CN115008497A - Compact robot joint module based on harmonic speed reducer - Google Patents
Compact robot joint module based on harmonic speed reducer Download PDFInfo
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- CN115008497A CN115008497A CN202210922768.9A CN202210922768A CN115008497A CN 115008497 A CN115008497 A CN 115008497A CN 202210922768 A CN202210922768 A CN 202210922768A CN 115008497 A CN115008497 A CN 115008497A
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- roller bearing
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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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- 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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- 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
Abstract
The invention discloses a compact robot joint module based on a harmonic speed reducer, which comprises a cylindrical shell, a first end cover, a second end cover, the harmonic speed reducer, crossed roller bearings, an output flange and a central shaft, motor, stopper, encoder, drive plate and transmission seat, harmonic speed reducer includes wave generator, flexbile gear and rigid gear, and the wave generator includes camshaft and flexible bearing, and the flexbile gear is the position that the power take off end of cup-shaped flexbile gear and flexbile gear is close to its central through-hole at the bottom of the cup, and the transmission seat is located the flexbile gear and the suit outside the center pin, and the transmission seat is connected with the power take off end of flexbile gear, and the motor is external rotor motor, and the motor is through the central through-hole suit of its stator outside the center pin, in the central through-hole of camshaft and lie in between transmission seat and the first end cover, the rotor of motor and the interior wall connection of camshaft are arranged in to motor, stopper and drive plate. The invention has the advantages of more compact structure, smaller volume, more convenient use, lower noise and lower cost.
Description
Technical Field
The invention relates to a robot joint module, in particular to a compact robot joint module based on a harmonic speed reducer.
Background
The joint module for the robot generally mainly comprises an input shaft, an output shaft, a speed reducer, a motor, a brake, an encoder and a drive plate, wherein the mature application form is that a hat-shaped harmonic speed reducer (a flexible gear of the hat-shaped harmonic speed reducer is hat-shaped and is also called as a hat-shaped harmonic speed reducer) is used as a base body to be provided with other components, the input shaft and the output shaft are correspondingly connected with the hat-shaped harmonic speed reducer in an installation mode, then the motor, the brake, the encoder and the drive plate are arranged on the input shaft and the output shaft in the axial direction, the input shaft and the output shaft are generally coaxial hollow cylindrical shafts, a hollow structure is used for arranging circuits, the input shaft is arranged outside the output shaft, and the output shaft is longer than the input shaft, so that the encoder can be installed, and the feedback of the rotation speed of the input shaft and the output shaft by the encoder is realized.
The conventional robot joint module has the following defects: the inner space of the harmonic speed reducer is not utilized except that the inner space penetrates through the input shaft and the output shaft, and other components are connected with the harmonic speed reducer in the axial direction, so that the axial length of the joint module is long; the harmonic transmission part of the hat-shaped harmonic speed reducer moves and works in the crossed roller bearing, and the structure enables the crossed roller bearing to occupy a larger space in the radial direction, so that the radial size of the joint module is larger; the whole joint module is large in axial and radial sizes, so that the whole module is large in size; the input shaft and the output shaft are two concentric cylindrical shafts, which occupy the shaft hole wiring space of the joint module, while the output shaft on the inner side rotates to damage the arranged circuit, so that the passed circuit needs to be lubricated, a lubricating and sealing structure needs to be correspondingly added, and the installation and the disassembly are not facilitated; the input shaft and the output shaft are cantilever beam structures, the input shaft and the output shaft are long in size, and meanwhile, a precise encoder needs to be installed, so that the input shaft and the output shaft are required to ensure extremely high coaxiality, axial runout and other precision during manufacturing and assembling, and the cost and delivery time are increased; the motor is exposed, the outer wall of the common motor is thin, the sound insulation is poor, and the noise of the motor is large during working.
In addition, the traditional robot joint module also has a structure of integrating components such as a motor, a brake, an encoder and the like on the basis of a planetary reducer, but the assembly mode of the traditional robot joint module is that all main components are axially stacked and integrally arranged, the characteristic of long axial length is presented, the radial size of the planetary reducer is large, and the volume of the whole module is also large.
