CN220930103U - Integrated harmonic joint module - Google Patents
Integrated harmonic joint module Download PDFInfo
- Publication number
- CN220930103U CN220930103U CN202322807362.9U CN202322807362U CN220930103U CN 220930103 U CN220930103 U CN 220930103U CN 202322807362 U CN202322807362 U CN 202322807362U CN 220930103 U CN220930103 U CN 220930103U
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- joint module
- harmonic
- rotating shaft
- shell
- wave generator
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 25
- 239000010959 steel Substances 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses an integrated harmonic joint module, which belongs to the field of joint modules and comprises a shell, a motor stator, a rotating shaft, a steel wheel, a flexible wheel and a wave generator, wherein the motor stator is fixedly arranged in the shell, the rotating shaft axially penetrates through the motor stator and is rotationally connected with the motor stator, the wave generator is fixedly sleeved at one end of the rotating shaft, the steel wheel is fixedly arranged at one end, close to the wave generator, of the shell, corresponding to the rotating shaft, and the flexible wheel is sleeved on the wave generator and is matched with the steel wheel to perform deceleration motion. This harmonic joint module installs wave generator on the output shaft of motor, has reduced input shaft and connecting piece, can effectually reduce the holistic length of harmonic joint module to reduce the holistic volume of harmonic joint module, make it can be applicable to narrow and small space installation and use.
Description
Technical Field
The utility model relates to the technical field of joint modules, in particular to an integrated harmonic joint module.
Background
The joint module is a power transmission mechanism and is commonly used as a speed reduction transmission device between a prime motor and a working machine. The joint module has various types and different types and specifications, and has different application fields, wherein the harmonic joint module is a novel joint module which is developed by taking the transmission principle of the motion and power transmitted by using the controllable elastic deformation of the flexible element and is widely applied to the fields of robots, numerical control machine tools, aerospace and the like.
The existing harmonic joint module generally comprises a shell, a steel wheel, a flexible wheel, a wave generator, an input shaft and a motor, wherein the input shaft is driven to rotate through an output shaft of the motor, and then the wave generator and the flexible wheel are driven to rotate to perform deceleration motion in cooperation with the steel wheel. However, the motor output shaft adopts split type design with the input shaft, is connected through connecting pieces such as shaft coupling, and the axial length of harmonic joint module can be increased to the potential, and then the whole volume of harmonic joint module increases, makes it hardly be applicable to the installation in narrow and small space and uses.
Therefore, the utility model provides a harmonic joint module which has small volume and can be suitable for being installed and used in a narrow space, so as to solve the problems.
Disclosure of utility model
(One) solving the technical problems
The utility model provides an integrated harmonic joint module, which aims to solve the problems that the existing harmonic joint module provided in the background art is large in whole size and difficult to install and use in a narrow space.
(II) technical scheme
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an integration harmonic joint module, includes casing, motor stator, pivot, steel wheel, flexbile gear and ripples generator, motor stator is fixed to be set up the inside of casing, the pivot axial run through in motor stator and with motor stator rotates to be connected.
In order to reduce the overall length of the harmonic joint module, the harmonic joint module can be suitable for being installed and used in a narrow space; the wave generator is fixedly sleeved at one end of the rotating shaft, the steel wheel is fixedly arranged at one end, corresponding to the rotating shaft, of the shell, close to the wave generator, and the flexible wheel is sleeved on the wave generator and matched with the steel wheel for deceleration movement; like this, the wave generator is fixed in the pivot of motor, can effectually reduce the length of input shaft and shaft coupling to shorten the holistic length of harmonic joint module, and then reduce the volume of harmonic joint module, make it can be applicable to the installation in narrow and small space and use.
Preferably, in order to facilitate the butt joint of the output end, an output disc is fixedly arranged at one end, far away from the steel wheel, of the flexible wheel.
Preferably, bearings are sleeved at positions on the rotating shaft corresponding to two ends of the shell.
Preferably, the harmonic joint module further comprises a base fixedly arranged at one end of the shell far away from the steel wheel, an electric control plate fixedly arranged inside the base, and an end cover sealing one end of the base far away from the shell.
The output disc is provided with a connecting shaft which axially penetrates through the rotating shaft, one end, away from the electric control plate, of the base is fixedly provided with a first encoder and a second encoder which correspond to the rotating shaft and the connecting shaft respectively, and the first encoder and the second encoder are connected with the input end of the electric control plate.
Preferably, the connecting shaft is a hollow shaft.
Preferably, the harmonic joint module further comprises a brake fixedly arranged inside one end of the shell, which is far away from the steel wheel, for stopping the rotary shaft band-type brake.
