CN218698970U - Robot driving joint module with multistage cycloidal speed reducer and robot - Google Patents

Abstract

The utility model discloses a robot drive joint module and robot with multistage cycloid speed reducer, include: encoder, motor element, first speed reduction subassembly, second speed reduction subassembly and module body. The second speed reduction assembly is connected with the first speed reduction assembly to form a multi-stage cycloidal speed reducer structure, the module body is of a cylindrical structure, a coaxial through hole is formed in the bottom of the module body, the through hole extends towards the top of the module body to form the inner wall of the module body, the motor assembly is clamped and contained between the inner wall and the outer wall of the module body, the second speed reduction assembly is clamped and contained on the inner side of the inner wall, and the first speed reduction assembly is clamped and contained between the second speed reduction assembly and the motor assembly to achieve the effect that the multi-stage cycloidal speed reducer is connected with the motor assembly and outputs multi-stage speed-reduced motion.

Description

Robot driving joint module with multistage cycloid speed reducer and robot

Technical Field

The utility model relates to a transmission connecting device, in particular to robot drive joint module and robot with multistage cycloid speed reducer.

Background

In general, a motor for driving a robot joint outputs a high motion speed and a low torque, and thus the motor is often required to be decelerated and then output to the robot. In order to further reduce the speed and increase the torque to ensure the stable movement of the robot, the movement output by the motor is often processed in a multi-stage speed reduction manner.

In the prior art, a motor and a speed reducer are generally arranged on a joint of a robot in a separated mode, or the motor and the speed reducer are integrated into a module in a simple series connection mode for use. However, if the design structure is to achieve the effect of multi-stage speed reduction, the speed reducer is often required to be stacked, so that the overall structure is complex, parts are redundant, the size of the whole module is large, the weight of the whole module is heavy, and the cruising ability of the robot can be greatly influenced.

Accordingly, there is a need for improvements and developments in the art.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned prior art not enough, the utility model aims at providing a compact overall structure, small and light in weight's robot drive joint module and robot with multistage cycloid speed reducer. The problem of current robot drive joint module structure complicacy, weight are big, lead to the duration of a journey of robot to be short is solved.

The technical scheme of the utility model as follows:

a robot driving joint module with a multistage cycloidal reducer comprises:

the encoder receives the displacement instruction and outputs a displacement signal;

a motor assembly that receives the displacement signal and outputs a motion;

the first speed reduction assembly is connected with the motor assembly and used for carrying out first-stage speed reduction on the motion output by the motor assembly;

the second speed reduction assembly is connected with the first speed reduction assembly to form a multi-stage cycloid speed reducer structure, and the second-stage speed reduction and output are carried out on the motion after the first-stage speed reduction;

the module comprises a module body which is of a cylindrical structure and is provided with a coaxial through hole at the bottom, the through hole extends to the top of the module body to form the inner wall of the module body, the motor assembly is clamped and contained between the inner wall and the outer wall of the module body, the second speed reduction assembly is clamped and contained on the inner side of the inner wall, and the first speed reduction assembly is clamped and contained between the second speed reduction assembly and the motor assembly so as to realize that the multistage cycloidal reducer is connected with the motor assembly and outputs the motion after two-stage speed reduction.

In one embodiment, the first reduction assembly comprises:

the central shaft is coaxial with the module body, an input interface is arranged at one end of the central shaft to be connected with the motor assembly, and a central gear is arranged at the other end of the central shaft;

the planet gears are uniformly arranged around the central shaft and meshed with the central gear, and the tooth number of the planet gears is greater than that of the central gear, so that the first-stage speed reduction of the motion output by the motor component is realized.

In one embodiment, the second reduction assembly comprises:

the output flange assembly is sleeved in the inner wall, and an output flange bearing is arranged between the output flange assembly and the inner wall so as to fix the output flange assembly and output the motion after two-stage speed reduction;

the cycloidal wheel assembly is arranged between the output flange assemblies and is meshed with a pin gear pin arranged in the module body;

the eccentric shafts are connected with the planet wheels in a one-to-one correspondence mode so as to connect the first-stage speed reduction assembly with the second-stage speed reduction assembly to form the multistage cycloid speed reducer structure, the eccentric shafts and the planet wheels move synchronously and receive the motion after the first-stage speed reduction, and the eccentric shafts and the cycloid wheel assemblies are matched to realize the second-stage speed reduction.

In one embodiment, the module body includes:

the pin gear pin positions are uniformly distributed on the inner side of the inner wall along the circumferential direction and accommodate the pin gear pins;

the output flange mounting positions are arranged on the inner side of the inner wall and are axially arranged on two sides of the pin gear pin positions so as to clamp and fix the output flange assembly;

and the motor mounting position is arranged on the outer side of the inner wall to clamp and fix the motor assembly.

In one embodiment, the motor assembly includes:

the stator winding is fixedly clamped on the motor component mounting position;

the magnetic protection ring is arranged between the stator winding and the outer wall, permanent magnets are uniformly arranged on one surface corresponding to the stator winding, and the magnetic protection ring rotates relative to the stator winding after the motor assembly receives a displacement signal;

the motor flange is fixed at an opening at the top of the module body so as to fix the motor assembly in the module body;

the outer ring of the rotor shaft and the magnetic protection ring are clamped to move along with the magnetic protection ring, one end of the axis of the rotor shaft is sleeved in the motor flange, and the other end of the axis of the rotor shaft is sleeved outside the central shaft to output motion to the first speed reduction assembly.

In one embodiment, the motor assembly further comprises:

the motor bearing, the outer lane cover of motor bearing is established in the motor flange, the inner circle cover of motor bearing is established outside the axle center of rotor shaft, in order to support the rotor shaft is right the rotor shaft is in axial spacing in the module body.

In one embodiment, the module body further comprises:

the top cover seals an opening in the top of the module body so as to seal the motor assembly, the multistage cycloidal reducer structure and the encoder in the module body;

and one end of the module cable is respectively electrically connected with the motor component and the encoder, and the other end of the module cable penetrates through the top cover to extend out of the robot driving joint module to be connected with the outside so as to receive a displacement signal and supply power to the motor component and the encoder.

In one embodiment, the module body further comprises:

and the wire protecting sleeve is connected with the module body through the wire protecting cover so as to protect and guide the module cable.

In one embodiment, the motor flange comprises:

the motor bearing mounting position is arranged at the axis of the motor flange and corresponds to the motor bearing, so that the outer ring of the motor bearing is sleeved in the motor flange;

an encoder mounting location on which the encoder is fixed so that a relative position between the encoder and the rotor shaft is kept fixed;

and the top cover mounting position faces the outer side of the module body and is clamped with the top cover.

In one embodiment, the encoder includes:

the encoder chip receives a displacement instruction and outputs a displacement signal to the motor assembly;

the encoder base is arranged between the encoder chip and the motor flange and fixedly connected with the encoder chip, and fixes the encoder on the encoder mounting position;

the encoder magnet is arranged between the encoder chip and the rotor shaft and clamped in the shaft center of the rotor shaft, so that real-time position information is transmitted to the encoder chip, and servo control is realized.

The utility model also provides a robot, the joint department of robot is equipped with as above arbitrary the robot drive joint module with single-stage cycloidal reducer.

Has the advantages that: the utility model provides a robot drive joint module and robot with multistage cycloid speed reducer, include: the encoder receives the displacement instruction and outputs a displacement signal; the motor assembly receives the displacement signal and outputs motion; the first speed reduction assembly is connected with the motor assembly and used for carrying out first-stage speed reduction on the motion output by the motor assembly; the second speed reduction assembly is connected with the first speed reduction assembly to form a multi-stage cycloidal speed reducer structure, and performs second-stage speed reduction on the motion after the first-stage speed reduction and outputs the motion; the module body is of a cylindrical structure, a coaxial through hole is formed in the bottom of the module body, the through hole extends towards the top of the module body to form the inner wall of the module body, the motor assembly is clamped and contained between the inner wall and the outer wall of the module body, the second speed reduction assembly is clamped and contained on the inner side of the inner wall, and the first speed reduction assembly is clamped and contained between the second speed reduction assembly and the motor assembly to achieve the effect that the multistage cycloidal speed reducer is connected with the motor assembly and outputs multistage decelerated motion. Therefore, multi-stage reduction transmission can be realized through a simple structure, and the robot driving joint module with the multi-stage cycloid speed reducer is compact in structure and small in number of parts, so that the whole size is small, the weight is light, and the robot driving joint module is favorably applied to a robot to improve the cruising ability of the robot.

Drawings

Fig. 1 is a perspective view of a robot driving joint module with a multistage cycloid speed reducer according to the present invention;

fig. 2 is an exploded view of the robot driving joint module with the multi-stage cycloidal reducer according to the present invention;

fig. 3 is a cross-sectional view of the robot driving joint module with the multi-stage cycloidal reducer according to the present invention;

fig. 4 is a three-dimensional cross-sectional view of the module body of the robot driving joint module with the multistage cycloid speed reducer of the present invention;

fig. 5 is an explosion diagram of the module body, the first deceleration component and the second deceleration component of the robot driving joint module with the multistage cycloid speed reducer of the present invention.

Fig. 6 is an exploded view of the motor assembly and the encoder of the robot driving joint module with the multistage cycloidal reducer of the present invention.

Fig. 7 is an exploded view of the first deceleration component of the robot driving joint module with the multi-stage cycloidal reducer according to the present invention.

Fig. 8 is an exploded view of a second deceleration component of the robot driving joint module with the multi-stage cycloidal reducer according to the present invention.

Fig. 9 is a schematic view of the connection relationship between the eccentric shaft and the cycloid wheel assembly in the first and second deceleration assemblies of the robot driving joint module with the multistage cycloid speed reducer.

Fig. 10 is a perspective sectional view of a motor flange of the robot driving joint module with the multistage cycloid speed reducer according to the present invention.

Detailed Description

The utility model provides a robot drive joint module with multistage cycloid speed reducer, for making the utility model discloses a purpose, technical scheme and effect are clearer, more clear and definite, it is following right the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the structures referred to must have a specific orientation or must be constructed in a specific orientation, and should not be construed as limiting the present invention.

In addition, the articles "a" and "the" may refer broadly to the singular or plural unless the context specifically states otherwise. If there is a description relating to "first", "second", etc. in the embodiments 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.

The utility model provides a robot drive joint module with multistage cycloid speed reducer, as shown in fig. 2, robot drive joint module with multistage cycloid speed reducer includes module body 100, motor element 200, first speed reduction subassembly 400, second speed reduction subassembly 300 and encoder 500. Wherein the first reduction gear unit 400 is connected to the second reduction gear unit 300 to form a multi-stage cycloidal reducer structure, and the multi-stage cycloidal reducer structure, the motor unit 200 and the encoder 500 are accommodated in the module body 100 to form the robot driving joint module having the multi-stage cycloidal reducer. Robot drive joint module with multistage cycloid speed reducer compact structure, required part is small in quantity, can be guaranteeing to reduce the volume of module to the maximize under the multistage prerequisite of slowing down of motion to reach and subtract heavy effect, more be favorable to being applied to the joint module of robot on, improve the duration of the robot.

Specifically, when the robot joint module starts to work, the encoder 500 receives a displacement command for the robot joint and outputs a corresponding displacement signal, and the motor assembly 200 receives the displacement signal from the encoder 500 and then outputs a motion, but the motor assemblies commonly used in the robot joint module generally have the problems of high rotating speed and small torque, so that the output motion needs to be decelerated in multiple stages. One end of the first speed reducing assembly 400 is connected with the motor assembly 200 and receives the motion required to be reduced, and the other end is connected with the second speed reducing assembly 300 and outputs the motion after being reduced by the first stage; the second deceleration component 300 receives the motion after the first-stage deceleration, performs the second-stage deceleration by using the cycloid deceleration structure, and then outputs the decelerated motion as the motion of the driving joint module, thereby realizing effective control of the motion of the robot.

Specifically, as shown in fig. 4, the module body 100 is formed by an outer wall 110 into a cylindrical outer contour, and the top of the module body 100 is open, and the center of the bottom is provided with a through hole 101 coaxial with the module body 100, and the diameter of the through hole 101 is smaller than the inner diameter of the bottom surface of the module body 100. Further, the edge of the through hole 101 extends towards the opening at the top of the module body 100 to form an inner wall 120, the inner wall 120 is parallel to the outer wall 110, so that the motor assembly 200 is clamped between the outer wall 110 and the inner wall 120, the second speed reduction assembly 300 is clamped in the inner wall 120, and the first speed reduction assembly 400 is clamped between the second speed reduction assembly 300 and the motor assembly 200, thereby realizing that the first speed reduction assembly 400 and the second speed reduction assembly 300 are combined to form a multi-stage cycloidal speed reducer structure, and performing two-stage speed reduction on the motion output by the motor assembly 200.

Further, as shown in fig. 4 and 5, the module body 100 further includes a pin location 130, an output flange mounting location 140, and a motor mounting location 150. The pin gear positions 130 are disposed inside the inner wall 120 to accommodate the pin gear pins 131, and the pin gear positions 130 are uniformly arranged along the inner wall 120 of the module body 100 so that the pin gear pins 131 are parallel to the axial direction of the module body 100. The pin 131 engages the second reduction assembly 300 to cooperatively effect a second reduction in motion. Further, the uniform diameter of the pin gear positions 130 is the diameter of the base circle of the second speed reducing assembly 300, and the ratio of the number of the pin gear positions 130 to the number of the cycloid gear teeth in the second speed reducing assembly 300 is (n + 1): n, so as to ensure that the number of the pin gear pins 131 is 1 more than the number of the cycloid gear teeth in the cycloid gear in the second speed reducing assembly 300.

Further, as shown in fig. 4, the output flange mounting position 140 is disposed at the inner side of the inner wall 120 and is disposed at both sides of the pin gear position 130 along the axial direction to clamp and fix the second reduction gear assembly 300; the motor mounting portion 150 is disposed outside the inner wall 120 and between the outer wall 110 and the inner wall 120 to clamp and fix the motor assembly 200. Therefore, after the motor assembly 200 and the second speed reduction assembly 300 are installed, the first speed reduction assembly 400 is clamped between the second speed reduction assembly 300 and the motor assembly 200, and the first speed reduction assembly 200 and the second speed reduction assembly 300 are combined to form a multi-stage cycloidal speed reducer structure so as to output motion after two-stage speed reduction. Robot drive joint module structure complexity with multistage cycloid speed reducer is low, and the part that needs still less, consequently final whole is small, more is favorable to being applied to and improves the duration of a journey ability of robot on the joint of robot.

Further, various screw holes are further formed at different positions on the module body 100. As shown in fig. 4, the outer wall 110 of the module body 100 is provided with a first screw hole 102 along the radial direction of the module body 100 at a position close to the top opening, and the bottom of the module body 100 is provided with a second screw hole 103 along the axial direction of the module body 100. Optionally, the first screw hole 102 is used for fixing the motor assembly 200, so as to ensure that the motor assembly 200 is stably accommodated in the module body 100 during use. Optionally, the second screw hole 103 is used to assist the robot driving joint module to connect with other structures of the robot, so as to facilitate application in the field of robots.

Further, as shown in fig. 5, the second reduction assembly 300 includes an eccentric shaft 310, an eccentric shaft bearing 320, a cycloidal gear assembly 330, and an output flange assembly 340. The cycloidal gear assembly 330 is arranged between the output flange assemblies 340, and the eccentric shaft 310 passes through the output flange assemblies 340 and the cycloidal gear assembly 330 and is clamped with the output flange assemblies 340 and the cycloidal gear assembly 330 through the eccentric shaft bearing 320. Further, the output flange assembly 340 is disposed on the output flange mounting position 140 to fix the second speed reduction assembly 300 in the module body 100; the cycloid wheel assembly 330 is arranged at a position corresponding to the pin gear position 130 and meshed with the pin gear 131; the eccentric shaft 310 is connected with the first speed reduction assembly 400 and receives the motion after the first speed reduction, the eccentric shaft 310 is matched with the cycloid wheel assembly 330 to realize the second speed reduction of the motion, and finally the motion after the two-stage speed reduction is output through the output flange assembly 340.

Further, as shown in fig. 5, the second speed reducing assembly 300 includes a first output flange 341 and a second output flange 342, the first output flange 341 and the second output flange 342 are fixedly connected to each other by a screw to form the output flange assembly 340, and the cycloidal gear assembly 330 is clamped between the first output flange 341 and the second output flange 342. Further, a through hole is formed in the output flange assembly 340 corresponding to the eccentric shaft 310 for the eccentric shaft 310 to pass through, and the through hole is adapted to the outer ring size of the eccentric shaft bearing 320.

Further, the second reduction assembly 300 includes a first output flange bearing 343 and a second output flange bearing 344. The inner ring of the first output flange bearing 343 is sleeved on the first output flange 341, and the outer ring of the first output flange bearing 343 is sleeved in the output flange mounting position 140 of the inner wall 120 to support the first output flange 341 and limit the axial direction of the first output flange 341 in the module body 100, so as to prevent the first output flange 341 from falling off. The inner ring of the second output flange bearing 344 is sleeved on the second output flange 342, and the outer ring of the second output flange bearing 344 is sleeved on the output flange mounting position 140 of the inner wall 120 to support the second output flange 342 and limit the axial direction of the second output flange 342 in the module body 100, so as to prevent the second output flange 342 from falling off. The motion after two-stage speed reduction is taken as the motion output of the driving joint module through the output flange assembly 340, the structure is simple, fewer parts are needed, and the reduction of the volume of the whole module is facilitated, so that the weight of the whole module is reduced, and the cruising ability of the robot is improved.

Further, after the installation is completed, both ends of the pin gear 131 respectively abut against the first output flange 341 and the second output flange, and the pin gear 131 is axially limited in the module body 100, thereby preventing the pin gear 131 from falling off from the pin gear position 130.

Further, as shown in fig. 5, the second speed reducing assembly 300 includes a first cycloidal gear 331 and a second cycloidal gear 332 therein. The first cycloidal gear 331 and the second cycloidal gear 332 have the same structure, but the first cycloidal gear 331 and the second cycloidal gear 332 are eccentrically arranged to form the cycloidal wheel assembly 330, so that a phase difference exists between the first cycloidal gear 331 and the second cycloidal gear 332 in the rotating process. Optionally, the phase difference is 180 °. Further, the first cycloid wheel 331 and the second cycloid wheel 332 are provided with through holes corresponding to the eccentric shafts 310 for the eccentric shafts 310 to pass through, and the through holes are adapted to the outer ring size of the eccentric shaft bearings 320.

Further, the first and second cycloidal gears 331 and 332 are engaged with the pin gear pins 131, and the number of teeth of the first and second cycloidal gears 331 and 332 is 1 less than the number of the pin gear pins 131. Thus, the first and second cycloidal gears 331 and 332 move in a plane having both revolution and rotation due to the characteristics of the tooth profile curves of the first and second cycloidal gears 331 and 332 and the limitation of the pin 131. When the eccentric shaft 310 rotates for one cycle, the first cycloid gear 331 and the second cycloid gear 332 reversely rotate by one tooth, so that the autorotation motion of the eccentric shaft 310 is reduced to the rotation motion of the cycloid gear assembly 330, and a lower output speed after two-stage reduction is obtained after the output of the output flange assembly 340.

Further, a gasket may be disposed between the first output flange 341 and the first cycloidal gear 331, and a gasket may be disposed between the second output flange 342 and the second cycloidal gear 332, so as to limit the first cycloidal gear 331 and the second cycloidal gear 332 in the axial direction of the module body 100, respectively, and provide a lubricating effect.

