CN216803501U - Robot joint module of cavity drive shaft - Google Patents
Robot joint module of cavity drive shaft Download PDFInfo
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- CN216803501U CN216803501U CN202220466574.8U CN202220466574U CN216803501U CN 216803501 U CN216803501 U CN 216803501U CN 202220466574 U CN202220466574 U CN 202220466574U CN 216803501 U CN216803501 U CN 216803501U
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Abstract
The utility model discloses a robot joint module with a hollow driving shaft, which comprises a shell, a driving motor, the hollow driving shaft, a harmonic wave speed reduction assembly, a brake assembly and an encoder assembly, wherein the shell is provided with a plurality of driving shafts; the driving motor is arranged in the shell; the hollow driving shaft comprises a shaft sleeve and a line pipe; the output end of the driving motor is sleeved outside the shaft sleeve; the shaft sleeve is sleeved on the outer side of the line pipe; the front end of the shaft sleeve is in transmission connection with the input end of the harmonic wave speed reduction assembly; the front end of the line pipe is in transmission connection with the output end of the harmonic wave speed reduction assembly; the wire tube is provided with a wire hole along the axis direction. The robot joint module is provided with the brake assembly at the front assembly position, so that electromagnetic interference of the brake assembly on the magnetic encoder can be avoided, the structure is compact, the line holes are formed in the axis direction, the line can be arranged through the line holes, the space for arranging the line in advance of the robot joint module is saved, and the size of the robot joint module is further reduced.
Description
Technical Field
The utility model relates to the field of speed reducing motors, in particular to a robot joint module with a hollow driving shaft.
Background
Among the robot joint module among the prior art, its structure is complicated, and corresponding read head and driver circuit distribute on different circuit boards, lead to walking the line confusion, are difficult to the installation, and simultaneously, whole joint needs many parts to assemble for the space that the overall structure of speed reducer occupy is bigger, and the joint that obtains is bulky, weight is heavy, and because of the too much difficult maintenance of part, whole use to the robot has received very big restriction.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a robot joint module with a hollow driving shaft, which is used for solving the problem that the whole structure of the robot joint module in the prior art occupies a large space.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a robot joint module with a hollow driving shaft, which comprises a shell, a driving motor, the hollow driving shaft, a harmonic wave speed reduction assembly, a brake assembly and an encoder assembly, wherein the shell is provided with a plurality of driving shafts;
the driving motor is arranged in the shell; the hollow driving shaft comprises a shaft sleeve and a line pipe; the output end of the driving motor is sleeved outside the shaft sleeve; the shaft sleeve is sleeved on the outer side of the line pipe; the front end of the shaft sleeve is in transmission connection with the input end of the harmonic wave speed reduction assembly; the front end of the line pipe is in transmission connection with the output end of the harmonic wave speed reduction assembly; the line pipe is provided with a line hole along the axis direction;
the brake assembly is sleeved on the outer side of the shaft sleeve and is positioned on the front side of the driving motor, and a brake plate of the brake assembly is in contact with the shaft sleeve;
the encoder assembly is disposed in the housing, and the encoder assembly is located at a rear side of the driving motor.
In the robot joint module with the hollow driving shaft, the wire pipe comprises a connecting part, an output part and a transition part for connecting the connecting part and the output part; the radius of the connecting part is larger than that of the output part; the connecting part is connected with the output end of the harmonic wave speed reducing assembly;
the shaft sleeve comprises an inner cylinder, an outer cylinder and a transition shaft shoulder for connecting the inner cylinder and the outer cylinder, the front end of the outer cylinder is connected with the input end of the harmonic wave speed reduction assembly, and the inner cylinder is sleeved on the outer side of the output part; the inner diameter of the outer cylinder is larger than the outer diameter of the output part.
In the robot joint module of the hollow driving shaft, the rear side of the shell is connected with an end cover, the end cover is provided with a second avoidance hole, and the other end of the line pipe is rotatably connected with the second avoidance hole;
the front side of shell is equipped with the first hole of dodging, the first hole of dodging is equipped with the bearing, the bearing cup joint in the outside of urceolus.
In the robot joint module with the hollow driving shaft, the brake component is an electromagnetic brake piece.
In the robot joint module of the hollow driving shaft, the encoder component comprises a motor encoder and a driving shaft encoder, the motor encoder is sleeved on the outer side of the shaft sleeve, and the driving shaft encoder is sleeved on the outer side of the wire pipe;
the motor encoder and the driving shaft encoder are arranged in a stacked mode in the axial direction of the hollow driving shaft, and the motor encoder is arranged on the front side of the driving shaft encoder.
