CN112706188B - Robot and driving module thereof - Google Patents
Robot and driving module thereof Download PDFInfo
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- CN112706188B CN112706188B CN201911018807.7A CN201911018807A CN112706188B CN 112706188 B CN112706188 B CN 112706188B CN 201911018807 A CN201911018807 A CN 201911018807A CN 112706188 B CN112706188 B CN 112706188B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention provides a driving module which is applied to an articulated arm of a robot. The driving module includes: a shell, wherein the middle part of the shell protrudes into the cavity to form a ring baffle ring, and an inner gear ring is formed on the inner peripheral wall of the baffle ring; a wave generator, which is built in the cavity, and comprises a cam with a hollow shaft hole; the split charging motor comprises a motor rotor which is integrally formed on the periphery of a cam; the outer peripheral wall of the opening end of the flexible gear is provided with an outer gear ring which is meshed with the inner gear ring in a staggered manner to form harmonic drive; the output rotating shaft is of a hollow structure, rotatably penetrates through the hollow shaft hole and rotates along with the flexible wheel; and the rear end cover is hermetically arranged at the rear opening of the cavity. The weight and the volume of the driving module are correspondingly reduced through the integrated design, so that the volume and the weight of the joint arm are reduced, and the assembly precision and the control precision of the joint arm are improved.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a robot and a driving module thereof.
Background
As industrial robots are increasingly popular, robots often need to have numerous rotational joints to achieve precise and flexible execution actions. The joints are an important part of the robot, and the driving units used at the joints are core components of the robot, which have a decisive influence on the performance and the design of the robot.
At present, a driving unit at a joint is mainly composed of a driving motor and a harmonic reducer, and the principle is that a speed converter of a gear of the harmonic reducer is utilized to reduce the revolution number of the driving motor to the required revolution number and obtain larger torque. The harmonic reducer generally comprises three basic components, namely a rigid gear, a flexible gear and a wave generator which are sequentially sleeved from outside to inside. Wherein, rigid gear is fixed setting. The wave generator is typically connected to the input shaft of the drive motor such that the flexible gear is controllably elastically deformed. The deformed flexible gear is elliptical, and is generally meshed with the rigid gear only at the major axis part, and the minor axis part is separated from the rigid gear; the number of teeth of the flexible gear and the rigid gear generally differ by two, thereby forming a harmonic reduction drive.
The motion of the flexible gear is generally considered to be output execution. The output end cover of the flexible gear is provided with a flange fixing piece, and the power output of the joint is carried out through a threaded hole on the flange fixing piece. Because the outer sides of the existing driving motor and the harmonic reducer are covered with the shell, the shell is concentrated at the joint; in addition, the size and the output capacity of the harmonic reducer are limited, the whole size and the weight of the joint of the robot are correspondingly larger, and the flexibility and the control precision of the joint are affected. The performance of the joints directly affects the working performance of the robot, so that the robot cannot complete complex execution actions.
Disclosure of Invention
The invention aims to provide a driving module to solve the problem that the flexibility and control precision of joints are affected due to the fact that the whole volume and the weight of the joints of a robot are correspondingly large in the prior art.
The invention further provides a robot, which is provided with the driving module.
In order to solve the technical problems, the invention adopts the following technical scheme:
a drive module for use with an articulated arm of a robot, comprising: the shell surrounds and forms a cavity which is penetrated from front to back, the middle part of the shell protrudes into the cavity to form a ring of baffle ring, and an inner gear ring is formed on the inner peripheral wall of the baffle ring; a wave generator built in the cavity, including a cam having a hollow shaft hole; the split charging type motor is accommodated at the rear end of the cavity and comprises a motor stator and a motor rotor, wherein the motor stator is fixed on the inner wall of the shell, and the motor rotor is integrally formed on the periphery of the cam so as to drive the cam to rotate; the flexible gear is accommodated at the front end of the cavity and is of a flexible thin-wall cylindrical structure, an opening of the flexible gear faces the cam, the inner peripheral wall of the opening end of the flexible gear is in contact with the outer peripheral wall of the cam, an outer gear ring is arranged on the outer peripheral wall of the opening end, and the outer gear ring is meshed with the inner gear ring in a staggered mode to form harmonic transmission; the output rotating shaft is of a hollow structure, and rotatably penetrates through the hollow shaft hole, and the front end of the output rotating shaft is fixedly connected with the bottom of the cylinder of the flexible gear so as to rotate along with the flexible gear; and the rear end cover is hermetically arranged at the rear opening of the cavity.
