CN220994516U - Compact cycloid joint module - Google Patents

Abstract

The utility model discloses a compact cycloidal joint module, which belongs to the field of robot joints and comprises a pin gear shell, an input disc and an output disc which are respectively rotatably arranged at two ends of the pin gear shell, a cycloid disc which rotates in the pin gear shell and is meshed with the pin gear shell, an eccentric shaft which sequentially penetrates through the input disc and the cycloid disc and is connected with the output disc, and an input mechanism which is arranged on the pin gear shell and corresponds to one end of the input disc, wherein the eccentric shaft is rotatably connected with the input disc, the cycloid disc and the output disc; the input mechanism comprises a motor stator fixedly sleeved outside the needle gear shell and a rotor piece sleeved outside the motor stator and fixedly connected with the eccentric shaft. According to the cycloid joint module, the motor stator and the rotor piece are sequentially sleeved on the outer side of the pin gear shell of the speed reducing part, so that the overall length of the joint module can be effectively shortened, the overall width of the robot is reduced, the size of the robot is reduced, and meanwhile, the overall attractiveness of the robot is improved.

Description

Compact cycloid joint module

Technical Field

The utility model relates to the technical field of robot joints, in particular to a compact cycloid joint module.

Background

The cycloidal speed reducer, also called cycloidal pin gear speed reducer, is a novel transmission device which adopts the planetary transmission principle and adopts cycloidal pin gear meshing, and is widely applied to a robot joint module. All the transmission devices of the cycloidal joint module can be divided into three parts: an input part, a deceleration part and an output part.

Through investigation, chinese patent publication No. CN216923064U discloses a cycloid speed reducer, comprising a motor component and a speed reducer component, wherein the motor component comprises a main shaft, the speed reducer component comprises a shell, an outer flange supporting bearing and an inner flange supporting bearing are embedded in the shell, an outer connecting flange plate is embedded on the inner ring of the outer flange supporting bearing, an inner connecting flange plate is embedded on the inner ring of the inner flange supporting bearing, a first bearing and a second bearing are sleeved on the main shaft, two eccentric shafts are connected in series on the main shaft, a cycloid wheel is sleeved on each eccentric shaft respectively, a connecting column for connecting the outer connecting flange plate and the inner connecting flange plate is arranged in the shell, a movable hole is formed in the cycloid wheel, pins for connecting the outer connecting flange plate and the inner connecting flange plate are also arranged in the shell, pin holes are formed in the cycloid wheel, and pin sleeves are rotationally connected in the pin holes; the main shaft is sleeved with a third bearing embedded on the cycloidal gear. The cycloidal reducer is characterized in that the cycloidal reducer is arranged through a multi-bearing arrangement structure and is matched with an output part of a motor assembly and an input part of a reducer assembly to be integrally arranged, so that the cycloidal reducer is stable in transmission and free of abnormal sound; and the pins and pin hole structures are annularly distributed on the cycloidal gear, so that the transmission stability is further improved, and the overall function is complete. But its motor assembly installs in the one end of reduction gear subassembly, makes its overall length increase, and the joint module is generally installed perpendicularly in joint position department, and the transverse width of arm can be increased like this, has increased the holistic aesthetic property of robot in the time of having influenced the volume of robot.

Accordingly, the present utility model provides a compact cycloidal joint module to solve the above-mentioned problems.

Disclosure of utility model

(One) solving the technical problems

The utility model provides a compact cycloid joint module, and aims to solve the problems that the length of the existing cycloid joint module is too large, and the overall size of a robot is easily increased when the cycloid joint module is installed on the robot, the overall attractiveness of the robot is affected, and the like.

(II) technical scheme

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a compact cycloid joint module, includes the needle tooth shell, rotates respectively install input disc and the output dish at needle tooth shell both ends, in needle tooth shell internal rotation and with the cycloid dish of needle tooth shell meshing, run through in proper order in input disc with the cycloid dish and with the eccentric shaft that output disc links to each other and set up on the needle tooth shell correspond input disc one end input mechanism, the eccentric shaft with input disc, cycloid dish with output disc rotates to be connected. In order to reduce the overall length of the joint module, the input mechanism comprises a motor stator fixedly sleeved on the outer side of the needle gear shell and a rotor piece sleeved on the outer side of the motor stator and fixedly connected with the eccentric shaft.

