CN115163781A - Flat lightweight harmonic speed reduction joint module - Google Patents
Flat lightweight harmonic speed reduction joint module Download PDFInfo
- Publication number
- CN115163781A CN115163781A CN202210790003.4A CN202210790003A CN115163781A CN 115163781 A CN115163781 A CN 115163781A CN 202210790003 A CN202210790003 A CN 202210790003A CN 115163781 A CN115163781 A CN 115163781A
- Authority
- CN
- China
- Prior art keywords
- harmonic speed
- speed reduction
- encoder
- joint module
- ball bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02091—Measures for reducing weight of gearbox
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a flat lightweight harmonic speed reduction joint module, which comprises: a power member including a housing and a frameless motor disposed on the housing to provide a rotational torque; the harmonic speed reduction output part comprises a harmonic speed reduction part and an output part, the harmonic speed reduction part is arranged in the shell and is connected with the frameless motor part, the output part is arranged on the shell, and the output part reduces the speed of the harmonic speed reduction part and outputs torque; the drive control coding integrated piece comprises an encoder code disc and a drive control encoder integrated plate, wherein the encoder code disc is arranged on the frameless motor element, the drive control encoder is arranged on the casing, and the encoder code disc and the drive control encoder integrated plate are matched to form a data acquisition and processing combination body integrating an encoder and a driver. The invention has the advantages of compact structure, reasonable design, small volume, small occupied space, light weight, high integration level and convenient installation and use.
Description
Technical Field
The invention relates to the technical field of harmonic speed reduction integrated modules, in particular to a flat lightweight harmonic speed reduction joint module.
Background
The flat lightweight harmonic speed reduction joint module is an actuating element in a system, integrates a harmonic speed reducer, a servo motor assembly and a driver assembly into one module, directly receives an instruction of a control system to act, and is a highly integrated actuating element. At present, harmonic speed reduction integration module has multiple technical type structurally, because the power advantage of the big output of little volume of harmonic speed reducer self, harmonic speed reduction integration module is widely used in some industrial fields that require higher, and these schemes output precision is high, and output torque is big, because industrial use needs higher intensity, rigidity and higher comprehensive properties for the holistic volume of module and weight are great. But at present in some service type robot trades, the requirement ratio of volume and weight to the module is higher than the requirement of output torque and output precision, service type robot often load is very little and the fluctuation is little, the requirement to intensity and rigidity is far less than the industry requirement, and need integrate some sensors on the module and satisfy the intelligent demand of robot, this just proposes new requirement to harmonic speed reduction integration module, it is littleer to require the volume, weight is lighter, the integration degree is higher, satisfy the special requirement of service type robot trade to complete machine appearance and weight, for this reason, we have designed a short flat lightweight harmonic speed reduction integration module of section of thick bamboo formula to satisfy its demand.
Disclosure of Invention
In order to overcome the defects, the invention provides a flat and light harmonic wave speed reduction joint module, which specifically adopts the following technical scheme:
a flat lightweight harmonic speed reduction joint module, includes:
a power member including a housing and a frameless motor disposed on the housing to provide rotational torque;
a harmonic speed reduction output disposed on the housing, including a harmonic speed reduction and an output, the harmonic speed reduction disposed within the housing and coupled to the frameless motor, the output disposed on the housing and outputting a torque after the harmonic speed reduction is reduced;
the drive control encoder integrated piece is arranged on the machine shell and comprises an encoder code disc and a drive control encoder integrated plate, the encoder code disc is arranged on the frameless motor element, the drive control encoder is arranged on the machine shell, and the encoder code disc and the drive control encoder integrated plate are matched to form a data acquisition and processing combination body integrating an encoder and a driver.
Preferably, the casing comprises a motor casing and a rear end cover, and the rear end cover is fastened on one port of the motor casing; the frameless motor part comprises a stator, a rotor mounting part and a rotor assembly, wherein the stator is installed in a cavity at one end of the motor shell, the rotor mounting part is arranged in a cavity at the other end of the motor shell, and the rotor assembly is arranged in the rotor mounting part.
Preferably, the rotor mounting part comprises an angular contact ball bearing and a retainer ring, the angular contact ball bearing is embedded in a cavity at the other end of the motor casing, and the retainer ring is fastened on the other end port of the motor casing, so that the retainer ring is pressed on the free end face of the outer ring of the angular contact ball bearing.
Preferably, the number of the angular contact ball bearings is multiple, and the angular contact ball bearings are attached back to back and embedded in the cavity at the other end of the motor shell.