According to one embodiment of the invention, a circle of roller path is concavely arranged on the inner wall of the front end of the shell; the front end of the output rotating shaft is also provided with a roller path to form rolling fit with the front end of the shell.
According to an embodiment of the present invention, the output shaft includes a shaft body and a flange protruding from a front end of the shaft body; the rotary shaft main body is rotatably arranged in the hollow shaft hole in a penetrating mode, the outer periphery of the flange exceeds the outer periphery of the hollow shaft hole, the outer diameter of the flange is matched with the inner diameter of the front end of the shell to seal the front opening of the cavity, the roller path is arranged on the outer peripheral wall of the flange, and the front end face of the flange is attached to and fixed with the bottom of the flexible gear.
According to one embodiment of the invention, the roller path on the inner wall of the front end of the casing is a V-shaped groove, the roller path on the outer peripheral wall of the flange is also a V-shaped annular groove, and the two roller paths are opposite to form a rectangular annular groove, and the rectangular annular groove is used for accommodating a plurality of cylindrical rollers which are arranged in a crossing way.
According to one embodiment of the invention, the front end face of the flange is exposed outside the cavity, and the front end face of the flange is flush with the end wall of the front opening of the casing; the front end face of the flange is provided with a bolt hole so as to fixedly connect the joint arm through an adaptive bolt piece.
According to one embodiment of the invention, the cam is concavely provided with a ball raceway on the inner wall of the hollow shaft hole, the output rotating shaft comprises a rotating shaft main body, the rotating shaft main body is rotatably arranged in the hollow shaft hole in a penetrating way, and the outer peripheral wall of the rotating shaft main body is also provided with an adaptive ball raceway to form rolling fit with the cam; the ball raceways are semicircular grooves, and the two ball raceways are opposite to form a circular ring groove for accommodating balls.
According to one embodiment of the invention, the ball tracks are provided in a plurality and are spaced along the axis of the hollow shaft bore.
According to one embodiment of the invention, the cam is a revolution structure and comprises an elliptical part and a cylindrical part, the outer diameter of the elliptical part is larger than that of the cylindrical part, the hollow shaft hole penetrates through the elliptical part and the cylindrical part, and the cross section of the elliptical part is elliptical; an inner peripheral wall of the opening end of the flexible gear abuts against an outer peripheral wall of the elliptical portion to generate elastic deformation with rotation of the cam.
According to one embodiment of the invention, the wave generator further comprises a flexible bearing; the flexible bearing is fixedly sleeved on the outer periphery of the elliptical part and is clamped between the outer periphery of the elliptical part and the inner peripheral wall of the opening end of the flexible gear.
According to one embodiment of the invention, further comprising a brake; a circle of convex rings are formed on the inner side surface of the rear end cover in a protruding mode; the output rotating shaft comprises a rotating shaft main body, the brake is sleeved on the rear end part, close to the rear end cover, of the rotating shaft main body, the brake is contained in an inner cavity formed by the convex ring, and the outer periphery of the brake is abutted to the inner side of the convex ring.
According to one embodiment of the invention, the device further comprises a coded disc, a coded disc adapter and a photoelectric coded disc reading head; the output rotating shaft comprises a rotating shaft main body, the coded disc sheet adapter is sleeved on the rear end part of the rotating shaft main body, which is close to the rear end cover, and the coded disc sheet is fixed on the coded disc sheet adapter so as to rotate along with the rotating shaft main body; the photoelectric code disc reading head is arranged on the inner side of the rear end cover and faces the code disc so as to read the rotation angle of the code disc.