At present, for small robots which are being increasingly applied around production lines and equipment, especially cooperative robots and mobile robots which need to cooperate with people to perform complicated operations, strict requirements are placed on small size and light weight, so that it becomes very important to reduce the size and mass of a robot joint module; the conventional robot joint module is increasingly difficult to meet the application requirement of miniaturization.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a compact robot joint module using a harmonic reducer, which has a significantly reduced volume.
The invention realizes the purpose through the following technical scheme:
the utility model provides a compact robot joint module based on harmonic speed reducer machine, includes tube-shape shell, first end cover, second end cover, harmonic speed reducer machine, alternately roller bearing, output flange, center pin, motor, stopper, encoder and drive plate, the harmonic speed reducer machine includes wave generator, flexbile gear and rigid wheel, wave generator includes camshaft and flexible bearing, the flexible bearing suit is in outside the middle section of camshaft, the tooth end suit of flexbile gear is in outside the flexible bearing and be located in the rigid wheel and with the rigid wheel meshing is connected, the center pin is equipped with axial central through-hole, the center pin passes the central through-hole of camshaft the central through-hole of flexbile gear the central through-hole of roller bearing alternately with the central through-hole of output flange, the power take off end of flexbile gear with output flange connects, the flexbile gear be cup-shaped flexbile gear just the power take off end of flexbile gear is the position that the bottom of cup is close to its central through-hole The first end cover and the second end cover are respectively arranged at two ends of the cylindrical shell, two ends of the central shaft respectively penetrate through a central through hole of the first end cover and a central through hole of the second end cover, the compact robot joint module based on the harmonic reducer further comprises a transmission seat provided with a central through hole, the transmission seat is positioned in the flexible wheel and sleeved outside the central shaft, the transmission seat is close to and connected with a power output end of the flexible wheel, the power output end of the flexible wheel is positioned between the transmission seat and the output flange, a first end outer wall at two ends of the camshaft is connected with the first end cover, a second end inner wall at two ends of the camshaft is connected with an outer wall of the transmission seat, an inner wall of the transmission seat is connected with an outer wall of the central shaft through ball bearings, and the motor is an outer rotor motor, the motor is sleeved outside the central shaft through a central through hole of a stator of the motor, the motor is arranged in the central through hole of the cam shaft and is positioned between the transmission seat and the first end cover, a rotor of the motor is connected with the inner wall of the cam shaft, the brake and the drive plate are respectively sleeved outside the central shaft through self central through holes and are positioned in the central through hole of the cam shaft, the brake and the drive plate are positioned between the motor and the first end cover, and a drive coil in the stator of the motor and an electromagnetic coil of the brake are respectively and correspondingly connected with the drive plate.
Preferably, in order to intensively mount each part of the brake in a space between a central through hole of a camshaft and a central shaft to reduce the whole module volume as much as possible, the brake is located between the motor and the driving plate, the brake comprises a brake base, an armature, a pressure spring and a friction plate, the brake base is sleeved outside the central shaft through the central through hole of the brake base, the electromagnetic coil is mounted in the brake base, the central shaft passes through the central through hole of the armature and the central through hole of the friction plate, the position on the armature close to an inner edge is connected with the brake base and can move in a small axial distance of the central shaft, the pressure spring is mounted on the brake base and supports the armature to have stress far away from the brake base, an outer peripheral edge of the friction plate is mounted on an inner wall of the camshaft and can move in a small axial distance of the central shaft and cannot move in a round shape The friction plate rotates in the circumferential direction, and the friction plate is located in a gap between the brake base and the armature.
Preferably, in order to achieve the function of detecting the rotation speed of the encoder and reduce the occupied space of the encoder as much as possible, the transmission seat is connected with the power output end of the flexible gear, the encoder is located between the transmission seat and the motor, a coded disc of the encoder is installed on the transmission seat and close to the motor, an induction part of the encoder is sleeved outside the central shaft through a central through hole of the induction part and located between the coded disc and the motor, and the induction part of the encoder is correspondingly connected with the driving plate.
