A robot joint module

Abstract

The utility model discloses a kind of robot joint module, including motor assembly and cycloidal reducer, motor assembly includes motor shell and motor shaft, cycloidal reducer includes reduction shell, the inside of reduction shell is rotatably connected with reduction input shaft and reduction output disc, robot joint module further includes shaft connector and outer connecting sleeve, motor shaft and reduction input shaft are fixedly connected by shaft connector, reduction shell and motor shell are fixedly connected by outer connecting sleeve.This robot joint module adopts cycloidal reducer, motor shaft of motor assembly and reduction input shaft of cycloidal reducer are fixedly connected by shaft connector, motor shell of motor assembly and reduction shell of cycloidal reducer are fixedly connected by outer connecting sleeve.Compared with using planetary gear reducer and harmonic reducer, this robot joint module has the characteristics of maintaining higher precision while bearing high load, large transmission ratio range, smaller volume, smaller noise during movement, long service life.

Description

Technical Field

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

[0002] Robot joint modules typically consist of a motor, a reducer, and an encoder. Most conventional robot joint modules use planetary gear reducers and harmonic reducers. The motor converts electrical energy into rotational kinetic energy to drive the reducer. Through gear transmission or harmonic transmission within the reducer, the output speed can be reduced and the torque increased, thereby achieving the purpose of speed reduction output.

[0003] However, planetary gear reducers suffer from poor accuracy under high loads, have a small single-stage transmission ratio range, and are relatively large in size. Harmonic reducers, on the other hand, have relatively low torque transmission and efficiency, and both exhibit relatively high noise and short lifespan during operation. Those skilled in the art desire a robot joint module that can withstand high loads while possessing high accuracy, a wide transmission ratio range, small size, low noise, and a long lifespan. Utility Model Content

[0004] The main purpose of this invention is to propose a robot joint module, which aims to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, this utility model proposes a robot joint module, including a motor assembly and a cycloidal reducer. The motor assembly includes a motor housing and a motor shaft. A motor stator is fixed to the inner side of the motor housing, and a motor rotor is fixed to the outer side of the motor shaft. The motor rotor is located inside the motor stator. The cycloidal reducer includes a reduction housing. A reduction input shaft and a reduction output disk are rotatably connected to the inner side of the reduction housing. The robot joint module also includes a shaft connector and an outer connecting sleeve. The shaft connector is located between the motor shaft and the reduction input shaft, and the motor shaft and the reduction input shaft are fixedly connected by the shaft connector. The outer connecting sleeve is located between the reduction housing and the motor housing, and the reduction housing and the motor housing are fixedly connected by the outer connecting sleeve.

[0006] This robot joint module uses a cycloidal reducer. The motor shaft of the motor assembly and the reduction input shaft of the cycloidal reducer are fixedly connected by a shaft connector, and the motor housing of the motor assembly and the reduction housing of the cycloidal reducer are fixedly connected by an outer connecting sleeve. Compared with planetary gear reducers and harmonic reducers, this robot joint module, by using a cycloidal reducer, has the advantages of maintaining high precision while bearing high loads, a wide transmission ratio range, smaller size, lower noise during operation, and longer service life.

[0007] Preferably, the robot joint module further includes a brake, which is disposed between the outer connecting sleeve and the shaft connector. The brake includes a brake body and a brake pad. The brake body is fixed relative to the outer connecting sleeve, and the brake pad is connected to the motor shaft or the shaft connector.

[0008] When the motor shaft of the motor assembly stops rotating, the brake can keep the motor shaft stationary, improving the positioning accuracy of the robot joint module. The brake is located in the space between the outer connecting sleeve and the shaft connector, making the overall structure of the robot joint module more compact.

[0009] Preferably, a first mounting ring extends radially from the inner side of the outer connecting sleeve, the brake body is fixedly connected to the side of the first mounting ring away from the cycloidal reducer, a second mounting ring extends radially from the outer side of the motor shaft, and the brake pad is connected to the side of the second mounting ring near the cycloidal reducer. The first and second mounting rings facilitate the installation of the brake.