The embodiment also provides a robot, which comprises a multi-axis mechanical arm and a driving module, wherein the driving module is arranged at each joint arm which is sequentially connected with the multi-axis mechanical arm, a rear end cover of the driving module is fixed on one joint arm, and the front end face of the output rotating shaft is connected and fixed with the other adjacent joint arm and drives the joint arm to move.
According to the technical scheme, the driving module provided by the invention has at least the following advantages and positive effects:
the driving module is applied to the joint arm of the robot, reduces the overall weight through the integrated design, and realizes the light weight, thereby reducing the weight of the joint arm and improving the performance and the output torque of the joint arm. Specifically, the driving module comprises a shell, a wave generator, a split-charging motor, a flexible gear, an output rotating shaft and a rear end cover, wherein the wave generator, the split-charging motor, the flexible gear, the output rotating shaft and the rear end cover are arranged in a cavity of the shell. Wherein, this drive module is through being equipped with convex ring gear in the inside of casing, this ring gear through with the outer ring gear staggered teeth meshing of flexbile gear open end, directly replaced traditional steel wheel's internal engagement function, through canceling the steel wheel, improve for with the steel wheel integration on the casing to this quantity that has reduced the part has reduced drive module's whole weight, has reduced drive module's assembly degree of difficulty. The structure of each part is compact, the occupied area is small, and the weight and the volume of the whole driving module are correspondingly reduced through the integrated design, so that the volume and the weight of the joint arm are reduced, and the assembly precision and the control precision of the joint arm are improved.
Drawings
Fig. 1 is a schematic structural diagram of a driving module under a first view angle according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a driving module under a second view angle according to an embodiment of the invention.
Fig. 3 is a cross-sectional view of a drive module in an embodiment of the invention.
The reference numerals are explained as follows: 100. a driving module; 1. a housing; 11. a baffle ring; 12. an inner gear ring; 13. a front cavity; 14. a rear cavity; 15. a raceway; 21. a cam; 210. a hollow shaft hole; 211. an elliptical portion; 212. a cylindrical portion; 213. a ball race; 22. a flexible bearing; 31. a motor stator; 32. a motor rotor; 33. a motor stator lead; 4. a flexible wheel; 41. an outer ring gear; 5. an output shaft; 51. a rotating shaft main body; 52. a flange; 53. a front end face; 54. a cylindrical roller; 56. a fastening bolt; 6. a rear end cover; 61. bolt holes; 62. a convex ring; 7. a brake; 81. a code wheel disc; 82. a code wheel disc adaptor; 83. a photoelectric code disc reading head; 84. and (5) code disc leads.
Detailed Description
Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the invention.
The embodiment provides a robot and a driving module thereof. The robot comprises a multi-axis mechanical arm and a driving module arranged at each joint arm of the multi-axis mechanical arm, wherein the driving modules are sequentially connected with each other and are used for driving the joint arms to output and execute actions. Based on the principle of the harmonic reducer, the driving module performs integrated, light-weight and modularized optimization design on the structure of the driving module, so that the driving module is more in line with the movement mode of the joint arm, and finally, the purposes of light weight, small volume, large output torque, high output efficiency and multiple degrees of freedom of the joint arm are realized.
The driving module of the present invention will be specifically described by way of examples. The robot according to the present invention may be formed by integrating the driving module of the following embodiments with the articulated arm of the robot.
Referring to fig. 1 to 3 together, for convenience in describing the arrangement of the components of the driving module 100, reference is made to the view direction of fig. 3, i.e. the directions of up, down, left, right, etc.
The driving module 100 mainly comprises a casing 1, a wave generator arranged in the casing 1, a split-type motor coaxial with the wave generator, a flexible gear 4 sleeved on the periphery of the wave generator, an output rotating shaft 5 penetrating through the hollow interior of the wave generator, and a rear end cover 6 covering the rear end of the casing 1. Therefore, the driving module 100 of the present embodiment adopts a driving mode in which the casing 1 is fixed, the wave generator is active, and the flexspline 4 outputs.
