CN-224218232-U - Harmonic reduction joint motor module integrated with torque sensor

CN224218232UCN 224218232 UCN224218232 UCN 224218232UCN-224218232-U

Abstract

The utility model relates to a harmonic reduction joint motor module integrating a torque sensor, which comprises a motor assembly, a controller assembly and a harmonic reducer, wherein the controller assembly comprises a controller buckle cover and a circuit board A, the controller buckle cover is fixed with one end of a shell, a mounting cavity is formed between the controller buckle cover and the shell, the circuit board A is fixed in the mounting cavity, a wiring terminal is arranged on the circuit board A, a wire passing hole is formed in the controller buckle cover, a power supply and a signal wire harness are connected with the wiring terminal through the wire passing hole, the wire passing hole is also fixed with the wiring cover, the harmonic reducer comprises a wave generator, a flexible gear, a steel gear, a bearing inner ring and a bearing outer ring, an output disc is also fixed on the bearing outer ring, and the torque sensor is also fixed on the output disc.

Inventors

GAO ZHICHUAN
ZHANG HONG
NIU MINGKUI
JIN QIQIAN

Assignees

浙江方德机器人关节科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250427

Claims (10)

1. The harmonic speed reduction joint motor module integrated with the torque sensor comprises a motor component, a controller component and a harmonic speed reducer, wherein the controller component and the harmonic speed reducer are respectively arranged at two ends of the motor component, the motor component comprises a shell (1), a stator component (2) and a rotor component, the stator component (2) is fixed on the inner wall of the shell (1), the rotor component is arranged in the stator component, the two ends of the rotor component are rotationally connected with the shell (1), the rotor component comprises a rotating shaft (3) and a rotor iron core, the harmonic speed reduction joint motor module is characterized in that the controller component comprises a controller buckle cover (6) and a circuit board A (71), a mounting cavity is formed between the controller buckle cover (6) and one end of the shell (1), the circuit board A (71) is fixed in the mounting cavity, a wiring terminal (711) is arranged on the circuit board A (71), a wire passing hole (61) is further formed in a position corresponding to the wiring terminal (711), on the controller buckle cover (6), the position corresponding to the wiring terminal (711) is also provided with a wire passing hole (61), a power supply and a signal wire harness (8) is connected with an inner ring (13) through the wiring terminal (61), a speed reducer (12) and a bearing (13) are fixedly arranged on the bearing (13), the novel flexible gear is characterized in that the steel wheel (12) is fixed at the other end of the shell (1), the bearing inner ring (14) is fixed with the steel wheel (12), the bearing outer ring (13) is also fixed with an output disc (15), the wave generator (10) is fixed on the rotating shaft (3), one end of the flexible gear (11) is fixed with the output disc (15), the other end of the flexible gear is arranged between the wave generator (10) and the steel wheel (12), the wave generator (10) drives the flexible gear (11) to drive the steel wheel (12) to be staggered, and the output disc (15) is also fixed with a torque sensor (16).
2. The harmonic speed reducing joint motor module integrated with the torque sensor according to claim 1, wherein the middle part of the controller buckle cover (6) extends inwards to form an inner protection tube (63), the inner protection tube (63) is communicated with the controller buckle cover (6), a T-shaped wire harness tube is further fixed on the output disc (15), the T-shaped wire harness tube penetrates through the harmonic speed reducer and the rotating shaft (3) and then extends to the inner protection tube (63), and a sensor wire (17) of the torque sensor (16) penetrates through the T-shaped wire harness tube, the inner protection tube (63) and the wire passing hole (61) and then is connected with the wiring terminal (711).
3. The torque sensor integrated harmonic reduction joint motor module according to claim 2, wherein the T-shaped wire harness tube comprises a connecting disc (91) and a hollow intermediate shaft (92), the connecting disc (91) is fixed at one end of the intermediate shaft (92) and is communicated with the intermediate shaft (92) in a penetrating manner, and the connecting disc (91) is fixed with the output disc (15).
4. The harmonic speed reduction joint motor module integrated with the torque sensor according to claim 3, wherein an inner magnetic ring (73) is further fixed on one end of the intermediate shaft (92) extending into the installation cavity through an inner magnetic ring seat (93), an outer magnetic ring (74) is further fixed on one end of the rotating shaft (3) extending into the installation cavity through an outer magnetic ring seat (31), and the inner magnetic ring (73) and the outer magnetic ring (74) are located on the same axial plane and are concentrically arranged.
5. The torque sensor integrated harmonic reduction joint motor module according to claim 4, wherein the inner magnetic ring seat (93) is further provided with a ring groove, the inner protecting tube (63) is provided with a ring of ribs, the ribs are inserted into the ring groove, and the ribs are in clearance fit with the grooves.
6. The torque sensor integrated harmonic reduction joint motor module according to claim 4, wherein a circuit board B (72) is further fixed in the mounting cavity, and an induction chip is further arranged at a position of the circuit board B (72) corresponding to the inner magnetic ring (73) and the outer magnetic ring (74).
7. A harmonic reduction joint motor module integrated with a torque sensor according to claim 3, wherein a convex ring (151) is further arranged on one side of the output disc (15), the torque sensor (16) is fixed in the convex ring (151), and the flexible wheel (11) is fixed with the torque sensor (16).
8. The harmonic speed reducing joint motor module integrated with the torque sensor according to claim 7, wherein a circle of clamping groove is further formed in the end face of the convex ring (151), the edge of the connecting disc (91) is folded to form a clamping edge, the clamping edge is inserted and fixed in the clamping groove, and a wire sheath (94) is further arranged on the connecting disc (91).
9. The torque sensor integrated harmonic reduction joint motor module according to claim 1, wherein the rotor core comprises a rotor hub (4) and a ring-shaped magnet (41), the rotor hub (4) is sleeved and fixed on the rotating shaft (3), the ring-shaped magnet (41) is sleeved and fixed on the outer side of the rotor hub (4), and a plurality of weight reducing holes (42) are formed in the rotor hub (4).
10. The harmonic reduction joint motor module integrated with the torque sensor according to claim 1, wherein an end cover (5) is fixed at one end of the shell (1), the end cover (5) and the controller buckle cover (6) form a mounting cavity, and a cover plate is integrally formed at the other end of the shell (1).

