CN220499181U - Mechanical arm joint module - Google Patents
Mechanical arm joint module Download PDFInfo
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- CN220499181U CN220499181U CN202321218293.1U CN202321218293U CN220499181U CN 220499181 U CN220499181 U CN 220499181U CN 202321218293 U CN202321218293 U CN 202321218293U CN 220499181 U CN220499181 U CN 220499181U
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- joint module
- mechanical arm
- bearing
- arm joint
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 5
- KTXUOWUHFLBZPW-UHFFFAOYSA-N 1-chloro-3-(3-chlorophenyl)benzene Chemical compound ClC1=CC=CC(C=2C=C(Cl)C=CC=2)=C1 KTXUOWUHFLBZPW-UHFFFAOYSA-N 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model belongs to the technical field of robot design, and particularly relates to a mechanical arm joint module. The hollow shaft harmonic speed reducer used in the application has the characteristic of being flat, can well shorten the length of the whole machine, and is convenient for threading; the brake and the frameless motor are designed and installed in the joint body, so that the brake has the characteristics of high integration and small volume, and the internal space is greatly saved; the joint module of this application, each major part fixed connection department all adopts screw connection, and the operation stationarity is high, and simple structure, easy dismounting.
Description
Technical Field
The utility model belongs to the technical field of robot design, and particularly relates to a mechanical arm joint module.
Background
Nowadays, the development condition of robots is better and the product innovation is faster, wherein the joint module is used as the key of the integrated design of intelligent robots, and an industrial scheme for rapid application and maintenance is provided for robot integrated manufacturers or robot application manufacturers. The development of the joint module is the key point of robot development, the joint module is used as an important part of the robot, the joint module can realize rapid production and rapid assembly of the robot, and the labor and time cost of selecting, designing, purchasing and assembling hundreds of mechano-electronic devices can be saved.
The joint modules in the prior art are developed in the integrated modularization direction, and the combined control of blocking and flexibility force and position becomes the development direction for improving the safety performance and the control performance of the robot. The existing joint modules are different in form, but basically similar in implementation mode, and the main components consist of a speed reducer, a motor, a brake, a servo controller and the like. However, these components are usually simply assembled as a whole as independent units, and the integration and light weight degree are poor, so that the volume and the quality of the product are large; the structure is complex, and the installation is not easy; the running vibration is large and unstable; the heating is serious and the performance is poor when in work; ultimately affecting the flexibility and working capacity of the robot.
Disclosure of Invention
The utility model aims to solve the technical problems that: aiming at the defects of the prior art, the mechanical arm joint module is provided, has the characteristics of high integration and small volume, and has the advantages of simple structure and convenient disassembly and assembly.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
the mechanical arm joint module is connected with a frameless motor, the mechanical arm joint module comprises a spool 1, a hollow shaft harmonic reducer 2, a brake 4, a brake fixing seat 3, an input end encoder magnetic ring 9 and an output end encoder magnetic ring 10, a rotor shaft 8, a rotor 6 and a stator 5 are sequentially arranged on the frameless motor from inside to outside, the brake fixing seat 3 and a stator housing 7 are respectively fixed at two ends of the stator 5, the brake 4 is installed on one side of the brake fixing seat 3 in the frameless motor, the hollow shaft harmonic reducer 2 is installed on one side of the brake fixing seat 3 outside the frameless motor, the spool 1 is arranged in the hollow shaft harmonic reducer 2 in a penetrating manner, the input end encoder magnetic ring 9 is fixed at the end of the rotor shaft 8, the output end encoder magnetic ring 10 is fixed at the end of the spool 1, a rear cover 12 is arranged on the outer cover of the stator housing 7, and a controller PCB 11 is arranged between the stator housing 7 and the rear cover 12.
Further, an output bearing 14 is sleeved outside the spool 1, and the output bearing 14 is embedded in the rotor shaft 8 through a clamp spring; the outer one end of the rotor shaft 8 is sleeved with an input bearing 13, the other end of the rotor shaft is sleeved with a fixed bearing 15, the input bearing 13 is embedded in the brake fixing seat 3, and the fixed bearing 15 is embedded in the stator housing 7.