[0010] Preferably, the motor shaft has a first positioning groove on the side near the shaft connector, and one end of the shaft connector near the motor shaft is inserted into the first positioning groove. The shaft connector has a second positioning groove on the side near the reduction input shaft, and one end of the reduction input shaft near the shaft connector is inserted into the second positioning groove.

[0011] The shaft connector is inserted into the first positioning groove of the motor shaft, which improves the connection positioning accuracy and coaxiality between the shaft connector and the motor shaft. The reduction input shaft is inserted into the second positioning groove of the shaft connector, which improves the connection positioning accuracy and coaxiality between the reduction input shaft and the shaft connector.

[0012] Preferably, the deceleration input shaft is provided with a first connecting screw hole, the shaft connector is provided with a first connecting through hole, the shaft connector is provided with a second connecting screw hole, the motor shaft is provided with a second connecting through hole, and the robot joint module further includes a first connecting screw and a second connecting screw. The first connecting screw passes through the first connecting through hole and is threadedly connected and fixed to the first connecting screw hole, and the second connecting screw passes through the second connecting through hole and is threadedly connected and fixed to the second connecting screw hole.

[0013] Preferably, the robot joint module further includes a control component, which is located on the side of the motor assembly away from the cycloidal reducer. The control component includes a control housing, a control board, an encoder, and an end cap. The control housing is fixedly connected to the motor housing, and the end cap is fixedly connected to the end of the control housing on the side away from the motor housing. The control board and the encoder are located inside the control housing and the end cap, respectively. The control board is fixedly connected to the control housing. The encoder includes a matching encoding magnet and an encoding sensing module. The encoding magnet is fixed relative to the motor shaft, and the encoding sensing module is fixedly connected to the control housing.

[0014] Preferably, the control component further includes a control shaft, which is fixedly connected to the motor shaft, and the coded magnet is fixed on the control shaft.

[0015] Preferably, the reduction output disk is located on the outer periphery of the reduction input shaft, the control shaft passes through the end cover, and the reduction input shaft, the shaft connector, the motor shaft, and the control shaft are all hollow structures. This makes the robot joint module a hollow structure, allowing other wiring to pass through the middle of the robot joint module.

[0016] Preferably, the control housing includes a radially arranged support plate, a first bearing is provided on the support plate, and the connection part of the motor shaft and the control shaft is connected to the inner ring of the first bearing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is an exploded structural diagram of the present invention; Figure 2 This is a cross-sectional structural diagram of the present invention.

[0019] In the attached diagram: 1-Motor assembly, 11-Motor housing, 12-Motor shaft, 121-Second mounting ring, 122-First positioning groove, 123-Second connecting through hole, 13-Motor stator, 14-Motor rotor, 2-Cycloidal reducer, 21-Reduction housing, 22-Reduction input shaft, 23-Reduction output disc, 3-Shaft connector, 31-Second positioning groove, 32-First connecting through hole, 4-Outer connecting sleeve, 41-First mounting ring, 5-Brake, 51-Brake body, 52-Brake pad, 6-Control assembly, 61-Control housing, 611-Support plate, 62-Control board, 63-Encoder, 631-Encoding magnet, 632-Encoding sensing module, 64-End cover, 65-Control shaft, 66-First bearing.

[0020] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0022] It should be noted that if the embodiments of this utility model involve directional indicators, such as up, down, left, right, front, back, etc., the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0024] like Figure 1 and Figure 2As shown, a robot joint module includes a motor assembly 1 and a cycloidal reducer 2. The motor assembly 1 includes a motor housing 11 and a motor shaft 12. A motor stator 13 is fixed to the inner side of the motor housing 11, and a motor rotor 14 is fixed to the outer side of the motor shaft 12. The motor rotor 14 is located inside the motor stator 13. When the motor stator 13 is energized, the motor rotor 14 drives the motor shaft 12 to rotate.

