CN113894838A - Flat harmonic speed reduction modularization driving joint - Google Patents
Flat harmonic speed reduction modularization driving joint Download PDFInfo
- Publication number
- CN113894838A CN113894838A CN202111246267.5A CN202111246267A CN113894838A CN 113894838 A CN113894838 A CN 113894838A CN 202111246267 A CN202111246267 A CN 202111246267A CN 113894838 A CN113894838 A CN 113894838A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 238000007789 sealing Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to a flat harmonic speed reduction modular driving joint which comprises a shell, a motor, a harmonic speed reducer and a control device. The motor comprises a motor output shaft, a motor rotor and a motor stator which are coaxially sleeved from inside to outside in sequence; the control device comprises a driver and an encoder which are both in a hollow annular shape; the harmonic reducer comprises an integrated cam, a flexible gear, a rigid gear and an output flange plate which are coaxially arranged. The motor is completely arranged in the flexible gear inner cylinder, so that the maximum utilization of space is realized, and the axial size of the driving joint is shortened. The motor rotor cam shares a rotating shaft, so that the use of a coupler is avoided, the coaxiality of the motor rotor and the harmonic reducer is guaranteed, the internal integration level is improved, and on the other hand, the radial force possibly generated when the harmonic reducer is meshed is effectively transferred to the supporting bearings at the two ends, so that the supporting rigidity of the harmonic reducer is increased. The encoder is arranged in the inner hole of the driver, and the axial size is further shortened.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a flat harmonic speed reduction modular driving joint.
Background
With the rapid development of the robot industry, the mechanical arm is widely applied to various fields such as industry, medical treatment, aerospace, military industry and the like, wherein the driving joint is a key component for realizing high-precision power and motion transmission of the mechanical arm. But the traditional mechanical arm driving joint adopts the design of simply connecting functional components in series, has the obvious defects of complex structure, large volume, long axial size, low power density, no favor of wiring and the like, the utility model not only limits the use of the driving joint in some occasions with insufficient space, but also can bring about the problems of poor dynamic transmission precision of the system, large fluctuation of the positioning precision and the working stability of the tail end actuating mechanism and the like, therefore, in order to meet the requirements of the robot industry on the structural characteristics of miniaturization, flat type and the like of the driving joint, the modularized driving joint gradually becomes a research hotspot and has the characteristics of miniaturization, high internal integration level, mechanical and electrical integration and the like, compared with the traditional driving joint, the modularized driving joint can effectively solve the problems of variety, specification, design period, cost and the like of the industrial robot arm, however, how to consider performance requirements and size constraints to reasonably select and arrange each component is a key factor for restricting the development of the modular drive joint.
Disclosure of Invention
In view of this, the invention aims to provide a flat harmonic speed reduction modular drive joint, which solves the problems of large volume, overlong axial size and low power density of the existing robot drive joints such as mechanical arms.
In order to achieve the purpose, the invention provides the following technical scheme:
a flat harmonic speed reduction modular drive joint comprises a shell, a motor, a harmonic speed reducer and a control device;
the shell is in a step cylinder shape, the front end and the rear end of the shell are fixedly connected with a front end cover and a rear end cover correspondingly, and a front inner space and a rear inner space which are communicated with each other are arranged in the shell;
the motor comprises a motor output shaft, a motor rotor and a motor stator which are coaxially sleeved from inside to outside in sequence; the motor output shaft is coaxially inserted in the shell, the front end of the motor output shaft penetrates out of the shell, and the motor rotor and the motor stator are arranged in the front inner space of the shell;
the control device comprises a driver and an encoder which are both in a hollow annular shape; the driver, the encoder and the motor output shaft are coaxially arranged, the encoder is positioned in an inner hole of the driver, and the driver and the encoder are arranged in the rear inner space of the shell;
the harmonic reducer comprises an integrated cam, a flexible gear, a rigid gear and an output flange plate which are coaxially arranged; the flexible gear is in a stepped cylinder shape matched with the shell, and the front end of the shell, the motor stator and the motor rotor are embedded into the flexible gear inner cylinder; a rigid wheel and a crossed roller bearing are arranged in the outer space of a flexible wheel formed by a stepped structure, the rear end of the flexible wheel is fixedly connected with a shell, the outer ring of the crossed roller bearing is fixedly connected with the rear end of the flexible wheel, the inner ring of the crossed roller bearing is fixedly connected with the rigid wheel, the rigid wheel is meshed with the front end teeth of the flexible wheel and is fixedly connected with an output flange plate, and the output flange plate is coaxially sleeved at the foremost end of the output shaft of the motor; the cam is connected with the section key of the motor output shaft penetrating out of the shell and is connected with the inner wall of the front end of the flexible gear through a flexible bearing in interference fit with the cam.