Preferably, in order to avoid the rigid wheel occupying the radial space of the whole module to reduce the volume of the whole module as much as possible, the rigid wheel is mounted between the cylindrical housing and the first end cap.
As preferred, for the convenience of installing crossed roller bearing and connecting flexspline and output flange, the output flange is located the center pin with between the second end cover, compact robot joint module based on harmonic speed reducer machine is still including the connecting seat that is equipped with central through-hole, the connecting seat is in the axial of center pin is located the output flange with between the power take off of flexspline, the connecting seat is in the radial of center pin is located the tube-shape shell with between the center pin, the connecting seat simultaneously with the power take off of flexspline with output flange connects, crossed roller bearing is located the tube-shape shell the second end cover the output flange with the connecting seat surrounds in the space that forms.
Preferably, in order to reduce the radial dimension of the cross roller bearing to reduce the whole module volume as much as possible, the cross roller bearing is a bare bearing without an outer ring shell and an inner ring shell, the parts of the cylindrical shell and the second end cover connected with the cross roller bearing form the outer ring shell of the cross roller bearing, and the parts of the output flange and the connecting seat connected with the cross roller bearing form the inner ring shell of the cross roller bearing; or the outer ring shell and the inner ring shell of the crossed roller bearing are both ultrathin shells, the outer ring shell of the crossed roller bearing is connected with the cylindrical shell and the second end cover, and the inner ring shell of the crossed roller bearing is connected with the output flange and the connecting seat.
Preferably, in order to securely connect the center shaft and the first end cap, one end of the center shaft is connected to the first end cap by a screw.
Preferably, an "O" ring is installed between an inner wall of the output flange and an outer wall of the center shaft in order to prevent leakage of the lubricant from a gap between the output flange and the center shaft.
The invention has the beneficial effects that:
according to the invention, the flexible gear of the harmonic reducer is designed into a cup-shaped structure, the cam shaft, the motor and other components are accommodated in the cup-shaped inner cavity, the relationship between the motor and other components and the harmonic reducer is changed from the traditional axial connection to the radial connection, the traditional inner rotor motor is changed into the outer rotor motor to realize the driving, the shell of the harmonic reducer and the shell of the whole module are combined into a whole, the radial size change is small (a part is not changed or reduced or a small radial size is increased) while the axial size of the whole joint module is remarkably reduced, so that the volume of the whole joint module is remarkably reduced, and the whole weight is reduced; the traditional input shaft and the traditional output shaft are simplified into a fixed central shaft, so that the direct wiring in a central through hole of the central shaft is facilitated, the quick assembly and disassembly are facilitated, and the rotating speed detection precision is ensured without depending on the coaxiality of the input shaft and the output shaft, so that the processing precision requirement is reduced, and the production efficiency is facilitated to be improved; the motor is arranged in the whole harmonic reducer, so that the noise of the motor can be isolated, and the noise is reduced; generally, compared with the traditional robot joint module, the compact robot joint module based on the harmonic speed reducer has the advantages of more compact structure, smaller volume, more convenience in use, lower noise and lower cost, improves the flexibility and convenience in use of the joint module, and is particularly suitable for small robots such as cooperative robots and mobile robots which need to be matched with people to complete complex operations.
Drawings
Fig. 1 is a front sectional view of the compact robot joint module based on the harmonic reducer of the invention.
