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Torque module

A module and moment technology, applied in the field of moment modules, can solve the problems of inseparability, high cost, and large volume

Inactive Publication Date: 2021-06-08
凡点(青岛)智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, common manipulator joints generally use motors, reducers, encoders, brakes, and drivers to carry out transmission mechanisms in series. Various structures with different functions are assembled together to form a manipulator joint, and each part cannot be disassembled; however, due to the structure Due to restrictions or application requirements, one or more functions are not required in certain fields or application scenarios, so the above-mentioned robotic arm joints with multiple functions are not only costly and bulky, but also easy to make the joints The efficiency and reliability are low. In order to solve the above problems, the inventor urgently needs to design a torque module that can be used in combination with other mechanisms. The torque module is used to generate high torque. When it needs to be used in combination with other components , and then adapt it as needed

Method used

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Experimental program
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Effect test

Embodiment 1

[0028] Such as figure 1 As shown, the torque module includes a housing 1. The housing 1 is used as the installation carrier of the torque module. It is formed by fastening a main housing and a side end cover. The space can be screwed or screwed; the housing 1 can be rectangular or cylindrical.

[0029] In this embodiment, a motor assembly 2 is installed in the housing 1, the output end of the motor assembly 2 is fixed with a motor output shaft 11, the motor assembly 2 is a frameless torque motor, and the motor assembly 2 includes The stator 21 and the rotor 22 cooperate with each other, the outer periphery of the stator 21 of the motor assembly 2 is fixed in the housing 1 with an interference fit, and the inner periphery of the rotor 22 of the motor assembly 2 is fixed in the motor output shaft with an interference fit 11; a reducer assembly 3 is installed on one side of the motor output shaft 11, and an output shaft 12 is fixed at the output end of the reducer assembly 3.

...

Embodiment 2

[0050]The difference between the second embodiment and other embodiments is that the structure of the bearing eccentric sleeve is different, and other structures are the same.

[0051] The bearing eccentric sleeve in Embodiment 1 has an integral structure, see figure 2 , that is, the outer circumference of a bearing eccentric sleeve is equipped with two transmission gears through two bearing balls, and in this embodiment, the bearing eccentric sleeve includes N eccentric bearings sequentially installed on the power output and output shaft, N≥ 2. The phase angle between adjacent eccentric bearings is 360° / N, and an eccentric installation position is formed on the outer circumference of each eccentric bearing, see image 3 The intermediate reducer assembly is provided with three eccentric bearings, the phase angle between the three eccentric bearings is 120°, and each eccentric bearing is equipped with a transmission gear, that is, the number of transmission gears corresponds t...

Embodiment 3

[0053] The difference between the third embodiment and other embodiments is that the structure of the pin sleeve 37 is different, and the other structures are the same.

[0054] The pin bushing in Embodiment 1 has an integrally formed structure, see figure 2 , because the phase angles of the two transmission gears are different, that is, the direction of the force acting on the pin sleeve when the two transmission gears move is different, so that there is a tangential torque in the pin sleeve, and this torque causes the transmission gear and the pin shaft to The friction between the sleeves is relatively large, which will reduce the efficiency of torque transmission. In order to solve this problem, the pin sleeve is set as a segmented structure, see image 3 , in this embodiment, the pin sleeve includes at least two sub-sleeves that are sequentially connected, the number of the sub-sleeves corresponds to the number of the transmission gears, and the outer circumference of eac...

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Abstract

The invention discloses a torque module which comprises a shell, a motor assembly and a speed reducer assembly; the speed reducer assembly comprises a bearing eccentric sleeve, at least two eccentric mounting positions with different phase angles are arranged on the outer periphery of the bearing eccentric sleeve, a transmission gear is rotationally mounted on each eccentric mounting position, and a fixed gear ring is meshed with the outer periphery of each transmission gear; a planet carrier upper cover and a planet carrier lower cover are correspondingly installed on the outer end faces of the two sides of the transmission gears, and an anti-loosening fixing device is connected between the planet carrier upper cover and the planet carrier lower cover; and the outer periphery of the planet carrier upper cover and the outer periphery of the planet carrier lower cover are rotationally mounted on the shell, a same-shell fixing device is arranged between the planet carrier upper cover and the shell, the inner periphery of the planet carrier upper cover and the inner periphery of the planet carrier lower cover are rotationally mounted on a motor output shaft, and an axial positioning device is arranged between the planet carrier lower cover and the motor output shaft. The torque module has the advantages of compact structure, high integration level, low rotating speed, high torque, high reliability and the like.

Description

technical field [0001] The invention relates to a moment module. Background technique [0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are getting more and more attention, and their applications are becoming more and more extensive. Robot technology mainly concentrates the latest research results of various technologies such as mechanical engineering, automatic control and artificial intelligence, embodies the latest achievements of optoelectronic integration, and is one of the most active fields in the development of contemporary science and technology. The robotic arm is currently the most widely used automated mechanical device in the field of robotics. It plays an extremely important role in production and life. In practical applications, many industrial processes require robotic arms for assembly and extraction operations. The robotic arm can accept instructions and accurately locate a cer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/12
CPCB25J9/12B25J17/00
Inventor 石东海
Owner 凡点(青岛)智能装备有限公司
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