In the robot joint module with the hollow driving shaft, the harmonic speed reducing assembly comprises a fixed disc and a harmonic speed reducer; the fixed disc is arranged on the front side of the shell; the harmonic reducer set up in the front side of fixed disk, connecting portion with the input transmission of harmonic reducer is connected.
In the robot joint module with the hollow driving shaft, the driving motor is arranged in the shell and comprises a motor shell, a stator and a rotor; the motor shell is sleeved on the outer side of the shaft sleeve, the rotor is assembled on the shaft sleeve, and the stator is assembled in the motor shell.
One technical scheme in the utility model can have the following beneficial effects:
the assembly position that the robot joint module will brake the subassembly is leading, can avoid the electromagnetic interference of brake subassembly to magnetic encoder, and the structure is compacter moreover, effectively reduces the whole length of robot joint module, the installation of the robot joint module of being convenient for. In addition, spool cavity sets up, forms the line hole, and the line hole sets up along the axis direction, and the line is walked to the accessible line hole, and the space of rational utilization robot joint module saves robot joint module and reserves the line space of walking, further reduces the volume of robot joint module.
Drawings
FIG. 1 is a schematic cross-sectional view of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of the present invention;
in the drawings: the device comprises a shell 1, a driving motor 2, a harmonic speed reducing component 4, a brake component 5 and an encoder component 6;
an inner cylinder 311, an outer cylinder 312, a transition shaft shoulder 313; a wire hole 321; a connection unit 322, an output unit 323, and a transition unit 324.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "front", "back", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and 2, the present invention provides a robot joint module with a hollow driving shaft, which includes a housing 1, a driving motor 2, a hollow driving shaft, a harmonic speed reduction assembly 4, a brake assembly 5 and an encoder assembly 6;
the driving motor 2 is arranged in the shell 1; the hollow drive shaft includes a sleeve 31 and a spool 32; the output end of the driving motor 2 is sleeved outside the shaft sleeve 31; the shaft sleeve 31 is sleeved outside the line pipe 32; the front end of the shaft sleeve 31 is in transmission connection with the input end of the harmonic speed reducing assembly 4; the front end of the wire pipe 32 is in transmission connection with the output end of the harmonic speed reducing component 4; the line pipe 32 is provided with a line hole 321 along the axial direction;
the brake component 5 is sleeved on the outer side of the shaft sleeve 31, the brake component 5 is positioned on the front side of the driving motor 2, and a brake pad of the brake component 5 is in contact with the shaft sleeve 31;
the encoder assembly 6 is disposed in the housing 1, and the encoder assembly 6 is located at the rear side of the driving motor 2.
The robot joint module drives a driving shaft 3 to rotate through a driving motor 2, then is transmitted to a harmonic speed reduction assembly 4 through the driving shaft 3, and is transmitted after being subjected to harmonic speed reduction through the harmonic speed reduction assembly 4. Adopt above-mentioned structure, the assembly position of robot joint module with brake assembly 5 is leading, can avoid brake assembly 5 to magnetic encoder's electromagnetic interference, and the structure is compacter moreover, effectively reduces the whole length of robot joint module, the installation of the robot joint module of being convenient for.
In addition, spool 32 cavity sets up, forms line hole 321, and line hole 321 sets up along the axis direction, and accessible line hole 321 walks, and the space of rational utilization robot joint module saves robot joint module and reserves the line space, further reduces the volume of robot joint module.
The encoder assembly 6 is embodied as a magnetic encoder capable of converting the rotational displacement of the drive shaft 3 into a digital pulse signal, which can be used to record the rotational state of the drive shaft 3. The driving motor 2 can refer to the existing motor structure, and the driving motor 2 converts the electric energy into the mechanical energy to drive the driving shaft 3 to rotate through the rotation of the rotor 23. The brake assembly 5 is used for braking.
Specifically, the spool 32 includes a connecting portion 322, an output portion 323, and a transition portion 324 connecting the connecting portion 322 and the output portion 323; the radius of the connection part 322 is greater than that of the output part 323; the connecting part 322 is connected with the output end of the harmonic speed reducing assembly 4;
the shaft sleeve 31 comprises an inner cylinder 311, an outer cylinder 312 and a transition shaft shoulder 313 for connecting the inner cylinder 311 and the outer cylinder 312, the front end of the outer cylinder 312 is connected with the input end of the harmonic speed reduction component 4, and the inner cylinder 311 is sleeved on the outer side of the output part 323; the inner diameter of the outer cylinder 312 is larger than the outer diameter of the output part 323.
When installed, the conduit 32 is inserted from the outer barrel 312. By adopting the structure, the installation of the shaft sleeve 31 and the line pipe 32 is convenient, the simple and compact structure is ensured, and the subsequent maintenance is also convenient.