The device comprises a 1- 'O' sealing ring, a 2-output flange, a 3-second end cover, a 4-crossed roller bearing, a 5-connecting seat, a 6-cylindrical shell, a 7-flexible gear, a 8-transmission seat, a 9-ball bearing, a 10-coded disc, a 11-sensing piece, a 12-rigid wheel, a 13-cam shaft, a 14-rotor, a 15-flexible bearing, a 16-first end cover, a 17-wave generator, an 18-friction plate, a 19-armature, a 20-driving plate, a 21-brake base, a 22-stator, a 23-central shaft and a 24-central through hole.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the compact robot joint module based on the harmonic reducer of the present invention comprises a cylindrical housing 6, a first end cap 16, a second end cap 3, a harmonic reducer, a crossed roller bearing 4, an output flange 2, a central shaft 23, a motor, a brake, an encoder, and a driving plate 20, wherein the harmonic reducer comprises a wave generator 17, a flexible gear 7, and a rigid gear 12, the wave generator 17 comprises a cam shaft 13 and a flexible bearing 15, the flexible bearing 15 is sleeved outside the middle section of the cam shaft 13, the tooth end (also a power input end, the right end in the figure) of the flexible gear 7 is sleeved outside the flexible bearing 15 and is located inside the rigid gear 12 and is engaged with the rigid gear 12, the central shaft 23 is provided with an axial central through hole 24, the central shaft 23 passes through the central through hole of the cam shaft 13, the central through hole of the flexible gear 7, the central through hole of the crossed roller bearing 4, and the central through hole of the output flange 2, the power output end (left end in the figure) of the flexible gear 7 is connected with the output flange 2, the flexible gear 7 is a cup-shaped flexible gear, the power output end of the flexible gear 7 is a part of which the cup bottom is close to the central through hole of the flexible gear, the first end cover 16 and the second end cover 3 are respectively installed at the two ends of the cylindrical shell 6, the two ends of the central shaft 23 respectively pass through the central through hole of the first end cover 16 and the central through hole of the second end cover 3, the compact robot joint module based on the harmonic reducer further comprises a transmission seat 8 provided with the central through hole, the transmission seat 8 is positioned in the flexible gear 7 and sleeved outside the central shaft 23, the transmission seat 8 is close to the power output end of the flexible gear 7 and connected with the transmission seat, the power output end of the flexible gear 7 is positioned between the transmission seat 8 and the output flange 2, the outer wall of the first end (right end in the figure) at the two ends of the camshaft 13 is positioned between the first end cover 16, and the inner wall of the second end (left end) at the two ends of the camshaft 13 is positioned between the outer wall of the transmission seat 8, The inner wall of the transmission seat 8 and the outer wall of the central shaft 23 are connected through ball bearings 9 (preferably deep groove ball bearings), the motor is an outer rotor motor, the motor is sleeved outside the central shaft 23 through a central through hole of a stator 22 of the motor, the motor is arranged in the central through hole of the cam shaft 13 and is positioned between the transmission seat 8 and the first end cover 16, a rotor 14 of the motor is connected with the inner wall of the cam shaft 13, the brake and the drive plate 20 are sleeved outside the central shaft 23 and is positioned in the central through hole of the cam shaft 13 through self central through holes, the brake and the drive plate 20 are positioned between the motor and the first end cover 16, and a drive coil (not shown in the figure) in the stator 22 of the motor and an electromagnetic coil (not shown in the figure) of the brake are correspondingly connected with the drive plate 20 respectively.
As shown in fig. 1, the present invention also discloses a plurality of more optimized specific structures, and the structures can be combined with one or more structures to form a more optimized technical solution according to actual needs.