The shell 1 is made of metal through integral casting, and has the advantages of high precision and high strength. The casing 1 is a solid structure, and the outer diameter of the front end part is smaller than that of the rear end part. The casing 1 surrounds and forms a front-back through cavity, a circle of baffle ring 11 protrudes into the cavity from the middle of the casing 1, and the baffle ring 11 divides the cavity into two parts, namely a front cavity 13 and a rear cavity 14. The inner wall of the front cavity 13 of the casing 1 is slightly protruded to form a convex ring, and the concave part of the convex ring forms a ring rolling path 15. An inner ring gear 12 is formed on an inner circumference of the retainer ring 11 for engagement with the flexspline 4.
The structural design of the shell 1 is meshed with the flexible gear 4 through the baffle ring 11, replaces the traditional meshing function of the steel wheel, namely, cancels the steel wheel, and improves the steel wheel to be integrated on the shell 1, so that the number of parts is reduced, the whole weight of the driving module 100 is lightened, and the assembly difficulty of the driving module 100 is reduced.
The wave generator is built in the cavity and is an important component for forcing the flexible gear 4 to elastically deform, and the wave generator in the embodiment has a cam type structure. The wave generator comprises a cam 21 and a flexible bearing 22, wherein the cam 21 is matched with the flexible gear 4 through the flexible bearing 22 so as to drive the flexible gear 4 to rotate.
Specifically, the cam 21 is a solid of revolution structure having a hollow shaft hole 210. The cam 21 includes an elliptical portion 211 and a cylindrical portion 212, the elliptical portion 211 having an outer diameter dimension greater than an outer diameter dimension of the cylindrical portion 212. The hollow shaft hole 210 penetrates the elliptical portion 211 and the cylindrical portion 212 along the axis, and the cam 21 is provided with a pair of ball grooves 213 recessed in the inner peripheral wall of the hollow shaft hole 210. The elliptical portion 211 of the cam 21 is opposite to the middle baffle ring 11 and also cooperates with the flexspline 4. The flexible bearing 22 is fixedly sleeved on the outer periphery of the elliptical portion 211 and is clamped between the elliptical portion 211 and the flexible gear 4. The cross sections of the elliptical portion 211 and the flexible bearing 22 are elliptical, and thus the flexible gear 4 fitted around the outer periphery of the elliptical portion 211 is also elliptical due to elastic deformation. And the cylindrical portion 212 of the cam 21 is accommodated in the rear chamber 14 to be engaged with the sub-mount motor.
The split motor is housed in the rear cavity 14. In this embodiment, the split-type motor is a permanent magnet motor, and mainly includes a motor stator 31, a motor rotor 32, and an adapted winding. The outer periphery of the motor stator 31 is fixed to the inner wall of the casing 1, and motor stator leads 33 electrically connected to the motor stator 31 can be led out through bolt holes 61 in the rear cover 6. And the motor rotor 32 is disposed through the interior of the electronic stator. The motor rotor 32 is integrally formed on the outer periphery of the cylindrical portion 212, and the motor rotor 32 is coaxial with the cam 21 to drive the cam 21 to rotate together, and can be regarded as a drive shaft of the cam 21 by the motor rotor 32. The cam 21 is integrated with the motor rotor 32, not only the required internal occupation space is small, but also the overall structure of the drive module 100 tends to be compact.
The flexspline 4 has a flexible thin-walled cylindrical structure with its opening facing rearward. The inner peripheral wall of the opening end of the flexible gear 4 abuts against the outer peripheral wall of the elliptical portion 211 to generate elastic deformation with rotation of the cam 21. The bottom end of the flexible gear 4 is fixedly connected with the output rotating shaft 5, namely, the flexible gear 4 and the output rotating shaft 5 are in a cylindrical bottom end connection mode.
