CN216884036U - Super flat robot joint module - Google Patents
Super flat robot joint module Download PDFInfo
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- CN216884036U CN216884036U CN202220205994.0U CN202220205994U CN216884036U CN 216884036 U CN216884036 U CN 216884036U CN 202220205994 U CN202220205994 U CN 202220205994U CN 216884036 U CN216884036 U CN 216884036U
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- outer rotor
- output shaft
- harmonic reducer
- torque motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The utility model relates to an ultra-flat robot joint module, which comprises a shell, a direct current servo driver, an absolute value encoder, an output shaft, an outer rotor torque motor and a harmonic reducer, wherein the direct current servo driver, the absolute value encoder, the output shaft, the outer rotor torque motor and the harmonic reducer are arranged in the shell; the harmonic reducer is arranged at the inner ring of the outer rotor torque motor, the direct-current servo driver is sleeved on the harmonic reducer, the outer rotor torque motor drives the output shaft to rotate through the harmonic reducer, and the output shaft is matched with the absolute value encoder through a gear; a crossed roller bearing is arranged on the front side of the shell, and an output shaft is matched with the crossed roller bearing; the outer rotor motor structure of the scheme enables the inner ring of a motor stator to be used for mounting a harmonic reducer, a direct-current servo driver is sleeved on the harmonic reducer, and an absolute value encoder is also integrated in a casing, so that the characteristics of super-flat axial size and large and medium holes can be realized; the robot is particularly suitable for joints of various humanoid robots, service robots, exoskeleton robots, rehabilitation medical robots and the like.
Description
Technical Field
The utility model relates to an ultra-flat robot joint module, and belongs to the technical field of robot joints.
Background
The robot joint module is a core component of the robot, and rapid construction and fault joint replacement of the robot can be realized through the modularized joint module; among them, the robots in the forms of humanoid robot, exoskeleton robot, rehabilitation medical robot, etc. need a joint module with flattened shape, large and medium hole, built-in drive and absolute value encoder, large output torque, high output rotation speed and light weight.
The existing joint module is mostly used as a joint of a cooperative robot, an integrated design of a harmonic speed reducer and an inner rotor frameless torque motor is adopted, and an encoder and a driver are installed at the rear end of the motor, so that the axial length is too long, and the use cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide an ultra-flat robot joint module.
In order to achieve the purpose, the utility model adopts the technical scheme that: an ultra-flat robot joint module comprises a shell, a direct current servo driver, an absolute value encoder, an output shaft, a crossed roller bearing, an outer rotor torque motor and a harmonic reducer, wherein the direct current servo driver, the absolute value encoder, the output shaft, the crossed roller bearing, the outer rotor torque motor and the harmonic reducer are arranged in the shell; the inner ring of the outer rotor torque motor is provided with an installation space, the harmonic reducer is arranged on the inner ring of the outer rotor torque motor, the direct-current servo driver is sleeved on the harmonic reducer, the outer rotor torque motor drives the output shaft to rotate through the harmonic reducer, and the output shaft is matched with the absolute value encoder through a gear; and a crossed roller bearing is arranged on the front side of the shell, and an output shaft is matched with the crossed roller bearing.
Preferably, the output shaft is of a hollow shaft structure, and the hollow structure of the output shaft is used for threading.
Preferably, the outer rotor torque motor comprises a motor structural member, a stator and an outer rotor, the motor structural member is fixedly connected with the casing, the stator is arranged on the motor structural member, the outer rotor is matched with the harmonic reducer, and the outer rotor drives the output shaft to rotate through the harmonic reducer.
Preferably, a front end cover is arranged on the front side of the machine shell and fixedly connected with the motor structural member.
Preferably, the harmonic reducer comprises a rigid gear, a flexible bearing, a cam, a front high-speed bearing and a rear high-speed bearing; the rigid wheel is fixedly arranged on an inner ring of the outer rotor torque motor, the outer rotor torque motor drives the cam to rotate, and the front high-speed bearing and the rear high-speed bearing are respectively arranged at the front end and the rear end of the cam; the flexible bearing is arranged on the cam and matched with the flexible gear, the flexible gear is matched with the rigid gear, and the flexible gear drives the output shaft to rotate.
Preferably, the front end of the cam is matched with the output shaft through a front high-speed bearing, and the rear end of the cam is matched with the outer rotor torque motor through a rear high-speed bearing.
Due to the application of the technical scheme, compared with the prior art, the utility model has the following advantages:
according to the ultra-flat robot joint module, the outer rotor torque motor is adopted, the inner ring of a motor stator can be left out due to the outer rotor structure and used for installing a harmonic reducer, the direct-current servo driver is sleeved on the harmonic reducer, and the absolute value encoder is integrated in the shell, so that the characteristics of ultra-flat axial size and large and medium holes can be realized; the robot is particularly suitable for joints of various humanoid robots, service robots, exoskeleton robots, rehabilitation medical robots and the like.
Drawings
The technical scheme of the utility model is further explained by combining the accompanying drawings as follows:
fig. 1 is a schematic structural diagram of an ultra-flat robot joint module according to the present invention.
Detailed Description
The utility model is described in further detail below with reference to the drawings and specific embodiments.
As shown in fig. 1, the ultra-flat robot joint module of the present invention includes a housing 1, and a dc servo driver 2, an absolute value encoder 3, an output shaft 4, an outer rotor torque motor and a harmonic reducer which are arranged in the housing 1; the front side of the casing 1 is provided with a front end cover 8, and the front end cover 8 is provided with a crossed roller bearing 10.
