CN215942974U - Joint module and joint robot - Google Patents
Joint module and joint robot Download PDFInfo
- Publication number
- CN215942974U CN215942974U CN202122359743.6U CN202122359743U CN215942974U CN 215942974 U CN215942974 U CN 215942974U CN 202122359743 U CN202122359743 U CN 202122359743U CN 215942974 U CN215942974 U CN 215942974U
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- motor rotor
- input shaft
- joint module
- peripheral wall
- motor
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Abstract
The utility model discloses a joint module and a joint robot, wherein the joint module comprises: the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the motor stator is arranged in the shell, the motor rotor is rotatably arranged on the inner peripheral side of the motor stator, and the motor rotor is a hollow shaft; the speed reducer is arranged at one end of the motor assembly and is provided with an input shaft, the input shaft is fixedly matched with the motor rotor, and an installation groove is formed between the outer peripheral wall of the input shaft and the inner peripheral wall of the motor rotor; the tight subassembly expands, including the tight cover of expanding in interior tight cover and the tight cover that expands outward of the tight cover of cover are located to the cover, the tight unit mount that expands in the mounting groove, wherein, the internal perisporium butt of the tight cover of interior expanding in the input shaft, the outer peripheral wall butt of the tight cover of outer expanding in electric motor rotor. The joint module enables the inner expansion sleeve and the outer expansion sleeve to adapt to the matching error of the motor rotor and the input shaft by adjusting the matching tightness, so that the coaxiality of the motor rotor and the input shaft can be effectively improved, and the working stability of the joint module is improved.
Description
Technical Field
The utility model relates to the technical field of driving equipment, in particular to a joint module and a joint robot.
Background
With the rapid development of industrial automation technology, the robot is more and more emphasized and widely applied as an important industrial automation device. In the related art of robots, control of moving parts such as robot joints is the most important and critical.
In the robot joint module of the related art, when the motor rotor is matched with the input shaft of the speed reducer, the vibration generated by the joint module during working is large due to the large coaxiality error of the motor rotor and the input shaft, and the working stability of the joint module is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a joint module, and aims to solve the technical problem of how to improve the working stability of the joint module.
In order to achieve the above object, the present invention provides a joint module comprising:
the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the motor stator is arranged in the shell, the motor rotor is rotatably arranged on the inner peripheral side of the motor stator, and the motor rotor is arranged as a hollow shaft;
the speed reducer is arranged at one end of the motor assembly and is provided with an input shaft, the input shaft is fixedly matched with the motor rotor, and an installation groove is formed between the outer peripheral wall of the input shaft and the inner peripheral wall of the motor rotor;
the tight subassembly expands, including interior tight cover and the cover of expanding locate the tight cover that expands outward of the tight cover that expands, expand tight unit mount in the mounting groove, wherein, the interior perisporium butt of the tight cover that expands in the input shaft, the outer wall butt of the tight cover that expands outward in electric motor rotor.
Optionally, the mounting groove is opened in an inner peripheral wall of the end of the motor rotor far away from the speed reducer.
Optionally, a containing groove has been still seted up to electric motor rotor's internal perisporium, the containing groove with the mounting groove is adjacent and runs through electric motor rotor's end wall, the joint module still including install in the clamping ring of containing groove, the clamping ring will the tight subassembly that expands is pressed firmly in the mounting groove.
Optionally, the periphery wall of the interior tight cover that expands forms first direction inclined plane, the interior peripheral wall of the tight cover that expands outward forms second direction inclined plane, first direction inclined plane with the cooperation butt of second direction inclined plane, the clamping ring crimping in the terminal surface of the tight cover that expands outward.
Optionally, the inner expansion sleeve and the outer expansion sleeve are provided as elastic sleeves.
Optionally, the outer circumferential wall of the pressure ring is in threaded fit with the inner circumferential wall of the motor rotor.
