CN115008497B - Compact robot joint module based on harmonic speed reducer - Google Patents
Compact robot joint module based on harmonic speed reducer Download PDFInfo
- Publication number
- CN115008497B CN115008497B CN202210922768.9A CN202210922768A CN115008497B CN 115008497 B CN115008497 B CN 115008497B CN 202210922768 A CN202210922768 A CN 202210922768A CN 115008497 B CN115008497 B CN 115008497B
- Authority
- CN
- China
- Prior art keywords
- central
- hole
- motor
- end cover
- roller bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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, a harmonic speed reducer, a crossed roller bearing, an output flange, a central shaft, a motor, a brake, an encoder, a driving plate and a driving seat, wherein the harmonic speed reducer comprises a wave generator, a flexible wheel and a rigid wheel, the wave generator comprises a cam shaft and a flexible bearing, the flexible wheel is a cup-shaped flexible wheel, the power output end of the flexible wheel is a part of the cup bottom close to the central through hole of the cup bottom, the driving seat is positioned in the flexible wheel and sleeved outside the central shaft, the driving seat is connected with the power output end of the flexible wheel, the motor is an outer rotor motor, the motor is sleeved outside the central shaft through the central through hole of a stator of the motor, the brake and the driving plate are arranged in the central through hole of the cam shaft and positioned between the driving seat and the first end cover, and the rotor of the motor is connected with the inner wall of the cam shaft. 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 operates in the crossed roller bearing in a moving way, and the structure ensures that the crossed roller bearing occupies 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 is that all main components are axially stacked and integrally arranged, so that the characteristic of long axial direction 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 being increasingly applied around production lines and equipment, especially cooperative robots and mobile robots that need to cooperate with people to perform complicated operations, there are strict requirements for small size and light weight, so it becomes very important to reduce the size and mass of robot joint modules; 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, 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 flexible gear is a cup-shaped flexible gear, the power output end of the flexible gear is a part of which the cup bottom is close to the central through hole of the cup, 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 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 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, the outer wall of the first end in two ends of the camshaft is connected with the first end cover, the inner wall of the second end in two ends of the camshaft is connected with the 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 respectively, 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.
Preferably, in order to intensively mount each component 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 includes 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, a 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 abuts against the armature to have a 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 rotate in a 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, a 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 drive 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 of the use of the joint module, and is particularly suitable for small robots such as a cooperative robot and a mobile robot which need to be matched with a human to finish complex operation.
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 is further described below with reference to the accompanying drawings:
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 position of which the cup bottom is close to the central through hole of the cup bottom, the first end cover 16 and the second end cover 3 are respectively installed at two ends of the cylindrical shell 6, 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, a first end (right end in the figure) outer wall and the first end cover 16 at two ends of the camshaft 13, and a second end (left end) inner wall and an outer wall of the transmission seat 8 at two ends of the camshaft 13 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 are positioned in the central through hole of the cam shaft 13 through self central through holes respectively, 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 collectively mount the components of the brake in the space between the central through hole of the camshaft 13 and the central shaft 23 to minimize the overall module volume, the brake is positioned between the motor and the 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 a central shaft 23 through a central through hole of the brake base, the electromagnetic coil is installed 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, a 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 the electromagnetic brake) and can move in an axial direction of the central shaft 23 by a small distance (the distance is determined by a stroke distance required for braking and brake release and is a conventional structure of the electromagnetic brake), a pressure spring (not shown in the figure) is installed on the brake base 21 and abuts against the armature 19 so as to have stress far away from the brake base 21 (the installation structure of the pressure spring is a conventional structure of the electromagnetic brake), the outer 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 and cannot rotate in a 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 arranged on 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 gap is arranged in the armature 19 between the brake base 21 and the armature 18.
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 ultra-thin shells, the outer ring shell of the crossed roller bearing 4 is connected with the cylindrical shell 6 and the second end cover 3 at the same time, and the inner ring shell of the crossed roller bearing 4 is connected with the output flange 2 and the connecting seat 5 at the same time.
