fixedly connected inside the housing. An annular receiving groove is formed on the upper surface of the fixing ring. A plurality of annular array through holes are formed on one side wall of the annular receiving groove. Abutment balls for abutting the crossed roller bearing are slidably disposed within the through holes. Both sides of the abutment balls extend out of the through holes. An annular push block for pushing the abutment balls is slidably disposed within the annular receiving groove. The fixing ring has a locking assembly for locking the annular push block.

[0007] By adopting the above technical solution, during use, the crossed roller bearing is sleeved on the rotor fixed shaft of the internal rotation frameless torque motor, so that the crossed roller bearing is located in the fixed ring. Then, the annular push block is inserted into the annular receiving groove, so that the annular push block pushes the abutting ball, causing the abutting ball to move in the through hole, and one end of the abutting ball abuts against the outer ring side wall of the crossed roller bearing, thus fixing the crossed roller bearing. When disassembling, the annular push block can be removed. This avoids the problem of inconvenient installation and disassembly due to bolt installation or press-in installation, which reduces work efficiency.

[0008] Preferably, the locking assembly includes multiple grooves formed on the upper surface of the fixing ring on one side of the annular receiving groove. A slider is slidably disposed in the groove. The top of the side wall of the annular push block is provided with multiple slots arranged in an annular array. A rod is fixedly connected to one side wall of the slider. The end of the rod away from the slider passes through the groove and is inserted into the slot. A spring is fixedly connected to the side wall of the slider away from the rod. The other end of the spring is fixedly connected to one side wall of the groove.

[0009] By adopting the above technical solution, after the annular pusher is inserted into the annular receiving groove, the slider is pushed by the spring to move in the groove, so that the insert rod is inserted into the slot and the annular pusher is fixed in the annular receiving groove. This can prevent the annular pusher from moving in the annular receiving groove, which would cause the abutting ball to move.

[0010] Preferably, a plurality of fixed rods are fixedly connected inside the groove, and the slider is sleeved on the fixed rods.

[0011] By adopting the above technical solution, the stability of the slider's sliding can be improved by using a fixed rod, preventing the slider from detaching from the groove.

[0012] Preferably, both ends of the through hole are fixedly connected with annular blocks to prevent the abutting balls from falling out.

[0013] By adopting the above technical solution, the annular stop block can prevent the abutting ball from sliding out of the through hole and falling out, thus preventing the abutting ball from being lost.

[0014] Preferably, the outer wall of the crossed roller bearing is provided with a plurality of limiting grooves that are adapted to the abutting balls.

[0015] By adopting the above technical solution, when the abutting ball abuts against the crossed roller bearing, the abutting ball is positioned within the limiting groove, which can position the crossed roller bearing and improve the stability of the crossed roller bearing installation.

[0016] Preferably, a support ring is fixedly connected to the bottom end of the inner wall of the fixed ring, and the crossed roller bearing is located on the upper surface of the support ring.

[0017] By adopting the above technical solution, the cross roller bearing is supported by a support ring, which prevents the cross roller bearing from moving downward under pressure and improves the stability of the cross roller bearing.

[0018] Preferably, an end cap is installed at the top of the housing, and a protective cover is provided at the bottom of the housing. The protective cover is detachably connected to the harmonic reducer.

[0019] By adopting the above technical solution, the end cap and protective cover can be installed to prevent dust and protect the module components.

[0020] In summary, this application includes at least one of the following beneficial technical effects:

[0021] 1. This application utilizes the cooperative arrangement of a fixed ring, abutting balls, and annular push blocks. During use, the crossed roller bearing is fitted onto the rotor fixed shaft of the internal rotation frameless torque motor, positioning it within the fixed ring. Then, the annular push block is inserted into the annular receiving groove, pushing the abutting balls and causing them to move within the through hole. One end of each abutting ball abuts against the outer ring sidewall of the crossed roller bearing, thus fixing the bearing in place. Disassembly is achieved by simply removing the annular push block. This method largely avoids the inconvenience of bolt or press-fit installation methods, which reduce work efficiency.

[0022] 2. After the annular pusher is inserted into the annular receiving groove, the slider is pushed by the spring to move in the groove, so that the insert rod is inserted into the slot and the annular pusher is fixed in the annular receiving groove. This can prevent the annular pusher from moving in the annular receiving groove, which would cause the abutting ball to move. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a lightweight joint module based on CFPEEK material according to an embodiment of this application;

[0024] Figure 2 This is a schematic diagram illustrating the internal structure of the fixed ring, representing a key embodiment of this application.

[0025] Figure 3 The embodiments of this application mainly embody Figure 2 A schematic diagram of the enlarged structure of region A in the middle;

[0026] Figure 4 The embodiments of this application mainly embody Figure 2 A schematic diagram of the enlarged structure of region B in the middle.