Further, the motor rotor is in interference fit with the motor output shaft, and the front end and the rear end of the motor rotor are axially limited through a shaft shoulder on the motor output shaft and a buckle inserted on the motor output shaft respectively; the front end and the rear end of the motor stator are axially limited by the front end cover and the retaining shoulders on the shell respectively.
Further, the output shaft of the motor is supported by two deep groove ball bearings arranged in front and at back; the front deep groove ball bearing is matched with the inner wall of the output flange plate, and the front end and the rear end of the front deep groove ball bearing are axially limited by a retaining shoulder on the output flange plate and a shaft shoulder on the motor output shaft respectively; the back deep groove ball bearing is matched with the inner wall between the front inner space and the back inner space of the shell, and the front end and the back end of the back deep groove ball bearing are axially limited through a motor stator and a sleeve arranged on a motor output shaft respectively.
Furthermore, the motor output shaft adopts a hollow structure and is provided with an inner cavity which is axially communicated, so that the wiring is convenient.
Further, the front end cover and the rear end cover are respectively connected with the shell through screws.
Further, driver and encoder all link firmly with the rear end cap.
Furthermore, the cam is connected with the motor output shaft through a spline, and the rear end of the cam is axially limited through a sleeve arranged on the motor output shaft.
Furthermore, the outer ring of the crossed roller bearing is connected with the rear end of the flexible gear through screws, and the inner ring of the crossed roller bearing, the rigid gear and the output flange plate are connected through screws.
Furthermore, the matching end surfaces of the inner ring of the crossed roller bearing and the rigid wheel are provided with sealing rings, and the matching end surfaces of the outer ring and the rear end of the flexible wheel are provided with sealing rings.
The invention has the beneficial effects that:
(1) according to the flat harmonic speed reduction modular driving joint disclosed by the invention, the motor is completely arranged in the flexible gear inner cylinder, so that the space of the flexible gear inner cylinder is fully utilized, the maximum utilization of the space is realized, the overlong axial size when the motor and the harmonic speed reducer are connected in series is avoided, and the axial size of the driving joint is greatly reduced.
(2) According to the flat harmonic speed reduction modular drive joint disclosed by the invention, the motor rotor and the cam share one rotating shaft, and two ends of the rotating shaft are supported by the bearings, so that on one hand, the use of a coupler is avoided, the coaxiality of the motor rotor and the harmonic speed reducer is ensured, and the higher internal integration level of the whole structure is realized, and on the other hand, the radial force possibly generated when the harmonic speed reducer is meshed is effectively transferred to the supporting bearings at two ends, so that the supporting rigidity of the harmonic speed reducer is increased.
(3) According to the flat harmonic speed reduction modular drive joint disclosed by the invention, the driver and the encoder are both of a hollow structure, and the encoder is arranged in the inner hole of the driver, so that the axial size of the integral drive joint is further reduced, and the flat harmonic speed reduction modular drive joint is simple in integral structure and strong in maintainability.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a cross-sectional view of a flat harmonic speed reduction modular drive joint of the present invention.
