CN111002343A

CN111002343A - Integrated joint

Info

Publication number: CN111002343A
Application number: CN202010039466.8A
Authority: CN
Inventors: 王红兵; 李国才; 刘俊宇
Original assignee: Technology Huahui Weifang Intelligent Robot Co Ltd
Current assignee: Technology Huahui Weifang Intelligent Robot Co Ltd
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2020-04-14

Abstract

The application discloses integration joint includes: the inner rotor motor, the shaft and the planetary gear reducer are positioned in the shell; the inner rotor motor and the planetary gear reducer share the same shaft, the inner rotor motor is directly sleeved at one end of the shaft, the planetary gear reducer is directly sleeved at the other end of the shaft, the shaft is a power output shaft of the inner rotor motor and is also a power input shaft of the planetary gear reducer, and a stator in the inner rotor motor and an inner gear ring in the planetary gear reducer share the same shell. The integrated joint in the application is simple in structure, convenient to install and stable, the inner rotor motor and the planetary gear reducer share the same shaft, the inner space of the integrated joint is saved, and the weight and the size of the whole integrated joint are reduced.

Description

Integrated joint

Technical Field

The application relates to the field of robot joints, in particular to an integrated joint.

Background

The integrated joint is an important part of a robot mechanical arm and is generally formed by combining a motor, a reducer, an encoder, a brake and the like. The motor is used as a power source of the reducer, the housing and the reducer housing are usually fixed on the housing of the integrated joint by external methods such as threaded connection, and the motor shaft and the reducer shaft are generally fixed in series by structures such as a coupling.

The inventor finds that in the related art, the motor and the reducer of the integrated joint are generally of independent structures, respective shells are used, and the motor shaft and the reducer shaft are generally connected in series through a coupling structure and the like, so that the size and the number of parts of the integrated joint are increased, and the installation difficulty of the integrated joint is increased. In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

To above-mentioned technical problem, this application provides an integration joint to solve among the prior art connection mode complicated, increased the part quantity and the complexity of integration joint and lead to the problem of installation difficulty between motor and the reduction gear of integration joint.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

an integrated joint, comprising:

the inner rotor motor, the shaft and the planetary gear reducer are positioned in the shell; the inner rotor motor and the planetary gear reducer share the same shaft, the inner rotor motor is used as a driving mechanism and directly sleeved at one end of the shaft, and the planetary gear reducer is used as a speed reduction output mechanism and directly sleeved at the other end of the shaft; the inner wall of the shell and the outer wall of the shaft are axially provided with a plurality of steps for positioning and fixing the inner rotor motor and the planetary gear reducer in the axial direction.

In a specific aspect, the inner rotor motor may be a frameless torque motor.

In a specific scheme, the shaft consists of a plurality of eccentric bearings and a hollow shaft, the eccentric bearings are sequentially sleeved on the hollow shaft, and a boss is arranged at one end of the hollow shaft and used for positioning the eccentric bearings; the shaft can also be a hollow shaft with a plurality of eccentric structures arranged at one end connected with the planetary gear reducer; the shaft may also be formed of an eccentric sleeve and a hollow shaft.

In a specific scheme, a stator in the inner rotor motor and the shell are also of an integrated structure, an inner gear ring in the planetary gear reducer and the shell are of an integrated structure, and the stator and the inner gear ring can be connected to the same shell without an external mode.

The technical scheme has the following beneficial effects:

the application provides an integration joint, in the integration joint, the axle is inner rotor motor's power output shaft, also is planetary gear reducer's power input shaft, promptly as actuating mechanism inner rotor motor with as speed reduction output mechanism the same root axis of planetary gear reducer sharing, and inner rotor motor the stator with planetary gear reducer the ring gear all is fixed in the shell, promptly inner rotor motor with the same casing of planetary gear reducer sharing. The integrated joint in the application has the advantages that the structure is simple, the installation is convenient and fast, the stability is guaranteed, the internal space of the integrated joint is saved, the arrangement of parts inside the integrated joint is compact, and the purpose of reducing the weight and the size of the whole integrated joint is achieved.

Drawings

FIG. 1 is a schematic view of an integrated joint in an embodiment of the present application;

in the figure:

1. a housing; 2. an inner rotor motor; 21. a stator; 3. a shaft; 4. a planetary gear reducer; 41. and the inner gear ring.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, an integrated joint in an embodiment of the present application includes:

the device comprises a shell 1, an inner rotor motor 2, a shaft 3 and a planetary gear reducer 4 which are positioned in the shell;

the inner rotor motor 2 and the planetary gear reducer 4 share the same shaft, the inner rotor motor 2 is used as a driving mechanism and directly sleeved at one end of the shaft 3, and the planetary gear reducer 4 is used as a speed reduction output mechanism and directly sleeved at the other end of the shaft 3;

a plurality of steps are axially arranged on the inner wall of the shell 1 and the outer wall of the shaft 3 and used for axially positioning and fixing the inner rotor motor 2 and the planetary gear reducer 4.

According to the embodiments of the present application, as preferable in the embodiments:

the inner rotor motor 2 may be a frameless torque motor.

the shaft 3 consists of a plurality of eccentric bearings and a hollow shaft, the eccentric bearings are sequentially sleeved on the hollow shaft, and one end of the hollow shaft is provided with a boss for positioning the eccentric bearings;

the shaft 3 may be a hollow shaft having a plurality of eccentric structures at one end connected to the planetary gear reducer 4;

the shaft 3 may also be formed by an eccentric sleeve and a hollow shaft.

the stator 21 of the inner rotor motor 2 and the housing 1 are also of an integrated structure, the inner gear ring 41 of the planetary gear reducer 4 and the housing 1 are of an integrated structure, and the stator 21 and the inner gear ring 41 can be connected to the same housing 1 without an external mode.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An integrated joint, comprising:

the inner rotor motor, the shaft and the planetary gear reducer are positioned in the shell;

the inner rotor motor and the planetary gear reducer share the same shaft, the inner rotor motor is used as a driving mechanism and directly sleeved at one end of the shaft, and the planetary gear reducer is used as a speed reduction output mechanism and directly sleeved at the other end of the shaft;

the inner wall of the shell and the outer wall of the shaft are axially provided with a plurality of steps for positioning and fixing the inner rotor motor and the planetary gear reducer in the axial direction.

2. The integrated joint of claim 1, wherein:

the inner rotor motor may be a frameless torque motor.

3. The integrated joint of claim 1, wherein:

the shaft consists of a plurality of eccentric bearings and a hollow shaft, the eccentric bearings are sequentially sleeved on the hollow shaft, and one end of the hollow shaft is provided with a boss for positioning the eccentric bearings;

the shaft can also be a hollow shaft with a plurality of eccentric structures arranged at one end connected with the planetary gear reducer;

the shaft may also be formed of an eccentric sleeve and a hollow shaft.

4. The integrated joint of claim 1, wherein:

the stator in the inner rotor motor and the shell are also of an integrated structure, the inner gear ring in the planetary gear reducer and the shell are of an integrated structure, and the stator and the inner gear ring can be connected to the same shell without an external mode.