Preferably, the brake comprises a fixed seat fixedly mounted on the shell, a cover plate fixedly arranged inside one end of the fixed seat, an armature moving on the fixed seat to be close to or far away from the cover plate, a square hub positioned between the armature and the cover plate and fixedly sleeved at one end of the rotating shaft far away from the wave generator, and springs with two ends fixedly connected with the fixed seat and the armature respectively.
(III) beneficial effects
According to the harmonic joint module, the wave generator is arranged on the output shaft of the motor, so that the input shaft and the connecting piece are reduced, the integral length of the harmonic joint module can be effectively reduced, and the integral size of the harmonic joint module is reduced, so that the harmonic joint module can be suitable for being arranged in a narrow space;
the harmonic joint module is arranged at one end close to the electric control plate and used for detecting the rotating speed of the output disc and the rotating speed of the motor output shaft, so that the line length of the encoder on the output disc can be effectively reduced, the interference of signal transmission of the encoder is reduced, and the rotating speed measurement precision of the output disc is improved.
Drawings
FIG. 1 is a schematic diagram of an integrated harmonic joint module;
FIG. 2 is a schematic cross-sectional view of the structure of FIG. 1 in the direction A-A.
In the figure:
1. A housing; 2. a motor stator; 3. a rotating shaft; 4. a steel wheel; 5. a flexible wheel; 6. an output tray; 7. a wave generator; 8. a bearing; 9. a base; 10. an electric control board; 11. an end cap; 12. a first encoder; 13. a connecting shaft; 14. a second encoder; 15. a fixing seat; 16. a cover plate; 17. a square hub; 18. an armature; 19. and (3) a spring.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model provides an integrated harmonic joint module, which is shown in fig. 1 and 2 and comprises a shell 1, a motor stator 2, a rotating shaft 3, a steel wheel 4, a flexible wheel 5 and a wave generator 7, wherein the motor stator 2 is fixedly arranged in the shell 1, and the rotating shaft 3 axially penetrates through the motor stator 2 and is in rotary connection with the motor stator 2.
Compared with the existing harmonic generator, the difference is that: in order to reduce the whole volume of harmonic joint module, make it can be applicable to the installation in narrow and small space and use, the fixed suit of wave generator 7 is in the one end of pivot 3, steel wheel 4 is fixed to be set up casing 1 corresponds pivot 3 is close to the one end of wave generator 7, flexbile gear 5 suit is in on the wave generator 7 and with steel wheel 4 cooperates and carries out the deceleration movement. Fix harmonic generator 7 in the tip of pivot 3, can effectually reduce the space that input shaft and shaft coupling occupy to shorten the whole length of joint module, and then shorten the whole volume of joint module.
Wherein, in order to be connected with output part conveniently, keep away from on the flexspline 5 the one end of steel wheel 4 is fixed to be provided with output dish 6, is connected with output part through output dish 6 for flexspline 5 deceleration movement under the cooperation of steel wheel 4, and act on passing through output dish 6 transmission to output part with the rotational speed.
Further, in order to support the rotating shaft 3, bearings 8 are sleeved on the rotating shaft 3 at positions corresponding to two ends of the shell 1; the rotating shaft 3 is rotatably arranged on the shell 1 through the bearing 8, and the abrasion caused by the contact between the rotating shaft 3 and the shell 1 can be effectively avoided when the rotating shaft 3 is supported.
Further, as shown in fig. 2, the harmonic joint module further includes a base 9 fixedly disposed at one end of the housing 1 far from the steel wheel 4, an electric control board 10 fixedly disposed inside the base 9, and an end cover 11 sealing one end of the base 9 far from the housing 1.
In order to measure the rotation speed of the output end and the input end of the joint module, the existing harmonic joint module needs to be provided with encoders at the output end and the input end for measurement respectively, however, the encoders need to communicate with an electric control board through wires for the rotation speed measurement of the output end, and the accuracy of signal transmission is easily affected by the overlong wires.
In order to improve the accuracy of the rotation speed measurement of the output disc 6, the output disc 6 is provided with a connecting shaft 13 which axially penetrates through the rotating shaft 3, one end of the base 9, which is far away from the electric control board 10, is fixedly provided with a first encoder 12 and a second encoder 14 which respectively correspond to the rotating shaft 3 and the connecting shaft 13, and the first encoder 12 and the second encoder 14 are connected with the input end of the electric control board 10; the connecting shaft 13 is arranged on the output disc 6, so that the rotating speed on the output disc 6 is transmitted to the connecting shaft 13, the rotating speed on the output disc 6 can be extended to one end close to the electric control board 10, the connecting line length of the second encoder can be effectively reduced, the interference of the wire length on signal transmission is reduced, and the precision of output end rotating speed measurement is ensured. Wherein, for the convenience of threading, the connecting shaft 13 is a hollow shaft.