Reference numerals: the device comprises a crossed roller bearing 1, a rigid wheel 2, a sealing ring 3, a flexible wheel 4, an output flange 5, a flexible bearing 6, a deep groove ball bearing 7, a sleeve 8, a motor output shaft 9, a cam 10, a front end cover 11, a screw 12, a sealing ring 13, a screw 14, a screw 15, a rear end cover 16, a driver 17, a shell 18, an encoder 19, a buckle 20, a motor rotor 21, a deep groove ball bearing 22, a motor stator 23 and a screw 24.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a flat harmonic speed reduction modular drive joint includes a housing 18, a motor, a harmonic speed reducer, and a control device.
The housing 18 is a stepped cylindrical shape, the front end and the rear end of which are fixedly connected to the front end cover 11 and the rear end cover 16 through screws 24 and 15, respectively, and a front inner space and a rear inner space which are communicated with each other are formed inside the housing.
The motor is an internal rotation frameless torque motor and comprises a motor output shaft 9, a motor rotor 21 and a motor stator 23 which are coaxially sleeved from inside to outside in sequence. The motor output shaft 9 is coaxially inserted inside the housing 18 with the front end penetrating out of the housing 18, and the motor rotor 21 and the motor stator 23 are arranged in the front inner space of the housing 18. The motor rotor 21 is in interference fit with the motor output shaft 9, and the front end and the rear end of the motor rotor 21 are axially limited by a shaft shoulder on the motor output shaft 9 and a buckle 20 inserted on the motor output shaft 9 respectively; the front end and the rear end of the motor stator 23 are axially limited by the front end cover 11 and the retaining shoulders on the shell 18 respectively. The motor output shaft 9 is supported by two deep groove ball bearings arranged in front and at the back, and bears radial force and smaller axial force from the motor and the harmonic reducer; the front deep groove ball bearing 7 is matched with the inner wall of the output flange plate 5, and the front end and the rear end of the front deep groove ball bearing are axially limited by a retaining shoulder on the output flange plate 5 and a shaft shoulder on the motor output shaft 9 respectively; the latter deep groove ball bearing 22 is matched with the inner wall between the front and rear inner spaces of the shell 18, and the front end and the rear end of the latter deep groove ball bearing are axially limited by a motor stator 23 and a sleeve 8 arranged on a motor output shaft 9 respectively. The motor output shaft 9 adopts a hollow structure and is provided with an inner cavity which is axially communicated, so that wiring is facilitated.
The control device comprises a driver 17 and an encoder 19 which are both in a hollow annular shape and fixed on the rear end cover 16; the driver 17 and the encoder 19 are provided coaxially with the motor output shaft 9, the encoder 19 is located in the inner hole of the driver 17, the axial dimension of the driving joint is shortened, and the driver 17 and the encoder 19 are arranged in the rear inner space of the housing 18.
The harmonic reducer comprises an integrated cam 10, a flexible gear 4, a rigid gear 2 and an output flange 5 which are coaxially arranged. The flexible gear 4 is in a stepped cylinder shape matched with the shell 18, the front end of the shell 18, the motor stator 23 and the motor rotor 21 are embedded into the inner cylinder of the flexible gear 4, the axial size of the driving joint is shortened, compared with a traditional series structure, the internal space of the flexible gear 4 is fully utilized, and the utilization rate of the internal space of the driving joint is improved. The flexible gear 4 outer space formed by the ladder structure arranges rigid wheel 2 and crossed roller bearing 1, has also shortened the axial dimension of the drive joint, the rear end of flexible gear 4 links firmly with outer casing 18, the outer lane of crossed roller bearing 1 passes through screw 14 with the rear end of flexible gear 4 to be connected, and install the sealing washer 13 on the fitting surface, the inner circle of crossed roller bearing 1, rigid wheel 2 and output flange 5 pass through screw 12 to be connected, and install the sealing washer 3 on the inner circle of crossed roller bearing 1 and the cooperation terminal surface of rigid wheel 2, the rigid wheel 2 is connected with the meshing of the front end tooth of flexible gear 4, the output flange 5 is nested in the foremost end of motor output shaft 9 coaxially, the output flange 5 can customize different output interfaces according to the actual application.