Description

Harmonic reduction joint motor module integrated with torque sensor Technical Field The utility model belongs to the technical field of robot joint modules, and particularly relates to a harmonic speed reduction joint motor module integrated with a torque sensor. Background With the rapid development of industrial automation, robotics and precision transmission fields, the performance requirements on the joint driving module are increasingly improved, especially in the aspects of high-precision torque control, structural compactness, integrated design, reliability and the like. The harmonic reducer is widely applied to robot joints, precise instruments and automation equipment due to the advantages of high reduction ratio, light weight, high transmission precision and the like. However, the existing joint driving module of the integrated harmonic reducer still has the following technical bottlenecks: In the prior art, torque detection of a harmonic reduction joint motor usually adopts an external sensor or an indirect measurement mode. For example, some schemes mount a torque sensor at the motor shaft input, and indirectly estimate the load torque at the reducer output by detecting the motor output torque. However, due to the transmission characteristics (such as elastic deformation, friction loss, etc.) of the harmonic reducer, the torques at the input end and the output end have nonlinear relations, so that the measurement accuracy is limited, and particularly, errors are remarkable under the working condition of dynamic load or high reduction ratio. In addition, the external or split installation mode of the sensor increases the volume of the system, and is contrary to the requirements of miniaturization and light weight of the robot joint. In the existing module, the motor, the speed reducer, the controller and other components are in split layout, so that the axial length is too long, the space utilization rate is low, and the requirement of the robot joint and the like on compact installation is difficult to meet. The power supply and the signal wire harness are usually directly connected with the controller through the opening of the shell, lack of sealing protection, easily cause the problems of cable abrasion, poor contact and the like under vibration or severe environment, influence the reliability of the system, and often need to detach the shell when the wires are connected, and therefore time and labor are wasted, and the stability of internal components is influenced. Disclosure of utility model In order to solve the technical problems, the utility model aims to provide the harmonic reduction joint motor module integrated with the torque sensor, which has the advantages of compact structure, high precision, convenient wiring and good stability. In order to achieve the above object, the present utility model adopts the following technical scheme: The harmonic speed reduction joint motor module integrated with the torque sensor comprises a motor assembly, and a controller assembly and a harmonic speed reducer which are respectively arranged at two ends of the motor assembly, wherein the motor assembly comprises a shell, a stator assembly and a rotor assembly, the stator assembly is fixed on the inner wall of the shell, the rotor assembly is arranged in the stator assembly, two ends of the rotor assembly are rotatably connected with the shell, the rotor assembly comprises a rotating shaft and a rotor iron core, the controller assembly comprises a controller buckle cover and a circuit board A, the controller buckle cover is fixed with one end of the shell, an installation cavity is formed between the controller buckle cover and the shell, the circuit board A is fixed in the installation cavity, a wiring terminal is arranged on the circuit board A, a wire passing hole is further formed in the position of the controller buckle cover corresponding to the wiring terminal, a power supply and a signal wire harness are connected with the wiring terminal through the wire passing hole, the wiring hole is further fixedly provided with the wiring cover, the harmonic speed reducer comprises a wave generator, a flexible wheel, a steel wheel, a bearing and a bearing outer ring, the steel wheel is fixed at the other end of the shell, the bearing is fixed with the bearing, the bearing is fixed with the steel wheel, the steel wheel is fixed with the other end of the flexible wheel, the bearing is fixed with the output disc, the output disc is fixed with the output disc, and the output disc is fixed with the flexible wheel, and the output disc is fixed with the output disc. As the preferable scheme, the middle part of controller buckle closure inwards extends and forms interior pillar, and interior pillar link up with the controller buckle closure, still be fixed with T shape pencil pipe on the output dish, T shape pencil pipe runs through harmonic reduction gear, pivot back and stretches to interior pillar departm