CN113977625A - Electric joint module integrating double speed reducers - Google Patents
Electric joint module integrating double speed reducers Download PDFInfo
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- CN113977625A CN113977625A CN202111358101.2A CN202111358101A CN113977625A CN 113977625 A CN113977625 A CN 113977625A CN 202111358101 A CN202111358101 A CN 202111358101A CN 113977625 A CN113977625 A CN 113977625A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 109
- 230000009977 dual effect Effects 0.000 claims abstract description 21
- 230000009467 reduction Effects 0.000 claims abstract description 13
- 238000007789 sealing Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention provides an electric joint module integrating double speed reducers and controlling the same, which comprises: the joint comprises a joint shell, a first mounting end and a second mounting end are respectively arranged at two axial ends of the joint shell; the first harmonic reducer is fixedly connected with the first mounting end; the frameless motor is arranged in the joint shell, and an outer stator of the frameless motor is fixedly connected with the inner wall of the joint shell; the motor end cover is fixedly connected with the second mounting end; the supporting bracket is fixedly connected with the motor end cover; the second harmonic reducer is fixedly connected with the support bracket; the motor shaft is fixedly connected with an inner rotor of the frameless motor; and two ends of the motor shaft are respectively and fixedly connected with the input end of the first harmonic reducer and the input end of the second harmonic reducer. This scheme makes electronic joint module adopt the double harmonic reduction gear to carry out power take off, and the collocation can be chooseed for use in a flexible way to the harmonic reduction gear, can provide great output torque and dual bracing effect, and the robot application occasion of high power, high reliability requirement is particularly useful for.
Description
Technical Field
The invention belongs to the technical field of robot joint equipment, and particularly relates to an electric joint module integrating double speed reducer control.
Background
With the continuous development and upgrading of the robot technology, the requirements on the reliability and the performance of the robot are higher and higher. The electric joint module is used as a core component of the robot and has the most direct influence on the weight, the size, the load capacity, the motion performance and the like of the robot. Therefore, modular and lightweight electric joint modules have become a trend of research into various dual-arm robots, mobile robots, wearable robots, and other robots.
At present, an electric joint module mainly integrates a motor, a speed reducer, a brake, an encoder, a servo drive controller and the like required by robot control into a joint system, wherein the speed reducer adopts a harmonic speed reducer, has the characteristics of simple and compact structure, large transmission ratio and the like, and is widely applied to robot joints with medium and small torque. However, for an application scenario with high requirements on power density (ratio of output power to weight) and carrying capacity, especially for an electric joint used by a legged robot, a single reducer may not meet the motion power requirements of the robot, and only provides a single support, so that the harmonic bearing has too large load, and even the safety and reliability of the robot cannot be ensured.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
In view of the above, an object of the present invention is to provide an electric joint module integrating dual speed reducer control.
In order to achieve the above object, an embodiment of the present invention provides an electric joint module integrating dual speed reducer control, including: the joint comprises a joint shell, a first mounting end and a second mounting end are respectively arranged at two axial ends of the joint shell; the first harmonic reducer is fixedly connected with the first mounting end; the frameless motor is arranged in the joint shell, and an outer stator of the frameless motor is fixedly connected with the inner wall of the joint shell; the motor end cover is fixedly connected with the second mounting end; the supporting bracket is fixedly connected with the motor end cover; the second harmonic reducer is fixedly connected with the supporting bracket; the motor shaft is fixedly connected with an inner rotor of the frameless motor; and the two ends of the motor shaft are respectively and fixedly connected with the input end of the first harmonic reducer and the input end of the second harmonic reducer.
In the electric joint module integrating the dual speed reducer control as a whole as described above, optionally, the electric joint module further includes: the inner ring of the first bearing is fixedly connected with the motor shaft; the inner ring of the second bearing is fixedly connected with the motor shaft; the inner wall of the joint shell, which is close to the first installation end, protrudes inwards to form a first supporting part, a second supporting part is arranged on the motor end cover, the outer ring of the first bearing is fixedly connected with the first supporting part, and the outer ring of the second bearing is fixedly connected with the second supporting part.
In the electric joint module integrating the dual speed reducer control into a whole as described above, optionally, the inner wall of the second support portion is provided with a positioning portion in an annular convex shape, and the positioning portion is located at one end of the inner wall of the second support portion, which is far away from the frameless motor; the electric joint module further comprises: and the wave washer is sleeved on the motor shaft, one end of the wave washer is abutted against the outer ring of the second bearing, and the other end of the wave washer is abutted against the positioning part.