The outer circumferential wall of the open end of the flexspline 4 has an outer ring gear 41, and the outer ring gear 41 is meshed with the inner ring gear 12 of the ring gear 11 in a staggered manner to form a harmonic drive. The deformed flexible gear 4 is elliptical, and the annular gear 12 is circular; therefore, during the rotation of the flexible gear 4, the outer ring gear 41 of the flexible gear 4 is engaged with the ring gear 12 only at the major axis portion, and the minor axis portion is disengaged from the ring gear 12; the number of teeth of the outer ring gear 41 is generally two less than that of the ring gear 12, so that both form a harmonic reduction transmission.
The output shaft 5 has a hollow structure, and unlike a usual straight cylindrical shape, the output shaft 5 includes a shaft body 51 integrally formed and a flange 52 extending from an outer periphery of one end of the shaft body 51.
In the actual assembly of the output shaft 5, the output shaft 5 is inserted into the cavity from front to back. The rotation shaft main body 51 is rotatably penetrated in the hollow shaft hole 210 of the cam 21. The outer peripheral wall of the spindle body 51 is also provided with a ball race 213 adapted to form a rolling fit with the cam 21. The ball tracks 213 in this embodiment are semicircular grooves, and the two ball tracks 213 are opposed to each other to form together a circular ring groove for accommodating the balls. The number of the ball grooves 213 is two, and the two ball grooves 213 are spaced apart along the axis of the spindle body 51.
And flange 52 is received in front cavity 13. The outer periphery of the flange 52 exceeds the outer periphery of the hollow shaft hole 210, specifically, the outer diameter size of the flange 52 is matched with the inner diameter size of the front end of the casing 1, and a small gap exists between the outer periphery of the flange 52 and the inner periphery of the front end of the casing 1. The outer peripheral wall of the flange 52 is also provided with a raceway 15 for rolling engagement with the raceway 15 of the front end of the housing 1. Since the outer diameter of the flange 52 is larger than that of a conventional flexspline, the circumference of the outer periphery of the flange 52 is correspondingly increased, so that the number of teeth engaged with the casing 1 is increased, the impact bearing capability is strong, and the output performance is better. In this way, the structural design of the flange 52 realizes the integration of the output shaft 5 and the bearing, and the modularization degree is high, so that the overall structure of the driving module 100 tends to be compact and lightweight.
In this embodiment, the raceways 15 on the inner wall of the front end of the housing 1 are V-shaped grooves, the raceways 15 on the outer peripheral wall of the flange 52 are also V-shaped grooves, and the two raceways 15 are opposed to form rectangular grooves for accommodating a plurality of cylindrical rollers 54 arranged crosswise. The plurality of cylindrical rollers 54 in the rectangular ring groove are arranged vertically to each other by the spacer, so that the cylindrical rollers can bear a multidirectional load such as a radial load and an axial load, and are durable, strong and long in service life.
The end face of the flange 52 in the front cavity 13 is fixed by the fit fastening bolt 56 to the barrel bottom of the flexspline 4, so that the whole output shaft 5 rotates together with the flexspline 4, thereby realizing the output of power. And the flange 52 is exposed to the other end surface outside the cavity, i.e., the front end surface 53, which front end surface 53 is flush with the end wall at the front opening of the casing 1. The front end surface 53 is provided with a circle of connecting holes, and the front end surface 53 can be fixedly connected with an articulated arm or an end effector of the robot to be rotated through the connecting holes and the matched bolt pieces, so that the front end surface 53 can be regarded as an output end.
The rear end cover 6 is arranged at the rear opening of the cavity in a sealing way. The rear end cover 6 is also provided with a circle of bolt holes 61, the end wall of the rear opening of the casing 1 is provided with through holes corresponding to the bolt holes 61, and the rear end cover 6 is fixedly connected with the casing 1 through the bolt holes 61 and the matched bolt pieces. The rear end cap 6 may be fixed to another arm adjacent to the arm connected to the output shaft 5.
Referring to fig. 1, the drive module 100 further includes a brake 7, a code wheel 81, a code wheel disk adapter 82, and an optical code wheel reading head 83 located in the rear cavity 14 of the housing 1.
The coded disc adaptor 82 is sleeved on the rear end portion of the rotating shaft main body 51, which is close to the rear end cover 6. The encoder disk 81 is attached to the encoder disk adapter 82 and rotates together with the spindle main body 51.