Further, a wave pad is provided between the fixed bearing 15 and the stator housing 7.
Further, the hollow shaft harmonic speed reducer 2 is provided with a wave generator 17, a flexible gear 101 and a steel gear 103 from inside to outside in sequence, the wave generator 17 is composed of a cam 105 and a flexible bearing 104, the cam 105 is arranged inside the flexible gear 101, the steel gear 103 is sleeved on the outer ring of the flexible gear 101, gear teeth on the outer ring of the flexible gear 101 are meshed with gear teeth on the inner ring of the steel gear 103, a flexible bearing 104 is arranged between the cam 105 and the flexible gear 101, and the steel gear 103 is in contact with the crossed roller bearing 102.
Further, the cross roller bearing 102 is fixed to the end face of the brake fixing base 3 by a screw, the cam 105 is fixed to the cam fixing base 16 by a screw, and the cam fixing base 16 is fixed to the rotor shaft 8 by a screw connection (specifically, a screw).
Further, the brake fixing seat 3 and the stator housing 7 are respectively fixed at two ends of the frameless motor through threaded connectors (specifically, screws).
Further, the input end encoder magnetic ring 9 and the output end encoder magnetic ring 10 are respectively fixed on the rotor shaft 8 and the bobbin 1 through screws, and the input end encoder magnetic ring 9 and the output end encoder magnetic ring 10 are electrically connected with the adaptive encoders.
Further, the hollow shaft harmonic reducer 2 is fixed on the brake fixing seat 3 through a rigid connecting piece (in particular, a screw rigid connection).
Further, the brake 4 is fixed to the brake fixing base 3 by a rigid connection member (specifically, a screw rigid connection).
Further, the controller PCB 11 is fixed to the stator housing 7 by a screw connection (specifically, a screw).
Compared with the prior art, the utility model has the following main advantages:
1. the hollow shaft harmonic speed reducer used in the application has the characteristic of being flat, can well shorten the length of the whole machine, and is convenient for threading;
2. the brake and the frameless motor are designed and installed in the joint body, so that the brake has the characteristics of high integration and small volume, and the internal space is greatly saved;
3. the joint module of this application, each major part fixed connection department all adopts screw connection, and the operation stationarity is high, and simple structure, easy dismounting.
Drawings
FIG. 1 is an overall cross-sectional view of a joint module of the present utility model;
FIG. 2 is a schematic diagram of a hollow shaft harmonic reducer of the present utility model;
FIG. 3 is a cross-sectional view of a hollow shaft harmonic reducer of the present utility model;
FIG. 4 is a schematic diagram of a frameless motor of the present utility model;
FIG. 5 is a cross-sectional view of a frameless motor of the present utility model;
fig. 6 is a schematic view of a brake according to the present utility model.
In the figure: 1. a spool (output shaft); 2. a hollow shaft harmonic reducer; 3. a brake holder; 4. a brake; 5. a stator; 6. a rotor; 7. a stator housing; 8. a rotor shaft (input shaft); 9. an input encoder magnetic ring; 10. an output end encoder magnetic ring; 11. a controller PCB board; 12. a rear cover; 13. an input bearing; 14. an output bearing; 15. fixing a bearing; 16. a cam fixing seat; 17. a wave generator; 101. a flexible wheel; 102. a crossed roller bearing; 103. a steel wheel; 104. a flexible bearing; 105. a cam.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of the operations of the steps/components may be combined into new steps/components, as needed for implementation, to achieve the object of the present utility model.
As shown in fig. 1 to 6, the embodiment of the application provides a mechanical arm joint module design, which is connected with a frameless motor, wherein main components of the mechanical arm joint module are composed of a hollow shaft harmonic reducer, a brake fixing seat, an input end encoder, an output end encoder and the like.