In the above electric joint module integrating dual speed reducer control as a whole, optionally, the support bracket is cylindrical, the frameless motor is a frameless servo motor, and the electric joint module further includes: the encoder is arranged inside the supporting bracket, the stator of the encoder is fixedly connected with the motor end cover, and the rotor of the encoder is fixedly connected with the motor shaft.
In the electric joint module integrating double speed reducers and controlling the double speed reducers into a whole, optionally, the joint shell is cylindrical, a plurality of groups of threaded mounting holes are formed in the first mounting end and the second mounting end, and the first harmonic speed reducer and the motor end cover are fixedly connected with the joint shell through bolts; annular sealing cavities are arranged between the first mounting end and the first harmonic speed reducer, between the supporting bracket and the second harmonic speed reducer, and O-shaped sealing rings are arranged in the sealing cavities.
In the electric joint module integrating the dual speed reducer control into a whole as described above, optionally, the support bracket is provided with a window through which a driver, a brake and the encoder electrical wire configured for the frameless motor are passed.
In the electric joint module integrating the dual speed reducer control as a whole as described above, optionally, the electric joint module further includes: the motor shaft sleeve is annular, the outer annular surface of the motor shaft sleeve is fixedly connected with the rotor of the frameless motor, and the inner annular surface of the motor shaft sleeve is fixedly connected with the motor shaft.
In the electric joint module integrating the dual speed reducer control as a whole as described above, optionally, the first harmonic speed reducer and the second harmonic speed reducer adopt different speed reduction ratios.
In the electric joint module integrating the dual speed reducer control as a whole, optionally, the first harmonic speed reducer, the second harmonic speed reducer and the motor shaft all adopt a hollow structure.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the novel electric joint module with double speed reducer control outputs is formed by integrating the double-harmonic speed reducer, the frameless servo motor and the encoder, the electric joint module integrates two speed reducers for bidirectional output, so that the requirements of high power output and high reliability are met, the electric joint module adopts a hollow compact structure, has the characteristics of modularization, light weight and multifunctional integration, and can be used as a driving unit of various double-arm robots, mobile robots, wearable robots and other robots. This electronic joint module adopts the double harmonic reduction gear to carry out power take off, and the harmonic reduction gear can select for use the collocation in a flexible way, can provide great output torque and dual bracing effect, and the robot application occasion of high power, high reliability requirement is particularly useful for.
Drawings
FIG. 1 illustrates an exploded view of a component of a motorized joint module in accordance with one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motorized joint module according to an embodiment of the present invention.
Figure 3 shows a cross-sectional schematic view of a motorized joint module of one embodiment of the present invention.
The symbols in the figures are as follows:
the structure comprises a first harmonic reducer 1, a joint shell 2, a first mounting end 201, a second mounting end 202, a first supporting part 203, a first bearing 3, a motor shaft 4, a motor shaft sleeve 5, a second bearing 6, a wave washer 7, a frameless motor 8, a motor end cover 9, a second supporting part 901, a 911 positioning part 10, an encoder 11, a supporting bracket 12 and a second harmonic reducer 12.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention and advantageous effects thereof will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, an embodiment of the present invention provides an electric joint module integrating dual reducer control, including: the joint comprises a joint shell 2, wherein a first mounting end 201 and a second mounting end 202 are respectively arranged at two axial ends of the joint shell 2; the first harmonic reducer 1 is fixedly connected with the first mounting end 201; the frameless motor 8 is arranged in the joint shell 2, and an outer stator of the frameless motor 8 is fixedly connected with the inner wall of the joint shell 2; the motor end cover 9 is fixedly connected with the second mounting end 202; the support bracket 11 is fixedly connected with the motor end cover 9; the second harmonic reducer 12 is fixedly connected with the support bracket 11; the motor shaft 4 is fixedly connected with an inner rotor of the frameless motor 8; wherein, the both ends of motor shaft 4 respectively with the input of first harmonic reduction gear 1, the input fixed connection of second harmonic reduction gear 12.
