CN219726287U - Joint module convenient for power transmission - Google Patents

Abstract

The utility model discloses a joint module convenient for power transmission, which comprises: the output assembly comprises an output shaft and a speed reducer, and the output shaft is connected with the speed reducer; the input assembly comprises a motor and an input shaft, wherein the motor comprises a motor stator, a motor rotor and a motor shaft; the input shaft is sleeved outside the output shaft and is connected with the motor shaft and the speed reducer; the brake assembly is positioned between the motor and the speed reducer and comprises a brake stator and a brake rotor, and the motor shaft, the input shaft and the brake rotor are fixedly connected; the motor shaft and the brake rotor are positioned at the peripheral side of the output shaft at the same time, and the contact surfaces of the motor shaft, the brake rotor and the input shaft are fixed through cylindrical pins; and the support shell is positioned at the outer side of the joint module. The utility model adopts the cylindrical pin to realize the coaxial fixation of the motor shaft, the brake rotor and the input shaft, so that the fixation among the motor shaft, the brake rotor and the input shaft is firm, and meanwhile, the joint module has simple and compact structure and small occupied area.

Description

Joint module convenient for power transmission

Technical Field

The utility model relates to the field of joint modules, in particular to a joint module convenient for power transmission.

Background

The joint module is used as an important part of the robot, so that the robot can be produced and built quickly, and the labor and time cost of selecting, designing, purchasing and assembling hundreds of mechano-electronic devices can be saved. In order to facilitate power transmission in the joint module, a motor shaft, a brake rotor and an input shaft in the joint module need to be fixed together to realize synchronous rotation; in the prior art, when the screws are adopted for fixation, screw installation space is reserved for the screw fixation, so that the occupied area of the joint module is enlarged, and the miniaturization process is not facilitated.

Disclosure of Invention

The present utility model is directed to solving, at least to some extent, one of the problems in the related art. Therefore, the utility model aims to provide the joint module convenient for power transmission, and the coaxial fixation of the motor shaft, the brake rotor and the input shaft is realized by adopting the cylindrical pin, so that the fixation among the motor shaft, the brake rotor and the input shaft is firm, and meanwhile, the joint module is simple and compact in structure and small in occupied area.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: a joint module for facilitating power transmission, comprising:

the output assembly comprises an output shaft and a speed reducer, and the output shaft is connected with the speed reducer;

the input assembly comprises a motor and an input shaft, wherein the motor comprises a motor stator, a motor rotor and a motor shaft; the input shaft is sleeved outside the output shaft and is connected with the motor shaft and the speed reducer at the same time;

the brake assembly is positioned between the motor and the speed reducer and comprises a brake stator and a brake rotor, and the motor shaft, the input shaft and the brake rotor are fixedly connected; the motor shaft and the brake rotor are positioned on the outer peripheral side of the output shaft at the same time, and the contact surfaces of the motor shaft, the brake rotor and the input shaft are fixed through cylindrical pins;

and the support shell is positioned at the outer side of the joint module.

Further, at least one cylindrical groove is arranged on the contact surface of the motor shaft, the brake rotor and the input shaft, the cylindrical groove comprises a first groove in the motor shaft, a second groove in the brake rotor and a third groove in the input shaft, and the first groove and the second groove are overlapped in the axial direction of the input shaft; cylindrical pins are arranged in the cylindrical grooves.

Further, still include drive assembly, drive assembly includes control panel, encoder mounting bracket and encoder, the encoder mounting bracket is located one side tip of output shaft, the control panel is located one side that the motor was kept away from to the encoder mounting bracket, the encoder is located in the encoder mounting bracket.

Further, the encoder mounting frame comprises an input mounting frame and an output mounting frame, and the encoder comprises an input end magnetic encoder and an output end optical encoder; the input end magnetic encoder is positioned in the input mounting frame, the output end optical encoder is positioned in the output mounting frame, the output mounting frame is positioned at one side end part of the output shaft, and the output end optical encoder is positioned at one end of the output mounting frame far away from the output flange; the input mounting frame is sleeved on the outer side of the output mounting frame, and the input end magnetic encoder is located at one end, far away from the output shaft, of the output mounting frame.

Further, one side of the input installation frame, which is close to the motor, is provided with a boss, the boss is abutted with the cylindrical pin, and the boss is in threaded connection with the input shaft.

Further, the motor shaft is located the circumference outside of input shaft, the motor rotor is located the circumference outside of motor shaft, the motor stator is located the circumference outside of motor rotor, motor stator and support shell fixed connection.