Optionally, the reduction gear still has the dabber, the input shaft sets up to the quill shaft, the dabber with input shaft differential cooperation, the tip protrusion of dabber in the input shaft to with motor element's encoder is connected, the periphery wall of dabber with form sealed clearance between the internal perisporium of clamping ring, the joint module is still including locating sealed clearance's sealing washer.
Optionally, the protruding crimping muscle that is equipped with of internal perisporium of clamping ring, a terminal surface butt of crimping muscle in tight subassembly, another terminal surface butt in the terminal surface of sealing washer expands.
Optionally, the crimping rib extends along the circumferential direction of the pressing ring, and a notch is formed in the inner circumferential edge of the crimping rib.
The utility model also provides a robot, comprising a joint module, wherein the joint module comprises: the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the motor stator is arranged in the shell, the motor rotor is rotatably arranged on the inner peripheral side of the motor stator, and the motor rotor is arranged as a hollow shaft; the speed reducer is arranged at one end of the motor assembly and is provided with an input shaft, the input shaft is fixedly matched with the motor rotor, and an installation groove is formed between the outer peripheral wall of the input shaft and the inner peripheral wall of the motor rotor; the tight subassembly expands, including interior tight cover and the cover of expanding locate the tight cover that expands outward of the tight cover that expands, expand tight unit mount in the mounting groove, wherein, the interior perisporium butt of the tight cover that expands in the input shaft, the outer wall butt of the tight cover that expands outward in electric motor rotor.
According to the joint module, the tensioning assembly is arranged at the matching part of the motor rotor and the input shaft of the speed reducer, and is divided into the inner expansion sleeve and the outer expansion sleeve which are sleeved with each other, so that the matching error of the motor rotor and the input shaft is adapted by adjusting the matching tightness of the inner expansion sleeve and the outer expansion sleeve, and the coaxiality of the motor rotor and the input shaft can be effectively improved, and the working stability of the joint module is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is an exploded view of an embodiment of a joint module according to the present invention;
FIG. 2 is a cross-sectional exploded view of an embodiment of the joint module of the present invention;
FIG. 3 is a cross-sectional exploded view of another embodiment of the joint module of the present invention;
FIG. 4 is a schematic cross-sectional view of a joint module according to an embodiment of the present invention;
fig. 5 is a schematic cross-sectional view of another embodiment of the joint module of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | |
11 | |
12 | |
| 20 | |
21 | |
22 | |
| 30 | |
31 | |
32 | |
| 121 | Containing |
40 | |
311 | First guide inclined |
| 321 | Second guide |
23 | |
50 | Encoder for encoding a |
| 60 | |
41 | |
411 | Gap |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a joint module, which is applied to a joint robot.
In an embodiment of the present invention, as shown in fig. 1 to 5, the joint module includes: the motor assembly 10 comprises a housing 11, a motor stator and a motor rotor 12, wherein the motor stator is installed in the housing 11, the motor rotor 12 is rotatably installed on the inner peripheral side of the motor stator, and the motor rotor 12 is a hollow shaft; the speed reducer 20 is installed at one end of the motor assembly 10, the speed reducer 20 is provided with an input shaft 21, the input shaft 21 is fixedly matched with the motor rotor 12, and an installation groove 22 is formed between the outer peripheral wall of the input shaft 21 and the inner peripheral wall of the motor rotor 12; tight subassembly 30 expands, is located including interior tight cover 31 and the cover of expanding the outer tight cover 32 that expands of tight cover 31 in, tight subassembly 30 that expands install in mounting groove 22, wherein, the interior perisporium butt of tight cover 31 that expands in input shaft 21, the outer peripheral wall butt of tight cover 32 that expands outward in motor rotor 12.