The photoelectric code disc reading head 83 is located in the gap between the rear end cover 6 and the code disc 81, the photoelectric code disc reading head 83 is fixedly arranged on the inner side surface of the rear end cover 6, and the cursor of the reading head faces the code disc 81, so that the rotation angle of the code disc 81 is read, and the corresponding motion state is detected. The code wheel lead 84 connected to the photoelectric code wheel reading head 83 may be led out to the outside through the bolt hole 61 of the rear cover 6.
The rear end cap 6 is formed with a ring of bosses 62 protruding on the inner side of the rear cavity 14. The stopper 7 is accommodated in the inner cavity formed by the collar 62, and the outer peripheral edge of the stopper 7 abuts against the inner peripheral side of the collar 62. The stopper 7 is fitted over the rear end portion of the spindle main body 51 and is located at the rear side of the code wheel disk 81. The brake 7 is coaxial with the output shaft 5, and the brake 7 can hold and release the output shaft 5 to reduce, increase, or stop the rotation of the shaft main body 51.
In summary, the driving module 100 of the robot of the embodiment adopts the concept of integrated design, which integrates the harmonic reducer, the housing 1, the output shaft 5 and the bearing, and adopts the split-type permanent magnet motor and the split-type photoelectric encoder to further optimize the design, so that the performance, the volume and the quality of the driving module 100 are also improved correspondingly. The driving module 100 tends to be light and small, so that the size and the weight of the joint arm integrated with the driving module 100 are reduced, the assembly precision and the control precision of the joint are improved, the applicability is wide, the application of high-precision occasions is met, and the core driving module 100 can be provided for high-end robots and industrial products.
While the invention has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is intended to be in the nature of words of description and of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (12)
1. A drive module applied to an articulated arm of a robot, comprising:
the shell surrounds and forms a cavity which is penetrated from front to back, the middle part of the shell protrudes into the cavity to form a ring of baffle ring, and an inner gear ring is formed on the inner peripheral wall of the baffle ring;
a wave generator built in the cavity, including a cam having a hollow shaft hole;
the split charging type motor is accommodated at the rear end of the cavity and comprises a motor stator and a motor rotor, wherein the motor stator is fixed on the inner wall of the shell, and the motor rotor is integrally formed on the periphery of the cam so as to drive the cam to rotate;
the flexible gear is accommodated at the front end of the cavity and is of a flexible thin-wall cylindrical structure, an opening of the flexible gear faces the cam, the inner peripheral wall of the opening end of the flexible gear is in contact with the outer peripheral wall of the cam, an outer gear ring is arranged on the outer peripheral wall of the opening end, and the outer gear ring is meshed with the inner gear ring in a staggered mode to form harmonic transmission;
the output rotating shaft is of a hollow structure, and rotatably penetrates through the hollow shaft hole, and the front end of the output rotating shaft is fixedly connected with the bottom of the cylinder of the flexible gear so as to rotate along with the flexible gear;
and the rear end cover is hermetically arranged at the rear opening of the cavity.
2. The drive module of claim 1, wherein:
a circle of roller path is concavely arranged on the inner wall of the front end of the shell;
the front end of the output rotating shaft is also provided with a roller path to form rolling fit with the front end of the shell.
3. The drive module of claim 2, wherein:
the output shaft includes a shaft body and a flange protruding from a front end of the shaft body;
the rotary shaft main body is rotatably arranged in the hollow shaft hole in a penetrating mode, the outer periphery of the flange exceeds the outer periphery of the hollow shaft hole, the outer diameter of the flange is matched with the inner diameter of the front end of the shell to seal the front opening of the cavity, the roller path is arranged on the outer peripheral wall of the flange, and the front end face of the flange is attached to and fixed with the bottom of the flexible gear.
4. A drive module according to claim 3, characterized in that:
the raceway on the front end inner wall of the shell is a V-shaped groove, the raceway on the outer peripheral wall of the flange is also a V-shaped annular groove, the two raceways are opposite to form a rectangular annular groove, and the rectangular annular groove is used for accommodating a plurality of cylindrical rollers which are arranged in a crossing manner.
