CN211565895U - Joint module for robot - Google Patents
Joint module for robot Download PDFInfo
- Publication number
- CN211565895U CN211565895U CN201921930240.6U CN201921930240U CN211565895U CN 211565895 U CN211565895 U CN 211565895U CN 201921930240 U CN201921930240 U CN 201921930240U CN 211565895 U CN211565895 U CN 211565895U
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- China
- Prior art keywords
- shell
- shaft
- bearing cover
- gear shaft
- input gear
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- Braking Arrangements (AREA)
Abstract
The utility model provides a robot joint module, its characterized in that inner rotor servo motor's output shaft, transmission system's input shaft and brake part's input shaft are the same axis, one side output shaft direct drive transmission system of driving motor, and the opposite side output shaft links to each other with electromagnetic braking ware, and inner rotor servo motor circuit board has hall element, and the shell is fixed, is supported output by the output; the brake device has the advantages of high integration level, compact structure, large braking torque, high efficiency, reliability, convenience for quick installation and very wide commercial prospect, and can fill up the blank of the related technology and generate great social benefit and economic benefit.
Description
Technical Field
The utility model relates to the technical field of electric machine, especially, relate to a joint module for robot.
Background
With the rapid development of the robot technology, higher requirements are put on each component of the system. The joint is an important core component of the robot, and the overall structure and the motion performance of the joint directly affect the overall operation space, the load capacity and the task execution capacity of the robot, so that the joint body is required to have a large load capacity under the condition of small self weight and small self volume. Meanwhile, the existing requirements also require that the period from design to delivery of the joint is shortened continuously, and higher requirements are also put on the integration speed of the joint.
Therefore, in order to meet the production requirements, a robot integrated joint which is compact in structure, high in integration level, large in braking torque and convenient to install quickly needs to be designed.
Disclosure of Invention
In order to satisfy above-mentioned production demand, solve the not enough of prior art, the utility model provides a joint module for robot, the device compact structure, the integrated level is high, braking torque is big, high-efficient reliable, the quick installation of being convenient for.
The utility model provides a robot is with joint module which characterized in that robot includes with joint module: the system comprises a transmission system, an inner rotor servo motor, an electromagnetic brake and a joint shell; the inner rotor servo motor includes: the device comprises a left bearing cover, a right bearing cover, two deep groove ball bearings, a printed circuit board, a magnetic cylinder, an input gear shaft, a lamination layer, a permanent magnet and a winding; the middle part of the input gear shaft is connected with the magnetic cylinder through a key, the left bearing cover and the right bearing cover are respectively connected with the input gear shaft through a deep groove ball bearing, six permanent magnets are uniformly distributed on the circumferential direction of the inner wall of the lamination, and a winding is wound in the middle of the lamination; the printed circuit board is provided with three Hall elements which are uniformly distributed in the circumferential direction, the printed circuit board is connected to the left side of the magnetic yoke through a screw, and the left side of the magnetic yoke is connected to the right side of the right bearing cover through a screw;
furthermore, the right bearing cover is correspondingly provided with three arc-shaped holes for the Hall element to pass through, and the outer ring of the left bearing cover is provided with a connecting bulge connected with the transmission system and the shell; the left bearing cover and the right bearing cover are respectively provided with three arc-shaped tenons which are uniformly distributed in the circumferential direction, the lamination layers are correspondingly provided with arc-shaped mortises, and the axial and circumferential positioning is carried out on the lamination layers through mortise and tenon structures;
still further, the electromagnetic brake includes: the magnetic yoke, the coil, the friction plate, the armature, the spring piece and the brake flange; the magnetic yoke is internally provided with a coil groove and a friction plate groove, the outer wall of the magnetic yoke is provided with a coil wiring hole, the spring piece is connected between the armature and the braking flange through six rivets which are distributed circumferentially and have alternate installation directions, and the braking flange is connected with the right end of the input gear shaft through a key;
still further, the joint shell comprises: the pin gear shell is connected with the shell through a bolt, the shell is connected with the rear cover through a screw, a processing pin hole is formed in each connecting bulge of the pin gear shell and the shell, and a wiring groove is formed in the shell;
furthermore, the output shaft of the inner rotor servo motor, the input shaft of the transmission system and the input shaft of the brake part are the same shaft, namely an input gear shaft; the input gear shaft is a hollow stepped gear shaft, the left end of the input gear shaft is a gear which is meshed with the first-stage reduction gear of the transmission system, and a clamping groove for accommodating a retaining ring for the shaft is arranged at the joint of the right end of the input gear shaft and the electromagnetic brake.