The internal expansion sleeve 31 and the external expansion sleeve 32 are sleeved with each other and then are installed in the installation groove 22, when the motor rotor 12 and the input shaft 21 rotate, if the axis of the motor rotor 12 deviates from the axis of the input shaft 21, the extrusion force applied to a certain part of the expansion assembly 30 can be increased, at the moment, the internal expansion sleeve 31 and the external expansion sleeve 32 can adapt to the change of the extrusion force through automatically adjusting the fit tightness, so that corresponding reaction force is applied to the motor rotor 12 and the input shaft 21, the relative position of the motor rotor 12 and the input shaft 21 is adjusted, the coaxiality of the motor rotor 12 and the input shaft 21 is improved, vibration generated when the input shaft 21 rotates can be avoided, and the working stability of the joint module is improved.
Specifically, the inner expansion sleeve 31 and the outer expansion sleeve 32 may be elastic sleeves, that is, made of elastic materials, such as rubber or silica gel, so that the inner expansion sleeve 31 and the outer expansion sleeve 32 can change their shapes more flexibly according to the received external force, and apply corresponding reaction elasticity, thereby further ensuring the coaxiality of the input shaft 21 and the motor rotor 12.
In the joint module, the tensioning assembly is arranged at the matching part of the motor rotor 12 and the input shaft 21 of the speed reducer 20 and is divided into the inner expansion sleeve 31 and the outer expansion sleeve 32 which are sleeved with each other, so that the matching error between the motor rotor 12 and the input shaft 21 is adapted to by adjusting the matching tightness between the inner expansion sleeve 31 and the outer expansion sleeve 32, the coaxiality between the motor rotor 12 and the input shaft 21 can be effectively improved, and the working stability of the joint module is improved.
In one embodiment, as shown in fig. 1 to 5, the mounting groove 22 is opened on an inner peripheral wall of an end of the motor rotor 12 far from the reducer 20. One end of the motor rotor 12, which is far away from the speed reducer 20, is exposed at the end of the housing 11 and is provided with an opening, and the mounting groove 22 is exposed at the end of the motor rotor 12 and is exposed through the opening, so that a user can install the tension assembly into the mounting groove 22 from the end of the housing 11, which is far away from the speed reducer 20, thereby simplifying the installation process of the tension assembly and improving the assembly efficiency of the joint module.
Specifically, as shown in fig. 4 and 5, a containing groove 121 is further formed in the inner peripheral wall of the motor rotor 12, the containing groove 121 is adjacent to the mounting groove 22 and penetrates through the end wall of the motor rotor 12, the joint module further includes a pressing ring 40 installed in the containing groove 121, and the pressing ring 40 presses and fixes the expansion assembly 30 in the mounting groove 22.
The accommodating groove 121 extends along the circumferential direction of the input shaft 21, the accommodating groove 121 is located at one end of the mounting groove 22 far away from the speed reducer 20, the accommodating groove 121 and the mounting groove 22 are in step-shaped adjacency, the pressing ring 40 is mounted on the end face of the expansion assembly 30 after the accommodating groove 121 is mounted, so that the expansion assembly 30 is pressed and fixed in the mounting groove 22, and the mounting stability of the expansion assembly 30 in the mounting groove 22 can be improved. The pressing ring 40 may be pressed against only one of the inner expansion sleeve 31 or the outer expansion sleeve 32, or may be pressed against both the inner expansion sleeve 31 and the outer expansion sleeve 32, which is not limited herein. The pressing ring 40 and the accommodating groove 121 may be fixed by an interference fit or a fastener, which is not limited herein.
In practical applications, as shown in fig. 1 and 3, the outer peripheral wall of the inner expansion sleeve 31 forms a first guide inclined surface 311, the inner peripheral wall of the outer expansion sleeve 32 forms a second guide inclined surface 321, the first guide inclined surface 311 is in fit abutment with the second guide inclined surface 321, and the press ring 40 is in press contact with the end surface of the outer expansion sleeve 32.