The cam 10 is connected with a section spline of the motor output shaft 9 penetrating out of the shell 18, uneven stress of flat key connection is avoided, the cam is connected with the inner wall of the front end of the flexible wheel 4 through a flexible bearing 6 in interference fit with the cam, and the rear end of the cam 10 is axially limited through a sleeve 8 arranged on the motor output shaft 9. The cam 10 is an integrated cam 10, so that the structure is simplified, the installation is facilitated, and the coaxiality of the motor and the cam 10 is ensured because the motor and the cam 10 share one shaft (the motor output shaft 9).
The working principle of the driving joint is as follows: the encoder 19 is used for detecting and feeding back angular position information of the motor rotor 21, the driver 17 is used for controlling the rotation displacement of the motor rotor 21, the motor rotor 21 rotates, the motor output shaft 9 in interference fit with the motor rotor drives the cam 10 to rotate, the flexible bearing 6 in interference fit with the cam 10 forces the flexible gear 4 and the rigid gear 2 to generate small tooth difference meshing, the rear end of the flexible gear 4 is fixed, and the output flange 5 rotates along with the rigid gear 2 to serve as an output mechanism.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a flat type harmonic speed reduction modularization drive joint which characterized in that: comprises a shell, a motor, a harmonic reducer and a control device;
the shell is in a step cylinder shape, the front end and the rear end of the shell are fixedly connected with a front end cover and a rear end cover correspondingly, and a front inner space and a rear inner space which are communicated with each other are arranged in the shell;
the motor comprises a motor output shaft, a motor rotor and a motor stator which are coaxially sleeved from inside to outside in sequence; the motor output shaft is coaxially inserted in the shell, the front end of the motor output shaft penetrates out of the shell, and the motor rotor and the motor stator are arranged in the front inner space of the shell;
the control device comprises a driver and an encoder which are both in a hollow annular shape; the driver, the encoder and the motor output shaft are coaxially arranged, the encoder is positioned in an inner hole of the driver, and the driver and the encoder are arranged in the rear inner space of the shell;
the harmonic reducer comprises an integrated cam, a flexible gear, a rigid gear and an output flange plate which are coaxially arranged; the flexible gear is in a stepped cylinder shape matched with the shell, and the front end of the shell, the motor stator and the motor rotor are embedded into the flexible gear inner cylinder; a rigid wheel and a crossed roller bearing are arranged in the outer space of a flexible wheel formed by a stepped structure, the rear end of the flexible wheel is fixedly connected with a shell, the outer ring of the crossed roller bearing is fixedly connected with the rear end of the flexible wheel, the inner ring of the crossed roller bearing is fixedly connected with the rigid wheel, the rigid wheel is meshed with the front end teeth of the flexible wheel and is fixedly connected with an output flange plate, and the output flange plate is coaxially sleeved at the foremost end of the output shaft of the motor; the cam is connected with the section key of the motor output shaft penetrating out of the shell and is connected with the inner wall of the front end of the flexible gear through a flexible bearing in interference fit with the cam.
2. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the motor rotor is in interference fit with the motor output shaft, and the front end and the rear end of the motor rotor are axially limited by a shaft shoulder on the motor output shaft and a buckle inserted on the motor output shaft respectively; the front end and the rear end of the motor stator are axially limited by the front end cover and the retaining shoulders on the shell respectively.
3. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the output shaft of the motor is supported by two deep groove ball bearings arranged in front and at back; the front deep groove ball bearing is matched with the inner wall of the output flange plate, and the front end and the rear end of the front deep groove ball bearing are axially limited by a retaining shoulder on the output flange plate and a shaft shoulder on the motor output shaft respectively; the back deep groove ball bearing is matched with the inner wall between the front inner space and the back inner space of the shell, and the front end and the back end of the back deep groove ball bearing are axially limited through a motor stator and a sleeve arranged on a motor output shaft respectively.
4. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the motor output shaft adopts a hollow structure, has an inner cavity which is axially communicated and is convenient for wiring.
5. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the front end cover and the rear end cover are respectively connected with the shell through screws.
6. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: and the driver and the encoder are fixedly connected with the rear end cover.
7. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the cam is connected with the motor output shaft through a spline, and the rear end of the cam is axially limited through a sleeve arranged on the motor output shaft.
8. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: the outer ring of the crossed roller bearing is connected with the rear end of the flexible gear through screws, and the inner ring of the crossed roller bearing, the rigid gear and the output flange plate are connected through screws.
9. The flat-type harmonic deceleration modular drive joint of claim 1, wherein: and the matching end surfaces of the outer ring and the rear end of the flexible wheel are provided with sealing rings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111246267.5A CN113894838B (en) | 2021-10-26 | 2021-10-26 | Flat harmonic speed reduction modularized driving joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111246267.5A CN113894838B (en) | 2021-10-26 | 2021-10-26 | Flat harmonic speed reduction modularized driving joint |
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| Publication Number | Publication Date |
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| CN113894838A true CN113894838A (en) | 2022-01-07 |
| CN113894838B CN113894838B (en) | 2024-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111246267.5A Active CN113894838B (en) | 2021-10-26 | 2021-10-26 | Flat harmonic speed reduction modularized driving joint |
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| CN (1) | CN113894838B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115008497A (en) * | 2022-08-02 | 2022-09-06 | 成都瑞迪智驱科技股份有限公司 | Compact robot joint module based on harmonic speed reducer |
| CN116038676A (en) * | 2022-12-14 | 2023-05-02 | 达闼机器人股份有限公司 | Waterproof actuator and robot |
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| CN101116973A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
| CN106487158A (en) * | 2016-11-18 | 2017-03-08 | 四川福德机器人股份有限公司 | A kind of flat integration harmonic speed reducer device of built-in motor |
| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | Under-actuated 2R mechanical arm device based on harmonic deceleration |
| US20210008713A1 (en) * | 2019-07-11 | 2021-01-14 | Beijing Institute Of Technology | Joint support structure of a robot and a robot having the same |
| CN112555357A (en) * | 2020-12-03 | 2021-03-26 | 重庆大学 | K-H-V type gap-adjustable small tooth difference precision transmission device |
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2021
- 2021-10-26 CN CN202111246267.5A patent/CN113894838B/en active Active
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| CN101116973A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm parallel modularization joint |
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| CN107363825A (en) * | 2017-08-25 | 2017-11-21 | 安徽大学 | Under-actuated 2R mechanical arm device based on harmonic deceleration |
| US20210008713A1 (en) * | 2019-07-11 | 2021-01-14 | Beijing Institute Of Technology | Joint support structure of a robot and a robot having the same |
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| "《制造业自动化》2012年总目录", 制造业自动化, no. 24, 25 December 2012 (2012-12-25) * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115008497A (en) * | 2022-08-02 | 2022-09-06 | 成都瑞迪智驱科技股份有限公司 | Compact robot joint module based on harmonic speed reducer |
| CN115008497B (en) * | 2022-08-02 | 2022-11-04 | 成都瑞迪智驱科技股份有限公司 | Compact robot joint module based on harmonic speed reducer |
| CN116038676A (en) * | 2022-12-14 | 2023-05-02 | 达闼机器人股份有限公司 | Waterproof actuator and robot |
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| Publication number | Publication date |
|---|---|
| CN113894838B (en) | 2024-07-09 |
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