Preferably, the input disc is provided with at least two pins distributed in a ring array, and the pins penetrate through the wobble plate and are connected with the output disc.

Preferably, an eccentric sleeve is sleeved at the position of the eccentric shaft corresponding to the wobble plate, and first bearings are sleeved at the positions of the eccentric shaft corresponding to the input plate and the output plate.

Preferably, the pin gear housing is provided with a second bearing at a position corresponding to the input disc and the output disc.

Preferably, a shell sleeved on the outer side of the rotor piece is arranged on the needle gear shell, and the shell is fixedly connected with one end of the needle gear shell, which is close to the output disc;

And a sealing cover sleeved on the eccentric shaft is fixedly arranged at one end of the shell, which is far away from the output disc.

Preferably, the input mechanism further comprises a driving plate fixedly arranged on the sealing cover and an end cover sleeved on the outer side of the driving plate and fixedly connected with the sealing cover;

the eccentric shaft is fixedly sleeved with a magnet at one end corresponding to the driving plate, an encoder is fixedly arranged on the driving plate at the outer side corresponding to the magnet, and the encoder is connected with the input end of the driving plate.

(III) beneficial effects

According to the cycloid joint module, the motor stator and the rotor piece are sequentially sleeved on the outer side of the pin gear shell of the speed reducing part, the rotor piece is fixedly connected with the eccentric shaft to drive the eccentric shaft to rotate, the overall length of the joint module can be effectively shortened, the overall width of the robot is reduced, the size of the robot is reduced, and meanwhile the overall attractiveness of the robot is improved.

Drawings

FIG. 1 is a schematic diagram of a compact cycloidal 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. Needle gear shell;

11. A second bearing;

2. An input tray;

3. An output tray;

4. a swinging wire disc;

5. An eccentric shaft;

51. An eccentric sleeve; 52. a first bearing; 53. a magnet;

6. An input mechanism;

61. a motor stator; 62. a rotor member; 63. a driving plate; 631. an encoder; 64. an end cap;

7. A pin;

8. a housing;

81. And (5) sealing the cover.

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 a compact cycloidal joint module, which comprises a pin gear shell 1, an input disc 2 and an output disc 3 which are respectively rotatably arranged at two ends of the pin gear shell 1, a cycloidal disc 4 which rotates in the pin gear shell 1 and is meshed with the pin gear shell 1, an eccentric shaft 5 which sequentially penetrates through the input disc 2 and the cycloidal disc 4 and is connected with the output disc 3, and an input mechanism 6 which is arranged on the pin gear shell 1 and corresponds to one end of the input disc 2, wherein the eccentric shaft 5 is rotatably connected with the input disc 2, the cycloidal disc 4 and the output disc 3. Wherein, the eccentric shaft 5 is sleeved with an eccentric sleeve 51 at the position corresponding to the cycloid disc 4, and the eccentric shaft 5 is sleeved with a first bearing 52 at the positions corresponding to the input disc 2 and the output disc 3; the needle gear housing 1 is provided with a second bearing 11 at a position corresponding to the input disc 2 and the output disc 3.

Unlike the existing cycloid joint module, in order to shorten the overall length of the joint module, the input mechanism 6 includes a motor stator 61 fixedly sleeved on the outer side of the pin gear housing 1 and a rotor member 62 sleeved on the outer side of the motor stator 61 and fixedly connected with the eccentric shaft 5.

It can be further understood that the motor stator 61 and the rotor member 62 of the input mechanism 6 are sequentially sleeved on the outer side of the pin gear housing 1, and the rotor member 62 is fixedly connected with the eccentric shaft 5 to drive the eccentric shaft 5 to rotate, so that the overall length of the joint module can be effectively shortened, and the width of the mechanical arm of the robot can be effectively reduced when the joint module is installed on a joint of the robot, so that the overall volume of the robot is reduced; simultaneously, can effectual improvement robot's aesthetic property.

Further, in order to transmit the deceleration motion to the output disc 3, at least two pins 7 distributed in a ring array are disposed on the input disc 2, and the pins 7 penetrate through the cycloid disc 4 and are connected to the output disc 3. When the rotor piece 62 drives the eccentric shaft 5 to rotate, and the eccentric shaft 5 drives the wobble plate 4 to rotate on the pin gear housing 1, the pin 7 transfers the motion of the wobble plate 4 to the output plate 3, so that the output plate 3 performs a decelerating motion relative to the rotor piece 62.