The first guiding inclined surface 311 and the second guiding inclined surface 321 are both inclined relative to the axis of the joint module, wherein the first guiding inclined surface 311 is inclined towards the pressing ring 40, and the second guiding inclined surface 321 is inclined away from the pressing ring 40. When the expansion assembly 30 is installed, the inner expansion sleeve 31 is firstly installed in the installation groove 22, then the outer expansion sleeve 32 slides into the installation groove 22 along the first guide inclined surface 311, the pressing ring 40 can axially press the outer expansion sleeve 32, and the pressing force of the pressing ring 40 on the outer expansion sleeve 32 forms a radial component force acting on the second guide inclined surface 321 through the first guide inclined surface 311 so as to radially press and fix the inner expansion sleeve 31 on the input shaft 21. The inner expansion sleeve 31 can also generate a reaction force to the outer expansion sleeve 32 to press and fix the outer expansion sleeve 32 on the motor rotor 12, so that the installation stability of the expansion assembly 30 can be further improved, the expansion assembly 30 is always in a stressed state, the motor rotor 12 and the input shaft 21 are reversely extruded, and the coaxiality of the motor rotor 12 and the input shaft 21 is further improved.
In one embodiment, the outer circumferential wall of the pressure ring 40 is in threaded engagement with the inner circumferential wall of the motor rotor 12. The periphery wall of clamping ring 40 is equipped with the external screw thread, and electric motor rotor 12's internal perisporium is equipped with the internal thread, and the external screw thread is because internal thread screw cooperation to realize clamping ring 40 and electric motor rotor 12's fixed Assembly, thereby can simplify the installation of clamping ring 40, in order to improve crimping stability.
In an embodiment, the speed reducer 20 further includes a mandrel 23, the input shaft 21 is a hollow shaft, the mandrel 23 is in differential fit with the input shaft 21, an end of the mandrel 23 protrudes out of the input shaft 21 to be connected to the encoder 50 of the motor assembly 10, a sealing gap is formed between an outer peripheral wall of the mandrel 23 and an inner peripheral wall of the pressing ring 40, and the joint module further includes a sealing ring 60 disposed in the sealing gap.
The core shaft 23 is an output shaft of the speed reducer 20, and the speed reducer 20 further has an output end cover exposed at an end of the speed reducer 20 for connecting an external mechanical arm to drive the mechanical arm to rotate. The mandrel 23 is inserted into the input shaft 21, one end of the mandrel 23 close to the speed reducer 20 is connected to the output end cover, and one end far away from the speed reducer 20 protrudes out of the end part of the input shaft 21. The encoder 50 rotates with the spindle 23 to convert the rotational speed signal of the spindle 23 into an electrical signal for feedback to the control system.
Since the spindle 23 and the input shaft 21 are in differential engagement, a fit clearance exists between the spindle 23 and the input shaft 21, and the fit clearance is minimized in order to reduce the size of the joint module. In order to prevent the spindle 23 and the input shaft 21 from rubbing against each other and interfering with the rotation process, lubricating oil is injected into the fitting clearance to reduce the friction force. The sealing ring 60 is used to prevent the lubricant from flowing out from the end of the motor rotor 12, so as to improve the sealing performance of the joint module and avoid oil leakage.
Specifically, as shown in fig. 4 and 5, a pressure rib 41 is protruded from an inner peripheral wall of the pressing ring 40, one end surface of the pressure rib 41 abuts against the expansion member 30, and the other end surface abuts against an end surface of the seal ring 60. The bead 41 is pressed against the expansion assembly 30 and the seal ring 60 is then pressed against the bead 41, so that the expansion assembly 30 can be further pressed by means of the seal ring 60. In addition, the press rib 41 can increase the fitting area with the seal ring 60 to further improve the sealing performance.