In this embodiment, the electric joint module includes a joint housing 2, a first harmonic reducer 1, a second harmonic reducer 12, a frameless motor 8, a motor end cover 9, a support bracket 11, and a motor shaft 4, specifically, the joint housing 2 is hollow, the joint housing 2, the motor end cover 9, and the support bracket 11 are sequentially connected, an internal space is formed between the joint housing 2 and the motor end cover 9, and between the motor end cover 9 and the support bracket 11, which jointly form an inner cavity of the electric joint module, the frameless motor 8 is disposed in the internal space formed between the joint housing 2 and the motor end cover 9, and the internal space formed between the motor end cover 9 and the support bracket 11 is used for placing an encoder 10. Wherein, the both ends of joint shell 2 are equipped with first installation end 201 and second installation end 202 respectively, and first installation end 201 and second installation end 202 are used for linking to each other with first harmonic speed reducer ware 1, motor end cover 9 respectively, and the appearance structure of electronic joint module is constituteed jointly to first harmonic speed reducer ware 1, joint shell 2, motor end cover 9, support holder 11, the second harmonic speed reducer ware 12 that link to each other in proper order. The frameless motor 8 is used for power output, an outer stator of the frameless motor 8 is fixedly connected with the inner wall of the joint shell 2, an inner rotor of the frameless motor 8 is fixedly connected with the motor shaft 4, the frameless motor 8 outputs power outwards through the motor shaft 4, furthermore, two ends of the motor shaft 4 are respectively and fixedly connected with the input end of the first harmonic reducer 1 and the input end of the second harmonic reducer 12, so that the power motor shaft 4 of the frameless motor 8 is transmitted to the input end of the first harmonic reducer 1 and the input end of the second harmonic reducer 12, then is decelerated through the first harmonic reducer 1 and the second harmonic reducer 12, and provides same-direction power output outwards, the same heavy object can be cooperatively driven, and high-torque output is realized. Understandably, in the present embodiment, the electric joint module has a higher output power by respectively installing a harmonic speed reducer at the front and the end and performing bidirectional output power through the first harmonic speed reducer 1 and the second harmonic speed reducer 12. It should be emphasized that the output ends of the two harmonic reducers also have the function of double support, so that the operation reliability of the electric joint module is improved.
Wherein, the input ends of the first harmonic reducer 1 and the second harmonic reducer 12 are in threaded connection with the motor shaft 4. Specifically, threaded holes are formed in the periphery of the end face of the motor shaft 4, threaded holes are formed in the input end of each harmonic speed reducer, and the harmonic speed reducers and the threaded holes are connected through screws.
Specifically, the wave generators of the first and second harmonic reducers 1 and 12 are fixedly connected to both ends of the motor shaft 4.
It should be further noted that, in order to have a flexible output mode, the first harmonic reducer 1 and the second harmonic reducer 12 at the two ends of the electric joint module can be freely selected, and only corresponding threaded mounting holes need to be reserved on the wave generators of the first harmonic reducer 1 and the second harmonic reducer 12.
Further, the first harmonic reducer 1 and the second harmonic reducer 12 integrate cross bearings with high rigidity and long service life, and the front and the rear parts of the cross bearings respectively greatly enhance the bearing capacity of the electric joint module.
The outer stator of the frameless motor 8 is bonded to the inner wall of the joint housing 2.
Further, the frameless motor 8 and the motor shaft 4 are fixedly connected through a motor shaft sleeve 5, the motor shaft sleeve 5 is annular, the outer annular surface of the motor shaft sleeve 5 and a rotor of the frameless motor 8 are fixed in a bonding mode, and the inner annular surface of the motor shaft sleeve is fixedly connected with the motor shaft 4 through a set screw.
In one embodiment of the present invention, as shown in fig. 1, to further improve the dual-pivot support of the motor shaft 4, the electric joint module further includes: the inner ring of the first bearing 3 is fixedly connected with the motor shaft 4; the inner ring of the second bearing 6 is fixedly connected with the motor shaft 4; the inner wall of the joint housing 2 close to the first mounting end 201 protrudes inwards to form a first supporting portion 203, the motor end cover 9 is provided with a second supporting portion 901, the outer ring of the first bearing 3 is fixedly connected with the first supporting portion 203, and the outer ring of the second bearing 6 is fixedly connected with the second supporting portion 901.
In this embodiment, the outer ring of the first bearing 3 is fixedly connected to the first supporting portion 203, the outer ring of the second bearing 6 is fixedly connected to the second supporting portion 901, the inner ring of the first bearing 3 and the inner ring of the second bearing 6 are both fixedly connected to the motor shaft 4, so that when the electric joint module drives a heavy object or is used for supporting the gravity of the robot, the joint housing 2 and the motor end cover 9 respectively provide radial support for the motor shaft 4 through the first bearing 3 and the second bearing 6, and provide double-pivot support for the motor shaft 4.
In detail, the first bearing 3 and the second bearing 6 are both deep groove ball bearings.
Further, the inner wall of the second support 901 is provided with a positioning portion 911 in an annular convex shape, and the positioning portion 911 is located at one end of the inner wall of the second support 901, which is far away from the frameless motor 8; electronic joint module still includes: and a wave washer 7 sleeved on the motor shaft 4, wherein one end of the wave washer 7 abuts against the outer ring of the second bearing 6, and the other end abuts against the positioning part 911. Namely, the wave washer 7 is positioned between the second bearing 6 and the positioning part 911 of the motor end cover 9, the wave washer 7 is used for adjusting the gap, ensuring that the magnetic centers of the motor stator and the rotor are aligned, giving a certain axial preload to the deep groove ball bearing, ensuring the continuous contact between the ball assembly and the raceway, and prolonging the service life of the bearing.
In an embodiment of the present invention, as shown in fig. 1, the supporting bracket 11 is cylindrical, the frameless motor 8 is a frameless servo motor, and the electric joint module further includes: the inside of support bracket 11 is located to encoder 10, and encoder 10's stator and motor end cover 9 fixed connection, encoder 10's rotor and motor shaft 4 fixed connection.
In this embodiment, the support bracket 11 and the joint housing 2 are both cylindrical, so that the overall shape formed by the first harmonic reducer 1, the joint housing 2, the motor end cover 9, the support bracket 11, and the second harmonic reducer 12 is cylindrical as a whole, and is suitable for various joint structures. The frameless motor 8 is a frameless servo motor, an encoder 10 matched with the frameless servo motor is further arranged inside the supporting bracket 11, a stator part of the encoder 10 is fixedly connected to the motor end cover 9 through screws, and a rotor part of the encoder 10 is connected to the motor shaft 4 through screws and moves synchronously with the motor shaft 4. And then the control part of the servo driver obtains the rotor speed and the mechanical position information of the frameless servo motor through the encoder 10 by detecting the angle information of the motor shaft 4, so that the speed control, the torque control, the mechanical position synchronous tracking and the fixed-point parking of the frameless servo motor are completed, the accurate control of the operation action of the electric joint component is realized, and the set operation action is completed.
Specifically, the frameless servo motor is used for providing power and is flat, so that the internal space of a joint can be saved, and the torque benefit is improved. The stator of the frameless servo motor can be fixed on the inner wall of the joint shell 2 in a bonding mode, the joint shell 2 is provided with radial threaded holes, and the stator of the motor can also be fixedly connected through a set screw.
Furthermore, a first mounting end 201 and a second mounting end 202 of the joint shell 2 are provided with a plurality of groups of threaded mounting holes, and the first harmonic reducer 1 and the motor end cover 9 are fixedly connected with the joint shell 2 through bolts; the second harmonic reducer 12 is fixed to the support bracket 11 by screws. Annular sealing cavities are arranged between the first mounting end 201 and the first harmonic speed reducer 1, between the supporting bracket 11 and the second harmonic speed reducer 12, and O-shaped sealing rings are arranged in the sealing cavities, so that the sealing performance between the first harmonic speed reducer 1 and the joint shell 2 and between the second harmonic speed reducer 12 and the supporting bracket 11 is improved.
Further, the support bracket 11 is provided with mechanical and electrical interfaces for drivers, brakes and sensors, so as to facilitate later installation of the drivers, brakes and sensors.
In one embodiment of the present invention, the first and second harmonic reducers 1 and 12 employ different reduction ratios.
In this embodiment, because the first harmonic reducer 1 and the second harmonic reducer 12 adopt different reduction ratios, the output rotation speeds of the first harmonic reducer 1 and the second harmonic reducer 12 are different, and the output ends of the first harmonic reducer 1 and the second harmonic reducer 12 form differential motion, so that the differential motion can be applied to the steering joint of the wheeled robot.
In order to enable the electric joint module to have different levels of load capacity, the models and the speed ratios of the first harmonic speed reducer 1 and the second harmonic speed reducer 12 at the two ends of the electric joint module can be freely matched on the premise of meeting the driving capability of the frameless servo motor.
Further, the first harmonic reducer 1, the second harmonic reducer 12 and the motor shaft 4 are all of a hollow structure, so that wiring is convenient to arrange inside, and the structure of the electric joint module is more compact.
The invention has the following beneficial effects: the novel electric joint module with double speed reducer control output is formed by integrating the double-harmonic speed reducer, the frameless servo motor and the encoder. The electric joint module is of a hollow compact structure, has the characteristics of modularization, light weight and multifunctional integration, and can be used as a driving unit of various double-arm robots, mobile robots, wearable robots and other robots. This electronic joint module adopts the double harmonic reduction gear to carry out power take off, and the harmonic reduction gear can select for use the collocation in a flexible way, can provide great output torque and dual bracing effect, and the robot application occasion of high power, high reliability requirement is particularly useful for. The electric joint module can be used on a leg-foot type robot, and the output torque and the bearing capacity of the double speed reducers are greatly increased. Also applicable to humanoid robots.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an electronic joint module of integrated double reduction gear control in an organic whole which characterized in that includes:
the joint comprises a joint shell, a first mounting end and a second mounting end are respectively arranged at two axial ends of the joint shell;
the first harmonic reducer is fixedly connected with the first mounting end;
the frameless motor is arranged in the joint shell, and an outer stator of the frameless motor is fixedly connected with the inner wall of the joint shell;
the motor end cover is fixedly connected with the second mounting end;
the supporting bracket is fixedly connected with the motor end cover;
the second harmonic reducer is fixedly connected with the supporting bracket;
the motor shaft is fixedly connected with an inner rotor of the frameless motor;
and the two ends of the motor shaft are respectively and fixedly connected with the input end of the first harmonic reducer and the input end of the second harmonic reducer.