The outer rotor torque motor comprises a motor structural part 5, a stator 6 and an outer rotor 7, wherein the motor structural part 5 is fixedly connected with a front end cover 8, so that the motor structural part 5 and the machine shell 1 are relatively fixed; the stator 6 is arranged on the motor structural member 5, the inner ring of the motor structural member 5 is reserved with space, and the harmonic reducer can be arranged on the inner ring of the motor structural member 5.
The harmonic reducer comprises a rigid gear 11, a flexible gear 12, a flexible bearing 13, a cam 14, a front high-speed bearing 15 and a rear high-speed bearing 16; the rigid wheel 11 is arranged on the inner rings of the motor structural part 5 and the stator 6, and the motor structural part 5 is matched with the front end cover 8 to fix the rigid wheel 11; the outer rotor 7 is of a disc-shaped structure, the inner ring part of the outer rotor 7 is fixedly connected with the rear end of the cam 14, and the outer rotor 7 drives the cam 14 to rotate.
The front end of the cam 14 is matched with the output shaft 4 through a front high-speed bearing 15, and the rear end of the cam 14 and the inner ring part of the outer rotor 7 are matched with the motor structural part 5 through a rear high-speed bearing 16; the flexible bearing 13 is arranged on the outer ring of the cam 14, the flexible bearing 13 is matched with the flexible gear 12, the flexible gear 12 is matched with the rigid gear 11, and the flexible gear 12 drives the output shaft 4 to rotate at a relatively low speed.
The direct current servo driver 2 is sleeved on the outer ring of the harmonic reducer and is positioned between the front end cover 8 and the outer rotor torque motor, and the output of the motor is controlled through the direct current servo driver 2; the output shaft 4 is matched with the absolute value encoder 3 through a gear structure, the function of detecting the absolute value angle of rotation of the output end of the output shaft 4 is achieved, and the absolute value angle is fed back to the direct current servo driver 2.
The output shaft 4 is of a hollow shaft structure, and the hollow structure of the output shaft 4 is used for threading; adopt above-mentioned structure, can flatten the robot joint to make the hollow structure diameter of output shaft 4 bigger, satisfy the more complicated wiring demand of robot.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. The technical solutions formed by using equivalent transformation or equivalent substitution are all within the protection scope of the present invention.
Claims (6)
1. The utility model provides an ultra-flat robot joint module which characterized in that: the device comprises a machine shell (1), and a direct current servo driver (2), an absolute value encoder (3), an output shaft (4), an outer rotor torque motor and a harmonic reducer which are arranged in the machine shell (1); the inner ring of the outer rotor torque motor is provided with an installation space, the harmonic reducer is arranged on the inner ring of the outer rotor torque motor, the direct-current servo driver (2) is sleeved on the harmonic reducer, the outer rotor torque motor drives the output shaft (4) to rotate through the harmonic reducer, and the output shaft (4) is matched with the absolute value encoder (3) through a gear; the front side of the machine shell (1) is provided with a crossed roller bearing (10), and the output shaft (4) is matched with the crossed roller bearing (10).
2. The ultra-flat robot joint module of claim 1, wherein: the output shaft (4) is of a hollow shaft structure, and the hollow structure of the output shaft (4) is used for threading.
3. The ultra-flat robot joint module of claim 1, wherein: the outer rotor torque motor comprises a motor structural part (5), a stator (6) and an outer rotor (7), wherein the motor structural part (5) is fixedly arranged in the machine shell (1), the stator (6) is arranged on the motor structural part (5), the outer rotor (7) is matched with a harmonic reducer, and the outer rotor (7) drives the output shaft (4) to rotate through the harmonic reducer.
4. The ultra-flat robot joint module of claim 3, wherein: the front side of the machine shell (1) is provided with a front end cover (8), and the front end cover (8) is fixedly connected with the motor structural part (5).
5. The ultra-flat robot joint module according to claim 1 or 3, characterized in that: the harmonic reducer comprises a rigid gear (11), a flexible gear (12), a flexible bearing (13), a cam (14), a front high-speed bearing (15) and a rear high-speed bearing (16); the rigid wheel (11) is fixedly arranged on an inner ring of the outer rotor torque motor, the outer rotor torque motor drives the cam (14) to rotate, and the front high-speed bearing (15) and the rear high-speed bearing (16) are respectively arranged at the front end and the rear end of the cam (14); the flexible bearing (13) is arranged on the cam (14), the flexible bearing (13) is matched with the flexible gear (12), the flexible gear (12) is matched with the rigid gear (11), and the flexible gear (12) drives the output shaft (4) to rotate.
6. The ultra-flat robot joint module of claim 5, wherein: the front end of the cam (14) is matched with the output shaft (4) through a front high-speed bearing (15), and the rear end of the cam (14) is matched with the outer rotor torque motor through a rear high-speed bearing (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220205994.0U CN216884036U (en) | 2022-01-25 | 2022-01-25 | Super flat robot joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220205994.0U CN216884036U (en) | 2022-01-25 | 2022-01-25 | Super flat robot joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216884036U true CN216884036U (en) | 2022-07-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220205994.0U Active CN216884036U (en) | 2022-01-25 | 2022-01-25 | Super flat robot joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216884036U (en) |
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2022
- 2022-01-25 CN CN202220205994.0U patent/CN216884036U/en active Active
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