In practical application, as shown in fig. 1 and fig. 2, the pressure welding rib 41 extends along the circumferential direction of the pressing ring 40, and a notch 411 is formed on the inner circumferential edge of the pressure welding rib 41. The crimping rib 41 is annularly arranged to increase the crimping area of the expansion assembly 30 and the matching area with the sealing ring 60, so as to further improve the crimping stability and the matching stability. The notch 411 is used for clamping an operation tool, so that the pressing ring 40 can be conveniently assembled and disassembled through the tool, and the disassembly convenience of the pressing ring 40 is improved.
The present invention further provides a joint robot, which includes a joint module, and the specific structure of the joint module refers to the above embodiments, and since the joint robot adopts all the technical solutions of all the above embodiments, the joint robot at least has all the beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A joint module, comprising:
the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the motor stator is arranged in the shell, the motor rotor is rotatably arranged on the inner peripheral side of the motor stator, and the motor rotor is arranged as a hollow shaft;
the speed reducer is arranged at one end of the motor assembly and is provided with an input shaft, the input shaft is fixedly matched with the motor rotor, and an installation groove is formed between the outer peripheral wall of the input shaft and the inner peripheral wall of the motor rotor;
the tight subassembly expands, including interior tight cover and the cover of expanding locate the tight cover that expands outward of the tight cover that expands, expand tight unit mount in the mounting groove, wherein, the interior perisporium butt of the tight cover that expands in the input shaft, the outer wall butt of the tight cover that expands outward in electric motor rotor.
2. The joint module of claim 1, wherein the mounting groove is formed in an inner peripheral wall of an end of the motor rotor away from the speed reducer.
3. The joint module of claim 2, wherein the inner peripheral wall of the motor rotor is further provided with a receiving groove, the receiving groove is adjacent to the mounting groove and penetrates through the end wall of the motor rotor, the joint module further comprises a pressing ring mounted in the receiving groove, and the pressing ring presses and fixes the expansion assembly in the mounting groove.
4. The joint module of claim 3, wherein the outer circumferential wall of the inner expansion sleeve forms a first guide inclined surface, the inner circumferential wall of the outer expansion sleeve forms a second guide inclined surface, the first guide inclined surface is in fit abutment with the second guide inclined surface, and the press ring is in press contact with the end surface of the outer expansion sleeve.
5. A joint module according to any one of claims 1 to 4, wherein the inner and outer expansion shells are provided as elastic sleeves.
6. The joint module of claim 3, wherein the outer peripheral wall of the pressure ring is in threaded engagement with the inner peripheral wall of the motor rotor.
7. The joint module of claim 3, wherein the speed reducer further comprises a mandrel, the input shaft is a hollow shaft, the mandrel is in differential fit with the input shaft, an end of the mandrel protrudes out of the input shaft to be connected with an encoder of the motor assembly, a sealing gap is formed between an outer peripheral wall of the mandrel and an inner peripheral wall of the pressing ring, and the joint module further comprises a sealing ring arranged in the sealing gap.
8. The joint module of claim 7, wherein the inner peripheral wall of the pressing ring is convexly provided with a crimping rib, one end surface of the crimping rib abuts against the expansion assembly, and the other end surface abuts against the end surface of the sealing ring.
9. The joint module of claim 8, wherein the crimp rib extends along a circumferential direction of the press ring, and an inner circumferential edge of the crimp rib is notched.
10. An articulated robot comprising an articulated module according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122359743.6U CN215942974U (en) | 2021-09-28 | 2021-09-28 | Joint module and joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122359743.6U CN215942974U (en) | 2021-09-28 | 2021-09-28 | Joint module and joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215942974U true CN215942974U (en) | 2022-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122359743.6U Active CN215942974U (en) | 2021-09-28 | 2021-09-28 | Joint module and joint robot |
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| Country | Link |
|---|---|
| CN (1) | CN215942974U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
-
2021
- 2021-09-28 CN CN202122359743.6U patent/CN215942974U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN113771086B (en) * | 2021-09-28 | 2023-11-10 | 深圳市零差云控科技有限公司 | Control method of joint module and joint robot |
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