In order to securely connect the center shaft 23 to 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 leakage of the lubricating oil 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, in application, the output flange 2 is connected with a component which needs to be controlled to rotate, the drive plate 20 respectively controls the starting, stopping and rotating speed of the motor, the braking and releasing of the brake, and an actual rotating speed signal of the output flange 2 is obtained from the encoder; after the motor is started, the rotor 14 rotates around the stator 22, the rotor 14 drives the cam shaft 13 to synchronously rotate, the oval cam shaft 13 sequentially extrudes the tooth ends of the flexible wheel 7 on the inner teeth of the rigid wheel 12 through the flexible bearing 15, the tooth number of the flexible wheel 7 is smaller than that of the rigid wheel 12, generally 2 teeth are omitted, the cam shaft 13 rotates for a circle, the flexible wheel 7 reversely rotates for an angle corresponding to two teeth, so that the large-proportion speed reduction function of the harmonic speed reducer is realized, the flexible wheel 7 drives the output flange 2 to synchronously rotate, and finally, components needing to be controlled to rotate are 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 (5)
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 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 cross roller bearing with the central through-hole of output flange, the power take off end of flexbile gear with output flange connects its characterized in that: the flexible gear is a cup-shaped flexible gear, the power output end of the flexible gear is a part 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 located 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, and the power output end of the flexible gear is located between the transmission seat and the output flange, 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 camshaft and positioned between the transmission seat and the first end cover, a rotor of the motor is connected with the inner wall of the camshaft, the brake and the drive plate are respectively sleeved outside the central shaft and positioned in the central through hole of the camshaft through self central through holes, 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; the encoder is positioned between the transmission seat and the motor, a coded disc of the encoder is arranged on the transmission seat and close to the motor, an induction piece of the encoder is sleeved outside the central shaft through a central through hole of the induction piece and positioned between the coded disc and the motor, and the induction piece of the encoder is correspondingly connected with the driving plate; the rigid wheel is arranged between the cylindrical shell and the first end cover; the brake is located between the motor and the drive 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 a central through hole of the brake base, the electromagnetic coil is installed 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, close to the inner edge, of the armature is connected with the brake base and can move in the axial direction of the central shaft at a small distance, the pressure spring is installed on the brake base and abuts against the armature to enable the armature to have stress far away from the brake base, the peripheral edge of the friction plate is installed on the inner wall of the camshaft and can move in the axial direction of the central shaft at a small distance and cannot rotate in the circumferential direction, and the friction plate is located in a gap between the brake base and the armature.
2. The compact robot joint module based on the harmonic reducer of claim 1, characterized in that: 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.
3. The compact robot joint module based on the harmonic reducer of claim 2, characterized in that: 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.
4. The compact robot joint module based on the harmonic reducer of claim 1, characterized in that: one end of the central shaft is connected with the first end cover through a screw.
5. The compact robot joint module based on the harmonic reducer of claim 1, characterized in that: an O-shaped sealing ring is arranged between the inner wall of the output flange and the outer wall of the central shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210922768.9A CN115008497B (en) | 2022-08-02 | 2022-08-02 | Compact robot joint module based on harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210922768.9A CN115008497B (en) | 2022-08-02 | 2022-08-02 | Compact robot joint module based on harmonic speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115008497A CN115008497A (en) | 2022-09-06 |
| CN115008497B true CN115008497B (en) | 2022-11-04 |
Family
ID=83065378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210922768.9A Active CN115008497B (en) | 2022-08-02 | 2022-08-02 | Compact robot joint module based on harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115008497B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117857B (en) * | 2022-09-30 | 2023-08-15 | 广东天太机器人有限公司 | Robot joint module |