As shown in fig. 8, one end of the eccentric shaft 310 is provided with a connecting end 315, the connecting end 315 is flat, and the eccentric shaft 310 is connected to the first deceleration assembly 400 through the connecting end 315 to receive the motion after the first stage of deceleration. Further, the eccentric shaft 310 is provided with a first bearing position 311, a second bearing position 312, a third bearing position 313 and a fourth bearing position 314 in this order from one end of the connecting end 315 to the other end. When the eccentric shaft 310 passes through the through holes of the first output flange 341 and the second output flange 342 and the through holes of the first cycloidal gear 331 and the second cycloidal gear 332 sequentially pass through the first output flange 341, the first cycloidal gear 331, the second cycloidal gear 332 and the second output flange 342, the first bearing position 311 corresponds to the first output flange 341, the second bearing position 312 corresponds to the first cycloidal gear 331, the third bearing position 313 corresponds to the second cycloidal gear 332, and the fourth bearing position 314 corresponds to the second output flange 342.

Further, the second bearing position 312 and the third bearing position 313 are symmetrical and shifted by 180 ° with respect to the central axis of the eccentric shaft 310, forming an eccentric shaft arrangement, and the eccentricity between the second bearing position 312 and the third bearing position 313 is equal to the eccentricity between the first cycloid wheel 331 and the second cycloid wheel 332. So as to drive the first and second cycloid gears 331 and 332 to move when the eccentric shaft 310 rotates.

Further, as shown in fig. 8, the eccentric shaft bearing 320 is disposed corresponding to the first bearing position 311, the second bearing position 312, the third bearing position 313 and the fourth bearing position 314 to provide support and axial limit between the first output flange 341, the second output flange 342, the first cycloidal gear 331 and the second cycloidal gear 332 and the eccentric shaft 310, respectively, and the driving joint module is simple and stable in structure, and is beneficial to applying the driving joint module to a robot, and improving the cruising ability of the robot.

Further, since the second bearing location 312 and the third bearing location 313 are provided for an eccentric shaft and have the same eccentricity as the first cycloid gear 331 and the second cycloid gear 332, when the eccentric shaft 310 receives the motion output by the motor assembly 200 through the connection end 315, the second bearing 416 and the third bearing 417 rotate synchronously, the phase difference between the two is 180 °, the first cycloid gear 331 and the second cycloid gear 332 are driven to move synchronously, so that the eccentric shaft 310 rotates for one circle, the first cycloid gear 331 and the second cycloid gear 332 move reversely by one tooth, the motion output after the first stage of speed reduction output by the first speed reduction assembly 400 is reduced, and the motion output after the two-stage speed reduction is output as the output of the driving joint module through the output flange assembly 340, so as to obtain a lower output speed. Robot drive joint module with multistage cycloid wheel speed reducer has realized the effect of multistage speed reduction with simple structure, can reduce the whole volume of module, more is favorable to the application of robot drive joint module with multistage cycloid wheel speed reducer increases the duration of a journey ability of robot.

As shown in fig. 5 and 7, the first speed reducing assembly 400 includes a central shaft 410 and a plurality of planet wheels 420, and the first speed reducing assembly 400 is clamped between the second speed reducing assembly 300 and the motor assembly 200. The central shaft 410 is coaxial with the module body 100, and the planet wheels 420 are uniformly arranged around the central shaft 410, so that the planet wheels 420 are uniformly arranged around the central axis of the robot driving joint module with the multistage cycloidal speed reducer. Optionally, the first speed reducing assembly 400 includes three planet wheels 420, and the planet wheels 420 are sequentially arranged at 120 ° intervals around the central shaft 410.

Further, as shown in fig. 7, an input interface 411 is provided at one end of the central shaft 410, and the central shaft 410 is connected to the motor assembly 200 through the input interface 411 and receives the motion output by the motor assembly 200; a central gear 412 is disposed at the other end of the central shaft 410, and a gap is left between the central gear 412 and the second reduction assembly 300, so that the central shaft 410 can rotate freely. Further, the planetary gears 420 are all engaged with the central gear 412, and the number of teeth of the planetary gears 420 is greater than that of the central gear 412, so that after the central shaft 410 receives the motion output by the motor assembly 200, the central gear 412 drives the planetary gears 420 to rotate, and the motion is subjected to a first-stage speed reduction through the gear ratio between the planetary gears 420 and the central gear 412, and the speed reduction ratio of the first-stage speed reduction is the gear ratio between the planetary gears 420 and the central gear 412. Further, the planetary gear 420 is connected to the second speed reducing assembly 300, so that the planetary gear 420 drives the second speed reducing assembly 300 to rotate so as to output the motion reduced by the first stage to the second speed reducing assembly 300.

Further, as shown in fig. 3 and 9, the second reduction assembly 300 is connected to the planetary gears 420 through the eccentric shafts 310, and the eccentric shafts 310 are connected to the planetary gears 420 in a one-to-one correspondence, so as to move synchronously with the planetary gears 420 and receive the motion after the first reduction. At this time, the eccentric shafts 310 are uniformly arranged around the central axis of the module body 100. Alternatively, the second reduction assembly 300 includes three eccentric shafts 310 and the eccentric shafts 310 are disposed at intervals of 120 ° from each other around the central axis of the module body 100. Alternatively, the connecting end 315 of the eccentric shaft 310 is correspondingly connected with the planet wheel 420 through interference fit, glue, thread fastening and the like.

As shown in fig. 6, the motor assembly 200 includes a stator winding 210, a flux guard 220, a motor flange 230, and a rotor shaft 240. The stator winding 210 is fixedly clamped on the motor mounting position 150, the motor flange 230 is fixed at an opening at the top of the module body 100, and the motor assembly 200 is fixedly accommodated in the module body 100 through the cooperation of the stator winding 210 and the motor flange 230. Optionally, the stator winding 210 is fixed on the motor mounting position 150 by interference fit, glue, or the like; the motor flange 230 is fixed at an opening at the top of the module body 100 by screws. Optionally, the motor flange 230 is fixedly connected to the module body 100 through screws and the first screw holes 102.

Further, the magnetic shield ring 220 is disposed between the stator winding 210 and the outer wall 110, and is disposed around the stator winding 210. The magnetic protection ring 220 faces one side of the stator winding 210, permanent magnets 221 are uniformly distributed on one side of the stator winding 210, a fixed gap is reserved between the permanent magnets 221 and the stator winding 210, so that the magnetic protection ring 220 and the permanent magnets 221 can freely rotate, and therefore when the motor assembly 200 receives a displacement signal, the magnetic protection ring 220 rotates relative to the stator winding. Optionally, the permanent magnet 221 is uniformly fixed on the magnetic shield ring 220 by means of an adhesive.

Further, the rotor shaft 240 is designed coaxially with the module body 100, and a gap is left between the edge of the rotor shaft 240 and the outer wall 110 for the rotor shaft 240 to rotate freely. Specifically, the outer ring of the rotor shaft 240 is clamped with the magnetic protection ring 220, so that the rotor shaft 240 can rotate synchronously with the magnetic protection ring 220; the shaft center 241 of the rotor shaft 240 is a hollow circular ring, one end of the shaft center 241 is sleeved in the motor flange 230, and the other end of the shaft center 241 is sleeved outside the central shaft 410 and coaxially connected with the central shaft 410, so as to transmit the motion output by the motor assembly 200 to the first speed reduction assembly 400. Optionally, the magnetic protection ring 220 is clamped with the rotor shaft 240 through interference fit, adhesive, and the like, so as to ensure that the magnetic protection ring 220 and the rotor shaft 240 rotate synchronously. Optionally, rotor shaft 240 through modes such as interference fit, viscose, screw thread with center pin 410 coaxial coupling, then rotor shaft 240's rotary motion just can be regarded as the motion transmission of motor element 200 output is given first speed reduction subassembly 400, and pass through first speed reduction subassembly 400 carries out the transmission after first level slows down and gives second speed reduction subassembly 300 carries out the second grade and slows down, and regards as the motion after the two-stage speed reduction the output motion of drive joint module, overall structure is simple, small, can realize the multistage speed reduction to the motion through simple structure, more is favorable to using on the robot, can effectively increase the duration of robot.

Further, as shown in fig. 6, the motor assembly 200 further includes a motor bearing 250, an outer ring of the motor bearing 250 is sleeved in the motor flange 230, and an inner ring of the motor bearing 250 is sleeved outside the shaft center 241 of the rotor shaft 240 to support the rotor shaft 240 and limit the axial direction of the rotor shaft 240 in the module body 100.

As shown in fig. 10, a motor bearing mounting position 231, an encoder mounting position 232, and a top cover mounting position 233 are respectively disposed on the motor flange 230. Specifically, the motor bearing mounting position 231 is disposed at the axial center of the motor flange 230 and corresponds to the motor bearing 250, so as to enable the outer ring of the motor bearing 250 to be sleeved in the motor flange 230. The encoder installation position 232 is disposed on the outer side of the motor flange 230 facing the module body 100, i.e., on the side away from the multi-stage cycloidal reducer structure, and the encoder 500 is installed on the encoder installation position 232, so as to ensure that the relative position between the encoder 500 and the rotor shaft 240 is kept fixed during the movement process.

Further, the top cover installation site 233 is disposed at the outer side of the motor flange 230 toward the module body 100 and corresponds to the top cover 160 of the module body 100. The top cover 160 is fixed to the top cover mounting portion 233 so as to enclose the motor assembly 200, the multistage cycloidal reducer structure, and the encoder 500 within the module body 100, thereby preventing dust from entering the module body 100. Optionally, the top cover 160 is fixed to the motor flange 230 by screws.

As shown in fig. 3 and 6, the encoder 500 includes an encoder base 510, an encoder magnet 520, and an encoder chip 530. The encoder base 510 is disposed between the encoder chip 530 and the motor flange 230, and the encoder chip 530 is fixed to the encoder mounting portion 232 through the encoder base 510. Further, the encoder chip 530 is electrically connected to the outside and the motor assembly 200, respectively, to receive a displacement command from the outside and transmit a displacement signal to the motor assembly 200. Optionally, the encoder chip 530 is fixed on the encoder base 510 by screws, and the encoder base 510 is fixed on the encoder mounting position 232 by screws.

Further, the encoder magnet 520 is disposed between the encoder chip 530 and the rotor shaft 240, and the encoder magnet 520 is held in the shaft 241 of the rotor shaft 240 to follow the synchronous movement of the rotor shaft 240. Like this encoder chip 530 passes through the real-time positional information of encoder magnet 520 can master in real time the motion state of rotor shaft 240, thereby realizes encoder 500 is right motor element 200's servo control can be realized the servo control to drive joint module to simple structure is favorable to being applied to the duration that increases the robot on the robot.

Further, as shown in fig. 1, the module body 100 is further provided with a module cable 170 and a wire sheath 180. One end of the module cable 170 is connected to the motor assembly 200 and the encoder 500, and the other end of the module cable 170 extends out of the top cover 160 to connect to the robot driving joint module and the outside, so as to receive a displacement signal and supply power to the motor assembly 200 and the encoder 500. The wire sheath 180 is connected to the module body 100 to protect and guide the module cable 170, and prevent the module cable 170 from being twisted or wound during the movement process, which affects the stability of the robot driving joint module.

The utility model also provides a robot, the joint department of robot is equipped with the robot drive joint module that has single-stage cycloidal reducer, in order to guarantee control under the prerequisite that robot overall structure is simple, weight is little the robot motion.

The following detailed description the utility model discloses a robot drive joint module's work flow with multistage cycloid speed reducer:

after the robot driving joint module with the multistage cycloidal reducer is assembled, the module body 100 stably accommodates all other components. The first speed reduction assembly 400 is clamped between the second speed reduction assembly 300 and the motor assembly 200, and the first speed reduction assembly 400 and the second speed reduction assembly 300 are connected to form a multi-stage cycloidal speed reducer structure. When the robot starts to move, the encoder 500 receives a displacement instruction and outputs a corresponding displacement signal to the motor assembly 200, at this time, the magnetic shield 220 and the rotor shaft 240 in the motor assembly 200 start to rotate according to the displacement signal, the rotor shaft 240 drives the central shaft 410 in the first speed reduction assembly 400 to synchronously rotate, the central shaft 410 is meshed with the planet wheel 420 through the central gear 412, and the motion output by the motor assembly 200 is reduced to the rotation of the planet wheel 420 through the gear ratio between the planet wheel 420 and the central gear 412, so that the first-stage speed reduction is completed.

The planet gears 420 drive the eccentric shafts 310 of the second speed reducing assembly 300 to rotate synchronously, so as to output the motion after the first speed reduction to the second speed reducing assembly 300. At this time, the cycloid wheel assembly 330 of the second speed reduction assembly 300 is engaged with the pin 131 arranged in the module body 100, and due to the characteristics of the tooth profile curve and the limitation of the pin 131, the motion of the cycloid wheel assembly 330 is a plane motion with both revolution and rotation, and as the eccentric shaft 310 rotates for one circle, the cycloid wheel of the cycloid wheel assembly 330 rotates for one tooth in the opposite direction of the rotation of the eccentric shaft 310, so that the rotation motion of the eccentric shaft 310 is reduced to the rotation motion of the cycloid wheel assembly 330, and the second speed reduction is completed. Finally, the second deceleration assembly 300 outputs the motion after two-stage deceleration through the output flange assembly 340 as the output motion of the driving joint module, and the encoder 500 monitors the motion state of the rotor shaft 240 in real time through the encoder magnet 520, thereby implementing servo control on the motion of the robot.

To sum up, the utility model provides a robot drive joint module and robot with multistage cycloid speed reducer, include: the encoder receives the displacement instruction and outputs a displacement signal; a motor assembly that receives the displacement signal and outputs a motion; the first speed reduction assembly is connected with the motor assembly and is used for carrying out first-stage speed reduction on the motion output by the motor assembly; the second speed reduction assembly is connected with the first speed reduction assembly to form a multi-stage cycloidal speed reducer structure, and performs second-stage speed reduction on the motion after the first-stage speed reduction and outputs the motion; the module body is of a cylindrical structure, a coaxial through hole is formed in the bottom of the module body, the through hole extends towards the top of the module body to form the inner wall of the module body, the motor assembly is clamped and contained between the inner wall and the outer wall of the module body, the second speed reduction assembly is clamped and contained on the inner side of the inner wall, and the first speed reduction assembly is clamped and contained between the second speed reduction assembly and the motor assembly to achieve the effect that the multistage cycloidal speed reducer is connected with the motor assembly and outputs motion after two-stage speed reduction. Therefore, multi-stage reduction transmission can be realized through a simple structure, and the robot driving joint module with the multi-stage cycloid speed reducer is compact in structure and small in number of parts, so that the whole size is small, the weight is light, and the robot driving joint module is favorably applied to a robot to improve the cruising ability of the robot.

It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a robot drive joint module with multistage cycloid speed reducer which characterized in that includes:

the encoder receives the displacement instruction and outputs a displacement signal;

a motor assembly that receives the displacement signal and outputs a motion;

the first speed reduction assembly is connected with the motor assembly and used for carrying out first-stage speed reduction on the motion output by the motor assembly;

the second speed reduction assembly is connected with the first speed reduction assembly to form a multi-stage cycloidal speed reducer structure, and performs second-stage speed reduction on the motion after the first-stage speed reduction and outputs the motion;

the module comprises a module body which is of a cylindrical structure and is provided with a coaxial through hole at the bottom, the through hole extends to the top of the module body to form the inner wall of the module body, the motor assembly is clamped and contained between the inner wall and the outer wall of the module body, the second speed reduction assembly is clamped and contained on the inner side of the inner wall, and the first speed reduction assembly is clamped and contained between the second speed reduction assembly and the motor assembly so as to realize that the multistage cycloidal reducer is connected with the motor assembly and outputs the motion after two-stage speed reduction.

2. A robot drive joint module having a multi-stage cycloidal reducer according to claim 1, wherein the first reduction assembly comprises:

the central shaft is coaxial with the module body, an input interface is arranged at one end of the central shaft to be connected with the motor assembly, and a central gear is arranged at the other end of the central shaft;

the planet gears are uniformly arranged around the central shaft and meshed with the central gear, and the tooth number of the planet gears is greater than that of the central gear, so that the first-stage speed reduction of the motion output by the motor component is realized.

3. A robot drive joint module having a multi-stage cycloidal reducer according to claim 2, wherein the second reduction assembly comprises:

the output flange assembly is sleeved in the inner wall, and an output flange bearing is arranged between the output flange assembly and the inner wall so as to fix the output flange assembly and output the motion after two-stage speed reduction;

the cycloidal wheel assembly is arranged between the output flange assemblies and is meshed with a pin gear pin arranged in the module body;

the eccentric shafts are connected with the planetary gears in a one-to-one correspondence mode so as to connect the first-stage speed reduction assembly with the second-stage speed reduction assembly to form the multistage cycloid speed reducer structure, the eccentric shafts and the planetary gears move synchronously and receive movement after the first-stage speed reduction, and the eccentric shafts are matched with the cycloid gear assembly to achieve the second-stage speed reduction.

4. A robot drive joint module having a multi-stage cycloidal reducer according to claim 3, wherein the module body comprises:

the pin gear pin positions are uniformly distributed on the inner side of the inner wall along the circumferential direction and accommodate the pin gear pins;

the output flange mounting positions are arranged on the inner side of the inner wall and are axially arranged on two sides of the pin gear pin positions so as to clamp and fix the output flange assembly;

and the motor mounting position is arranged on the outer side of the inner wall so as to clamp and fix the motor component.

5. A robot drive joint module having a multi-stage cycloidal reducer according to claim 4, wherein the motor assembly comprises:

the stator winding is fixedly clamped on the motor component mounting position;

the magnetic protection ring is arranged between the stator winding and the outer wall, permanent magnets are uniformly arranged on one surface corresponding to the stator winding, and the magnetic protection ring rotates relative to the stator winding after the motor assembly receives a displacement signal;

the motor flange is fixed at an opening at the top of the module body so as to fix the motor assembly in the module body;

the outer ring of the rotor shaft and the magnetic protection ring are clamped to move along with the magnetic protection ring, one end of the axis of the rotor shaft is sleeved in the motor flange, and the other end of the axis of the rotor shaft is sleeved outside the central shaft to output motion to the first speed reduction assembly.

6. The robot drive joint module having a multi-stage cycloidal reducer of claim 5, wherein the motor assembly further comprises:

the motor bearing, the outer lane cover of motor bearing is established in the motor flange, the inner circle cover of motor bearing is established outside the axle center of rotor shaft, in order to support the rotor shaft is right the rotor shaft is in axial spacing in the module body.

7. The robot drive joint module having a multi-stage cycloidal reducer of claim 5, wherein the module body further comprises:

the top cover seals an opening in the top of the module body so as to seal the motor assembly, the multistage cycloidal reducer structure and the encoder in the module body;

one end of the module cable is electrically connected with the motor assembly and the encoder respectively, and the other end of the module cable penetrates through the top cover and extends out of the robot driving joint module to be connected with the outside so as to receive a displacement signal and supply power to the motor assembly and the encoder;

and the wire protecting sleeve is connected with the module body to protect and guide the module cable.

8. The robot drive joint module having a multi-stage cycloidal reducer of claim 7, wherein the motor flange comprises:

the motor bearing mounting position is arranged at the axis of the motor flange and corresponds to the motor bearing, so that the outer ring of the motor bearing is sleeved in the motor flange;

an encoder mounting location on which the encoder is fixed so that a relative position between the encoder and the rotor shaft is kept fixed;

and the top cover mounting position faces the outer side of the module body and is clamped with the top cover.

9. A robot-driven joint module having a multi-stage cycloidal reducer according to claim 8, wherein said encoder comprises:

the encoder chip receives a displacement instruction and outputs a displacement signal to the motor assembly;

the encoder base is arranged between the encoder chip and the motor flange and fixedly connected with the encoder chip, and the encoder chip is fixed on the encoder mounting position;

the encoder magnet is arranged between the encoder chip and the rotor shaft and clamped in the shaft center of the rotor shaft, so that real-time position information is transmitted to the encoder chip, and servo control is realized.

10. A robot, characterized in that a robot driving joint module with a multi-stage cycloidal reducer according to any one of claims 1-9 is arranged at a joint of the robot.

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