[0025] The cycloidal reducer 2 includes a reduction housing 21, with a reduction input shaft 22 and a reduction output disk 23 rotatably connected to the inner side of the reduction housing 21. An eccentric wheel is fixed on the reduction input shaft 22, and a cycloidal wheel (not shown in the attached diagram) is rotatably connected to the eccentric wheel. The inner side of the reduction housing 21 is provided with pin teeth. The cycloidal wheel is connected to the reduction output disk 23. When the eccentric wheel rotates, it drives the cycloidal wheel to rotate and mesh with the pin teeth. The cycloidal wheel drives the reduction output disk 23 to rotate, thus achieving speed reduction. The structure and principle of the cycloidal reducer 2 are existing technologies and will not be described in detail here.

[0026] The robot joint module also includes a shaft connector 3 and an outer connecting sleeve 4. The shaft connector 3 is located between the motor shaft 12 and the reduction input shaft 22. The motor shaft 12 and the reduction input shaft 22 are fixedly connected by the shaft connector 3. The outer connecting sleeve 4 is located between the reduction housing 21 and the motor housing 11. The reduction housing 21 and the motor housing 11 are fixedly connected by the outer connecting sleeve 4.

[0027] This robot joint module uses a cycloidal reducer 2. The motor shaft 12 of the motor assembly 1 and the reduction input shaft 22 of the cycloidal reducer 2 are fixedly connected by a shaft connector 3. The motor housing 11 of the motor assembly 1 and the reduction housing 21 of the cycloidal reducer 2 are fixedly connected by an outer connecting sleeve 4. Compared with planetary gear reducers and harmonic reducers, this robot joint module, by using the cycloidal reducer 2, has the advantages of maintaining high precision while bearing high loads, a wide transmission ratio range, small size, low noise during movement, and long service life.

[0028] In some specific embodiments, the robot joint module also includes a brake 5, which is located between the outer connecting sleeve 4 and the shaft connector 3. The brake 5 includes a brake body 51 and a brake pad 52. The brake body 51 is fixed relative to the outer connecting sleeve 4, and the brake pad 52 is connected to the motor shaft 12 or the shaft connector 3.

[0029] When the robot joint module is running, the brake pad 52 moves away from the brake body 51 and rotates synchronously with the motor shaft 12. When the motor shaft 12 of the motor assembly 1 stops rotating, the brake body 51 can be energized to generate a magnetic force that attracts the brake pad 52. After the brake pad 52 adheres to the brake body 51, it can keep the motor shaft 12 from rotating, thus improving the positioning accuracy of the robot joint module. The brake 5 is set in the space between the outer connecting sleeve 4 and the shaft connecting member 3, making the overall structure of the robot joint module more compact.

[0030] Furthermore, a first mounting ring 41 extends radially from the inner side of the outer connecting sleeve 4. The brake body 51 is fixedly connected to the side of the first mounting ring 41 away from the cycloidal reducer 2, preferably by screws. A second mounting ring 121 extends radially from the outer side of the motor shaft 12. The brake pad 52 is connected to the side of the second mounting ring 121 near the cycloidal reducer 2, preferably by screws. The first mounting ring 41 and the second mounting ring 121 facilitate the installation of the brake 5.

[0031] Furthermore, a first positioning groove 122 is provided on the side of the motor shaft 12 near the shaft connector 3, and one end of the shaft connector 3 near the motor shaft 12 is inserted into the first positioning groove 122. A second positioning groove 31 is provided on the side of the shaft connector 3 near the reduction input shaft 22, and one end of the reduction input shaft 22 near the shaft connector 3 is inserted into the second positioning groove 31.

[0032] The shaft connector 3 is inserted into the first positioning groove 122 of the motor shaft 12, which improves the connection positioning accuracy and coaxiality between the shaft connector 3 and the motor shaft 12. The reduction input shaft 22 is inserted into the second positioning groove 31 of the shaft connector 3, which improves the connection positioning accuracy and coaxiality between the reduction input shaft 22 and the shaft connector 3, and facilitates assembly positioning. In addition, since the end of the shaft connector 3 is inserted into the first positioning groove 122 of the motor shaft 12, a second mounting ring 121 extends radially on the outer side of the motor shaft 12 to connect the brake pad 52, which reduces the overall axial length and makes the robot joint module structure more compact.

[0033] Furthermore, the deceleration input shaft 22 is provided with a first connecting screw hole, the shaft connector 3 is provided with a first connecting through hole 32, the shaft connector 3 is provided with a second connecting screw hole, the motor shaft 12 is provided with a second connecting through hole 123, and the robot joint module also includes a first connecting screw and a second connecting screw. The first connecting screw passes through the first connecting through hole 32 and is threadedly connected and fixed to the first connecting screw hole, and the second connecting screw passes through the second connecting through hole 123 and is threadedly connected and fixed to the second connecting screw hole.

[0034] During assembly, first use the first connecting screw to fix the shaft connector 3 to the reduction input shaft 22, then fix the outer connecting sleeve 4 to the reduction housing 21 with screws, then fix the brake body 51 to the first mounting ring 41, connect the brake pad 52 to the motor shaft 12, then use the second connecting screw to fix the motor shaft 12 to the shaft connector 3, and then assemble the motor rotor 14, motor stator 13 and motor housing 11. This makes assembly convenient and the overall structure more compact.

[0035] In some specific embodiments, the robot joint module further includes a control component 6. The control component 6 is located on the side of the motor assembly 1 away from the cycloidal reducer 2. The control component 6 includes a control housing 61, a control board 62, an encoder 63, and an end cover 64. The control housing 61 is fixedly connected to the motor housing 11, specifically by screws. The end cover 64 is fixedly connected to the end of the control housing 61 away from the motor housing 11. The control board 62 and the encoder 63 are located inside the control housing 61 and the end cover 64. The control board 62 is fixedly connected to the control housing 61 and electrically connected to the motor stator 13 to control rotation. The encoder 63 includes a matching encoding magnet 631 and an encoding sensing module 632. The encoding magnet 631 is fixed relative to the motor shaft 12, and the encoding sensing module 632 is fixedly connected to the control housing 61. During operation, the encoding magnet 631 rotates with the motor shaft 12, and the encoding sensing module 632 senses the change in the magnetic field of the encoding magnet 631 to detect the rotation angle of the motor shaft 12. The encoder 63 and the control board 62 are existing technologies.

[0036] Furthermore, the control component 6 also includes a control shaft 65, which is fixedly connected to the motor shaft 12, specifically by screws, and the coded magnet 631 is fixed to the control shaft 65.

[0037] Furthermore, the reduction output disk 23 is located on the outer periphery of the reduction input shaft 22, and the control shaft 65 passes through the end cover 64. The reduction input shaft 22, shaft connector 3, motor shaft 12, and control shaft 65 are all hollow structures. In this way, the robot joint module has a hollow structure, allowing other wiring to pass through the middle of the robot joint module.

[0038] Furthermore, the control housing 61 includes a radially arranged support plate 611, on which a first bearing 66 is provided. The connection portion of the motor shaft 12 and the control shaft 65 is connected to the inner ring of the first bearing 66. The motor shaft 12 and the control shaft 65 are supported and positioned by the first bearing 66 on the support plate 611. The other end of the motor shaft 12 is supported and positioned by a bearing between the reduction input shaft 22 and the reduction housing 21, which can reduce the number of internal bearings and simplify the internal structure of the robot joint module.

[0039] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robot joint module, characterized in that, The device includes a motor assembly (1) and a cycloidal reducer (2). The motor assembly (1) includes a motor housing (11) and a motor shaft (12). A motor stator (13) is fixed to the inner side of the motor housing (11), and a motor rotor (14) is fixed to the outer side of the motor shaft (12). The motor rotor (14) is located inside the motor stator (13). The cycloidal reducer (2) includes a reduction housing (21). A reduction input shaft (22) and a reduction output disc are rotatably connected to the inner side of the reduction housing (21). (23) The robot joint module also includes a shaft connector (3) and an outer connecting sleeve (4). The shaft connector (3) is located between the motor shaft (12) and the deceleration input shaft (22). The motor shaft (12) and the deceleration input shaft (22) are fixedly connected by the shaft connector (3). The outer connecting sleeve (4) is located between the deceleration housing (21) and the motor housing (11). The deceleration housing (21) and the motor housing (11) are fixedly connected by the outer connecting sleeve (4).

2. The robot joint module as described in claim 1, characterized in that, The robot joint module also includes a brake (5), which is located between the outer connecting sleeve (4) and the shaft connector (3). The brake (5) includes a brake body (51) and a brake pad (52). The brake body (51) is fixed relative to the outer connecting sleeve (4), and the brake pad (52) is connected to the motor shaft (12) or the shaft connector (3).

3. The robot joint module as described in claim 2, characterized in that, The inner side of the outer connecting sleeve (4) has a first mounting ring (41) extending radially. The brake body (51) is fixedly connected to the side of the first mounting ring (41) away from the cycloidal reducer (2). The outer side of the motor shaft (12) has a second mounting ring (121) extending radially. The brake pad (52) is connected to the side of the second mounting ring (121) near the cycloidal reducer (2).

4. The robot joint module as described in claim 1, characterized in that, The motor shaft (12) has a first positioning groove (122) on the side near the shaft connector (3), and one end of the shaft connector (3) near the motor shaft (12) is inserted into the first positioning groove (122). The shaft connector (3) has a second positioning groove (31) on the side near the deceleration input shaft (22), and one end of the deceleration input shaft (22) near the shaft connector (3) is inserted into the second positioning groove (31).

5. The robot joint module as described in claim 4, characterized in that, The deceleration input shaft (22) is provided with a first connecting screw hole, the shaft connector (3) is provided with a first connecting through hole (32), the shaft connector (3) is provided with a second connecting screw hole, the motor shaft (12) is provided with a second connecting through hole (123), the robot joint module also includes a first connecting screw and a second connecting screw, the first connecting screw passes through the first connecting through hole (32) and is threadedly connected and fixed to the first connecting screw hole, the second connecting screw passes through the second connecting through hole (123) and is threadedly connected and fixed to the second connecting screw hole.

6. The robot joint module as described in claim 1, characterized in that, The robot joint module also includes a control component (6), which is located on the side of the motor assembly (1) away from the cycloidal reducer (2). The control component (6) includes a control housing (61), a control board (62), an encoder (63), and an end cap (64). The control housing (61) is fixedly connected to the motor housing (11), and the end cap (64) is fixedly connected to the end of the control housing (61) away from the motor housing (11). The control board (62) and the encoder (63) are located inside the control housing (61) and the end cap (64). The control board (62) is fixedly connected to the control housing (61). The encoder (63) includes a matching encoding magnet (631) and an encoding sensing module (632). The encoding magnet (631) is fixed relative to the motor shaft (12), and the encoding sensing module (632) is fixedly connected to the control housing (61).

7. The robot joint module as described in claim 6, characterized in that, The control component (6) further includes a control shaft (65), which is fixedly connected to the motor shaft (12), and the coded magnet (631) is fixed on the control shaft (65).

8. The robot joint module as described in claim 7, characterized in that, The deceleration output disk (23) is located on the outer periphery of the deceleration input shaft (22), and the control shaft (65) passes through the end cover (64). The deceleration input shaft (22), the shaft connector (3), the motor shaft (12) and the control shaft (65) are all hollow structures.

9. The robot joint module as described in claim 7, characterized in that, The control housing (61) includes a radially arranged support plate (611), on which a first bearing (66) is provided, and the connection part of the motor shaft (12) and the control shaft (65) is connected to the inner ring of the first bearing (66).

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