| CN115609632B (en) * | 2022-10-08 | 2023-08-25 | 深圳市越疆科技股份有限公司 | Mechanical arm and joint module thereof |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2377733A (en) * | 2001-07-19 | 2003-01-22 | Luk Lamellen & Kupplungsbau | An electric motor gear actuator with harmonic drive |
| CN101042180A (en) * | 2006-11-07 | 2007-09-26 | 重庆大学 | Solid lubrication precision wave filtering driving device |
| CN206899266U (en) * | 2017-07-12 | 2018-01-19 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN113894838A (en) * | 2021-10-26 | 2022-01-07 | 重庆大学 | Flat harmonic speed reduction modularization driving joint |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201162803Y (en) * | 2008-03-07 | 2008-12-10 | 哈尔滨工业大学 | Short cup type harmonic wave gear speed reducer |
| JP5031649B2 (en) * | 2008-04-18 | 2012-09-19 | 株式会社ハーモニック・ドライブ・システムズ | Flexspline and wave gear device |
| CN205877138U (en) * | 2016-07-26 | 2017-01-11 | 广州市昊志机电股份有限公司 | Adopt well casement harmonic speed reducer ware of cup -shape flexspline |
| JP2018087611A (en) * | 2016-11-29 | 2018-06-07 | セイコーエプソン株式会社 | Robot, flexible gear, gearing, and manufacturing method for flexible gear |
| EP3387293B1 (en) * | 2017-02-28 | 2021-08-25 | Harmonic Drive SE | Strain wave gear mechanism with an inner seal |
| CN107263527B (en) * | 2017-06-30 | 2021-02-09 | 东南大学 | Joint device for joint robot |
| CN209245180U (en) * | 2018-12-11 | 2019-08-13 | 凌子龙 | Double flexbile gear harmonic wave speed reducing machines that deflection can limit |
| US11859705B2 (en) * | 2019-02-28 | 2024-01-02 | California Institute Of Technology | Rounded strain wave gear flexspline utilizing bulk metallic glass-based materials and methods of manufacture thereof |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN109986549A (en) * | 2019-05-10 | 2019-07-09 | 江苏开璇智能科技有限公司 | A kind of hollow ultrathin outer rotor harmonic reduction all-in-one machine |
| CN216016632U (en) * | 2021-07-22 | 2022-03-11 | 苏州雄大电机有限公司 | Outer rotor harmonic speed reduction hub motor |
| CN216951536U (en) * | 2022-03-25 | 2022-07-12 | 成都瑞迪智驱科技股份有限公司 | Electromagnetic braking harmonic speed reducer |
-
2022
- 2022-08-02 CN CN202210922768.9A patent/CN115008497B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2377733A (en) * | 2001-07-19 | 2003-01-22 | Luk Lamellen & Kupplungsbau | An electric motor gear actuator with harmonic drive |
| CN101042180A (en) * | 2006-11-07 | 2007-09-26 | 重庆大学 | Solid lubrication precision wave filtering driving device |
| CN206899266U (en) * | 2017-07-12 | 2018-01-19 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN113894838A (en) * | 2021-10-26 | 2022-01-07 | 重庆大学 | Flat harmonic speed reduction modularization driving joint |
Non-Patent Citations (2)
| Title |
|---|
| Young-Jin Lee ; Min-Kyu Park ; Seok-Jo Go.Development of smart actuator for leight-weight modular robot.《ICCAS 2010》.2010, * |
| 波发生器-柔轮接触力学特性及疲劳寿命分析;郭亚静;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20220515(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115008497A (en) | 2022-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115008497B (en) | Compact robot joint module based on harmonic speed reducer | |
| CN212385507U (en) | Robot joint power mechanism and robot | |
| CN109114173B (en) | Speed reducer with power source | |
| CN111555546A (en) | Special low-cost control direct current motor for quadruped robot | |
| CN114102659B (en) | Integrated robot driving joint based on planetary reducer | |
| CN112706188A (en) | Robot and driving module thereof | |
| CN106602820B (en) | Multiple degrees of freedom all-in-one machine | |
| CN217801795U (en) | Compact robot joint module | |
| CN216299344U (en) | Joint power unit and mechanical arm applying same | |
| CN113894837A (en) | Joint power unit and mechanical arm applying same | |
| CN116724182A (en) | Transmission mechanism for rotary joint, robot joint and robot | |
| CN212096415U (en) | Magnetic gear transmission robot joint module | |
| CN114928208A (en) | Electronic mechanical brake mechanism | |
| CN218845042U (en) | RV speed reducer integration module | |
| CN114382861A (en) | Electromagnetic braking harmonic speed reduction device embedded in robot joint and joint system | |
| CN209642486U (en) | A kind of hollow ultrathin outer rotor harmonic reduction all-in-one machine | |
| CN111015728A (en) | Compound planet magnetism transmission integration robot joint | |
| CN220699648U (en) | Driving assembly, joint module and robot | |
| CN112072844A (en) | Integrated high-thrust servo mechanism | |
| KR20170025734A (en) | Motor module with transmission | |
| CN211440061U (en) | Highly integrated joint driver for robot | |
| CN219458828U (en) | Double-rigid-wheel harmonic reducer joint module | |
| CN218488404U (en) | Power joint and robot | |
| CN218927867U (en) | Planetary gear motor with high torque density and joint module | |
| CN219987665U (en) | Servo module, joint and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |