CN219599584U

CN219599584U - Shell fusion type light mechanical arm joint

Info

Publication number: CN219599584U
Application number: CN202320487266.8U
Authority: CN
Inventors: 孙恺; 曹宇男
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2023-03-14
Filing date: 2023-03-14
Publication date: 2023-08-29
Anticipated expiration: 2033-03-14

Abstract

The utility model relates to a shell fusion type light mechanical arm joint, which comprises the following components: the device comprises a shell, a motor assembly and a harmonic reducer assembly, wherein the shell comprises a joint shell and a joint end cover arranged at the end part of the joint shell, the joint shell is used as a shell of the motor assembly so that a stator of the motor assembly is fixedly connected to the joint shell, and the joint shell is used as a shell of the harmonic reducer assembly so that a steel wheel or a flexible wheel of the harmonic reducer assembly is fixed to the joint shell. Through fusing the shell of motor assembly and the shell and the joint shell of harmonic reducer subassembly, can simplify the structure of arm joint, reduce joint weight, promote joint radiating effect.

Description

Shell fusion type light mechanical arm joint

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a shell fusion type light mechanical arm joint.

Background

With the development of intelligent technology, mechanical arms are in more and more fields to replace and assist manpower to perform work. The application scene of the mechanical arm is limited by limited torque and rotation speed to a great extent, the processing performance and the working efficiency of the mechanical arm can be improved by improving the torque and the rotation speed, and the problem to be solved in the first step of improving the torque and the rotation speed is the problem of joint heating. In CN215749262U, heat dissipation of the mechanical arm is achieved by installing a heat dissipation device for the mechanical arm, where the heat dissipation device includes a heat dissipation box, and the heat dissipation box is configured with an internal groove, a heat dissipation fan, and an air hole, and the heat dissipation manner makes the structure of the mechanical arm complex.

In addition, the weight of the mechanical arm joint is also a key factor influencing the performance of the mechanical arm, the relatively light mechanical arm is more beneficial to improving the running speed of the mechanical arm, and the traditional mode of increasing the heat dissipation structure can improve the heat dissipation effect of the mechanical arm joint, but increases the structural burden and the weight burden of the mechanical arm joint, is not beneficial to the light weight design of the mechanical arm joint, and also has adverse effects on the performance of the mechanical arm.

Disclosure of Invention

The utility model aims to provide a shell fusion type light mechanical arm joint, which is used for directly radiating the motor shell and the harmonic reducer shell through fusion of the motor assembly shell, the harmonic reducer assembly shell and the joint shell of the mechanical arm, so that the radiating problem of the mechanical arm joint is solved, in addition, the joint design is structurally simplified, the weight of the joint is favorably reduced, and the working beat and the service life of the mechanical arm are improved.

In order to solve the technical problems, the utility model adopts the following technical scheme: a shell fusion lightweight robotic arm joint, comprising: the device comprises a shell, a motor assembly and a harmonic reducer assembly, wherein the shell comprises a joint shell and a joint end cover arranged at the end part of the joint shell, the joint shell is used as a shell of the motor assembly so that a stator of the motor assembly is fixedly connected to the joint shell, and the joint shell is used as a shell of the harmonic reducer assembly so that a steel wheel or a flexible wheel of the harmonic reducer assembly is fixedly connected to the joint shell.

Further, the joint housing includes a first housing serving as a housing of the motor assembly and a second housing serving as a housing of the harmonic reducer assembly, the first housing and the second housing being of a unitary structure, or the first housing and the second housing being detachably connected.

Further, a cross roller bearing is arranged at the end part of the mechanical arm joint, one end of the cross roller bearing is fixed to the second shell, and the joint end cover is fixed to the first shell.

Further, the other end of the crossed roller bearing is fixed with a flexible element, and the flexible element can be deformed under force so that the mechanical arm joint has flexibility.

Further, the motor assembly comprises a motor rear cover, the motor rear cover comprises a plurality of connecting columns extending along the axial direction of the mechanical arm joint, a control circuit board is arranged in the mechanical arm joint, and the connecting columns are used for connecting and fixing the control circuit board.

Further, the stator and the joint housing are detachably connected.

Further, the harmonic reducer assembly is a lightweight harmonic reducer assembly.

Compared with the prior art, the beneficial effects of the specific embodiment of the utility model are at least as follows: 1. the shell of the motor assembly and the shell of the harmonic reducer assembly are fused with the joint shell, so that the shell of the motor assembly and the shell of the harmonic reducer assembly directly dissipate heat, the joint heat dissipation effect is improved, and the working beat and the service life of the mechanical arm can be improved; 2. the shell design of the mechanical arm joint is simplified, the weight of the mechanical arm joint is reduced, and the lightweight design of the mechanical arm joint is facilitated; 3. the mechanical arm joint is provided with a flexible element, the mechanical arm is flexible, the buffer capacity is provided for the mechanical arm joint, and the operation safety of the mechanical arm is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a shell fusion lightweight robotic arm joint according to one embodiment of the utility model;

FIG. 2 is an exploded view of the robotic arm joint shown in FIG. 1;

fig. 3 is a cross-sectional view of the robot arm joint shown in fig. 1.

Detailed Description

In order to make the technical solution of the present utility model more clear, embodiments of the present utility model will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the utility model, and is not intended to be exhaustive of all the possible ways of implementing the utility model, but rather to limit the scope of the utility model in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

The utility model provides a shell fusion type lightweight mechanical arm joint, and referring to fig. 1-2, a mechanical arm joint 100 comprises a shell, a motor assembly 4 and a harmonic reducer assembly 5, wherein the motor assembly 4 and the harmonic reducer assembly 5 are arranged in the shell, and the shell comprises a joint shell 10 and a joint end cover 20 arranged at the end part of the joint shell 10. The common driving motor comprises a joint shell and a motor component 4 arranged in the joint shell, the harmonic reducer comprises a harmonic reducer shell and a harmonic reducer component 5 arranged in the harmonic reducer shell, the motor component 4 and the harmonic reducer are installed in the joint shell in series, and the shell of the motor component, the shell of the harmonic reducer component and the joint shell are fused.

The present embodiment fuses the housing of the motor assembly, the housing of the reducer assembly, and the joint housing. Specifically, referring to fig. 3, the joint housing 10 includes a first housing 11 and a second housing 12, the first housing 11 serves as a housing of the motor assembly 4, the motor assembly 4 is disposed inside the first housing 11, and the stator 41 of the motor assembly 4 is fixed to the first housing 11; the second housing 12 is used as a housing of the harmonic reducer assembly 5, the harmonic reducer assembly 5 is arranged inside the second housing 12, the second housing 12 is used as a housing of the harmonic reducer assembly 5, one of the steel wheels 51 and the flexible wheels of the harmonic reducer is used as a fixing piece, and the other is used as an output piece. In a specific embodiment, the steel wheel 51 of the harmonic reducer assembly 5 is fixed to the second housing 12, the steel wheel 51 is used as a fixing member, and the flexwheel is used as an output member, for example, when the harmonic reducer adopts a cup-type reducer; in other embodiments, the flexspline of the harmonic reducer can be fixed to the second housing 12 with the steel spline as the output, for example, when the harmonic reducer is a cap-type reducer. Through this kind of mode, can make the first shell 11 in the motor element 4 outside, and the second shell 12 in the harmonic reducer subassembly 5 outside directly dispel the heat, the shell of motor element 4 in traditional mode, the outside of the shell of harmonic reducer subassembly 5 still includes one deck joint shell, make the radiating effect of motor and harmonic reducer receive the influence, the shell of this kind of mode joint shell and motor element 4, the shell of harmonic reducer subassembly 5 fuses, on the one hand through first shell 11, the direct heat dissipation of second shell 12, on the other hand has reduced the quantity of shell, be favorable to the lightweight design of arm joint, thereby further promote the performance of arm.

Alternatively, the motor assembly 4 may be a frameless motor, and the harmonic reducer assembly 5 may be a component type harmonic reducer.

Optionally, the stator 41 of the motor assembly 4 is detachably connected with the joint housing 10, and illustratively, the stator 41 is connected with the joint housing 10 through a screw, so that the motor assembly can be detached in a screw manner when the mechanical arm joint needs to be detached, and the motor assembly and the harmonic reducer assembly are convenient to maintain and replace.

It will be appreciated that the first housing 11 and the second housing 12 may be integrally formed, with the "first housing", "second housing" distinguishing whether the motor assembly 4 or the harmonic reducer assembly 5 is covered; alternatively, the first housing 11 and the second housing 12 may be formed as separable components, with the first housing 11 and the second housing 12 being detachably connected.

It can be understood that the first housing 11 and the second housing 12 may have the same outer diameter, so that the outer shape of the mechanical arm joint is smooth, and if necessary, the outer diameters of the first housing 11 and the second housing 12 may be designed differently according to the difference between the selected motor model and the harmonic reducer model; alternatively, the structural designs of the first housing 11 and the second housing 12 may be adjusted so that the robot arm joint has a curved surface appearance.

Further, the end of the robot arm joint 100 is provided with a cross roller bearing 6, the cross roller bearing 6 can be used for connecting with the next robot arm joint, and one end of the cross roller bearing 6 is fixed to the second housing 12 to dissipate heat of the cross roller bearing 6 through the second housing 12.

Wherein the motor, the harmonic reducer and the crossed roller bearing 6 of the mechanical arm are main heating elements, and through the design, the first shell 11 and the second shell 12 can realize better heat dissipation effect of the motor component 4, the harmonic reducer component 5 and the crossed roller bearing 6.

Optionally, the arm joint 100 is configured to be flexible, and the flexible arm has advantages of good flexibility. The other end of the crossed roller bearing 6 is provided with a flexible element 7 to provide flexibility to the robot arm joint 100. Optionally, the flexible element 7 can integrate a torque or a force sensor, which is favorable for environmental adaptability of the mechanical arm and improvement of motion precision, and meanwhile, the structural component and the electronic device are highly fused in the mode, so that the lightweight design of the mechanical arm joint is favorable.

Alternatively, the flexible element 7 may also be formed as a fitting assembly with flexibility, for example as a spring assembly.

The joint end cap 3 is fixed to the first housing 11 to be formed into a closed-end structure to the robot arm joint.

Wherein the flexible element 7 requires a relatively large radial deformation space, preferably an ultra-thin harmonic reducer assembly 5 is adopted, the harmonic reducer assembly 5 is matched with the second shell 12 with a relatively large diameter, so that the radial deformation space of the flexible element is enough, and in addition, the ultra-thin harmonic reducer assembly is beneficial to reducing the weight of the mechanical arm joint.

In a specific embodiment, referring to fig. 2, the motor assembly 4 includes a motor rear cover 42, where the motor rear cover 42 can at least partially cover the stator 41 of the motor assembly 4 from one side, the motor rear cover 42 includes a plurality of connection posts 421 extending along the joint axis, and the mechanical arm joint includes a control circuit board to implement circuit control of the joint, and the connection posts 421 connect with and fix the control circuit board. It can be appreciated that the connecting post 421 extends in a direction towards the joint end cover, and the connecting post is formed in the space where the motor rear cover 42 and the joint end cover 20 are located, so that the mechanical arm joint is compact in structure.

According to the preferred embodiment of the scheme, the shell of the motor assembly, the shell of the harmonic reducer assembly and the joint shell are fused, so that the harmonic reducer assembly, the motor assembly and the crossed roller bearing can directly dissipate heat outwards, the heat dissipation effect of the mechanical arm joint is improved, and the shell fusion mode is beneficial to simplifying the structure of the mechanical arm joint and reducing the weight of the mechanical arm joint; in addition, the mode that the motor rear cover is provided with the connecting column to be connected with the control circuit board can design the joint shell thinner, so that the joint structure is compact, and the space utilization rate is higher.

Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the utility model is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the utility model. The scope of the utility model should therefore be pointed out in the appended claims.

Claims

1. A shell fusion type lightweight mechanical arm joint, comprising:

the device comprises a shell, a motor assembly and a harmonic reducer assembly, wherein the shell comprises a joint shell and a joint end cover arranged at the end part of the joint shell, the joint shell is used as a shell of the motor assembly so that a stator of the motor assembly is fixedly connected to the joint shell, and the joint shell is used as a shell of the harmonic reducer assembly so that a steel wheel or a flexible wheel of the harmonic reducer assembly is fixedly connected to the joint shell.

2. The shell fusion lightweight mechanical arm joint of claim 1, wherein the joint shell comprises a first shell and a second shell, the first shell serving as a shell of a motor assembly, the second shell serving as a shell of a harmonic reducer assembly, the first shell and the second shell being of unitary construction or the first shell and the second shell being detachably connected.

3. The shell fusion lightweight mechanical arm joint according to claim 2, wherein the end of the mechanical arm joint is provided with a cross roller bearing, one end of the cross roller bearing is fixed to the second shell, and the joint end cover is fixed to the first shell.

4. The shell fusion lightweight robotic arm joint of claim 3, wherein the other end of the cross roller bearing secures a flexible element that is capable of being deformed under force to provide flexibility to the robotic arm joint.

5. The shell fusion type lightweight mechanical arm joint according to claim 1, wherein the motor assembly comprises a motor rear cover, the motor rear cover comprises a plurality of connecting posts extending along the axial direction of the mechanical arm joint, the inside of the mechanical arm joint comprises a control circuit board, and the connecting posts are used for connecting and fixing the control circuit board.

6. The shell fusion lightweight robotic arm joint according to claim 1, wherein the stator and joint shell are removably connected.