5. A drive module according to claim 3, characterized in that:
the front end face of the flange is exposed out of the cavity, and is flush with the end wall of the front opening of the shell;
the front end face of the flange is provided with a bolt hole so as to fixedly connect the joint arm through an adaptive bolt piece.
6. The drive module of claim 1, wherein:
the cam is provided with a ball raceway on the inner wall of the hollow shaft hole in a concave manner, the output rotating shaft comprises a rotating shaft main body, the rotating shaft main body is rotatably arranged in the hollow shaft hole in a penetrating manner, and the outer peripheral wall of the rotating shaft main body is also provided with an adaptive ball raceway to form rolling fit with the cam;
the ball raceways are semicircular grooves, and the two ball raceways are opposite to form a circular ring groove for accommodating balls.
7. The drive module of claim 6, wherein:
the ball raceways are provided with a plurality of ball raceways and are distributed at intervals along the axis of the hollow shaft hole.
8. The drive module of claim 1, wherein:
the cam is of a revolving body structure and comprises an elliptic part and a cylindrical part, the outer diameter of the elliptic part is larger than that of the cylindrical part, the hollow shaft hole penetrates through the elliptic part and the cylindrical part, and the section of the elliptic part is elliptic;
an inner peripheral wall of the opening end of the flexible gear abuts against an outer peripheral wall of the elliptical portion to generate elastic deformation with rotation of the cam.
9. The drive module of claim 8, wherein:
the wave generator further comprises a flexible bearing;
the flexible bearing is fixedly sleeved on the outer periphery of the elliptical part and is clamped between the outer periphery of the elliptical part and the inner peripheral wall of the opening end of the flexible gear.
10. The drive module of claim 1, wherein:
further comprising a brake;
a circle of convex rings are formed on the inner side surface of the rear end cover in a protruding mode;
the output rotating shaft comprises a rotating shaft main body, the brake is sleeved on the rear end part, close to the rear end cover, of the rotating shaft main body, the brake is contained in an inner cavity formed by the convex ring, and the outer periphery of the brake is abutted to the inner side of the convex ring.
11. The drive module of claim 1, wherein:
the device also comprises a coded disc, a coded disc adapter and a photoelectric coded disc reading head;
the output rotating shaft comprises a rotating shaft main body, the coded disc sheet adapter is sleeved on the rear end part of the rotating shaft main body, which is close to the rear end cover, and the coded disc sheet is fixed on the coded disc sheet adapter so as to rotate along with the rotating shaft main body;
the photoelectric code disc reading head is arranged on the inner side of the rear end cover and faces the code disc so as to read the rotation angle of the code disc.
12. A robot, characterized in that: the multi-axis mechanical arm comprises a multi-axis mechanical arm and a driving module as claimed in any one of claims 1 to 11, wherein the driving module is arranged at each joint arm which is sequentially connected with the multi-axis mechanical arm, a rear end cover of the driving module is fixed on one joint arm, and the front end face of the output rotating shaft is fixedly connected with the other adjacent joint arm and drives the joint arm to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911018807.7A CN112706188B (en) | 2019-10-24 | 2019-10-24 | Robot and driving module thereof |
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| CN201911018807.7A CN112706188B (en) | 2019-10-24 | 2019-10-24 | Robot and driving module thereof |
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| CN112706188A CN112706188A (en) | 2021-04-27 |
| CN112706188B true CN112706188B (en) | 2023-09-19 |
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| CN113894837A (en) * | 2021-10-21 | 2022-01-07 | 杭州宇树科技有限公司 | Joint power unit and mechanical arm applying same |
| CN114204746A (en) * | 2021-12-14 | 2022-03-18 | 北京航星传动科技有限公司 | Integrated steering engine device |
| CN116985179B (en) * | 2023-09-28 | 2024-01-12 | 深圳市大族机器人有限公司 | Joint module and robot joint |
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