Specifically, the rear side of shell 1 is connected with end cover 11, end cover 11 is equipped with the second and dodges the hole, the other end of spool 32 with the second dodges the hole and rotates and be connected.
The front side of shell 1 is equipped with first dodge the hole, first dodge the hole and be equipped with bearing 12, bearing 12 cup joint in the outside of urceolus 312.
Adopt above-mentioned structure, when encoder subassembly 6 broke down, maintenance person can open end cover 11, unpacks apart from the rear side of shell 1, maintains encoder subassembly 6, the gear motor's of being convenient for maintenance.
The outer cylinder 312 passes through the bearing 12, and the front end of the outer cylinder 312 is connected with the wave generator; one end of the spool 32 is connected to the rigid gear via a connecting portion 322, and an output portion 323 of the spool 32 is rotatably connected to the second escape hole. By adopting the structure, a double-bearing fixing structure of the traditional motor is not required to be independently made, the radial load of the hollow driving shaft can be borne, and the integral structure is more stable.
Specifically, the brake assembly 5 is an electromagnetic brake. The electromagnetic brake piece can refer to the existing electromagnetic brake structure, and the robot joint module is electrified with the electromagnetic brake when in operation, so that the armature is attracted and separated from the brake disc, and the motor operates normally. When the robot joint module is powered off, no current passes through the coil of the electromagnetic brake, the armature is jacked up by the compression spring and is tightly attached to the brake disc, and great friction force is generated with the brake disc instantly, so that the motor is braked in time, and the use safety of the speed reducing motor is ensured.
Preferably, the encoder assembly 6 comprises a motor encoder 61 and a driving shaft encoder 62, the motor encoder 61 is sleeved on the outer side of the shaft sleeve 31, and the driving shaft encoder 62 is sleeved on the outer side of the conduit 32;
the motor encoder 61 and the drive shaft encoder 62 are stacked in the axial direction of the hollow drive shaft, and the motor encoder 61 is disposed at the front side of the drive shaft encoder 62.
Compared with a single absolute value encoder, the embodiment of the utility model adopting the double encoders can obtain the zero position of the hollow driving shaft when the driving motor 2 starts to start without worrying about the problem that the zero position of the encoder is lost due to the dead battery, so that the space of the external battery of the encoder can be saved, and the occupied space of the joint module is reduced. The motor encoder 61 is used to detect rotation of the sleeve 31 and the drive shaft encoder 62 is used to detect rotation of the spool 32. The driving motor 2 drives the shaft sleeve 31 to rotate, so that the rotation state of the output end of the driving motor 2 can be judged by detecting the rotation of the shaft sleeve 31. The line pipe 32 is connected with the harmonic speed reducing assembly 4 in a transmission way, and the rotation state of the output end of the harmonic speed reducing assembly 4 is judged by detecting the rotation of the line pipe 32. In one embodiment of the present invention, the motor encoder 61 is responsible for outputting the electrical signal, and the drive shaft encoder 62 is responsible for back-computing the value.
In another embodiment of the present invention, the motor encoder 61 is sleeved outside the output shaft encoder 62, so that the motor encoder 61 and the output shaft encoder 62 are in the same horizontal plane, thereby fully utilizing the lateral space and further reducing the overall length of the robot joint module.
Specifically, the harmonic speed reduction assembly 4 includes a fixed disk 41 and a harmonic speed reducer 42; the fixed disc 41 is arranged on the front side of the shell 1; the harmonic reducer 42 is disposed at the front side of the fixed disk 41, and the connecting portion 322 is in transmission connection with an input end of the harmonic reducer 42.
The harmonic reducer 42 can refer to the existing harmonic drive reducer, and the harmonic reducer 42 mainly comprises four basic components, namely a wave generator, a flexible gear, a flexible bearing and a rigid gear, and has the working principle that: the flexible bearing is assembled on the wave generator to enable the flexible gear to generate controllable elastic deformation, and the flexible gear is meshed with the rigid gear to transmit motion and power. The wave generator is the input end of the harmonic reducer 42, the rigid gear is the output end of the harmonic reducer 42, and the connecting portion 322 is connected with the rigid gear. The fixing plate 41 is used to fix the coupling harmonic reducer 42 to the housing 1. The fixing plate 41 is used to fix the coupling harmonic reducer 42 to the housing 1.
