Rotary joint module and robot

Abstract

The application discloses a rotary joint module and a robot, and relates to the technical field of robots. The rotary joint module comprises an output flange, a harmonic reducer, a support seat, a motor assembly and a magnetic ring assembly. The output flange comprises a sleeve part and a flange part connected with each other, and the flange part is arranged around the periphery of one end of the sleeve part. The harmonic reducer is arranged around the periphery of the sleeve part and is connected with the flange part. The harmonic reducer comprises a wave generator. The first support part of the support seat is arranged around the periphery of the wave generator. The first bearing and the second bearing are arranged in parallel along the axial direction of the output flange between the wave generator and the first support part. The first bearing is located on the side of the second bearing facing the flange part. The motor assembly comprises a frameless motor and a mounting seat. The mounting seat is arranged around the periphery of the wave generator and is connected with the wave generator. The rotor of the frameless motor is connected with the mounting seat. The magnetic ring assembly is arranged around the periphery of the sleeve part. The rotary joint module provided by the application can reduce the vibration amplitude of the wave generator and realize the noise reduction function.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a rotary joint module and a robot. Background Technology

[0002] Currently, robots are widely used in many fields such as industrial production, surgery, security, and home care. Among them, the rotary joint structure of a robot is a key component that enables the robot's joint movement.

[0003] In related technologies, the rotary joint structure of robots is prone to problems such as large vibration amplitude and high noise during operation. Utility Model Content

[0004] This application provides a rotary joint module and robot to reduce the vibration amplitude of a wave generator and achieve noise reduction.

[0005] This application provides a rotary joint module, including: An output flange includes a connected sleeve portion and a flange portion, the flange portion being disposed around the periphery of one end of the sleeve portion; A harmonic reducer is disposed around the periphery of the sleeve portion and connected to the flange portion, the harmonic reducer including a wave generator; The support base includes a first support portion, which is disposed around the periphery of the wave generator; The bearing assembly includes a first bearing and a second bearing, which are arranged side by side along the axial direction of the output flange between the wave generator and the first support portion, with the first bearing located on the side of the second bearing facing the flange portion; A motor assembly includes a frameless motor and a mounting base, the mounting base being disposed around the periphery of the wave generator and connected to the wave generator, the frameless motor including a stator and a rotor, the rotor being rotatably disposed inside the stator and connected to the mounting base; A magnetic ring assembly is disposed around the periphery of the sleeve portion at the end away from the flange portion.

[0006] In some possible implementations, a first washer is provided between the inner ring of the first bearing and the inner ring of the second bearing, and a second washer is provided between the outer ring of the first bearing and the outer ring of the second bearing.

[0007] In some possible implementations, the rotary joint module further includes a pressure ring connected to the side of the support seat opposite to the flange portion and abutting against the side of the outer ring of the second bearing opposite to the flange portion; And / or, a limiting flange is provided at one end of the first support portion near the flange portion, the limiting flange protruding from the side of the first support portion facing the wave generator and abutting against the side of the outer ring of the first bearing facing the flange portion.

[0008] In some possible implementations, the wave generator is provided with a first stepped surface on the side facing the first support portion, and the first stepped surface abuts against the side of the inner ring of the first bearing facing the flange portion. And / or, the end face of the mounting base facing one end of the flange portion abuts against the side of the inner ring of the second bearing away from the flange portion.

[0009] In some possible implementations, the harmonic reducer further includes a flexible wheel, a steel wheel, and a flexible bearing. The flexible wheel is arranged around the periphery of the wave generator and connected to the flange. The flexible bearing is disposed between the flexible wheel and the wave generator. The steel wheel is arranged around the periphery of the flexible wheel. The support base also includes a second support portion that intersects with the first support portion. The second support portion is arranged around the periphery of the first support portion at the end away from the flange portion and is connected to the steel wheel.

[0010] In some possible implementations, the rotary joint module further includes a third bearing disposed between the mounting base and the sleeve portion, the third bearing being located at the end of the mounting base away from the flange portion.

[0011] In some possible implementations, a bushing is also fitted between the inner ring of the third bearing and the sleeve portion.