The motor without frame is provided with a rotor shaft 8, a rotor 6 and a stator 5 from inside to outside in sequence, two ends of the stator 5 are respectively fixed with a brake fixing seat 3 and a stator housing 7 (specifically fixed by screws), one side of the brake fixing seat 3, which is close to the inside of the motor without frame, is provided with a brake 4 (specifically fixed by screw installation), one side of the brake fixing seat 3, which is close to the outside of the motor without frame, is provided with a hollow shaft harmonic reducer 2 (specifically fixed by screw installation), a bobbin 1 is penetrated in the hollow shaft harmonic reducer 2, the end part of the rotor shaft 8 is fixed with an input end encoder magnetic ring 9, the end part of the bobbin 1 is fixed with an output end encoder magnetic ring 10, the outer cover of the stator housing 7 is provided with a rear cover 12, and a controller PCB 11 is arranged between the stator housing 7 and the rear cover 12.
Further, an output bearing 14 is sleeved outside the spool 1, and the output bearing 14 is embedded in the rotor shaft 8 through a clamp spring; the outer one end of the rotor shaft 8 is sleeved with an input bearing 13, the other end of the rotor shaft is sleeved with a fixed bearing 15, the input bearing 13 is embedded in the brake fixing seat 3, and the fixed bearing 15 is embedded in the stator housing 7.
Further, a wave pad is provided between the fixed bearing 15 and the stator housing 7.
Further, the hollow shaft harmonic speed reducer 2 is provided with a wave generator 17, a flexible gear 101 and a steel gear 103 from inside to outside in sequence, the wave generator 17 is composed of a cam 105 and a flexible bearing 104, the cam 105 is arranged inside the flexible gear 101, the steel gear 103 is sleeved on the outer ring of the flexible gear 101, gear teeth on the outer ring of the flexible gear 101 are meshed with gear teeth on the inner ring of the steel gear 103, a flexible bearing 104 is arranged between the cam 105 and the flexible gear 101, and the steel gear 103 is in contact with the crossed roller bearing 102.
Further, the cross roller bearing 102 is fixed to the end face of the brake fixing base 3 by screws, the cam 105 is fixed to the cam fixing base 16 by screws, and the cam fixing base 16 is fixed to the rotor shaft 8 by screws.
Further, the input end encoder magnetic ring 9 and the output end encoder magnetic ring 10 are respectively fixed on the rotor shaft 8 and the overline shaft 1 through screws.
Further, the controller PCB 11 is fixed to the stator housing 7 by screws.
The specific use is as follows:
the input bearing 13 is pressed into the brake holder 3, and then the brake 4 is rigidly fixed on the brake holder 3 by a screw; the wave pad is put into the stator housing 7, the fixed bearing 15 is pressed into the stator housing 7, and then the rotor shaft 8 is rigidly connected with the magnetic ring seat of the input end encoder magnetic ring 9 through the screw; the brake fixing seat 3 and the stator housing 7 are respectively pressed into two ends of the frameless motor and are fixed through screws; the cam fixing seat 16 is locked on the rotor shaft 8 through a screw; the hollow shaft harmonic reducer 2 is rigidly fixed on the brake fixing seat 3 through a screw, and the cam 105 on the wave generator 17 is rigidly fixed on the cam fixing seat 16 through a screw; the bobbin 1 is pressed in from one end of the hollow shaft harmonic reducer 2 and is rigidly fixed on the hollow shaft harmonic reducer 2 through a screw; pressing the output bearing 14 into the rotor shaft 8 and fixing the output bearing in the rotor shaft 8 by using a clamp spring; fixing an output end encoder magnetic ring 10 at the tail end of the spool 1; the controller PCB 11 is fixed with the stator housing 7 by screws, covered with the rear cover 12, and then fixed by screws.
To sum up, adopt a arm joint module of this application:
1. the hollow shaft harmonic speed reducer used in the application has the characteristic of being flat, can well shorten the length of the whole machine, and is convenient for threading;
2. the brake and the frameless motor are designed and installed in the joint body, so that the brake has the characteristics of high integration and small volume, and the internal space is greatly saved;
3. the joint module of this application, each major part fixed connection department all adopts screw connection, and the operation stationarity is high, and simple structure, easy dismounting.
The above embodiments are merely for illustrating the design concept and features of the present utility model, and are intended to enable those skilled in the art to understand the content of the present utility model and implement the same, the scope of the present utility model is not limited to the above embodiments. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present utility model are within the scope of the present utility model.