In order to intensively install all parts of a brake in a space between a central through hole of the camshaft 13 and a central shaft 23 so as to reduce the whole module volume as much as possible, the brake is positioned between the motor and a driving plate 20, the brake comprises a brake base 21, an armature 19, a pressure spring (not shown in the figure) and a friction plate 18, the brake base 21 is sleeved outside the central shaft 23 through the central through hole of the brake base 21, an electromagnetic coil is arranged in the brake base 21, the central shaft 23 passes through the central through hole of the armature 19 and the central through hole of the friction plate 18, the position on the armature 19 close to the inner edge is connected with the brake base 21 (not shown in the figure, the connection structure is a conventional structure of an electromagnetic brake) and can move in a small distance in the axial direction of the central shaft 23 (the distance is based on the stroke distance required for braking and braking release, and is the conventional structure of the electromagnetic brake), a compression spring (not shown in the figure) is installed on the brake base 21 and abuts against the armature 19 to enable the brake base 21 to have stress far away from the brake base 21 (the installation structure of the compression spring is a conventional structure of an electromagnetic brake), the peripheral edge of the friction plate 18 is installed on the inner wall of the camshaft 13 and can move in the axial direction of the central shaft 23 by a small distance and cannot rotate in the circumferential direction (the installation structure is not shown in the figure and can be realized by adopting a conventional structure in the prior art, for example, a groove is formed in the inner wall of the camshaft 13, a blocking part is arranged in the groove, the outer edge of the friction plate 18 is arranged in the groove, a notch is arranged on the outer edge of the friction plate 18, the blocking part is arranged in the notch, and thus the function can be realized), and the friction plate 18 is located in a gap between the brake base 21 and the armature 19.
In order to realize the function of detecting the rotating speed by the encoder and reduce the occupied space as much as possible, the transmission seat 8 is connected with the power output end of the flexible wheel 7, the encoder is positioned between the transmission seat 8 and the motor, the code disc 10 of the encoder is arranged on the transmission seat 8 and close to the motor, the induction part 11 (also called as a read head or a digital read head) of the encoder is sleeved outside the central shaft 23 through a central through hole of the induction part 11 and is positioned between the code disc 10 and the motor, and the induction part 11 of the encoder is correspondingly connected with the drive plate 20.
In order to avoid the rigid wheel 12 taking up radial space of the entire module to minimize the overall module volume, the rigid wheel 12 is mounted between the cylindrical housing 6 and the first end cap 16.
In order to facilitate installation of the crossed roller bearing 4 and connect the flexible gear 7 and the output flange 2, the output flange 2 is located between the central shaft 23 and the second end cover 3, the compact robot joint module based on the harmonic reducer further comprises a connecting seat 5 provided with a central through hole, the connecting seat 5 is located between the output flange 2 and the power output end of the flexible gear 7 in the axial direction of the central shaft 23, the connecting seat 5 is located between the cylindrical shell 6 and the central shaft 23 in the radial direction of the central shaft 23, the connecting seat 5 is simultaneously connected with the power output end of the flexible gear 7 and the output flange 2, and the crossed roller bearing 4 is located in a space formed by surrounding the cylindrical shell 6, the second end cover 3, the output flange 2 and the connecting seat 5.
In order to reduce the radial dimension of the crossed roller bearing 4 so as to reduce the volume of the whole module as much as possible, the crossed roller bearing 4 is a bare bearing without an outer ring shell and an inner ring shell, the parts of the cylindrical shell 6 and the second end cover 3, which are connected with the crossed roller bearing 4, form the outer ring shell of the crossed roller bearing 4, and the parts of the output flange 2 and the connecting seat 5, which are connected with the crossed roller bearing 4, form the inner ring shell of the crossed roller bearing 4; or the outer ring shell and the inner ring shell of the crossed roller bearing 4 are both ultrathin shells, the outer ring shell of the crossed roller bearing 4 is simultaneously connected with the cylindrical shell 6 and the second end cover 3, and the inner ring shell of the crossed roller bearing 4 is simultaneously connected with the output flange 2 and the connecting seat 5.
In order to securely connect the center shaft 23 and the first end cap 16, one end of the center shaft 23 is connected to the first end cap 16 by a screw.
In order to prevent the lubricant from leaking out from the gap between the output flange 2 and the center shaft 23, an "O" seal ring 1 is installed between the inner wall of the output flange 2 and the outer wall of the center shaft 23.
As shown in fig. 1, when the device is applied, the output flange 2 is connected with a component which needs to control rotation, the drive plate 20 respectively controls the start and stop and the rotation speed of the motor, the brake and the release of the brake, and an actual rotation speed signal of the output flange 2 is obtained from the encoder; after the motor is started, a rotor 14 rotates around a stator 22, the rotor 14 drives a cam shaft 13 to synchronously rotate, the oval cam shaft 13 sequentially extrudes the gear ends of a flexible gear 7 on the internal teeth of a rigid gear 12 through a flexible bearing 15, the gear number of the flexible gear 7 is smaller than that of the rigid gear 12, generally 2 less gears are adopted, the cam shaft 13 rotates for a circle, the flexible gear 7 reversely rotates for an angle corresponding to two gears, so that the large-proportion speed reduction function of a harmonic speed reducer is realized, the flexible gear 7 drives an output flange 2 to synchronously rotate, and finally, a component needing to be controlled to rotate is driven to rotate; when braking is needed, the driving plate 20 gives a signal to enable the electromagnetic coil to be electrified to generate electromagnetic force, and the electromagnetic force attracts the armature 19 to move towards the direction close to the brake base 21 to clamp the friction plate 18, so that the braking purpose is realized; a coded disc 10 of the encoder synchronously rotates with the flexible gear 7 and the output flange 2 along with the transmission seat 8, an induction part 11 of the encoder transmits induction signals to a drive plate 20, and the drive plate 20 processes the signals to obtain rotating speed data, so that the actual rotating speed detection function of the output flange 2 is realized; the various wires required for the device pass through the central through hole 24 of the central shaft 23, and since the central shaft 23 is fixed against rotation, the wiring requirements are low and there is a larger wiring space compared to two concentric shafts.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (8)
1. The utility model provides a compact robot joint module based on harmonic speed reducer machine, includes tube-shape shell, first end cover, second end cover, harmonic speed reducer machine, cross roller bearing, output flange, center pin, motor, stopper, encoder and drive plate, the harmonic speed reducer machine includes wave generator, flexbile gear and rigid wheel, wave generator includes camshaft and flexible bearing, the flexible bearing suit is outside the middle section of camshaft, the tooth end suit of flexbile gear outside the flexible bearing just be located in the rigid wheel and with the rigid wheel meshing is connected, the center pin is equipped with axial central through-hole, the center pin passes the central through-hole of camshaft, the central through-hole of flexbile gear, cross roller bearing's central through-hole and the central through-hole of output flange, the power take off end of flexbile gear with output flange connects, the method is characterized in that: the flexible gear is a cup-shaped flexible gear, the power output end of the flexible gear is a position of a cup bottom close to a central through hole of the cup bottom, the first end cover and the second end cover are respectively installed at two ends of the cylindrical shell, two ends of the central shaft respectively penetrate through the central through hole of the first end cover and the central through hole of the second end cover, the compact robot joint module based on the harmonic speed reducer further comprises a transmission seat provided with the central through hole, the transmission seat is positioned in the flexible gear and sleeved outside the central shaft, the transmission seat is close to and connected with the power output end of the flexible gear, the power output end of the flexible gear is positioned between the transmission seat and the output flange, a first end outer wall of two ends of the cam shaft is connected with the first end cover, a second end inner wall of two ends of the cam shaft is connected with an outer wall of the transmission seat, and the inner wall of the transmission seat is connected with the outer wall of the central shaft through ball bearings, the motor is an outer rotor motor, the motor is sleeved outside the central shaft through a central through hole of a stator of the motor, the motor is arranged in the central through hole of the cam shaft and located between the transmission seat and the first end cover, a rotor of the motor is connected with the inner wall of the cam shaft, the brake and the drive plate are sleeved outside the central shaft and located in the central through hole of the cam shaft through the central through hole of the brake and the drive plate, the brake and the drive plate are located between the motor and the first end cover, and a drive coil in the stator of the motor and an electromagnetic coil of the brake are correspondingly connected with the drive plate respectively.
