CN114654501B - Joint module assembly method and joint robot - Google Patents
Joint module assembly method and joint robot Download PDFInfo
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- CN114654501B CN114654501B CN202210253539.2A CN202210253539A CN114654501B CN 114654501 B CN114654501 B CN 114654501B CN 202210253539 A CN202210253539 A CN 202210253539A CN 114654501 B CN114654501 B CN 114654501B
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- preset pressure
- pressure difference
- outer ring
- joint module
- current pressure
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000001125 extrusion Methods 0.000 claims description 50
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 11
- 238000007789 sealing Methods 0.000 description 23
- 230000009286 beneficial effect Effects 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000011324 bead Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rolling Contact Bearings (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses an assembly method of a joint module and a joint robot, wherein the joint module comprises the following components: the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the shell is provided with an installation cavity with an opening at one end; the speed reducer is arranged at the opening end of the motor assembly; the support bearing comprises an inner ring and an outer ring which are in rotary fit, and the outer ring is fixedly matched with the opening end of the shell through threads; the speed reducer also comprises a flexible bearing and a flexible driving wheel, wherein one end of the flexible driving wheel extends into the mounting cavity and is turned outwards along the radial direction to form an outward flanging; a supporting step is arranged in the mounting cavity and is abutted with the flanging; the assembling method of the joint module comprises the following steps: acquiring the current pressure between the support step and the flanging; comparing the current pressure with a preset pressure range; and determining that the current pressure exceeds a preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so as to enable the current pressure between the support step and the flanging to be in the preset pressure range. The joint module can improve the transmission reliability of the joint module.
Description
Technical Field
The invention relates to the technical field of driving equipment, in particular to an assembly method of a joint module and a joint robot.
Background
With the rapid development of industrial automation technology, robots are becoming more and more important as an important industrial automation device, and are being used more and more widely. In the related art of robots, control of moving parts such as joints of the robots is the most important and critical.
In the robot joint module of the related art, a housing of a motor assembly is generally connected to a decelerator by a fastener, so that an axial position between the housing and the decelerator is fixed. In some arrangements, the squeezing force of the housing against the reducer will affect the accuracy of the transmission of the reducer. The axial position between the shell and the speed reducer is not adjustable, so that the extrusion force of the shell to the speed reducer cannot be adjusted. The transmission precision of the speed reducer cannot be guaranteed.
Disclosure of Invention
The invention mainly aims to provide an assembling method of a joint module, which aims to solve the technical problem of how to improve the transmission precision of the joint module.
In order to achieve the above object, the method for assembling a joint module according to the present invention includes:
the assembling method of the joint module comprises the following steps:
acquiring the current pressure between the support step and the flanging;
comparing the current pressure with a preset pressure range;
Determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so as to enable the current pressure between the supporting step and the flanging to be in the preset pressure range;
wherein, the joint module includes:
the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the shell is provided with a mounting cavity with an opening at one end, and the motor stator and the motor rotor are mounted in the mounting cavity;
the speed reducer is arranged at the opening end of the motor assembly and is provided with an input shaft and an output wheel, the input shaft stretches into the mounting cavity and is connected with the motor rotor, and the output wheel is in differential fit with the input shaft and is exposed out of the mounting cavity;
the support bearing comprises an inner ring and an outer ring which are in running fit, the inner ring is fixedly connected with the output wheel, an external thread is arranged on the peripheral wall of the outer ring, an internal thread is arranged on the inner peripheral wall of the open end of the shell, and the outer ring is fixedly matched with the open end of the shell through threads;
wherein the speed reducer is arranged as a harmonic drive speed reducer; the speed reducer also comprises a flexible bearing and a flexible driving wheel, the input shaft is matched with the flexible driving wheel through the flexible bearing, the output wheel is sleeved on the flexible driving wheel and is in transmission fit with the flexible driving wheel through a meshing tooth, and one end of the flexible driving wheel extends into the mounting cavity and is turned outwards along the radial direction to form an outward flanging; and a support step is arranged in the mounting cavity at a position corresponding to the end face of the flexible driving wheel, and the support step is abutted against the flanging.
Optionally, the step of obtaining the current pressure between the support step and the flanging comprises:
acquiring extrusion forces of a plurality of detection positions between the support step and the flanging, wherein the detection positions are distributed along the circumferential direction of the support step;
acquiring an extrusion maximum value and an extrusion minimum value in a plurality of extrusion forces;
the extrusion maximum value and the extrusion minimum value are taken as the current pressure.
Optionally, the step of comparing the current pressure with the preset pressure range includes:
comparing the extrusion maximum value with the maximum value of the preset pressure range, and comparing the extrusion minimum value with the minimum value of the preset pressure range.
Optionally, the step of determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so that the current pressure between the support step and the flanging is within the preset pressure range includes:
determining that the current pressure is greater than the maximum value of the preset pressure range, and rotating the adjusting outer ring and the outer shell to reduce the current pressure between the supporting step and the flanging;
and determining that the current pressure is smaller than the minimum value of the preset pressure range, and rotating the adjusting outer ring and the outer shell to increase the current pressure between the supporting step and the flanging.
Optionally, the step of determining that the current pressure is greater than a maximum value of a preset pressure range, and rotating the adjusting outer ring and the outer shell to reduce the current pressure between the support step and the flange includes:
acquiring a first pressure difference value of the current pressure larger than the maximum value of a preset pressure range;
comparing the first pressure difference with a first preset pressure difference and a second preset pressure difference, wherein the first preset pressure difference is larger than the second preset pressure difference;
determining that the first pressure difference is larger than a first preset pressure difference, and enabling the outer ring and the outer shell to rotate for two circles relatively; the method comprises the steps of carrying out a first treatment on the surface of the
Determining that the first pressure difference is smaller than the second preset pressure difference, and enabling the outer ring and the shell to rotate relatively for 1/4-4/5 of a circle;
and determining that the first pressure difference is smaller than or equal to a first preset pressure difference and is larger than or equal to a second preset pressure difference, and enabling the outer ring and the outer shell to rotate for 4/5-2 circles relatively.