Preferably, the rotor assembly comprises a rotating shaft and a nut retaining ring, one end of the rotating shaft is embedded in the inner ring of the angular contact ball bearing, the other end of the rotating shaft is embedded in the stator, the nut retaining ring is sleeved on one end of the rotating shaft, the nut retaining ring is in external thread fit with one end of the rotating shaft, and meanwhile the end face of the nut retaining ring is tightly abutted to the free end of the inner ring of the angular contact ball bearing.
Preferably, a group of labyrinth seals is arranged between the rotating shaft and the other end face of the motor shell.
Preferably, the harmonic speed reducer comprises a harmonic speed reducer and an installation plate, a rigid gear of the harmonic speed reducer is fastened on the other end face of the motor casing, a flexible gear of the harmonic speed reducer is embedded in the rigid gear, a wave generator of the harmonic speed reducer is embedded in the flexible gear, and the wave generator is sleeved on one end of the rotating shaft; the mounting plate is fastened on one end face of the rotating shaft, so that the mounting plate is tightly propped against the wave generator.
Preferably, the output part comprises a base, a deep groove ball bearing and an output flange, one end of the base is fastened on the other end face of the motor shell, the deep groove ball bearing is embedded in an inner cavity of the base, a pressing plate is fastened on the other end face of the base, and the pressing plate is tightly pressed on the free end of an outer ring of the deep groove ball bearing.
Preferably, the output flange is an output flange with a torque sensor, the output flange is embedded in the inner ring of the deep groove ball bearing, one end of the output flange is fastened on the fixed end face of the flexspline through a first transition sleeve, an O-shaped ring is arranged between the first transition sleeve and the output flange, and a clamp spring is sleeved at the other end of the output flange.
Preferably, the encoder coded disc is installed on one end face of the rotating shaft through a second transition sleeve, the drive control encoder integrated plate is installed on the rear end cover, and the drive control encoder integrated plate corresponds to the encoder coded disc.
The invention at least comprises the following beneficial effects:
1) The flat lightweight harmonic wave speed reduction joint module has the advantages of compact structure, reasonable design, small volume, small occupied space, light weight, high integration level and convenience in installation and use;
2) The flat lightweight harmonic speed reduction joint module adopts three harmonic speed reducer components with an ultra-short cylinder design to match with the deep groove ball bearing as a speed reduction unit, effectively solves the problems of overlong axial length and overweight weight of the traditional crossed rolling bearing integrated harmonic speed reducer structure, and obviously shortens the axial length and the self weight of the speed reducer on the premise of meeting the low requirement of a service robot on an overturning load;
3) The flat lightweight harmonic speed reduction joint module adopts an integrated structure of the torque sensor and the embedded output flange, so that the problems of length increase and wiring difficulty caused by independently installing the torque sensor in the later stage of a user are solved, the integration of the whole machine is greatly improved, and the intelligent control of the finished product robot by the user is facilitated;
4) According to the flat lightweight harmonic speed reduction joint module, the motor rotor assembly adopts the angular contact ball bearings which are arranged back to back in pairs and are embedded in the motor shell along the axial direction, and the angular contact ball bearings can simultaneously bear larger axial load and radial load, so that on one hand, the requirement of high-speed rotation of the rotating shaft under the condition of single bearing fixation can be met, and simultaneously, the larger axial load of the wave generator under the condition of high-speed rotation can be borne, and meanwhile, the actual support span of the bearings is enlarged by adopting a back to back mounting mode, so that the rotating shaft can meet the requirements on stability and rigidity during high-speed movement;
5) The flat lightweight harmonic speed reduction joint module adopts an integrated design mode of the drive control encoder, on one hand, the increase of the axial length caused by the independent installation of the encoder and the driver under the traditional condition can be greatly saved, on the other hand, the problems of multiple cables and complex wiring caused by the independent installation are obviously simplified, and the stability and the easy installation and usability of the whole machine are obviously improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of a flat lightweight harmonic reduction joint module of the present invention;
FIG. 2 is a front view of the flat lightweight harmonic speed reduction joint module of the present invention;
FIG. 3 is a schematic diagram of a front end three-dimensional structure of the flat lightweight harmonic speed reduction joint module according to the present invention;
FIG. 4 is a schematic diagram of a rear end three-dimensional structure of the flat lightweight harmonic speed reduction joint module according to the present invention;
FIG. 5 is an exploded view of a flat lightweight harmonic reduction joint module of the present invention;
FIG. 6 isbase:Sub>A front view of the flat, lightweight harmonic speed reduction joint module of the present invention taken in section along the direction A-A of FIG. 1;
FIG. 7 isbase:Sub>A schematic diagram ofbase:Sub>A front end perspective structure of the flat lightweight harmonic speed reduction joint module in the direction A-A in FIG. 1 according to the present invention;
FIG. 8 isbase:Sub>A rear perspective view of the flat lightweight harmonic speed reduction joint module of the present invention in the direction A-A of FIG. 1;
fig. 9 is a schematic view of a support span of the contact ball bearings forming double back-to-back angles in the flat lightweight harmonic speed reduction joint module of the present invention.