[0027] Reference numerals: 1. Housing; 2. Internal rotating frameless torque motor; 3. Harmonic reducer; 4. Crossed roller bearing; 5. Retaining ring; 6. Annular receiving groove; 7. Through hole; 8. Abutting ball; 9. Annular push block; 10. Slide groove; 11. Slider; 12. Slot; 13. Insert rod; 14. Spring; 15. Fixing rod; 16. Annular stop; 17. Limiting groove; 18. Support ring; 19. End cap; 20. Protective cover. Detailed Implementation

[0028] The following is in conjunction with the appendix Figures 1-4 This application will be described in further detail.

[0029] This application discloses a lightweight joint module based on CFPEEK material.

[0030] Reference Figure 1 , Figure 2 and Figure 3 A lightweight joint module based on CFPEEK material includes a housing 1, an internal rotating frameless torque motor 2 installed inside the housing 1, and a harmonic reducer 3 installed at the bottom of the housing 1 and coaxially connected to the internal rotating frameless torque motor 2. A crossed roller bearing 4 is fitted onto the rotor fixed shaft of the internal rotating frameless torque motor 2. The inner and outer rings of the crossed roller bearing 4 are made of CF / PEEK material, while the rollers retain bearing steel rollers. The lightweight bearing rings directly reduce the inertia of the rotating components. CF / PEEK has better absorption capacity for impact loads and lower noise during operation. In extreme cases of poor lubrication, it has a certain self-lubricating ability, improving reliability. It is also equipped with an electromagnetic brake and an absolute time encoder. This structure is commonly used in existing joint modules and will not be described in detail here. The core elastic element flexure in the harmonic reducer 3 is made of CF / PEEK material through a precision hot pressing molding process. Utilizing the excellent fatigue resistance and elasticity of CF / PEEK material, the wall thickness of the flexure can be optimized. Its flexibility is sufficient to meet the assembly and deformation requirements of the wave generator in the harmonic reducer 3, while its high tensile strength and wear resistance ensure the reliability of long-term operation. The housing 1 is provided with a fixing component for installing the crossed roller bearing 4. The fixing component includes a fixing ring 5, an annular receiving groove 6, a through hole 7, abutting balls 8, and an annular push block 9.

[0031] The fixed ring 5 is fixedly connected inside the housing 1. The internal rotating frameless torque motor 2 is located below the fixed ring 5 and the rotor fixed shaft passes through the fixed ring 5. The annular receiving groove 6 is opened on the upper surface of the fixed ring 5. Multiple through holes 7 are provided, all of which are opened on the side wall of the annular receiving groove 6 near the rotor fixed shaft and form an annular array. Multiple abutting balls 8 are provided and are slidably disposed in the through holes 7. The through holes 7 extend from both sides of the abutting balls 8. The annular push block 9 is slidably disposed in the annular receiving groove 6 and is used to push the abutting balls 8 to move and abut the abutting balls 8 against the crossed roller bearing 4. The fixed ring 5 is provided with a locking component for locking the annular push block 9.

[0032] Reference Figure 2 and Figure 4 The locking assembly includes multiple grooves 10 formed on the upper surface of the fixed ring 5 on one side of the annular receiving groove 6. A slider 11 is slidably disposed in the groove 10. Multiple slots 12 in annular array are formed on the top of the side wall of the annular push block 9. A rod 13 is fixedly connected to one side wall of the slider 11. The end of the rod 13 away from the slider 11 passes through the groove 10 and is inserted into the slot 12. A spring 14 is fixedly connected to the side wall of the slider 11 away from the rod 13. The other end of the spring 14 is fixedly connected to one side wall of the groove 10. After the annular push block 9 is inserted into the annular receiving groove 6, the spring 14 pushes the slider 11 to move in the groove 10, so that the rod 13 is inserted into the slot 12, fixing the annular push block 9 in the annular receiving groove 6. This prevents the annular push block 9 from moving in the annular receiving groove 6, which would cause the abutting ball 8 to move.

[0033] Reference Figure 4 Multiple fixing rods 15 are fixedly connected inside the slide groove 10. The slider 11 is sleeved on the fixing rods 15. The fixing rods 15 can improve the sliding stability of the slider 11 and prevent the slider 11 from falling off the slide groove 10.

[0034] Reference Figure 3 Both ends of the through hole 7 are fixedly connected with annular blocks 16 to prevent the abutting ball 8 from falling out. The annular blocks 16 can prevent the abutting ball 8 from sliding out of the through hole 7 and falling out when it slides in the through hole 7, thus preventing the abutting ball 8 from being lost.

[0035] Reference Figure 3 The outer wall of the crossed roller bearing 4 is provided with multiple limiting grooves 17 that are adapted to the abutting balls 8. When the abutting balls 8 abut against the crossed roller bearing 4, the abutting balls 8 are located in the limiting grooves 17, which can position the crossed roller bearing 4 and improve the stability of the installation of the crossed roller bearing 4.