Furthermore, in order to protect the speed reducing mechanism and the input mechanism, a casing 8 sleeved on the outer side of the rotor member 62 is mounted on the pin gear housing 1, and the casing 8 is fixedly connected with one end of the pin gear housing 1 close to the output disc 3; the end of the shell 8 far away from the output disc 3 is fixedly provided with a sealing cover 81 sleeved on the eccentric shaft 5. The pin gear shell 1, the input disc 2, the output disc 3, the motor stator 61, the rotor piece 6 and other devices are packaged by the shell 8, so that foreign matters such as external dust are prevented from entering into contact with the pin gear shell 1, the input disc 2, the output disc 3, the motor stator 61, the rotor piece 6 and other devices, and the service life of the joint module is prolonged.

Still further, the input mechanism 6 further includes a driving plate 63 fixedly disposed on the cover 81, and an end cover 64 sleeved on the outer side of the driving plate 63 and fixedly connected to the cover 81;

The eccentric shaft 5 is fixedly sleeved with a magnet 53 at one end corresponding to the driving plate 63, an encoder 631 is fixedly arranged on the driving plate 63 at the outer side corresponding to the magnet 53, and the encoder 631 is connected with the input end of the driving plate 63. The motor stator 61 is controlled to be on-off through the driving plate 63 so as to realize the rotation of the rotor piece 62, and when the rotor piece 62 rotates, the eccentric shaft 5 is driven to rotate so as to drive the magnet 53 to rotate, and the magnetic field change of the magnet 53 is converted into an electrical signal by the encoder 631 and is output to the driving plate 63, so that the detection of the input rotation speed is realized.

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 (6)

1. The utility model provides a compact cycloid joint module, includes needle gear housing (1), respectively rotate install input dish (2) and output dish (3) at needle gear housing (1) both ends, in needle gear housing (1) internal rotation and with needle gear housing (1) meshing cycloid dish (4), run through in proper order in input dish (2) with cycloid dish (4) and with output dish (3) continuous eccentric shaft (5) and set up on needle gear housing (1) correspond input dish (2) one end input mechanism (6), eccentric shaft (5) with input dish (2), cycloid dish (4) and output dish (3) rotate to be connected;

the method is characterized in that: the input mechanism (6) comprises a motor stator (61) fixedly sleeved on the outer side of the needle gear shell (1) and a rotor piece (62) sleeved on the outer side of the motor stator (61) and fixedly connected with the eccentric shaft (5).

2. The compact cycloidal joint module according to claim 1 wherein: at least two pin columns (7) distributed in an annular array are arranged on the input disc (2), and the pin columns (7) penetrate through the swinging disc (4) and are connected with the output disc (3).

3. The compact cycloidal joint module according to claim 1 wherein: an eccentric sleeve (51) is sleeved at the position of the eccentric shaft (5) corresponding to the cycloid disc (4), and first bearings (52) are sleeved at the positions of the eccentric shaft (5) corresponding to the input disc (2) and the output disc (3).

4. The compact cycloidal joint module according to claim 1 wherein: and second bearings (11) are arranged on the needle gear housing (1) at positions corresponding to the input disc (2) and the output disc (3).

5. The compact cycloidal joint module according to claim 1 wherein: a shell (8) sleeved on the outer side of the rotor piece (62) is arranged on the needle gear shell (1), and the shell (8) is fixedly connected with one end, close to the output disc (3), of the needle gear shell (1);

One end of the shell (8) far away from the output disc (3) is fixedly provided with a sealing cover (81) sleeved on the eccentric shaft (5).

6. The compact cycloidal joint module according to claim 5 wherein: the input mechanism (6) further comprises a driving plate (63) fixedly arranged on the sealing cover (81) and an end cover (64) sleeved on the outer side of the driving plate (63) and fixedly connected with the sealing cover (81);

one end of the eccentric shaft (5) corresponding to the driving plate (63) is fixedly sleeved with a magnet (53), an encoder (631) is fixedly arranged on the driving plate (63) corresponding to the outer side of the magnet (53), and the encoder (631) is connected with the input end of the driving plate (63).