2. The compact robot joint module based on the harmonic reducer of claim 1, characterized in that: the brake is positioned between the motor and the driving plate and comprises a brake base, an armature, a pressure spring and a friction plate, the brake base is sleeved outside the central shaft through a central through hole of the brake base, the electromagnetic coil is arranged in the brake base, the central shaft penetrates through the central through hole of the armature and the central through hole of the friction plate, the position on the armature, which is close to the inner edge, is connected with the brake base and can move in the axial direction of the central shaft by a small distance, the compression spring is arranged on the brake base and is pressed against the armature to enable the armature to have stress far away from the brake base, the outer peripheral edge of the friction plate is mounted on the inner wall of the camshaft and is capable of moving in the axial direction of the center shaft by a small distance and is incapable of rotating in the circumferential direction, and the friction plate is located in a gap between the brake base and the armature.
3. The compact robot joint module based on the harmonic reducer of claim 1, characterized in that: the driving seat is connected with the power output end of the flexible gear, the encoder is located between the driving seat and the motor, the coded disc of the encoder is installed on the driving seat and close to the motor, the sensing part of the encoder is sleeved outside the central shaft through a central through hole of the sensing part and located between the coded disc and the motor, and the sensing part of the encoder is correspondingly connected with the driving plate.
4. The compact robot joint module based on the harmonic reducer as claimed in any one of claims 1 to 3, wherein: the rigid wheel is mounted between the cylindrical housing and the first end cap.
5. The compact robot joint module based on the harmonic reducer as claimed in any one of claims 1 to 3, wherein: the output flange is located the center pin with between the second end cover, compact robot joint module based on harmonic speed reducer is still including the connecting seat that is equipped with the central through-hole, the connecting seat is in the axial of center pin is located the output flange with between the power take off end of flexbile gear, the connecting seat is in the radial of center pin is located the tube-shape shell with between the center pin, the connecting seat simultaneously with the power take off end of flexbile gear with output flange connects, alternately roller bearing is located the tube-shape shell the second end cover the output flange with the connecting seat surrounds in the space that forms.
6. The compact robot joint module based on the harmonic reducer of claim 5, wherein: the cross roller bearing is a bare bearing without an outer ring shell and an inner ring shell, the cylindrical shell and the part of the second end cover connected with the cross roller bearing form the outer ring shell of the cross roller bearing, and the output flange and the part of the connecting seat connected with the cross roller bearing form the inner ring shell of the cross roller bearing; or the outer ring shell and the inner ring shell of the crossed roller bearing are both ultrathin shells, the outer ring shell of the crossed roller bearing is simultaneously connected with the cylindrical shell and the second end cover, and the inner ring shell of the crossed roller bearing is simultaneously connected with the output flange and the connecting seat.
7. The compact robot joint module based on the harmonic reducer as claimed in any one of claims 1 to 3, wherein: one end of the central shaft is connected with the first end cover through a screw.
8. The compact robot joint module based on the harmonic reducer as claimed in any one of claims 1 to 3, wherein: an O-shaped sealing ring is arranged between the inner wall of the output flange and the outer wall of the central shaft.
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| CN202210922768.9A CN115008497B (en) | 2022-08-02 | 2022-08-02 | Compact robot joint module based on harmonic speed reducer |
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| CN202210922768.9A CN115008497B (en) | 2022-08-02 | 2022-08-02 | Compact robot joint module based on harmonic speed reducer |
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| CN115008497B CN115008497B (en) | 2022-11-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115609632A (en) * | 2022-10-08 | 2023-01-17 | 深圳市越疆科技有限公司 | Mechanical arm and joint module thereof |
| CN116117857A (en) * | 2022-09-30 | 2023-05-16 | 广东天太机器人有限公司 | Robot joint module |
| CN116292821A (en) * | 2023-03-01 | 2023-06-23 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
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| CN116292821A (en) * | 2023-03-01 | 2023-06-23 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
| CN116292821B (en) * | 2023-03-01 | 2024-02-27 | 深圳逐际动力科技有限公司 | Harmonic reducer, joint module, mechanical arm, mobile platform and robot |
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