Compared with the prior art, the beneficial effects of the utility model are as follows: the integrated level is high, the structure is compact, the braking torque is large, the efficiency and the reliability are high, the rapid installation are convenient, the commercial prospect is very wide, the blank of the related technology can be filled, and the social benefit and the economic benefit can be generated.
Drawings
Fig. 1 is a joint module for a robot.
Fig. 2 is a three-dimensional view of a joint module for a robot.
Fig. 3 is a sectional view of a joint module for a robot.
Fig. 4 is an exploded view of a joint module for a robot.
Fig. 5 is an exploded view of the drive train.
Fig. 6 is an exploded view of an inner rotor servo motor.
Fig. 7 is an exploded view of an electromagnetic brake.
In fig. 1-7:
1. a pin gear housing; 2. Oil sealing; 3. Angular contact ball bearings;
4. a left side tapered roller bearing; 5. An internal spline gear; 6. An external spline eccentric shaft;
7. a retainer ring for the left shaft of the eccentric shaft; 8. The right side of the eccentric shaft is provided with a retainer ring for the shaft; 9. A sleeve on the left side of the eccentric shaft;
10. an input gear shaft; 11. A left side cycloid wheel; 12. A right side cycloid wheel;
13. an output support; 14. A pin; 15. Needle teeth;
16. an input support; 17. A left deep groove ball bearing; 18. A left bearing cap;
19. laminating; 20. An intermediate bond; 21. A winding;
22. a housing; 23. A right bearing cover 24 and a bolt at the magnetic yoke;
25. a circuit board screw; 26. A magnetic yoke; 27. A coil;
28. a friction plate; 29. A brake flange; 30. A right side key;
31. the input gear shaft is provided with a retainer ring; 32. An armature; 33. Riveting;
34. a spring plate; 35. A rear cover; 36. A rear cover screw;
37. a printed circuit board; 38. A right deep groove ball bearing; 39. An input shaft sleeve;
40. a magnetic cylinder; 41. A permanent magnet; 42. A bolt;
43. a circlip for a hole; 44. A right tapered roller bearing; 45. A sleeve on the right side of the eccentric shaft;
46. a needle bearing.
In fig. 4:
I. a transmission system; II, an inner rotor servo motor;
III, an electromagnetic brake.
Detailed Description
The embodiments of the present invention will be described with reference to the accompanying drawings, and the present invention will be described in detail with reference to fig. 1 to 6.
A joint module for a robot comprises a pin gear shell 1, an oil seal 2, an angular contact ball bearing 3, a left tapered roller bearing 4, an inner spline gear 5, an outer spline eccentric shaft 6, an eccentric shaft left side shaft retainer ring 7, an eccentric shaft right side shaft retainer ring 8, an eccentric shaft left side sleeve 9, an input gear shaft 10, a left side cycloidal gear 11, a right side cycloidal gear 12, an output support 13, a pin 14, a pin gear 15, an input support 16, a left side deep groove ball bearing 17, a left bearing cover 18, a lamination 19, a middle key 20, a winding 21, a shell 22, a right bearing cover 23, a yoke screw 24, a circuit board screw 25, a yoke 26, a coil 27, a friction plate 28, a brake flange 29, a right side key 30, an input shaft retainer ring 31, an armature gear shaft 32, a rivet 33, a spring leaf 34, a rear cover 35, a rear cover screw 36, a printed circuit board 37, a right side deep groove ball, A magnetic cylinder 40, a permanent magnet 41, a bolt 42, a circlip for hole 43, a right tapered roller bearing 44, an eccentric shaft right sleeve 45, and a needle roller bearing 46.