Specifically, the driving motor 2 is disposed in the housing 1, and includes a motor housing 21, a stator 22, and a rotor 23; the motor housing 21 is sleeved on the outer side of the shaft sleeve 31, the rotor 23 is assembled on the shaft sleeve 31, and the stator 22 is assembled in the motor housing 21. The driving motor 2 can refer to the existing motor structure, and the driving motor 2 converts the electric energy into the mechanical energy to drive the shaft sleeve 31 to rotate through the rotation of the rotor 23.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the utility model and should not be construed in any way as limiting the scope of the utility model. Other embodiments of the utility model will occur to those skilled in the art without the exercise of inventive faculty based on the explanations herein, and such equivalent modifications or substitutions are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (7)
1. The utility model provides a robot joint module of cavity drive shaft which characterized in that: the harmonic wave brake device comprises a shell, a driving motor, a hollow driving shaft, a harmonic wave speed reducing assembly, a brake assembly and an encoder assembly;
the driving motor is arranged in the shell; the hollow driving shaft comprises a shaft sleeve and a line pipe; the output end of the driving motor is sleeved outside the shaft sleeve; the shaft sleeve is sleeved on the outer side of the line pipe; the front end of the shaft sleeve is in transmission connection with the input end of the harmonic wave speed reduction assembly; the front end of the line pipe is in transmission connection with the output end of the harmonic wave speed reduction assembly; the line pipe is provided with a line hole along the axis direction;
the brake assembly is sleeved on the outer side of the shaft sleeve and is positioned on the front side of the driving motor, and a brake plate of the brake assembly is in contact with the shaft sleeve;
the encoder assembly is disposed in the housing, and the encoder assembly is located at a rear side of the driving motor.
2. A hollow drive shaft robotic joint module as claimed in claim 1, wherein: the line pipe comprises a connecting part, an output part and a transition part for connecting the connecting part and the output part; the radius of the connecting part is larger than that of the output part; the connecting part is connected with the output end of the harmonic wave speed reducing assembly;
the shaft sleeve comprises an inner cylinder, an outer cylinder and a transition shaft shoulder for connecting the inner cylinder and the outer cylinder, the front end of the outer cylinder is connected with the input end of the harmonic speed reduction assembly, and the inner cylinder is sleeved on the outer side of the output part; the inner diameter of the outer cylinder is larger than the outer diameter of the output part.
3. A hollow drive shaft robotic joint module as claimed in claim 2, wherein: the rear side of the shell is connected with an end cover, the end cover is provided with a second avoidance hole, and the other end of the line pipe is rotatably connected with the second avoidance hole;
the front side of shell is equipped with the first hole of dodging, the first hole of dodging is equipped with the bearing, the bearing cup joint in the outside of urceolus.
4. A hollow drive shaft robotic joint module as claimed in claim 2, wherein: the brake component is an electromagnetic brake piece.
5. A hollow drive shaft robotic joint module as claimed in claim 2, wherein: the encoder assembly comprises a motor encoder and a driving shaft encoder, the motor encoder is sleeved on the outer side of the shaft sleeve, and the driving shaft encoder is sleeved on the outer side of the line pipe;
the motor encoder and the driving shaft encoder are arranged in a stacked mode in the axial direction of the hollow driving shaft, and the motor encoder is arranged on the front side of the driving shaft encoder.
6. A hollow drive shaft robotic joint module as claimed in claim 2, wherein: the harmonic speed reduction assembly comprises a fixed disc and a harmonic speed reducer; the fixed disc is arranged on the front side of the shell; the harmonic reducer set up in the front side of fixed disk, connecting portion with the input transmission of harmonic reducer is connected.
7. A hollow drive shaft robotic joint module as claimed in claim 2, wherein: the driving motor is arranged in the shell and comprises a motor shell, a stator and a rotor; the motor shell is sleeved on the outer side of the shaft sleeve, the rotor is assembled on the shaft sleeve, and the stator is assembled in the motor shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220466574.8U CN216803501U (en) | 2022-03-04 | 2022-03-04 | Robot joint module of cavity drive shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220466574.8U CN216803501U (en) | 2022-03-04 | 2022-03-04 | Robot joint module of cavity drive shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216803501U true CN216803501U (en) | 2022-06-24 |
Family
ID=82043999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220466574.8U Active CN216803501U (en) | 2022-03-04 | 2022-03-04 | Robot joint module of cavity drive shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216803501U (en) |
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2022
- 2022-03-04 CN CN202220466574.8U patent/CN216803501U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 528000, No. 43 Longliang Road, Longyan Industrial Zone, Longyan Village, Leliu Street, Shunde District, Foshan City, Guangdong Province Patentee after: GUANGDONG TIANTAI ROBOT Co.,Ltd. Address before: 528322 third floor, No. 6 complex building, Dadun section of Daliang 105 National Highway (plot 5-1), Shunde District, Foshan City, Guangdong Province (No. 9, No. 23, Honggang section of Guangzhou Zhuhai Highway) Patentee before: GUANGDONG TIANTAI ROBOT Co.,Ltd. |
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| CP02 | Change in the address of a patent holder |