Still further, in order to make the motor stop rotating immediately after the outage, guarantee the stability of harmonic joint module operation, harmonic joint module still includes fixed setting in casing 1 keeps away from inside the one end of steel wheel 4 is used for making the brake that pivot 3 band-type brake stopped.
Specifically, as shown in fig. 2, the brake includes a fixed seat 15 fixedly installed on the housing 1, a cover plate 16 fixedly disposed inside one end of the fixed seat 15, an armature 18 moving on the fixed seat 15 close to or far from the cover plate 16, a square hub 17 positioned between the armature 18 and the cover plate 16 and fixedly sleeved at one end of the rotating shaft 3 far from the wave generator 7, and a spring 19 with two ends fixedly connected with the fixed seat 15 and the armature 18 respectively; when the stator 2 is de-energized, the force generated by the spring 19 acts on the armature 18, clamping the square hub 17 between the armature 18 and the cover plate 16, thereby generating a braking torque, which brakes the rotating shaft 3. When the braking needs to be restored, the stator 2 is powered on by direct current, the generated magnetic field attracts the armature 18 to move towards the stator 2, the spring 19 is compressed when the armature 18 moves, and at the moment, the square hub 17 is released, and the braking is released.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (7)
1. The utility model provides an integration harmonic joint module, includes casing (1), motor stator (2), pivot (3), steel wheel (4), flexbile gear (5) and ripples generator (7), motor stator (2) are fixed to be set up the inside of casing (1), pivot (3) axial run through in motor stator (2) and with motor stator (2) rotate and are connected, its characterized in that:
The wave generator (7) is fixedly sleeved at one end of the rotating shaft (3), the steel wheel (4) is fixedly arranged at one end, close to the wave generator (7), of the rotating shaft (3) corresponding to the shell (1), and the flexible wheel (5) is sleeved on the wave generator (7) and matched with the steel wheel (4) to perform deceleration movement.
2. The integrated harmonic joint module of claim 1, wherein: an output disc (6) is fixedly arranged at one end, far away from the steel wheel (4), of the flexible wheel (5).
3. The integrated harmonic joint module of claim 1, wherein: bearings (8) are sleeved at the positions, corresponding to the two ends of the shell (1), on the rotating shaft (3).
4. The integrated harmonic joint module of claim 2, wherein: the harmonic joint module further comprises a base (9) fixedly arranged at one end, far away from the steel wheel (4), of the shell (1), an electric control plate (10) fixedly arranged inside the base (9) and an end cover (11) sealing one end, far away from the shell (1), of the base (9);
The output disc (6) is provided with a connecting shaft (13) which axially penetrates through the rotating shaft (3), one end, away from the electric control board (10), of the base (9) is fixedly provided with a first encoder (12) and a second encoder (14) which respectively correspond to the rotating shaft (3) and the connecting shaft (13), and the first encoder (12) and the second encoder (14) are connected with the input end of the electric control board (10).
5. The integrated harmonic joint module of claim 4, wherein: the connecting shaft (13) is a hollow shaft.
6. The integrated harmonic joint module of claim 1, wherein: the harmonic joint module further comprises a brake fixedly arranged inside one end, far away from the steel wheel (4), of the shell (1) for enabling the band-type brake of the rotating shaft (3) to stop.
7. The integrated harmonic joint module of claim 6, wherein: the brake comprises a fixed seat (15) fixedly mounted on the shell (1), a cover plate (16) fixedly arranged inside one end of the fixed seat (15), an armature (18) moving on the fixed seat (15) to be close to or far away from the cover plate (16), a square hub (17) which is positioned between the armature (18) and the cover plate (16) and fixedly sleeved on one end of the rotating shaft (3) far away from the wave generator (7), and springs (19) with two ends fixedly connected with the fixed seat (15) and the armature (18) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322807362.9U CN220930103U (en) | 2023-10-19 | 2023-10-19 | Integrated harmonic joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322807362.9U CN220930103U (en) | 2023-10-19 | 2023-10-19 | Integrated harmonic joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220930103U true CN220930103U (en) | 2024-05-10 |
Family
ID=90962030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322807362.9U Active CN220930103U (en) | 2023-10-19 | 2023-10-19 | Integrated harmonic joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220930103U (en) |
-
2023
- 2023-10-19 CN CN202322807362.9U patent/CN220930103U/en active Active
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