The left side gear of the input gear shaft 10 is meshed with the two internal spline gears 5, and the two internal spline gears 5 are fixed on the external spline eccentric shaft 6 through a retaining ring 7 for the left side shaft of the eccentric shaft and a retaining ring 8 for the right side shaft of the eccentric shaft.
A right tapered roller bearing 44 and a left tapered roller bearing 4 are respectively arranged between the external spline eccentric shaft 6 and the input support 16 and the output support 13, the left side of the left tapered roller bearing 4 is positioned by the output support 13, the right side is positioned by the eccentric shaft left sleeve 9, the left side of the right tapered roller bearing 44 is positioned by the eccentric shaft right sleeve 45, and the right side is positioned by the circlip 43 for holes; the left side cycloid wheel 11 and the right side cycloid wheel 12 are installed at the eccentric position of the external spline eccentric shaft 6 through a needle bearing 46.
The pin housing 1 serves as a support, which is fixedly arranged and connected to the left bearing cover 18 and the housing 22 by means of bolts 42, and in which two cycloidal gears or the like are housed, forming a protection for the two cycloidal gears or the like. The pin teeth 15 are used as meshing parts, the pin teeth 15 are uniformly distributed on the inner wall of the pin tooth shell 1 along the circumferential direction of the pin tooth shell 1 and are meshed with the two cycloidal gears, the two axial sides of each pin tooth 15 are respectively provided with an angular contact ball bearing 3, axial displacement of the pin teeth 15 is limited, the pin tooth shell 1 is connected with an input support 16 and an output support 13, the input support 16 and the output support 13 are connected through a pin 14, and an oil seal 2 is arranged between the output support 13 and the pin tooth shell 1.
The middle of the input gear shaft 10 is circumferentially fixed with a magnetic cylinder 40 through a middle key 20, and the middle and the magnetic cylinder are used as a rotor assembly of a driving motor together, the left side of the magnetic cylinder 40 is positioned through a shaft shoulder, and the right side of the magnetic cylinder is positioned through an input shaft sleeve 39; the winding 21 is wound on the lamination 19, and six permanent magnets 41 are uniformly distributed on the inner ring of the lamination 19 in the circumferential direction and jointly used as a stator assembly of the driving motor.
Three arc-shaped tenons which are uniformly distributed in the circumferential direction are arranged on the left bearing cover 18 and the right bearing cover 23, arc-shaped mortises are correspondingly arranged on the lamination layer 19, and the lamination layer 19 is axially and circumferentially positioned through a mortise and tenon structure.
The right bearing cover 23 is provided with an arc-shaped hole reserved for a hall element on the printed circuit board 37, and the printed circuit board 37 is mounted on the left side of the yoke 26 by a circuit board screw 25.
The left side of the magnetic yoke 26 is fixed on the right side of the right bearing cover through a magnetic yoke bolt 24, a ring-shaped groove for storing a coil 27 and a friction plate 28 is formed in the magnetic yoke 26, and the friction plate 28 is arranged on the right side of the coil 27.
The input gear shaft 10 is connected to a brake flange 29 on the right side by a right key 30, the brake flange 29 being positioned on the left side by a shoulder and on the right side by an input gear shaft retainer 31. The spring piece 34 is connected and arranged between the armature 32 and the braking flange 29 through a rivet 33 for resetting. When the power is cut off, the armature 32 is separated from the friction plate 28, and the armature 32 rotates along with the braking flange 29; when energized, the coil 27 generates a magnetic field that attracts the armature 32 to the friction plate 28 for braking.