[0036] Reference Figure 2A support ring 18 is fixedly connected to the bottom of the inner wall of the fixed ring 5. The cross roller bearing 4 is located on the upper surface of the support ring 18. The support ring 18 supports the cross roller bearing 4 to prevent it from moving downward when subjected to pressure, thereby improving the stability of the cross roller bearing 4.

[0037] Reference Figure 1 The top of the housing 1 is equipped with an end cover 19, and the bottom of the housing 1 is provided with a protective cover 20. The protective cover 20 is detachably connected to the harmonic reducer 3. After the end cover 19 and the protective cover 20 are installed, they can serve the functions of dust prevention and protection of module components.

[0038] The implementation principle of a lightweight joint module based on CFPEEK material in this application embodiment is as follows: In use, the crossed roller bearing 4 is sleeved on the rotor fixed shaft of the internal rotation frameless torque motor 2, so that the crossed roller bearing 4 is located in the fixed ring 5. Then, the annular push block 9 is inserted into the annular receiving groove 6, so that the annular push block 9 pushes the abutting ball 8, so that the abutting ball 8 moves in the through hole 7, and one end of the abutting ball 8 abuts against the outer ring side wall of the crossed roller bearing 4. Then, the spring 14 pushes the slider 11 to move in the slide groove 10, so that the insert rod 13 is inserted into the slot 12, and the annular push block 9 is fixed in the annular receiving groove 6 to prevent the annular push block 9 from moving in the annular receiving groove 6, which would cause the abutting ball 8 to move. The crossed roller bearing 4 is fixedly installed. When disassembling, the sliding slider 11 compresses the spring 14, and then the annular push block 9 can be removed. This method avoids the problem of inconvenient installation and disassembly by bolt installation or press-in installation, which reduces work efficiency.

[0039] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A lightweight joint module based on CFPEEK material, comprising a housing (1), an internal rotation frameless torque motor (2) installed inside the housing (1), and a harmonic reducer (3) installed at the bottom of the housing (1) and coaxially connected to the internal rotation frameless torque motor (2), wherein a crossed roller bearing (4) is sleeved on the rotor fixed shaft of the internal rotation frameless torque motor (2), and the housing (1) is provided with a fixing assembly for mounting the crossed roller bearing (4), characterized in that: The fixing component includes a fixing ring (5) fixedly connected inside the housing (1). The upper surface of the fixing ring (5) is provided with an annular receiving groove (6). One side wall of the annular receiving groove (6) is provided with a plurality of annular array through holes (7). Abutting balls (8) for abutting the crossed roller bearing (4) are slidably arranged in the through holes (7). Both sides of the abutting balls (8) extend out of the through holes (7). An annular push block (9) for pushing the abutting balls (8) is slidably arranged in the annular receiving groove (6). The fixing ring (5) is provided with a locking component for locking the annular push block (9).

2. A lightweight joint module based on CFPEEK material according to claim 1, characterized in that: The locking assembly includes multiple grooves (10) formed on the upper surface of the fixing ring (5) on one side of the annular receiving groove (6). A slider (11) is slidably disposed in the groove (10). Multiple slots (12) in an annular array are formed on the top of the side wall of the annular push block (9). A plug rod (13) is fixedly connected to one side wall of the slider (11).

3. The lightweight joint module based on CFPEEK material according to claim 2, characterized in that: The end of the insert rod (13) away from the slider (11) passes through the slide groove (10) and is inserted into the slot (12). A spring (14) is fixedly connected to the side wall of the slider (11) away from the insert rod (13), and the other end of the spring (14) is fixedly connected to the side wall of the slide groove (10).

4. A lightweight joint module based on CFPEEK material according to claim 3, characterized in that: Multiple fixed rods (15) are fixedly connected inside the groove (10), and the slider (11) is sleeved on the fixed rods (15).

5. A lightweight joint module based on CFPEEK material according to claim 4, characterized in that: Both ends of the through hole (7) are fixedly connected with annular blocks (16) to prevent the abutting ball (8) from falling off.

6. A lightweight joint module based on CFPEEK material according to claim 5, characterized in that: The outer side wall of the crossed roller bearing (4) is provided with multiple limiting grooves (17) that are adapted to the abutting balls (8).

7. The lightweight joint module based on CFPEEK material according to claim 6, characterized in that: A support ring (18) is fixedly connected to the bottom of the inner wall of the fixed ring (5), and the cross roller bearing (4) is located on the upper surface of the support ring (18).

8. A lightweight joint module based on CFPEEK material according to claim 7, characterized in that: The top of the outer casing (1) is fitted with an end cap (19), and the bottom of the outer casing (1) is fitted with a protective cover (20). The protective cover (20) is detachably connected to the harmonic reducer (3).

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