2. The integrated dual reducer control-in-one motorized articulation module of claim 1, further comprising:
the inner ring of the first bearing is fixedly connected with the motor shaft;
the inner ring of the second bearing is fixedly connected with the motor shaft;
the inner wall of the joint shell, which is close to the first installation end, protrudes inwards to form a first supporting part, a second supporting part is arranged on the motor end cover, the outer ring of the first bearing is fixedly connected with the first supporting part, and the outer ring of the second bearing is fixedly connected with the second supporting part.
3. The integrated dual reducer control-in-one motorized joint module of claim 2,
the inner wall of the second supporting part is provided with a positioning part in an annular convex shape, and the positioning part is positioned at one end, far away from the frameless motor, of the inner wall of the second supporting part;
the electric joint module further comprises:
and the wave washer is sleeved on the motor shaft, one end of the wave washer is abutted against the outer ring of the second bearing, and the other end of the wave washer is abutted against the positioning part.
4. The integrated dual reducer control-in-one motorized joint module of claim 1, wherein the support bracket is cylindrical, the frameless motor is a frameless servo motor, and the motorized joint module further comprises:
the encoder is arranged inside the supporting bracket, the stator of the encoder is fixedly connected with the motor end cover, and the rotor of the encoder is fixedly connected with the motor shaft.
5. The integrated dual reducer control-in-one motorized joint module of claim 4,
the joint shell is cylindrical, a plurality of groups of threaded mounting holes are formed in the first mounting end and the second mounting end, and the first harmonic reducer and the motor end cover are fixedly connected with the joint shell through bolts;
annular sealing cavities are arranged between the first mounting end and the first harmonic speed reducer, between the supporting bracket and the second harmonic speed reducer, and O-shaped sealing rings are arranged in the sealing cavities.
6. The integrated dual reducer control-in-one motorized joint module of claim 4,
the support bracket is provided with a driver, a brake and a window through which an encoder electrical wire penetrates, wherein the driver, the brake and the encoder electrical wire are configured for the frameless motor.
7. The integrated dual reducer control-in-one motorized articulation module of claim 1, further comprising:
the motor shaft sleeve is annular, the outer annular surface of the motor shaft sleeve is fixedly connected with the rotor of the frameless motor, and the inner annular surface of the motor shaft sleeve is fixedly connected with the motor shaft.
8. The integrated dual reducer control-in-one motorized joint module of claim 1,
the first harmonic reducer and the second harmonic reducer adopt different reduction ratios.
9. The integrated dual reducer control-in-one motorized joint module of claim 1,
the first harmonic reducer, the second harmonic reducer and the motor shaft all adopt hollow structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111358101.2A CN113977625A (en) | 2021-11-16 | 2021-11-16 | Electric joint module integrating double speed reducers |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111358101.2A CN113977625A (en) | 2021-11-16 | 2021-11-16 | Electric joint module integrating double speed reducers |
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| CN113977625A true CN113977625A (en) | 2022-01-28 |
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| CN202111358101.2A Pending CN113977625A (en) | 2021-11-16 | 2021-11-16 | Electric joint module integrating double speed reducers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
| CN114654501A (en) * | 2022-03-15 | 2022-06-24 | 深圳市零差云控科技有限公司 | Joint module assembling method and joint robot |
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| CN111113480A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN213918288U (en) * | 2020-11-26 | 2021-08-10 | 上海舞肌科技有限公司 | Executor and robot comprising same |
| CN112959351A (en) * | 2021-02-08 | 2021-06-15 | 珠海格力智能装备有限公司 | Joint structure and robot with same |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654501A (en) * | 2022-03-15 | 2022-06-24 | 深圳市零差云控科技有限公司 | Joint module assembling method and joint robot |
| CN114654501B (en) * | 2022-03-15 | 2024-03-01 | 深圳市零差云控科技有限公司 | Joint module assembly method and joint robot |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
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