Claims (10)
1. The utility model provides a mechanical arm joint module is connected with frameless motor, mechanical arm joint module is including crossing spool (1), cavity axle harmonic speed reducer (2), stopper (4), stopper fixing base (3), input encoder magnetic ring (9) and output encoder magnetic ring (10), frameless motor is equipped with rotor shaft (8), rotor (6) and stator (5) from interior to exterior in proper order, its characterized in that: the motor is characterized in that brake fixing seats (3) and stator housing (7) are respectively fixed at two ends of the stator (5), a brake (4) is installed on one side, close to the inside of the frameless motor, of the brake fixing seats (3), a hollow shaft harmonic speed reducer (2) is installed on one side, close to the outside of the frameless motor, of the brake fixing seats (3), a spool (1) penetrates through the hollow shaft harmonic speed reducer (2), an input end encoder magnetic ring (9) is fixed at the end of a rotor shaft (8), an output end encoder magnetic ring (10) is fixed at the end of the spool (1), a rear cover (12) is arranged on the outer cover of the stator housing (7), and a controller PCB (11) is arranged between the stator housing (7) and the rear cover (12).
2. The mechanical arm joint module according to claim 1, wherein: an output bearing (14) is sleeved outside the spool (1), and the output bearing (14) is embedded in the rotor shaft (8) through a clamp spring; the rotor shaft (8) is provided with an input bearing (13) in a sleeved mode at one outer end, a fixed bearing (15) is arranged in a sleeved mode at the other end, the input bearing (13) is embedded in the brake fixing seat (3), and the fixed bearing (15) is embedded in the stator housing (7).
3. The mechanical arm joint module according to claim 2, wherein: a wave pad is arranged between the fixed bearing (15) and the stator housing (7).
4. The mechanical arm joint module according to claim 1, wherein: the hollow shaft harmonic speed reducer (2) is sequentially provided with a wave generator (17), a flexible gear (101) and a steel gear (103) from inside to outside, the wave generator (17) is composed of a cam (105) and a flexible bearing (104), the cam (105) is arranged inside the flexible gear (101), the steel gear (103) is sleeved on the outer ring of the flexible gear (101), gear teeth on the outer ring of the flexible gear (101) are meshed with gear teeth on the inner ring of the steel gear (103), the flexible bearing (104) is arranged between the cam (105) and the flexible gear (101), and the steel gear (103) is in contact with the crossed roller bearing (102).
5. The mechanical arm joint module set according to claim 4, wherein: the crossed roller bearing (102) is fixed on the end face of the brake fixing seat (3) through a threaded connecting piece, the cam (105) is fixed on the cam fixing seat (16) through a threaded connecting piece, and the cam fixing seat (16) is fixed on the rotor shaft (8) through a threaded connecting piece.
6. The mechanical arm joint module according to claim 1, wherein: the brake fixing seat (3) and the stator housing (7) are respectively fixed at two ends of the frameless motor through threaded connectors.
7. The mechanical arm joint module according to claim 1, wherein: the input end encoder magnetic ring (9) and the output end encoder magnetic ring (10) are electrically connected with the adaptive encoder.
8. The mechanical arm joint module according to claim 1, wherein: the hollow shaft harmonic reducer (2) is fixed on the brake fixing seat (3) through a rigid connecting piece.
9. The mechanical arm joint module according to claim 1, wherein: the brake (4) is fixed on the brake fixing seat (3) through a rigid connecting piece.
10. The mechanical arm joint module according to claim 1, wherein: the controller PCB (11) is fixed on the stator housing (7) through a threaded connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321218293.1U CN220499181U (en) | 2023-05-19 | 2023-05-19 | Mechanical arm joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321218293.1U CN220499181U (en) | 2023-05-19 | 2023-05-19 | Mechanical arm joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220499181U true CN220499181U (en) | 2024-02-20 |
Family
ID=89872020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321218293.1U Active CN220499181U (en) | 2023-05-19 | 2023-05-19 | Mechanical arm joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220499181U (en) |
-
2023
- 2023-05-19 CN CN202321218293.1U patent/CN220499181U/en active Active
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