Further, the speed reducer comprises a speed reducer fixing part, a speed reducer steel wheel and a speed reducer flexible wheel, wherein the speed reducer flexible wheel is sleeved on the circumferential outer side of the input shaft, the speed reducer steel wheel is positioned on the circumferential outer side of the speed reducer flexible wheel, and the speed reducer fixing part is positioned on the circumferential outer side of the speed reducer steel wheel; the speed reducer fixing part is fixed with the support shell, and the speed reducer steel wheel is connected with the speed reducer fixing part through a third bearing.

Further, the brake assembly further comprises a brake mounting plate, the brake rotor is fixedly connected with the motor shaft and the input shaft, the brake stator is fixedly connected with the support shell through the brake mounting plate, and the brake stator is located on one side, far away from the motor, of the brake mounting plate.

Further, the brake mounting plate is connected with the input shaft through a fourth bearing.

Further, the motor is located at one side of the brake mounting plate, which is close to the driving assembly, and the speed reducer is located at one side of the brake mounting plate, which is far away from the driving assembly.

Compared with the prior art, the technical scheme provided by the embodiment of the utility model has the following advantages: the utility model discloses a joint module convenient for power transmission, which comprises an output assembly, an input assembly, a brake assembly and a support shell, wherein the output assembly comprises an output shaft and a speed reducer, and the output shaft is connected with the speed reducer; the input assembly comprises a motor and an input shaft, wherein the motor comprises a motor stator, a motor rotor and a motor shaft; the input shaft is sleeved outside the output shaft and is connected with the motor shaft and the speed reducer at the same time; the brake assembly is positioned between the motor and the speed reducer and comprises a brake stator and a brake rotor, and the motor shaft, the input shaft and the brake rotor are fixedly connected; the motor shaft and the brake rotor are positioned on the outer peripheral side of the output shaft at the same time, and the contact surfaces of the motor shaft, the brake rotor and the input shaft are fixed through cylindrical pins; and the support shell is positioned at the outer side of the joint module. The coaxial fixing device realizes coaxial fixing of the motor shaft, the brake rotor and the input shaft through the cylindrical pins positioned in the three parts, has a simple and compact integral structure, and effectively reduces the volume of the joint module.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic cross-sectional view of a joint module according to the present utility model;

FIG. 2 is a schematic cross-sectional view of a motor shaft according to the present utility model;

FIG. 3 is a schematic cross-sectional view of a brake rotor according to the present utility model;

FIG. 4 is a schematic cross-sectional view of an input shaft according to the present utility model;

reference numerals: 11. a motor housing; 12. a speed reducer housing; 13. a brake mounting plate; 21. a control board; 31. an output optical encoder; 32. an input magnetic encoder; 33. an input mounting rack; 34. an output mounting rack; 41. a motor stator; 42. a motor rotor; 43. a motor shaft; 44. an input shaft; 51. a brake rotor; 52. a brake stator; 61. an output shaft; 62. a speed reducer fixing part; 63. speed reducer steel wheel; 64. a speed reducer flexspline; 65. an output flange; 71. a first bearing; 72. a second bearing; 73. a third bearing; 74. a fourth bearing; 81. a cylindrical pin; 811. a first groove; 812. a second groove; 813. and a third groove.

Detailed Description

For a clearer understanding of technical features, objects and effects of the present utility model, a detailed description of embodiments of the present utility model will be made with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are configured and operated in specific directions based on the directions or positional relationships shown in the drawings, and are merely for convenience of describing the present utility model, not to indicate that the mechanism or element referred to must have specific directions, and thus should not be construed as limiting the present utility model.

It should also be noted that unless explicitly stated or limited otherwise, terms such as "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. When an element is referred to as being "on" or "under" another element, it can be "directly" or "indirectly" on the other element or one or more intervening elements may also be present. The terms "first," "second," "third," and the like are used merely for convenience in describing the present utility model and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby features defining "first," "second," "third," etc. may explicitly or implicitly include one or more such features. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted so as not to obscure the description of the present utility model with unnecessary detail.

Example 1

Referring to fig. 1-4, the present utility model provides a joint module for facilitating power transmission, including an output assembly, an input assembly, a brake assembly and a support housing;

the output assembly comprises an output shaft 61 and a speed reducer, and the output shaft 61 is connected with the speed reducer;

an input assembly comprising a motor and an input shaft 44, the motor comprising a motor stator 41, a motor rotor 42 and a motor shaft 43; the input shaft 44 is sleeved outside the output shaft 61, and the input shaft 44 is connected with the motor shaft 43 and the speed reducer;

the brake assembly is positioned between the motor and the speed reducer and comprises a brake stator 52 and a brake rotor 51, and the motor shaft 43, the input shaft 44 and the brake rotor 51 are fixedly connected; the motor shaft 43 and the brake rotor 51 are located at the outer peripheral side of the output shaft 61 at the same time, and the contact surfaces of the motor shaft 43, the brake rotor 51 and the input shaft 44 are fixed by the cylindrical pin 81;

and the support shell is positioned at the outer side of the joint module.