The rear cover 35 is connected to the housing 22 by rear cover screws 36, and the printed circuit board 37 and the coil 27 are routed through a routing slot reserved in the housing 22.
The above, only be the preferred embodiment of the utility model discloses a it is not right the utility model discloses do any restriction, all according to the utility model discloses any modification, change and equivalent change to above embodiment are done to the entity all still belong to within the scope of protection of the technique of the utility model.
Claims (1)
1. The utility model provides a robot is with joint module which characterized in that robot includes with joint module: the system comprises a transmission system, an inner rotor servo motor, an electromagnetic brake and a joint shell; the inner rotor servo motor includes: the device comprises a left bearing cover, a right bearing cover, two deep groove ball bearings, a printed circuit board, a magnetic cylinder, an input gear shaft, a lamination layer, a permanent magnet and a winding; the middle part of the input gear shaft is connected with the magnetic cylinder through a key, the left bearing cover and the right bearing cover are respectively connected with the input gear shaft through a deep groove ball bearing, six permanent magnets are uniformly distributed on the circumferential direction of the inner wall of the lamination, and a winding is wound in the middle of the lamination; the printed circuit board is provided with three Hall elements which are uniformly distributed in the circumferential direction, the printed circuit board is connected to the left side of the magnetic yoke through a screw, and the left side of the magnetic yoke is connected to the right side of the right bearing cover through a screw;
the right bearing cover is correspondingly provided with three arc-shaped holes for the Hall element to pass through, and the outer ring of the left bearing cover is provided with a connecting bulge connected with the transmission system and the shell; the left bearing cover and the right bearing cover are respectively provided with three arc-shaped tenons which are uniformly distributed in the circumferential direction, the lamination layers are correspondingly provided with arc-shaped mortises, and the axial and circumferential positioning is carried out on the lamination layers through mortise and tenon structures;
the electromagnetic brake includes: the magnetic yoke, the coil, the friction plate, the armature, the spring piece and the brake flange; the magnetic yoke is internally provided with a coil groove and a friction plate groove, the outer wall of the magnetic yoke is provided with a coil wiring hole, the spring piece is connected between the armature and the braking flange through six rivets which are distributed circumferentially and have alternate installation directions, and the braking flange is connected with the right end of the input gear shaft through a key;
the joint shell includes: the pin gear shell is connected with the shell through a bolt, the shell is connected with the rear cover through a screw, a processing pin hole is formed in each connecting bulge of the pin gear shell and the shell, and a wiring groove is formed in the shell;
the output shaft of the inner rotor servo motor, the input shaft of the transmission system and the input shaft of the brake part are the same shaft, namely an input gear shaft; the input gear shaft is a hollow stepped gear shaft, the left end of the input gear shaft is a gear which is meshed with the first-stage reduction gear of the transmission system, and a clamping groove for accommodating a retaining ring for the shaft is arranged at the joint of the right end of the input gear shaft and the electromagnetic brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921930240.6U CN211565895U (en) | 2019-11-11 | 2019-11-11 | Joint module for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921930240.6U CN211565895U (en) | 2019-11-11 | 2019-11-11 | Joint module for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211565895U true CN211565895U (en) | 2020-09-25 |
Family
ID=72530902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921930240.6U Expired - Fee Related CN211565895U (en) | 2019-11-11 | 2019-11-11 | Joint module for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211565895U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712200A (en) * | 2019-11-11 | 2020-01-21 | 天津工业大学 | Robot integration joint device |
-
2019
- 2019-11-11 CN CN201921930240.6U patent/CN211565895U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712200A (en) * | 2019-11-11 | 2020-01-21 | 天津工业大学 | Robot integration joint device |
| CN110712200B (en) * | 2019-11-11 | 2023-09-05 | 天津工业大学 | Robot integrated joint device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200925 Termination date: 20211111 |