Optionally, the step of determining that the current pressure is less than a minimum value of a preset pressure range, rotating the adjusting outer race and the outer housing to increase the current pressure between the support step and the flange includes:
acquiring a second pressure difference value of which the current pressure is smaller than the minimum value of a preset pressure range;
Comparing the second pressure difference with a first preset pressure difference and a second preset pressure difference, wherein the first preset pressure difference is larger than the second preset pressure difference;
determining that the second pressure difference is larger than the first preset pressure difference, and enabling the outer ring and the outer shell to rotate for two circles relatively; the method comprises the steps of carrying out a first treatment on the surface of the
Determining that the second pressure difference is smaller than a second preset pressure difference, and enabling the outer ring and the shell to rotate relatively for 1/4-4/5 of a circle;
and determining that the second pressure difference is smaller than or equal to the first preset pressure difference and larger than or equal to the second preset pressure difference, and enabling the outer ring and the outer shell to rotate for 4/5-2 circles relatively.
Optionally, the flanging comprises a connecting part and an abutting part, the connecting part is connected with the flexible driving wheel and the abutting part, and the thickness D of the abutting part is larger than the thickness D of the connecting part; and/or the number of the groups of groups,
the joint module further comprises an end cover, the end cover is sleeved on one side, far away from the support bearing, of the output wheel, a first spigot is arranged on the end cover, the output wheel is provided with a first convex rib, and the first convex rib and the first spigot are correspondingly arranged; and/or, the end cover is provided with a second convex rib, the output wheel is provided with a second spigot, and the second convex rib and the second spigot are correspondingly arranged.
Optionally, an end wall of the outer ring located in the installation cavity abuts against the abutting portion, and a second sealing ring is arranged between the end wall of the outer ring and the abutting portion.
Optionally, the abutting portion is annular, the lateral wall of abutting portion with the lateral wall parallel and level of outer lane, the width of abutting portion is greater than the lateral wall thickness of outer lane.
Optionally, the axial dimension of the outer ring provided with the external thread part is set to be 4mm to 6mm; and/or the axial dimension of the internal thread part arranged on the shell is set to be 4mm to 6mm.
Optionally, the wall thickness of the open end of the housing is set to 3mm to 4mm.
Optionally, the support bearing is provided as a cross roller bearing.
Optionally, the inner ring comprises a first ring section and a second ring section which are connected along the axial direction, the first ring section is in running fit with the outer ring, and the second ring section is arranged at one end of the first ring section, which is far away from the mounting cavity; the output wheel is arranged at one end of the second ring section, which is far away from the first ring section, and the end wall of the output wheel is connected with the end wall of the second ring section.
Optionally, a convex ring is convexly arranged at one end of the outer ring, which is away from the mounting cavity, and the convex ring extends along the circumferential direction of the second ring section; a sealing groove is formed between the inner peripheral wall of the convex ring and the outer peripheral wall of the second ring section, and the joint module further comprises a first sealing ring arranged on the sealing groove.
Optionally, the outer peripheral surface of the convex ring protrudes out of the outer peripheral surface of the outer ring to form a limiting step, and the limiting step abuts against the end wall of the opening end of the shell.
The invention also provides a joint robot, which comprises a joint module, wherein the joint module comprises: the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the shell is provided with a mounting cavity with an opening at one end, and the motor stator and the motor rotor are mounted in the mounting cavity;
the speed reducer is arranged at the opening end of the motor assembly and is provided with an input shaft and an output wheel, the input shaft stretches into the mounting cavity and is connected with the motor rotor, and the output wheel is in differential fit with the input shaft and is exposed out of the mounting cavity;
the support bearing comprises an inner ring and an outer ring which are in running fit, the inner ring is fixedly connected with the output wheel, an external thread is arranged on the peripheral wall of the outer ring, an internal thread is arranged on the inner peripheral wall of the open end of the shell, and the outer ring is fixedly matched with the open end of the shell through threads;
wherein the speed reducer is arranged as a harmonic drive speed reducer; the speed reducer also comprises a flexible bearing and a flexible driving wheel, the input shaft is matched with the flexible driving wheel through the flexible bearing, the output wheel is sleeved on the flexible driving wheel and is in transmission fit with the flexible driving wheel through a meshing tooth, and one end of the flexible driving wheel extends into the mounting cavity and is turned outwards along the radial direction to form an outward flanging; a support step is arranged in the mounting cavity at a position corresponding to the end face of the flexible driving wheel, and the support step is abutted against the flanging;
The assembling method of the joint module comprises the following steps:
acquiring the current pressure between the support step and the flanging;
comparing the current pressure with a preset pressure range;
and determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so as to enable the current pressure between the supporting step and the flanging to be in the preset pressure range.
According to the invention, the outer ring and the outer shell are in threaded connection, so that the extrusion force between the supporting step on the outer shell and the flanging of the flexible driving wheel can be adjusted, and in the assembling process of the joint module, the joint module is pre-assembled, and then the current pressure between the supporting step and the flanging is obtained; then comparing the current pressure with a preset pressure range; and determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so as to enable the current pressure between the supporting step and the flanging to be in the preset pressure range. If the current pressure is smaller than the minimum value of the preset pressure range, continuing to rotate the outer ring and the outer shell in the forward direction, so that the current pressure is increased to be larger than or equal to the minimum value, and the current pressure falls into the preset pressure range, thereby avoiding the phenomenon that the flexible driving wheel is unreliable to install (the coaxiality precision between the flexible driving wheel and the output wheel is not ensured and the transmission ratio between the flexible driving wheel and the output wheel is directly influenced) due to the fact that the current pressure is too small, being beneficial to improving the installation reliability of the flexible driving wheel and improving the transmission precision of the speed reducer; likewise, if the current pressure is greater than the maximum value of the preset pressure range, the outer ring and the outer shell need to be reversely rotated, so that the current pressure is reduced to be smaller than or equal to the maximum value, and the current pressure falls into the preset pressure range, thereby avoiding the phenomena that the flexible driving wheel is deformed and is easy to damage (the coaxiality precision between the deformed or damaged flexible driving wheel and the output wheel is not ensured, and the transmission ratio between the deformed or damaged flexible driving wheel and the output wheel is directly influenced), thus being beneficial to improving the installation precision and the service life of the flexible driving wheel, improving the working reliability of the speed reducer and simultaneously ensuring the transmission precision of the joint module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view illustrating an exploded view of an embodiment of a joint module according to the present invention;
FIG. 2 is a schematic exploded view of an embodiment of a joint module according to the present invention;
FIG. 3 is a schematic view of an embodiment of a joint module according to the present invention in an exploded view;
FIG. 4 is a schematic cross-sectional view of an embodiment of a joint module according to the present invention;
FIG. 5 is a schematic cross-sectional view of another embodiment of a joint module according to the present invention;
FIG. 6 is a schematic cross-sectional view of an embodiment of a decelerator of the present invention;
FIG. 7 is a flow chart of an embodiment of a method of assembling a joint module according to the present invention;
FIG. 8 is a schematic diagram of a refinement flow chart of step S100 in FIG. 7;
fig. 9 is a schematic diagram of a refinement procedure of step S300 in fig. 7.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name | Reference numerals | Name of the name |
| 10 | Outer casing | 11 | Mounting cavity | 20 | Input shaft |
| 30 | Output wheel | 40 | Support bearing | 41 | Inner ring |
| 42 | Outer ring | 411 | First ring segment | 412 | Second ring segment |
| 421 | Convex ring | 50 | First sealing ring | 422 | Spacing step |
| 60 | Flexible bearing | 70 | Flexible driving wheel | 71 | External flanging |
| 80 | Second sealing ring | 711 | Connecting part | 712 | Abutment portion |
| 111 | Support step | 90 | End cap | 91 | Center shaft |
| 92 | First spigot | 31 | First convex rib | 93 | Third sealing ring |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme that is satisfied by both a and B. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a joint module which is applied to a joint robot.
In an embodiment of the present invention, as shown in fig. 1, 4 and 5, the joint module includes: the motor assembly comprises a shell 10, a motor stator and a motor rotor, wherein the shell 10 is provided with a mounting cavity 11 with one end open, and the motor stator and the motor rotor are mounted in the mounting cavity 11; a speed reducer mounted at the open end of the motor assembly, the speed reducer having an input shaft 20 and an output wheel 30, the input shaft 20 extending into the mounting cavity 11 and being connected to the motor rotor, the output wheel 30 being differentially coupled to the input shaft 20 and being exposed to the mounting cavity 11; the support bearing 40 comprises an inner ring 41 and an outer ring 42 which are in rotary fit, the inner ring 41 is fixedly connected with the output wheel 30, an external thread is arranged on the outer peripheral wall of the outer ring 42, an internal thread is arranged on the inner peripheral wall of the open end of the shell 10, and the outer ring 42 is fixedly matched with the open end of the shell 10 through threads.
The shell 10 is in a cylindrical shape and is provided with an opening at one end, the motor stator is fixedly arranged in the installation cavity 11, and the motor rotor can be in rotatable fit with the shell 10 through a bearing, so that the motor rotor can rotate relative to the motor stator through electromagnetic induction. The speed reducer is used for adjusting the motor rotor to a preset rotating speed and then outputting acting. Specifically, the input shaft 20 is fixedly matched with the motor rotor, so that the input shaft 20 rotates synchronously with the motor rotor, and the rotation speed of the output shaft is controlled to be a preset value through differential matching with the output wheel 30, thereby meeting the output requirement.
The support bearing 40 is used for realizing the running fit of the output wheel 30 and the housing 10, so that the output shaft can disperse the load to the motor assembly when bearing the load, so as to avoid the concentrated stress of the output wheel 30 or the speed reducer, and further improve the overall structural stability of the joint module. In particular, the support bearing 40 is provided as a crossed roller bearing; the support bearing 40 further comprises a plurality of cylindrical rollers arranged between the inner ring 41 and the outer ring 42, and the axial directions of two adjacent cylindrical rollers are arranged in a cross manner; thus, the supporting strength of the supporting bearing 40 in the axial direction can be improved, so that the overall bearing capacity of the joint module in the axial direction can be improved.
In the joint module of the prior art, the outer ring 42 and the peripheral wall of the housing 10 are provided with protruding bosses, the two bosses are provided with fixing holes, and the two fixing holes are connected through fasteners. The connecting mode enables the connecting position of the support bearing 40 and the shell 10 to be single, the matching area is small, and the stress concentration of the fastening piece or the boss is easy to be caused, so that the connecting position of the support bearing 40 and the motor assembly is easy to damage or loose due to the concentrated stress for a long time.
In the joint module of the present application, the outer ring 42 of the support bearing 40 is fixedly matched with the housing 10 through threads, and the threads extend along the circumferential directions of the outer ring 42 and the housing 10, so that the matching position and the matching area of the support bearing 40 and the housing 10 can be effectively increased. In this way, the force applied by the support bearing 40 can be dispersed to each part matched with the housing 10 along the circumferential direction, so as to improve the stability of the assembly structure of the joint module, thereby improving the overall load capacity of the joint module.
In one embodiment, as shown in fig. 6, the decelerator may be configured as a harmonic decelerator; the harmonic reducer further comprises a flexible bearing 60 and a flexible driving wheel 70, the input shaft 20 is matched with the flexible driving wheel 70 through the flexible bearing 60, and the output wheel 30 is sleeved on the flexible driving wheel 70 and is in driving fit with the flexible driving wheel 70 through meshing teeth.
The flexible bearing 60 is sleeved on the input shaft 20, the flexible driving wheel 70 is sleeved on the flexible bearing 60, and the output wheel 30 is sleeved on the flexible driving wheel 70. The inner peripheral wall of the output wheel 30 is provided with inner teeth, and the outer peripheral wall of the flexible driving wheel 70 is provided with outer teeth; the number of teeth of the external teeth is different from that of the internal teeth. As known from the working principle of the harmonic reducer, when the input shaft 20 rotates, the flexible driving wheel 70 is deformed, the engagement state of the flexible driving wheel 70 and the output wheel 30 is continuously changed by deformation of the flexible driving wheel 70, and the flexible driving wheel 70 rotates slowly relative to the output wheel 30 by engagement, disengagement and re-engagement … …. In this embodiment, however, since the output wheel 30 is rotatable, it will be appreciated that the flexible drive wheel 70, when engaged with the output wheel 30, rotates the output wheel 30 to effect a reduced rotation of the output wheel 30 relative to the input shaft 20. The speed reducer is set to be a harmonic speed reducer, so that the speed reduction precision of the speed reducer can be improved, and the output requirement of the joint module is further met.
Specifically, as shown in fig. 6, one end of the flexible driving wheel 70 extends into the mounting cavity 11 and is turned outwards in the radial direction to form an outward flange 71, an end wall of the outer ring 42 located in the mounting cavity 11 abuts against the outward flange 71, and a second sealing ring 80 is disposed between the end wall of the outer ring 42 and the outward flange 71. The end wall of the outer ring 42 facing the mounting cavity 11 can be provided with a caulking groove, and the second sealing ring 80 is embedded in the sealing groove, so as to improve the mounting stability of the second sealing ring 80. The outward flange 71 and the second seal ring 80 can improve the sealing property between the flexible driving wheel 70 and the support bearing 40, and prevent lubricating oil from flowing out of the reducer from the gap between the flexible driving wheel 70 and the support bearing 40, thereby improving the overall sealing property of the joint module.
In one embodiment, as shown in fig. 2 and 3, the inner ring 41 includes a first ring segment 411 and a second ring segment 412 connected in an axial direction, the first ring segment 411 is rotationally matched with the outer ring 42, and the second ring segment 412 is disposed at an end of the first ring segment 411 facing away from the mounting cavity 11; the output wheel 30 is disposed at an end of the second ring segment 412 facing away from the first ring segment 411, and an end wall of the output wheel 30 is connected to an end wall of the second ring segment 412.
Dividing the inner ring 41 into the first ring segment 411 and the second ring segment 412 in the axial direction can make the inner ring 41 and the output wheel 30 have enough connection area to improve the connection strength with the output wheel 30, and improve the bearing capacity of the inner ring 41. The end wall of the second ring segment 412 may be provided with a fixing hole, and the end wall of the output wheel 30 may be provided with a via hole, and the fixing hole and the via hole are connected in series through a fastener, so as to fix the output wheel 30 and the second ring segment 412. The articulation module may also include an output disc mounted to an end of the output wheel 30 facing away from the mounting cavity 11 for rotation with the output wheel 30. The output disc is used for connecting the components to be driven so as to protect the output wheel 30.
Specifically, as shown in fig. 2 and fig. 5, a convex ring 421 is convexly disposed at an end of the outer ring 42 facing away from the mounting cavity 11, and the convex ring 421 extends along the circumferential direction of the second ring segment 412; a seal groove is formed between the inner peripheral wall of the convex ring 421 and the outer peripheral wall of the second ring segment 412, and the joint module further includes a first seal ring 50 disposed in the seal groove. The convex ring 421 and the outer ring 42 are integrally injection molded to improve the connection strength of the convex ring 421 and the outer ring 42. The first seal ring 50 seals the fit gap between the inner ring 41 and the outer ring 42 to prevent the lubricant from leaking out of the gap of the support bearing 40.
In practical application, as shown in fig. 2 and 5, the outer peripheral surface of the convex ring 421 protrudes from the outer peripheral surface of the outer ring 42 to form a limiting step 422, and the limiting step 422 abuts against an end wall of the open end of the housing 10. The limit step 422 extends in the circumferential direction of the outer race 42. After the outer race 42 of the support bearing 40 is threadedly engaged with the open end of the housing 10, the stop step 422 abuts the end of the open end of the housing 10 to prevent the outer race 42 from continuing deep into the mounting cavity 11. In addition, the limiting step 422 can further increase the contact area between the housing 10 and the support bearing 40 in the axial direction, so as to improve the overall axial bearing capacity of the joint module.
In one embodiment, as shown in fig. 2, the axial dimension of the outer ring 42 provided with the male screw portion is set to 4mm to 6mm; and/or the axial dimension of the internal thread portion provided on the housing 10 is set to 4mm to 6mm. It will be appreciated that the axial dimension of the external thread may be the same as the axial dimension of the internal thread to increase the utilization of the thread. The axial dimension of the external thread and the internal thread is set to be 4mm to 6mm, so that the matching area can be effectively increased, and the overall axial dimension of the joint module is reduced on the basis of improving the matching strength. Specifically, the wall thickness of the open end of the housing 10 is set to 3mm to 4mm, so as to improve the structural strength of the joint between the housing 10 and the support bearing 40, and at the same time, reasonably control the overall radial dimension of the shutdown module.
In some embodiments, a supporting step 111 is disposed in the mounting cavity 11 at a position corresponding to the end face of the flexible driving wheel 70, and the supporting step 111 abuts against the flanging 71. In this embodiment, the supporting step 111 is disposed corresponding to the end surface of the flexible driving wheel 70, so that the flexible driving wheel 70 can be stably and reliably installed in the installation cavity 11 under the action of the supporting step 111. After the housing 10 and the outer ring 42 are matched, the supporting step 111 abuts against the outward flange 71, and the relative positions of the housing 10 and the outer ring 42 in the axial direction can be adjusted by adjusting the threaded connection length of the housing 10 and the outer ring 42, so that the extrusion degree between the supporting step 111 and the outward flange 71 is adjusted, and the installation stability of the flexible driving wheel 70 is further affected.
In some embodiments, to improve the working stability of the flexible driving wheel 70, the flange 71 includes a connection portion 711 and an abutment portion 712, the connection portion 711 connects the flexible driving wheel 70 and the abutment portion 712, and a thickness d1 of the abutment portion 712 is greater than a thickness d2 of the connection portion 711. Specifically, in this embodiment, the thickness d1 of the abutting portion 712 near the inner side wall of the mounting cavity 11 is 1.2-3 times the thickness d2 of the connecting portion 711, and may be 1.5, 1.6, 1.7, 1.8 times, etc. By setting the thickness of the abutting portion 712 to be larger than that of the connecting portion 711, the abutting portion 712 is not easily damaged in the process of abutting and pressing with the supporting step 111. And can bear friction during adjustment, so that the service life and the support stability of the flange 71 are greatly increased. The thickness of the abutting portion 712 cannot be too thick, and since the abutting portion 712 has elasticity, when the thickness thereof is greater than 3 times the thickness of the connecting portion 711, large deformation easily occurs during the extrusion process, so that large misalignment occurs between the supporting step 111 and the abutting portion 712, thereby affecting the supporting stability. The thickness of the abutting portion 712 cannot be made too thin, and when the thickness thereof is less than 1.2 times that of the connecting portion 711, it is difficult to achieve the effect of improving stability.
In some embodiments, to further improve the mounting stability and the sealing performance of the flange 71, an end wall of the outer ring 42 located in the mounting cavity 11 abuts against the abutting portion 712, and a second sealing ring 80 is disposed between the end wall of the outer ring 42 and the abutting portion 712. Specifically, in the present embodiment, by disposing the second seal ring 80 between the abutting portion 712 and the end wall of the outer ring 42, the second seal ring 80 is indirectly abutted by the supported step 111 because the other side of the abutting portion 712 is abutted by the supported step 111. In this way, the second sealing ring 80 is subjected to the extrusion force of the supporting step 111, so that the safety and stability of the second sealing ring 80 are ensured, and the sealing effect of the second sealing ring 80 is improved. In some embodiments, a mounting groove is formed in the end wall of the outer race 42, and the second seal ring 80 is mounted in the mounting groove, with the abutment 712 sealing the notch of the mounting groove such that the second seal ring 80 is mounted. Meanwhile, the notch can be well plugged due to the thicker thickness of the abutting part 712, so that the stability of the notch of the air duct is improved, and the stability of the installation of the second sealing ring 80 is improved.
In some embodiments, the joint module further includes an end cover 90, the end cover 90 is sleeved on one side of the output wheel away from the support bearing, a first spigot 92 is disposed on the end cover 90, the output wheel is provided with a first rib 31, and the first rib 31 is disposed corresponding to the first spigot 92; and/or, the end cover 90 is provided with a second rib, the output wheel is provided with a second spigot, and the second rib is correspondingly arranged with the second spigot.
Specifically, in this embodiment, the side of the end cover 90 facing the output wheel is provided with a first spigot 92, or with a second bead, or with both the first spigot 92 and the second bead. The output wheel is provided with a first convex rib 31 corresponding to the first spigot 92, or is provided with a second spigot corresponding to the second convex rib, or is provided with the first convex rib 31 and the second spigot at the same time. In some embodiments, the first ribs 31 may be inserted into the first spigot 92 and the second ribs may be inserted into the second spigot to improve the connection tightness and coaxiality of the output wheel and the end cap 90. In some embodiments, the third sealing ring 93 is further disposed in the first spigot 92 and/or the second spigot, so as to greatly improve the tightness between the end cover 90 and the output wheel, meanwhile, the end cover 90 and the output wheel are connected by a fastener, and the third sealing ring 93 can apply a reverse acting force to the end cover 90 and the output wheel at the same time, so that a certain locking effect is achieved, and the connection between the end cover 90 and the output wheel is more reliable.
It should be noted that, in some embodiments, the end cover 90 is fixedly connected with the middle shaft 91 of the joint module (in some embodiments, the end cover 90 and the middle shaft 91 are integrally formed and arranged), the middle shaft 91 penetrates along the axis of the joint module and is connected with the other end of the joint module, so that the acting force of external load can be quickly transferred to the whole joint module through the middle shaft 91, the mutual torque between all components in the joint module is greatly reduced, and the overall coaxiality of the joint module and the bearing strength of the end cover 90 are greatly improved.
In some embodiments, to improve the abutment stability of the flange 71, the abutment portion 712 is disposed in a ring shape, the outer side wall of the abutment portion 712 is flush with the outer side wall of the outer ring 42, and the width of the abutment portion 712 is greater than the thickness of the side wall of the outer ring 42. Specifically, in the present embodiment, the outer side wall of the abutting portion 712 and the outer side wall of the outer race 42 abutting thereto are located on the same cylindrical surface, and both abut against the inner side wall of the installation cavity 11. By setting the abutting portion 712 to be annular, the end face of the outer ring 42 and the face of the support step 111 contacting the abutting portion 712 are annular, so that the extrusion force is uniform, the extrusion area is greatly increased, and the support stability is improved. The width of the abutting portion 712 is larger than the thickness of the side wall of the outer ring 42, so that the length of the abutting portion 712 extending into the mounting cavity 11 is larger than the length of the outer ring 42 extending into the mounting cavity 11, and therefore the side area of the abutting portion 712 is larger than the area of the end face of the outer ring 42, and the end face of the inner ring is ensured to be fully abutted against the side face of the abutting portion 712. In this way, the abutment stability of the burring 71 is greatly improved.
The invention further provides an assembling method of the joint module,
the assembling method of the joint module comprises the following steps:
S100: acquiring the current pressure between the support step 111 and the cuff 71;
s200: comparing the current pressure with a preset pressure range;
s300: it is determined that the current pressure exceeds the preset pressure range, and the axial relative positions of the outer race 42 and the housing 10 are adjusted so that the current pressure between the support step 111 and the burring 71 is within the preset pressure range.
Specifically, in the present embodiment, the pressure between the support step 111 and the burring 71, that is, the pressure between the support step 111 and the abutment 712 is obtained. There are many ways of obtaining the pressure sensor, and the pressure sensor may be provided on the support step 111, or may be provided on the abutting portion 712, or may be provided between the support step 111 and the abutting portion 712, for example, the pressure sensor may be provided on the support step 111 of the housing 10. When the housing 10 is screwed with the outer ring 42, the support step 111 gradually presses the abutting portion 712, and since the abutting portion 712 has a certain elasticity, the pressure between the support step 111 and the abutting portion 712 gradually changes during the pressing (rotational fitting). After the housing 10 and the outer race 42 are preliminarily assembled, the current pressure between the support step 111 and the abutment 712 is detected by the pressure sensor. Comparing the current pressure with the preset pressure range, if the current pressure is greater than the maximum value of the preset pressure range, it is indicated that the current pressure has exceeded the preset pressure range, and it is necessary to reversely rotate the housing 10 and the outer race 42 so that the current pressure between the support step 111 and the abutment 712 is reduced to be within the preset pressure range. If the current pressure is less than the minimum value of the preset pressure range, it is indicated that the current pressure has exceeded the preset pressure range, and it is necessary to continue rotating the housing 10 and the outer race 42 in the forward direction so that the current pressure between the support step 111 and the abutment 712 increases to within the preset pressure range. It should be noted that, when the current pressure is smaller than the minimum value of the preset pressure range, the pressing force of the supporting step 111 to the abutting portion 712 is insufficient, at this time, the flexible driving wheel 70 is not reliably installed, and loosening and dislocation easily occur in the driving process, which will make the transmission ratio of the reducer unreliable and affect the transmission accuracy. When the current pressure is greater than the maximum value of the preset pressure range, the extrusion force of the supporting step 111 to the abutting part 712 is too large, and at this time, the part of the flexible driving wheel 70 matched with the output wheel 30 may slightly deform, which affects the matching precision of the flexible driving wheel 70 and the output wheel 30 and is not beneficial to the reduction transmission; in addition, the support step 111 applies a large pressing force to the abutting portion 712 for a long time, and the abutting portion 712 is also easily damaged, which is disadvantageous for long-time operation of the reduction gear.
In the embodiment, the outer ring 42 and the outer shell 10 are in threaded connection, so that the extrusion force between the supporting step 111 on the outer shell 10 and the outward flange 71 of the flexible driving wheel 70 can be adjusted, and in the assembling process of the joint module, the joint module is preassembled firstly, and then the current pressure between the supporting step 111 and the outward flange 71 is obtained; then comparing the current pressure with a preset pressure range; it is determined that the current pressure exceeds the preset pressure range, and the axial relative positions of the outer race 42 and the housing 10 are adjusted so that the current pressure between the support step 111 and the burring 71 is within the preset pressure range. That is, if the current pressure is smaller than the minimum value of the preset pressure range, continuing to rotate the outer ring 42 and the outer shell 10 in the forward direction, so that the current pressure is increased to be greater than or equal to the minimum value, so that the current pressure falls into the preset pressure range, and the phenomenon that the flexible driving wheel 70 is not reliably installed (the coaxiality precision between the flexible driving wheel 70 and the output wheel is not ensured and the transmission ratio between the flexible driving wheel 70 and the output wheel is directly influenced) is avoided, thus being beneficial to improving the installation reliability of the flexible driving wheel 70 and the transmission precision of the speed reducer; similarly, if the current pressure is greater than the maximum value of the preset pressure range, the outer ring 42 and the housing 10 need to be reversely rotated, so that the current pressure is reduced to be less than or equal to the maximum value, so that the current pressure falls into the preset pressure range, and the phenomena that the flexible driving wheel 70 deforms and is easy to damage (the coaxiality precision between the deformed or damaged flexible driving wheel 70 and the output wheel is not ensured, and the transmission ratio between the deformed or damaged flexible driving wheel 70 and the output wheel is directly influenced) are avoided, so that the installation precision and the service life of the flexible driving wheel 70 are improved, the working reliability of the speed reducer is improved, and the transmission precision of the joint module is ensured.
In some embodiments, in order to improve the assembly precision, the step of obtaining the current pressure between the support step 111 and the flanging 71 comprises:
s110, acquiring extrusion forces of a plurality of detection positions between the supporting step 111 and the flanging 71, wherein the plurality of detection positions are distributed along the circumferential direction of the supporting step 111;
s120, obtaining an extrusion maximum value and an extrusion minimum value in a plurality of extrusion forces;
and S130, taking the extrusion maximum value and the extrusion minimum value as the current pressure.
Specifically, in the present embodiment, the contact surface between the support step 111 and the burring 71 is annular, and there is a slight difference in the pressing force between the support step 111 and the burring 71 due to the threaded connection between the outer ring 42 and the housing 10, and there is also a possibility of a difference in the pressing force between the support step 111 and the burring 71 due to a process error, an assembly error, or the like. In order to ensure that the pressing forces between the support step 111 and the burring 71 are all within a preset pressure range, a plurality of pressure sensors are arranged in the circumferential direction of the support step 111, and the pressing forces therebetween are tested for a plurality of detection positions. In this way, the pressing forces at a plurality of detection positions can be obtained. The magnitudes of the respective pressing forces are compared, and a maximum value (pressing maximum value) and a minimum value (pressing minimum value) among the plurality of pressing forces are obtained. And taking the obtained extrusion maximum value and the extrusion minimum value as the current pressure, namely respectively comparing the extrusion maximum value and the extrusion minimum value with a preset pressure range. Therefore, when the extrusion maximum value and the extrusion minimum value both fall into the preset pressure range, the extrusion forces corresponding to all the detection positions can be ensured to fall into the preset pressure range. Thereby ensuring that all extrusion positions meet the requirements of the transfer.
After the extrusion forces of the plurality of detection positions are obtained, the step of comparing the current pressure with the preset pressure range comprises the following steps:
comparing the extrusion maximum value with the maximum value of the preset pressure range, and comparing the extrusion minimum value with the minimum value of the preset pressure range.
Specifically, in the present embodiment, the extrusion maximum value is first compared with the maximum value of the preset pressure range, and if the extrusion maximum value is greater than the maximum value, the fit of the outer case 10 and the outer ring 42 is adjusted, and the extrusion maximum value is adjusted to be less than or equal to the maximum value of the preset pressure range. If the extrusion maximum value is less than or equal to the maximum value, comparing the extrusion minimum value with the minimum value of the preset pressure range, and if the extrusion minimum value is greater than or equal to the minimum value of the preset pressure range, no adjustment is needed. If the extrusion minimum is less than the minimum of the preset pressure range, the fit of the housing 10 and the outer race 42 is adjusted to adjust the extrusion minimum to be greater than or equal to the minimum of the preset pressure range.
In some embodiments, to further improve the adjustment accuracy and the adjustment efficiency, the step of determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring 42 and the outer case 10 so that the current pressure between the support step 111 and the flange 71 is within the preset pressure range includes:
S310, determining that the current pressure is greater than the maximum value of the preset pressure range, and rotating the adjusting outer ring 42 and the outer shell 10 to reduce the current pressure between the supporting step 111 and the flanging 71;
specifically, in the present embodiment, the step of determining that the current pressure is greater than the maximum value of the preset pressure range, and rotating the outer race 42 and the housing 10 to reduce the current pressure between the support step 111 and the flange 71 includes:
acquiring a first pressure difference value of the current pressure larger than the maximum value of a preset pressure range;
comparing the first pressure difference with a first preset pressure difference and a second preset pressure difference, wherein the first preset pressure difference is larger than the second preset pressure difference;
determining that the first pressure difference is greater than a first preset pressure difference, and rotating the outer race 42 and the housing 10 relative to each other by two turns;
determining that the first pressure difference is smaller than the second preset pressure difference, and enabling the outer ring 42 and the outer shell 10 to rotate by 1/4-4/5 of a circle relatively;
the first pressure difference is determined to be less than or equal to the first preset pressure difference and greater than or equal to the second preset pressure difference, so that the outer race 42 and the housing 10 are rotated 4/5-2 turns relative to each other.
In the case where it is determined that the current pressure is greater than the maximum value of the preset pressure range, the amount (first pressure difference value) by which the current pressure is greater than the maximum value of the preset pressure range is calculated, and can be obtained using the difference between the current pressure and the maximum value of the preset pressure range. And determining the adjustment amount according to the magnitude of the first pressure difference, wherein when the first pressure difference is larger, the current pressure exceeds the maximum value of the preset pressure range (for example, the first pressure difference is larger than the first preset pressure difference), the amount required to be adjusted is larger, and two circles can be adjusted at the moment. When the first pressure difference is smaller, the current pressure exceeds the maximum value of the preset pressure range by a smaller amount (for example, the first pressure difference is smaller than the second preset pressure difference), and the amount required to be adjusted is smaller, and 1/4-4/5 circles (excluding the end point value of 4/5 circles) can be adjusted. If the first pressure difference is less than or equal to the first preset pressure difference and greater than or equal to the second preset pressure difference, the outer race 42 and the housing 10 are rotated relative to each other by 4/5 to 2 turns (excluding the end point value of 2 turns).
S320, determining that the current pressure is less than the minimum value of the preset pressure range, rotating the outer race 42 and the housing 10 to increase the current pressure between the support step 111 and the flange 71.
Specifically, in the present embodiment, the step of determining that the current pressure is smaller than the minimum value of the preset pressure range, and rotating the outer race 42 and the outer housing 10 to increase the current pressure between the support step 111 and the flange 71 includes:
acquiring a second pressure difference value of which the current pressure is smaller than the minimum value of a preset pressure range;
comparing the second pressure difference with a third preset pressure difference and a fourth preset pressure difference, wherein the third preset pressure difference is larger than the fourth preset pressure difference;
determining that the second pressure difference is greater than a third preset pressure difference, and rotating the outer race 42 and the housing 10 relative to each other by two turns;
determining that the second pressure difference is smaller than the fourth preset pressure difference, and enabling the outer ring 42 and the outer shell 10 to rotate by 1/4-4/5 of a circle relatively;
the second pressure difference is determined to be less than or equal to the third preset pressure difference and greater than or equal to the fourth preset pressure difference, so that the outer race 42 and the housing 10 are rotated 4/5-2 turns relative to each other.
In the case where it is determined that the current pressure is smaller than the minimum value of the preset pressure range, an amount (second pressure difference value) by which the current pressure is smaller than the minimum value of the preset pressure range is calculated, which can be obtained using the minimum value of the preset pressure range and the current pressure difference. And determining the adjustment amount according to the second pressure difference, wherein when the second pressure difference is larger, the current pressure is lower than the minimum value of the preset pressure range (for example, the second pressure difference is larger than the third preset pressure difference), and the adjustment amount is larger, so that two circles can be adjusted. When the second pressure difference is smaller, the current pressure is lower than the minimum value of the preset pressure range (for example, the second pressure difference is smaller than the fourth preset pressure difference), the amount of adjustment is smaller, and 1/4-4/5 circles (excluding the end point value of 4/5 circles) can be adjusted. If the second pressure difference is less than or equal to the third preset pressure difference and greater than or equal to the fourth preset pressure difference, the outer race 42 and the housing 10 are rotated relative to each other by 4/5 to 2 turns (excluding the end point value of 2 turns).
The invention also provides a joint robot, which comprises a joint module, wherein the specific structure of the joint module refers to the embodiment, and the joint robot at least has all the beneficial effects brought by the technical proposal of the embodiment because the joint robot adopts all the technical proposal of all the embodiments, and is not repeated herein.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. A method of assembling a joint module, the joint module comprising:
the motor assembly comprises a shell, a motor stator and a motor rotor, wherein the shell is provided with a mounting cavity with an opening at one end, and the motor stator and the motor rotor are mounted in the mounting cavity;
the speed reducer is arranged at the opening end of the motor assembly and is provided with an input shaft and an output wheel, the input shaft stretches into the mounting cavity and is connected with the motor rotor, and the output wheel is in differential fit with the input shaft and is exposed out of the mounting cavity;
The support bearing comprises an inner ring and an outer ring which are in running fit, the inner ring is fixedly connected with the output wheel, an external thread is arranged on the peripheral wall of the outer ring, an internal thread is arranged on the inner peripheral wall of the open end of the shell, and the outer ring is fixedly matched with the open end of the shell through threads;
wherein the speed reducer is arranged as a harmonic drive speed reducer; the speed reducer also comprises a flexible bearing and a flexible driving wheel, the input shaft is matched with the flexible driving wheel through the flexible bearing, the output wheel is sleeved on the flexible driving wheel and is in transmission fit with the flexible driving wheel through a meshing tooth, and one end of the flexible driving wheel extends into the mounting cavity and is turned outwards along the radial direction to form an outward flanging; a support step is arranged in the mounting cavity at a position corresponding to the end face of the flexible driving wheel, and the support step is abutted against the flanging;
the assembling method of the joint module comprises the following steps:
acquiring the current pressure between the support step and the flanging;
comparing the current pressure with a preset pressure range;
and determining that the current pressure exceeds the preset pressure range, and adjusting the axial relative positions of the outer ring and the outer shell so as to enable the current pressure between the supporting step and the flanging to be in the preset pressure range.
2. The method of assembling a joint module of claim 1, wherein the step of obtaining the current pressure between the support step and the cuff comprises:
acquiring extrusion forces of a plurality of detection positions between the support step and the flanging, wherein the detection positions are distributed along the circumferential direction of the support step;
acquiring an extrusion maximum value and an extrusion minimum value in a plurality of extrusion forces;
the extrusion maximum value and the extrusion minimum value are taken as the current pressure.
3. The method of assembling a joint module of claim 2, wherein the step of comparing the current pressure to the predetermined pressure range comprises:
comparing the extrusion maximum value with the maximum value of the preset pressure range, and comparing the extrusion minimum value with the minimum value of the preset pressure range.
4. The method of assembling a joint module according to claim 1, wherein the step of determining that the current pressure exceeds the preset pressure range and adjusting the axial relative positions of the outer race and the outer shell so that the current pressure between the support step and the burring is within the preset pressure range includes:
determining that the current pressure is greater than the maximum value of the preset pressure range, and rotating the adjusting outer ring and the outer shell to reduce the current pressure between the supporting step and the flanging;
And determining that the current pressure is smaller than the minimum value of the preset pressure range, and rotating the adjusting outer ring and the outer shell to increase the current pressure between the supporting step and the flanging.
5. The method of assembling a joint module according to claim 4,
the step of determining that the current pressure is greater than a maximum value of a preset pressure range, rotating the adjusting outer race and the housing to reduce the current pressure between the support step and the flange includes:
acquiring a first pressure difference value of the current pressure larger than the maximum value of a preset pressure range;
comparing the first pressure difference with a first preset pressure difference and a second preset pressure difference, wherein the first preset pressure difference is larger than the second preset pressure difference;
determining that the first pressure difference is larger than a first preset pressure difference, and enabling the outer ring and the outer shell to rotate for two circles relatively;
determining that the first pressure difference is smaller than the second preset pressure difference, and enabling the outer ring and the shell to rotate relatively for 1/4-4/5 of a circle;
and determining that the first pressure difference is smaller than or equal to a first preset pressure difference and is larger than or equal to a second preset pressure difference, and enabling the outer ring and the outer shell to rotate for 4/5-2 circles relatively.
6. The method of assembling a joint module according to claim 4,
The step of determining that the current pressure is less than a minimum value of a preset pressure range, rotating the adjusting outer race and the housing to increase the current pressure between the support step and the flange includes:
acquiring a second pressure difference value of which the current pressure is smaller than the minimum value of a preset pressure range;
comparing the second pressure difference with a third preset pressure difference and a fourth preset pressure difference, wherein the third preset pressure difference is larger than the fourth preset pressure difference;
determining that the second pressure difference is larger than a third preset pressure difference, and enabling the outer ring and the outer shell to rotate for two circles relatively;
determining that the second pressure difference is smaller than a fourth preset pressure difference, and enabling the outer ring and the shell to rotate relatively for 1/4-4/5 of a circle;
and determining that the second pressure difference is smaller than or equal to the third preset pressure difference and larger than or equal to the fourth preset pressure difference, and enabling the outer ring and the outer shell to rotate for 4/5-2 circles relatively.
7. The method of assembling a joint module according to claim 1, wherein the flange includes a connecting portion and an abutting portion, the connecting portion connecting the flexible transmission wheel and the abutting portion, the abutting portion having a thickness d1 greater than a thickness d2 of the connecting portion; and/or the number of the groups of groups,
the joint module further comprises an end cover, the end cover is sleeved on one side, far away from the support bearing, of the output wheel, a first spigot is arranged on the end cover, the output wheel is provided with a first convex rib, and the first convex rib and the first spigot are correspondingly arranged; and/or, the end cover is provided with a second convex rib, the output wheel is provided with a second spigot, and the second convex rib and the second spigot are correspondingly arranged.
8. The method according to claim 7, wherein an end wall of the outer ring located in the mounting cavity abuts against the abutting portion, and a second seal ring is provided between the end wall of the outer ring and the abutting portion.
9. The method of assembling a joint module according to claim 8, wherein the abutment is provided in a ring shape, an outer side wall of the abutment is flush with an outer side wall of the outer ring, and a width of the abutment is greater than a thickness of the outer ring.
10. An articulated robot comprising an articulated module assembled by the method of assembling an articulated module according to any one of claims 1 to 9.
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| CN202210253539.2A CN114654501B (en) | 2022-03-15 | 2022-03-15 | Joint module assembly method and joint robot |
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| CN202210253539.2A CN114654501B (en) | 2022-03-15 | 2022-03-15 | Joint module assembly method and joint robot |
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| CN114654501B true CN114654501B (en) | 2024-03-01 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06193663A (en) * | 1992-12-21 | 1994-07-15 | Daihen Corp | Power transmission device |
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201600130715A1 (en) * | 2016-12-23 | 2018-06-23 | Comau Spa | "Functional device, in particular robots, with modular modules for educational use" |
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2022
- 2022-03-15 CN CN202210253539.2A patent/CN114654501B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06193663A (en) * | 1992-12-21 | 1994-07-15 | Daihen Corp | Power transmission device |
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
Non-Patent Citations (1)
| Title |
|---|
| 小型多关节工业机器人设计;赵军;;金属加工(冷加工);20131015(第20期);35-37 * |
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