[0012] In some possible implementations, the magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first fixing base, and a second fixing base; The first fixing seat is arranged around the periphery of the mounting seat at the end away from the flange and is connected to the mounting seat. The first magnetic ring is disposed on the side of the first fixing seat opposite to the mounting seat. The second fixing seat is disposed around the periphery of the sleeve portion and is located on the side of the bushing portion away from the flange portion. The second magnetic ring is disposed inside the first magnetic ring and abuts against the second fixing seat and the bushing along the axial direction of the output flange.

[0013] In some possible implementations, the second fixed seat has a second stepped surface on the side opposite to the sleeve portion, and the second stepped surface abuts against the side of the second magnetic ring opposite to the bushing.

[0014] In addition, this application also provides a robot including the rotary joint module described in the above embodiments.

[0015] The beneficial effects of this application are as follows: In the rotary joint module provided by this application, a first bearing and a second bearing are provided between the wave generator and the first support part, which can reduce the radial vibration amplitude when the wave generator rotates, improve the operating stability of the wave generator, and also reduce the noise generated during operation, thereby achieving the noise reduction function. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A three-dimensional structural schematic diagram of the rotary joint module is shown in some embodiments; Figure 2 A cross-sectional structural schematic diagram of the rotary joint module is shown in some embodiments; Figure 3 A partial cross-sectional structural schematic diagram of the rotary joint module in some embodiments is shown; Figure 4 Schematic diagrams of the support base are shown in some embodiments; Figure 5 A cross-sectional view of another portion of the rotary joint module is shown in some embodiments; Figure 6 A cross-sectional structural diagram of another part of the rotary joint module in some embodiments is shown.

[0018] Explanation of key component symbols: 100 - Output flange; 110 - Sleeve section; 120 - Flange section; 200 - Harmonic reducer; 210 - Wave generator; 211 - First step surface; 220 - Flexible wheel; 230 - Steel wheel; 240 - Flexible bearing; 300 - Support base; 310 - First support part; 311 - Limiting flange; 320 - Second support part; 400 - Motor assembly; 410 - Frameless motor; 411 - Stator; 412 - Rotor; 420 - Mounting base; 510 - Magnetic ring assembly; 511 - First magnetic ring; 512 - Second magnetic ring; 513 - First fixing seat; 514 - Second fixing seat; 5141 - Second stepped surface; 520 - Drive plate; 600 - Housing assembly; 610 - Housing; 620 - End cap; 710 - Bearing assembly; 711 - First bearing; 712 - Second bearing; 720 - Third bearing; 731 - First washer; 732 - Second washer; 740 - Pressure ring; 750 - Locking nut; 760 - Bushing; 810 - First sealing ring; 820 - Second sealing ring. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0021] 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 application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In this application, unless otherwise expressly 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 part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] like Figures 1 to 3 As shown, the embodiment provides a rotary joint module that can be applied to the joints of a robot to realize the rotation of the robot's joint position.

[0025] In some embodiments, the rotary joint module may include an output flange 100, a harmonic reducer 200, a support base 300, a bearing assembly 710, a motor assembly 400, and a magnetic ring assembly 510. The output flange 100 includes a sleeve portion 110 and a flange portion 120 connected together. The sleeve portion 110 may be a tubular structure with openings at both ends, facilitating wiring. The flange portion 120 may be disposed around one end of the sleeve portion 110, and may extend radially along the sleeve portion 110. Furthermore, the flange portion 120 may be coaxially arranged with the sleeve portion 110. In some embodiments, the sleeve portion 110 and the flange portion 120 may be an integral structure. The flange portion 120 may be connected to the robot body.

[0026] In some embodiments, the harmonic reducer 200 may be disposed around the periphery of the sleeve portion 110 and near one end of the flange portion 120. The harmonic reducer 200 may be connected to the flange portion 120, thereby transmitting rotational power to the output flange 100. In one embodiment, the harmonic reducer 200 includes a wave generator 210, which is disposed around the periphery of the sleeve portion 110.

[0027] In some embodiments, the support base 300 includes a first support portion 310, which may be tubular and surround the periphery of the wave generator 210. In another embodiment, the bearing assembly 710 may include a first bearing 711 and a second bearing 712, which may be arranged side-by-side along the axial direction of the output flange 100 between the wave generator 210 and the first support portion 310. Furthermore, the first bearing 711 may be located on the side of the second bearing 712 facing the flange portion 120.

[0028] Combined again Figure 5In some embodiments, the motor assembly 400 includes a frameless motor 410 and a mounting base 420. The mounting base 420 may be disposed around the periphery of the wave generator 210 and connected to the wave generator 210. In an embodiment, the mounting base 420 may be located generally at the end of the wave generator 210 away from the flange portion 120. The frameless motor 410 includes a stator 411 and a rotor 412, the rotor 412 being rotatably disposed inside the stator 411 and disposed around the periphery of the mounting base 420 and connected to the mounting base 420. In an embodiment, a magnetic ring assembly 510 may be disposed around the periphery of the sleeve portion 110 away from the flange portion 120.

[0029] During operation, the motor assembly 400 can transmit rotational power to the harmonic reducer 200 through the mounting base 420, and then transmit the rotational power to the output flange 100 through the harmonic reducer 200 to drive the output flange 100 to rotate, thereby realizing the rotation of the joint parts of the robot body.

[0030] In this embodiment of the application, a first bearing 711 and a second bearing 712 are provided between the wave generator 210 and the first support part 310, which can reduce the radial vibration amplitude when the wave generator 210 rotates, improve the operating stability of the wave generator 210, and also reduce the noise generated during operation, thereby achieving noise reduction function.

[0031] like Figures 2 to 4 As shown, the harmonic reducer 200 also includes a flexible bearing 240, a flexible wheel 220, and a steel wheel 230, with the flexible wheel 220 and steel wheel 230 sequentially sleeved around the periphery of the wave generator 210. The flexible bearing 240 is installed between the wave generator 210 and the flexible wheel 220, serving to support and transmit force, while also accommodating the elastic deformation of the flexible wheel 220. The flexible wheel 220 is bolted to the output flange 100. When the mounting base 420 rotates under the drive of the frameless motor 410, causing the wave generator 210 to rotate, the wave generator 210 causes the flexible wheel 220 to undergo elastic deformation and engage with the steel wheel 230, thereby transmitting rotational power to the flexible wheel 220. The flexible wheel 220 rotates as a driven wheel, driving the output flange 100 to move. In some embodiments, the first support portion 310 may be located between the wave generator 210 and the flexible wheel 220.

[0032] In this embodiment, the bearing assembly 710 is placed inside the flexible wheel 220, which can improve the space utilization rate inside the rotary joint module, making the overall volume of the rotary joint module smaller, occupying less space, and lighter.

[0033] In some embodiments, a first sealing ring 810 is provided between the flexible wheel 220 and the flange portion 120. The first sealing ring 810 can seal against the space between the flexible wheel 220 and the flange portion 120, thereby increasing the sealing performance between the flange portion 120 and the harmonic reducer 200.

[0034] In some embodiments, the support base 300 further includes a second support portion 320 intersecting with the first support portion 310. In some embodiments, the second support portion 320 may be perpendicular to the first support portion 310. The second support portion 320 is disposed around the periphery of the end of the first support portion 310 away from the flange portion 120, and the second support portion 320 may be bolted to the steel wheel 230. In some embodiments, a second sealing ring 820 is further provided between the second support portion 320 and the steel wheel 230, and the second sealing ring 820 seals against the second support portion 320 and the steel wheel 230, thereby improving the sealing performance between the support base 300 and the steel wheel.

[0035] like Figure 2 and Figure 3 As shown, in some embodiments, a first washer 731 is provided between the inner ring of the first bearing 711 and the inner ring of the second bearing 712. A second washer 732 is provided between the outer ring of the first bearing 711 and the outer ring of the second bearing 712. This reduces wear between the first bearing 711 and the second bearing 712, and also reduces noise generation.

[0036] In some embodiments, the rotary joint module further includes a pressure ring 740, which is fixedly disposed on the side of the second support portion 320 away from the flange portion 120 by means of bolts or other means, and the pressure ring 740 may be located at the end of the second support portion 320 near the first support portion 310. In an embodiment, the pressure ring 740 may abut against the side of the outer ring of the second bearing 712 away from the flange portion 120.

[0037] In some embodiments, a limiting flange 311 is provided at one end of the first support portion 310 near the flange portion 120. The limiting flange 311 protrudes from the side of the first support portion 310 facing the wave generator 210. In this embodiment, the limiting flange 311 abuts against the side of the outer ring of the first bearing 711 facing the flange portion 120.

[0038] In some embodiments, the wave generator 210 has a first stepped surface 211 disposed on the side facing the first support portion 310. The first stepped surface 211 can be disposed opposite to the inner ring of the first bearing 711, and the first stepped surface 211 abuts against the side of the inner ring of the first bearing 711 facing the flange portion 120. In addition, the end face of the mounting base 420 facing the flange portion 120 can abut against the side of the inner ring of the second bearing 712 away from the flange portion 120. In the embodiments, under the cooperative action of the pressure ring 740, the mounting base 420, the limiting flange 311 and the first stepped surface 211, axial limiting can be provided for the bearing assembly 710, reducing the possibility of the bearing assembly 710 moving axially along the output flange 100, ensuring smooth and stable transmission of rotational power, and improving the operating accuracy of the rotary joint module.

[0039] like Figure 2 and Figure 5 As shown, in some embodiments, the rotary joint module further includes a locking nut 750. The locking nut 750 may be disposed inside the mounting base 420, and may be disposed around the periphery of the wave generator 210 at the end away from the flange 120, and connected to the wave generator 210, which can further improve the stability of the wave generator 210.

[0040] In some embodiments, the rotary joint module further includes a third bearing 720, which may be disposed between the mounting base 420 and the sleeve portion 110, and the third bearing 720 may be located at the end of the mounting base 420 away from the flange portion 120. The third bearing 720 can provide support for the end of the sleeve portion 110 away from the flange portion 120, thereby improving the bending moment resistance of the output flange 100. In some embodiments, a bushing 760 is further sleeved between the inner ring of the third bearing 720 and the sleeve portion 110.

[0041] like Figure 2 and Figure 6 As shown, in some embodiments, the magnetic ring assembly 510 may include a first magnetic ring 511, a second magnetic ring 512, a first fixing seat 513, and a second fixing seat 514. The first fixing seat 513 may be disposed around the periphery of the mounting base 420 at the end away from the flange portion 120, and the first fixing seat 513 may be fixedly connected to the mounting base 420 by means of locking with set screws or bolt connection. In an embodiment, the first magnetic ring 511 may be disposed along the axial direction of the output flange 100 on the side of the first fixing seat 513 opposite to the mounting base 420.

[0042] In some embodiments, the second magnetic ring 512 may be disposed inside the first magnetic ring 511, that is, the first magnetic ring 511 may be disposed on the side of the second magnetic ring 512 facing the sleeve portion 110. The second fixing seat 514 may be disposed around the periphery of the sleeve portion 110, and may be located at the end of the sleeve portion 110 away from the flange portion 120, and along the axial direction of the output flange 100 located on the side of the second magnetic ring 512 opposite to the flange portion 120. In addition, the second fixing seat 514 may be fixedly connected to the sleeve portion 110 by means of locking with set screws or bolt connection.

[0043] In some embodiments, the second mounting base 514 has a second stepped surface 5141 disposed on the side facing the second magnetic ring 512. The second stepped surface 5141 can abut against the side of the second magnetic ring 512 away from the flange portion 120. In addition, the side of the second magnetic ring 512 facing the flange portion 120 can abut against the end face of the bushing 760 away from the flange portion 120.

[0044] In some embodiments, the rotary joint module further includes a drive plate 520, which may surround the periphery of the second fixing base 514 and be disposed opposite to the first magnetic ring 511 and the second magnetic ring 512. The drive plate 520 may be electrically connected to the frameless motor 410.

[0045] like Figure 1 , Figure 2 and Figure 6 As shown, in some embodiments, the rotary joint module further includes a housing assembly 600, which may include a housing 610 and an end cap 620. The housing 610 may be disposed around the periphery of the frameless motor 410, and the stator 411 may be fixedly connected to the housing 610. The end cap 620 may be fixedly connected to the end of the housing 610 away from the flange 120 by means of bolts or other means, and is opposite to the side of the drive plate 520 away from the first magnetic ring 511 and the second magnetic ring 512. Additionally, the drive plate 520 may be fixedly connected to the housing assembly 600 by means of screws or snap-fit ​​connections. In some embodiments, the end of the housing 610 away from the end cap 620 may be fixedly connected to the support base 300 by means of bolts or other means.

[0046] The embodiment also provides a robot, including a robot body and a rotary joint module provided in the embodiment. The rotary joint module can be installed at the joints of the robot body. The robot's joints can be waist joints, with the rotary joint module located at the waist joint. Of course, the joints can also be neck joints, arm joints, leg joints, etc.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A rotary joint module, characterized in that, include: An output flange includes a connected sleeve portion and a flange portion, the flange portion being disposed around the periphery of one end of the sleeve portion; A harmonic reducer is disposed around the periphery of the sleeve portion and connected to the flange portion, the harmonic reducer including a wave generator; The support base includes a first support portion, which is disposed around the periphery of the wave generator; The bearing assembly includes a first bearing and a second bearing, which are arranged side by side along the axial direction of the output flange between the wave generator and the first support portion, with the first bearing located on the side of the second bearing facing the flange portion; A motor assembly includes a frameless motor and a mounting base, the mounting base being disposed around the periphery of the wave generator and connected to the wave generator, the frameless motor including a stator and a rotor, the rotor being rotatably disposed inside the stator and connected to the mounting base; A magnetic ring assembly is disposed around the periphery of the sleeve portion at the end away from the flange portion.

2. The rotary joint module according to claim 1, characterized in that, A first washer is provided between the inner ring of the first bearing and the inner ring of the second bearing, and a second washer is provided between the outer ring of the first bearing and the outer ring of the second bearing.

3. The rotary joint module according to claim 2, characterized in that, The rotary joint module also includes a pressure ring, which is connected to the side of the support seat away from the flange and abuts against the side of the outer ring of the second bearing away from the flange. And / or, a limiting flange is provided at one end of the first support portion near the flange portion, the limiting flange protruding from the side of the first support portion facing the wave generator and abutting against the side of the outer ring of the first bearing facing the flange portion.

4. The rotary joint module according to claim 2 or 3, characterized in that, The wave generator is provided with a first stepped surface on the side facing the first support portion, and the first stepped surface abuts against the side of the inner ring of the first bearing facing the flange portion. And / or, the end face of the mounting base facing one end of the flange portion abuts against the side of the inner ring of the second bearing away from the flange portion.

5. The rotary joint module according to claim 1, characterized in that, The harmonic reducer also includes a flexible wheel, a steel wheel, and a flexible bearing. The flexible wheel is arranged around the periphery of the wave generator and connected to the flange. The flexible bearing is arranged between the flexible wheel and the wave generator. The steel wheel is arranged around the periphery of the flexible wheel. The support base also includes a second support portion that intersects with the first support portion. The second support portion is arranged around the periphery of the first support portion at the end away from the flange portion and is connected to the steel wheel.

6. The rotary joint module according to claim 1, characterized in that, The rotary joint module also includes a third bearing, which is disposed between the mounting base and the sleeve portion, and the third bearing is located at the end of the mounting base away from the flange portion.

7. The rotary joint module according to claim 6, characterized in that, A bushing is also fitted between the inner ring of the third bearing and the sleeve portion.

8. The rotary joint module according to claim 7, characterized in that, The magnetic ring assembly includes a first magnetic ring, a second magnetic ring, a first fixing base, and a second fixing base; The first fixing seat is arranged around the periphery of the mounting seat at the end away from the flange and is connected to the mounting seat. The first magnetic ring is disposed on the side of the first fixing seat opposite to the mounting seat. The second fixing seat is disposed around the periphery of the sleeve portion and is located on the side of the bushing portion away from the flange portion. The second magnetic ring is disposed inside the first magnetic ring and abuts against the second fixing seat and the bushing along the axial direction of the output flange.

9. The rotary joint module according to claim 8, characterized in that, The second fixed seat has a second stepped surface on the side opposite to the sleeve portion, and the second stepped surface abuts against the side of the second magnetic ring opposite to the bushing.

10. A robot, characterized in that, Includes the rotary joint module as described in any one of claims 1 to 9.

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