The utility model realizes the coaxial fixation of the motor shaft 43, the brake rotor 51 and the input shaft 44 through the cylindrical pins positioned in the three parts, has simple and compact integral structure, and effectively reduces the volume of the joint module.

Example 2

Referring to fig. 1-4, the present utility model provides a joint module for facilitating power transmission, which includes an output assembly, an input assembly, a driving assembly, a brake assembly and a support housing; wherein the output assembly comprises an output shaft 61, an output flange 65 and a speed reducer, the input assembly comprises an input shaft 44 and a motor, and the support housing comprises a motor housing 11, a speed reducer housing 12 and a brake mounting plate 13. Each module is described in detail below.

The output assembly comprises an output shaft 61, an output flange 65 and a speed reducer, wherein the output shaft 61 is connected with the speed reducer. The speed reducer comprises a speed reducer fixing part 62, a speed reducer steel wheel 63 and a speed reducer flexible wheel 64, the speed reducer flexible wheel 64 is sleeved on the circumferential outer side of the input shaft 44, the speed reducer steel wheel 63 is positioned on the circumferential outer side of the speed reducer flexible wheel 64, and the speed reducer fixing part 62 is positioned on the circumferential outer side of the speed reducer steel wheel 63; the speed reducer fixing portion 62 is fixedly connected to the speed reducer housing 12, and the speed reducer housing 12 refers to a support housing located at the outer side in the circumferential direction of the speed reducer. The speed reducer steel wheel 63 and the speed reducer fixing portion 62 are connected by a third bearing 73. The speed reducer flexspline 64 is fixedly connected with the output shaft 61. The output flange 65 is fixedly connected to the output shaft 61 and is located at one side end of the output shaft 61.

The input assembly includes a motor and an input shaft 44, the input shaft 44 is sleeved on the circumferential outer side of the output shaft 61, and the input shaft 44 is connected with the motor shaft 43 and the speed reducer. The motor specifically includes motor stator 41, motor rotor 42 and motor shaft 43, and input shaft 44 is connected to motor shaft 43, and motor shaft 43 cover is established in the circumference outside of input shaft 44, and motor rotor 42 cover is established in the circumference outside of motor shaft 43, and motor stator 41 cover is established in the circumference outside of motor rotor 42, and motor stator 41 and motor housing 11 fixed connection, motor housing 11 refer to the support shell that is located the circumference outside of motor.

The brake assembly comprises a brake mounting plate 13, a brake stator 52 and a brake rotor 51, the brake rotor 51 is fixedly connected with the motor shaft 43, and the brake stator 52 is fixed on the support housing through the brake mounting plate 13. In the utility model, the brake mounting plate 13, the speed reducer housing 12 and the motor housing 11 can be of an integrated structure to jointly form a supporting housing. Alternatively, the speed reducer housing 12 and the motor housing 11 are integrally formed, and the brake mounting plate 13 is fixed inside the speed reducer housing 12 or inside the speed reducer fixing portion 62. The bottom of the brake mounting plate 13 is connected to the input shaft 44 by a fourth bearing 74 in the present utility model.

In the utility model, the motor is positioned on one side of the brake mounting plate 13 close to the driving assembly, and the speed reducer is positioned on one side of the brake mounting plate 13 far away from the driving assembly. I.e. the brake assembly is located between the motor and the speed reducer. As shown in fig. 1, one end of the brake mounting plate 13 is connected to the outermost support housing, the other end extends to a position below the motor shaft 43, and the brake stator 52 is fixed above the brake mounting plate 13, and the brake rotor 51 is located above the brake stator 52. The brake rotor 51, motor shaft 43 and input shaft 44 are fixedly coupled for providing a blocking force to the rotation of the motor shaft 43.

The drive assembly is located at one end of the output shaft 61 and includes a control board 21, an encoder mounting bracket and an encoder; specifically, the encoder mounting frame comprises an input mounting frame 33 and an output mounting frame 34, and the encoder comprises an input end magnetic encoder 32 and an output end optical encoder 31; wherein the input end magnetic encoder 32 is located in the input mounting frame 33, the output end optical encoder 31 is located in the output mounting frame 34, the output mounting frame 34 is located at one side end of the output shaft 61, and the output end optical encoder 31 is located at one end of the output mounting frame 34 far away from the output shaft 61; the input mounting frame 33 is sleeved on the outer side of the output mounting frame 34, and the input magnetic encoder 32 is located at one end of the output mounting frame 34 away from the output shaft 61. The output flange is located at the other end of the output shaft and the control plate is located at the end of the encoder remote from the output shaft 61.

Because the joint module has higher requirement on the monitoring precision of the output shaft 61, the optical encoder is adopted as the encoder of the output end in the utility model, so that the monitoring precision of the output shaft 61 can be improved, and the magnetic encoder is adopted as the encoder of the input end in the utility model, so that the cost of the joint module can be reduced.

As shown in fig. 3, the output mounting frame 34 is located at one side end of the output shaft 61 and is fixedly connected with the output shaft; thus, the output mounting frame and the output shaft can be ensured to be fixed together, and the output end optical encoder can monitor the data of the output shaft better. A recess is provided in the top of the output mount 34 for placement of the output optical encoder 31.

In the utility model, the input mounting frame 33 is distributed on the axial outer part of the output mounting frame 34, and a groove is arranged at the top of the output mounting frame 34 for placing the input end magnetic encoder 32. A second bearing 72 is provided between the output mount 34 and the input mount 33. The input mounting frame 33 and the motor shaft 43 are connected with the support housing through the first bearing 71, specifically, the outer diameter of the first bearing 71 is connected with the motor housing 11, the inner diameter of the first bearing 71 may be connected with the motor shaft 43 or may be connected with the bottom of the input mounting frame 33, and when connected with the bottom of the input mounting frame 33, the bottom of the input mounting frame 33 is in a bent shape.

In the utility model, a motor shaft 43, a brake rotor 51 and an input shaft 44 are fixedly connected, the brake rotor 51 only plays a role in braking the motor shaft 43 when the joint module stops working, and when the motor runs, the motor rotor 42 drives the motor shaft 43 to rotate, the motor shaft 43 drives the input shaft 44 to rotate, and the input shaft 44 drives an output shaft 61 to rotate through a speed reducer, so that torque output is realized. The input magnetic encoder 32 monitors the input shaft 44, the output optical encoder 31 monitors the output shaft 61, and the monitoring data is transmitted to the control board 21, so that torque input and output of the joint module are obtained.

In order to ensure that the motor shaft, the brake rotor and the input shaft are coaxially connected, at least one cylindrical groove is arranged on the contact surface of the motor shaft 43, the brake rotor 51 and the input shaft 44, and the cylindrical grooves are simultaneously positioned in the motor shaft 43, the brake rotor 51 and the input shaft 44; cylindrical pins 81 are arranged in the cylindrical grooves.

Specifically, referring to fig. 2-4, in the axial direction of the input shaft 44, the brake rotor 51 is located below the motor shaft 43, while the motor shaft 43 and the side wall of the brake rotor 51 close to the input shaft 44 are flush and simultaneously abut against the input shaft 44, the cylindrical grooves actually include a first groove 811 in the motor shaft 43, a second groove 812 in the brake rotor 54, and a third groove 813 in the input shaft 44, the first groove 811 and the second groove 812 overlapping in the axial direction of the input shaft 44; and in the axial direction of the input shaft 44, the sum of the dimensions of the first groove 811 and the second groove 812 is equal to the dimension 813 of the third groove, strictly speaking, the first groove 811 is an arc-shaped through hole in the motor shaft 43, the second groove 812 is an arc-shaped groove in the brake rotor 51, and the third groove 813 is an arc-shaped groove in the input shaft 44, which together enclose a cylindrical groove.

Cylindrical pins 81 are arranged in the cylindrical grooves, the number of the cylindrical grooves is multiple, and the cylindrical grooves are uniformly distributed on the outer side of the circumference of the input shaft, so that coaxial fixation of each position of the input shaft is realized. Meanwhile, a boss is arranged on one side of the input mounting frame 33, which is close to the motor, and is abutted with the cylindrical pin 81, and the boss is connected with the input shaft 44 through threads. When cylindric lock 81 is installed in cylindric recess, cylindric lock 81 is arranged in realizing spacing in the circumference direction, and the boss is in butt with cylindric lock 81 in the input mounting bracket 33, and passes through threaded connection with input shaft 44 for realize spacing in the cylindric lock 81 axial direction, ensure motor shaft 43, input shaft 44 and stopper rotor 51 fixed connection, and can not take place circumference and axial direction's position offset.

The coaxial fixing device realizes coaxial fixing of the motor shaft, the brake rotor and the input shaft through the cylindrical pins positioned in the three parts, has a simple and compact integral structure, and effectively reduces the volume of the joint module.

It is to be understood that the above examples only represent preferred embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model; it should be noted that, for a person skilled in the art, the above technical features can be freely combined, and several variations and modifications can be made without departing from the scope of the utility model; therefore, all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. A joint module for facilitating power transmission, comprising:

the output assembly comprises an output shaft (61) and a speed reducer, and the output shaft (61) is connected with the speed reducer;

an input assembly comprising a motor and an input shaft (44), the motor comprising a motor stator (41), a motor rotor (42) and a motor shaft (43); the input shaft (44) is sleeved outside the output shaft (61), and the input shaft (44) is simultaneously connected with the motor shaft (43) and the speed reducer;

the brake assembly is positioned between the motor and the speed reducer and comprises a brake stator (52) and a brake rotor (51), and the motor shaft (43), the input shaft (44) and the brake rotor (51) are fixedly connected; the motor shaft (43) and the brake rotor (51) are positioned on the outer periphery side of the output shaft (61) at the same time, and contact surfaces of the motor shaft (43), the brake rotor (51) and the input shaft (44) are fixed through cylindrical pins;

and the support shell is positioned at the outer side of the joint module.

2. A joint module for facilitating power transmission according to claim 1, characterized in that the contact surfaces of the motor shaft (43), the brake rotor (51) and the input shaft (44) are provided with at least one cylindrical groove (81), the cylindrical groove (81) comprising a first groove (811) in the motor shaft (43), a second groove (812) in the brake rotor (51) and a third groove (813) in the input shaft (44), the first groove (811) and the second groove (812) overlapping in the axial direction of the input shaft (44); cylindrical pins are arranged in the cylindrical grooves (81).

3. The joint module for facilitating power transmission according to claim 1, further comprising a drive assembly including a control board (21), an encoder mounting bracket and an encoder, the encoder mounting bracket being located at one side end of the output shaft (61), the control board (21) being located at a side of the encoder mounting bracket remote from the motor, the encoder being located in the encoder mounting bracket.

4. A power transmission facilitating joint module according to claim 3, wherein the encoder mounting comprises an input mounting (33) and an output mounting (34), the encoder comprising an input magnetic encoder (32) and an output optical encoder (31); the input end magnetic encoder (32) is located in the input mounting frame (33), the output end optical encoder (31) is located in the output mounting frame (34), the output mounting frame (34) is located at one side end of the output shaft (61), and the output end optical encoder (31) is located at one end, far away from the output flange (65), of the output mounting frame (34); the input mounting frame (33) is sleeved on the outer side of the output mounting frame (34), and the input magnetic encoder (32) is located at one end, far away from the output shaft (61), of the output mounting frame (34).

5. The joint module for facilitating power transmission according to claim 4, wherein a boss is arranged on one side of the input mounting frame (33) close to the motor, the boss is abutted with the cylindrical pin, and the boss is connected with the input shaft (44) through threads.

6. The joint module for facilitating power transmission according to claim 1, wherein the motor shaft (43) is located on a circumferential outer side of the input shaft (44), the motor rotor (42) is located on a circumferential outer side of the motor shaft (43), the motor stator (41) is located on a circumferential outer side of the motor rotor (42), and the motor stator (41) is fixedly connected with the support housing.

7. The joint module for facilitating power transmission according to claim 1, wherein the speed reducer comprises a speed reducer fixing portion (62), a speed reducer steel wheel (63) and a speed reducer flexible wheel (64), the speed reducer flexible wheel (64) is sleeved on the circumferential outer side of the input shaft (44), the speed reducer steel wheel (63) is located on the circumferential outer side of the speed reducer flexible wheel (64), and the speed reducer fixing portion (62) is located on the circumferential outer side of the speed reducer steel wheel (63); the speed reducer fixing part (62) is fixed with the support shell, and the speed reducer steel wheel (63) is connected with the speed reducer fixing part (62) through a third bearing (73).

8. The joint module for facilitating power transmission according to claim 1, wherein the brake assembly further comprises a brake mounting plate (13), the brake rotor (51) is fixedly connected with the motor shaft (43) and the input shaft (44), the brake stator (52) is fixedly connected with the support housing through the brake mounting plate (13), and the brake stator (52) is located on a side of the brake mounting plate (13) away from the motor.

9. A power transmission facilitating joint module according to claim 8, wherein the brake mounting plate (13) is connected to the input shaft (44) by a fourth bearing (74).

10. A joint module for facilitating power transmission according to claim 8, characterised in that the motor is located on the side of the brake mounting plate (13) close to the drive assembly and the speed reducer is located on the side of the brake mounting plate (13) remote from the drive assembly.