Wherein: 1-motor shell, 2-rear end cover, 3-stator, 4-angular contact ball bearing, 5-retainer ring, 6-rotating shaft, 7-nut retainer ring, 8-labyrinth seal, 9-mounting plate, 10-rigid wheel, 11-flexible wheel, 12-wave generator, 13-base, 14-deep groove ball bearing, 15-output flange, 16-pressing plate, 17-first transition sleeve, 18-snap spring, 19-encoder code disc, 20-drive control encoder integrated plate, 21-second transition sleeve and 22-O-shaped ring.
Detailed Description
The technical solution of the present invention will be described in detail by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
According to the drawings of fig. 1-9, a flat and light harmonic speed reduction joint module comprises a power piece, a harmonic speed reduction output piece and a drive control coding integrated piece, wherein the harmonic speed reduction output piece and the drive control coding integrated piece are arranged on the power piece. The power member comprises a machine shell and a frameless motor member, and the frameless motor member is arranged on the machine shell. The motor shell comprises a motor shell 1 and a rear end cover 2, wherein the rear end cover 2 is fastened on one port of the motor shell 1 through a straight port and first glue on the rear end cover. The frameless motor part comprises a stator 3, a rotor mounting part and a rotor assembly, wherein the stator 3 and the rotor mounting part are arranged on the motor shell 1, and the rotor assembly is arranged on the rotor mounting part. And the stator 3 is pressed in a cavity at one end of the motor shell 1 through second glue.
The rotor mounting piece comprises an angular contact ball bearing 4 and a retainer ring 5, and the angular contact ball bearing 4 and the retainer ring 5 are both arranged on the motor shell 1. The angular contact ball bearings 4 are embedded in the cavity at the other end of the motor shell 1, the angular contact ball bearings 4 are arranged in two numbers, the two angular contact ball bearings 4 are attached back to back and embedded in the cavity at the other end of the motor shell 1, the two angular contact ball bearings 4 attached back to back form a double-row angular contact ball bearing 4, and the axial stability and the radial stability of the rotor assembly can be obviously improved. The retainer ring 5 is fastened to the other end of the motor housing 1 by a first screw, so that the retainer ring 5 is firmly pressed on the outer ring free end surface of the angular contact ball bearing 4 to prevent the angular contact ball bearing 4 from moving axially.
The rotor assembly comprises a rotating shaft 6 and a nut retainer ring 7, the rotating shaft 6 is arranged on the rotor mounting part, and the nut retainer ring 7 is arranged on the rotating shaft 6. One end of the rotating shaft 6 is embedded on the inner ring of the angular contact ball bearing 4, and the other end of the rotating shaft 6 is embedded in the stator 3, so that the rotating shaft 6 is pushed to rotate when the stator 3 is electrified to generate a magnetic field. The nut retainer ring 7 is sleeved on one end of the rotating shaft 6, the nut retainer ring 7 is in external thread fit with one end of the rotating shaft 6, meanwhile, the end face of the nut retainer ring 7 is tightly abutted to the free end of the inner ring of the angular contact ball bearing 4, and then the rotating shaft 6 is fastened on the inner ring of the angular contact ball bearing 4. So as to improve the axial stability of the inner ring of the angular contact ball bearing 4 and further improve the axial stability of the rotating shaft 6. And a group of labyrinth seals 8 are arranged between the rotating shaft 6 and the other end surface of the motor shell 1 to prevent lubricating grease in the harmonic reducer and the angular contact ball bearing 4 from entering the motor.
The harmonic speed reduction output part comprises a harmonic speed reduction part and an output part, the harmonic speed reduction part is arranged on the shell, and the output part is arranged on the harmonic speed reduction part. The harmonic speed reducer comprises a harmonic speed reducer and a mounting plate 9, wherein a rigid wheel 10 of the harmonic speed reducer is fastened on the other end face of the motor shell 1 through a second screw so as to limit the rotation of the rigid wheel 10. The flexible gear 11 of the harmonic reducer is embedded in the rigid gear 10, the wave generator 12 of the harmonic reducer is embedded in the flexible gear 11, and the wave generator 12 is sleeved on one end of the rotating shaft 6. The mounting panel 9 is in through the third screw fastening on a 6 terminal surfaces of pivot, make the mounting panel 9 tightly supports on the wave generator 12, in order to improve the wave generator 12 of harmonic speed reducer ware with pivot 6 connection stability. Further, the harmonic reducer is a third harmonic reducer.
The output part comprises a base 13, a deep groove ball bearing 14 and an output flange 15, wherein the base 13 is arranged on the motor shell 1, the deep groove ball bearing 14 is arranged on the base 13, and the output flange 15 is arranged on the deep groove ball bearing 14. One end of the base 13 is also fastened to the other end face of the motor casing 1 through the third screw. The deep groove ball bearing 14 is embedded in the inner cavity of the base 13, a pressure plate 16 is fastened on the other end face of the base 13 through a fourth screw, and the pressure plate 16 is tightly attached to the free end of the outer ring of the deep groove ball bearing 14 so as to prevent the axial movement of the deep groove ball bearing 14. Output flange 15 is the output flange that has torque sensor, output flange 15 inlays and is adorned in deep groove ball bearing 14 inner circle, and output flange 15 one end is in through first transition cover 17 and fifth screw fastening on the fixed terminal surface of flexbile gear 11, simultaneously first transition cover 17 with be provided with O type circle 22 between the output flange 15, in order to play the sealed effect of harmonic reducer inner chamber grease. A snap spring 18 is sleeved at the other end of the output flange 15 to improve the axial stability of the output flange 15 in the deep groove ball bearing 14. The pressure plate 16 and the circlip 18 provide an axial 4-point fixation for improved stability.
The drive control encoder integrated piece comprises an encoder code disc 19 and a drive control encoder integrated plate 20, the encoder code disc 19 is arranged on the frameless electric machine, and the drive control encoder integrated plate 20 is arranged on the machine shell. The encoder code disc 19 is arranged on one end face of the rotating shaft 6 through a sixth screw and a second transition sleeve 21. The integrated drive control encoder plate 20 is mounted on the rear end cover 2, the integrated drive control encoder plate 20 corresponds to the encoder coded disc 19, and the encoder coded disc 19 and the integrated drive control encoder plate 20 are matched together to form a data acquisition and processing assembly integrating an encoder and a driver.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a flat lightweight harmonic speed reduction joint module which characterized in that includes:
a power member including a housing and a frameless motor disposed on the housing to provide a rotational torque;
a harmonic speed reduction output disposed on the housing, including a harmonic speed reduction and an output, the harmonic speed reduction disposed within the housing and coupled to the frameless motor, the output disposed on the housing and outputting a torque after the harmonic speed reduction is reduced;
the integrated drive control encoder is arranged on the shell and comprises an encoder code disc and an integrated drive control encoder board, the encoder code disc is arranged on the frameless electric machine part, the drive control encoder is arranged on the shell, and the encoder code disc and the integrated drive control encoder board are matched to form a data acquisition and processing assembly integrating an encoder and a driver.
2. The flat lightweight harmonic speed reduction joint module of claim 1 wherein the housing comprises a motor housing and a rear end cap, the rear end cap being secured to a port of the motor housing; the frameless motor part comprises a stator, a rotor mounting part and a rotor assembly, wherein the stator is installed in a cavity at one end of the motor shell, the rotor mounting part is arranged in a cavity at the other end of the motor shell, and the rotor assembly is arranged in the rotor mounting part.
3. The flat lightweight harmonic speed reduction joint module according to claim 2, wherein the rotor mounting member comprises an angular contact ball bearing and a retaining ring, the angular contact ball bearing is embedded in the cavity at the other end of the motor housing, and the retaining ring is fastened to the other end port of the motor housing so as to press the retaining ring against the free end face of the outer ring of the angular contact ball bearing.
4. The flat lightweight harmonic speed reduction joint module as claimed in claim 3, wherein the number of angular contact ball bearings is multiple, and the multiple angular contact ball bearings are fit back to back and are embedded in the cavity at the other end of the motor housing.
5. The flat lightweight harmonic speed reduction joint module as set forth in claim 3 or 4, wherein the rotor assembly comprises a rotating shaft and a nut retainer, one end of the rotating shaft is embedded in the inner ring of the angular contact ball bearing, the other end of the rotating shaft is embedded in the stator, the nut retainer is sleeved on one end of the rotating shaft, the nut retainer is in external thread fit with one end of the rotating shaft, and the end face of the nut retainer is tightly abutted against the free end of the inner ring of the angular contact ball bearing.
6. The flat lightweight harmonic speed reduction joint module of claim 5, wherein a set of labyrinth seals is provided between the shaft and the other end face of the motor housing.
7. The flat and lightweight harmonic speed reduction joint module according to claim 5, wherein the harmonic speed reducer comprises a harmonic speed reducer and a mounting plate, a rigid gear of the harmonic speed reducer is fastened to the other end face of the motor housing, a flexible gear of the harmonic speed reducer is embedded in the rigid gear, a wave generator of the harmonic speed reducer is embedded in the flexible gear, and the wave generator is sleeved on one end of the rotating shaft; the mounting plate is fastened on one end face of the rotating shaft, so that the mounting plate is tightly propped against the wave generator.
8. The flat lightweight harmonic speed reduction joint module as claimed in claim 7, wherein the output member comprises a base, a deep groove ball bearing and an output flange, wherein one end of the base is fastened to the other end face of the motor housing, the deep groove ball bearing is embedded in the inner cavity of the base, a pressure plate is fastened to the other end face of the base, and the pressure plate is fastened to the free end of the outer ring of the deep groove ball bearing.
9. The flat lightweight harmonic speed reduction joint module according to claim 8, wherein the output flange is an output flange with a torque sensor, the output flange is embedded in the inner ring of the deep groove ball bearing, one end of the output flange is fastened to the fixed end surface of the flexspline through a first transition sleeve, an O-ring is arranged between the first transition sleeve and the output flange, and a snap spring is sleeved on the other end of the output flange.
10. The flat, lightweight harmonic speed reduction joint module of claim 5 wherein the encoder disc is mounted on an end face of the shaft by a second transition sleeve, the drive control encoder integral plate is mounted on the rear end cap, and the drive control encoder integral plate corresponds to the encoder disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210790003.4A CN115163781A (en) | 2022-07-05 | 2022-07-05 | Flat lightweight harmonic speed reduction joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210790003.4A CN115163781A (en) | 2022-07-05 | 2022-07-05 | Flat lightweight harmonic speed reduction joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115163781A true CN115163781A (en) | 2022-10-11 |
Family
ID=83491444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210790003.4A Pending CN115163781A (en) | 2022-07-05 | 2022-07-05 | Flat lightweight harmonic speed reduction joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115163781A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117927634A (en) * | 2024-01-23 | 2024-04-26 | 天津朗道自动化技术有限公司 | Series elastic actuator |
-
2022
- 2022-07-05 CN CN202210790003.4A patent/CN115163781A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117927634A (en) * | 2024-01-23 | 2024-04-26 | 天津朗道自动化技术有限公司 | Series elastic actuator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108638118B (en) | Joint driving device of integrated robot | |
| CN201300421Y (en) | I-shaped joint module of a single degree-of-freedom robot | |
| CN115163781A (en) | Flat lightweight harmonic speed reduction joint module | |
| CN211940993U (en) | Modular robot joint integrating driving function and detection function | |
| CN109217574A (en) | A kind of electromechanical servo system | |
| CN114102659A (en) | Integrated robot driving joint based on planetary reducer | |
| CN113894838A (en) | Flat harmonic speed reduction modularization driving joint | |
| CN111230922A (en) | Modular robot joint integrating driving function and detection function | |
| CN216923101U (en) | Hollow harmonic speed reducer and robot joint | |
| CN208409914U (en) | integrated robot joint driving device | |
| CN110861120A (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN216940765U (en) | Modular robot joint | |
| CN115940503A (en) | Joint module of double-rigid-wheel harmonic speed reducer | |
| CN114043523B (en) | Modular robot joint | |
| CN219325262U (en) | Multistage compact type electric drive joint module and robot | |
| CN211415236U (en) | Driving joint based on double-stator frameless torque motor and industrial robot | |
| CN219086939U (en) | Double-rigid-wheel hollow harmonic speed reduction integrated machine | |
| CN208874436U (en) | A kind of electromechanical servo system | |
| CN209919921U (en) | Inner rotor motor drive integration joint | |
| CN218586981U (en) | Hollow lightweight harmonic speed reduction all-in-one machine | |
| CN219458828U (en) | Double-rigid-wheel harmonic reducer joint module | |
| CN214924559U (en) | Torque module | |
| CN219987665U (en) | Servo module, joint and robot | |
| CN214946313U (en) | Speed reducer assembly and mechanical arm joint | |
| CN220687942U (en) | Hub gear motor and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |