CN115940503A - A joint module of double rigid wheel harmonic reducer - Google Patents

Abstract

The invention provides a joint module of a double rigid wheel harmonic reducer, which relates to the technical field of reducers, including a wave generator, a flexible bearing, a flexible wheel, a rigid wheel 1, a rigid wheel 2, a motor casing, a motor stator, and a motor rotor , drive plate, motor back cover, front end cover and rear end cover, there is a cross roller bearing between the first and second steel wheels, and the outer walls of the first and second steel wheels are respectively used as the inner rings of the cross roller bearings and the outer ring; the motor casing is fixed on one end of the wave generator, the motor rotor sleeve is fixed outside the wave generator, the motor stator is installed in the motor casing, and the front end cover is integrally formed with it and pierced on the wave generator side. A line pipe in the inner hole of the generator; a first bearing is provided between the wave generator and the line pipe, and a second bearing is provided between the motor back cover and the wave generator. The invention can improve the motion precision and stability of the module, shorten the axial length of the module, and meet the requirements of small size, light weight and high torque density of the module.

Description

A double rigid wheel harmonic reducer joint module

technical field

The invention relates to the technical field of reducers, in particular to a joint module of a double rigid wheel harmonic reducer.

Background technique

The robot joint module is the core component of small robots such as collaborative robots and mobile robots. The joint module of the reducer and motor can realize the fast and convenient assembly and maintenance of the robot. At present, robot joint modules are being more and more used in the service robot industry, so there are strict requirements on the performance of joint modules such as small size, light weight, high torque density, and high reliability.

Most of the robot joint modules in the prior art adopt the integrated design of a single rigid wheel structure harmonic reducer and a frameless torque motor. The single rigid wheel harmonic reducer has long axial length, insufficient load and impact resistance, etc. question. The frameless torque motor is limited by volume, thickness, central aperture, etc., and the thickness of the magnetic material of the rotor is often not enough, resulting in insufficient power, which cannot match the output capacity of the harmonic reducer, and thus cannot meet the load capacity of the module.

If the two rigid wheels of the double rigid wheel module in the prior art are not connected by cross bearings, the bending moment capacity is insufficient to meet the requirements of the module's bending moment carrying capacity. If the cross bearings are used to connect, it will As a result, the large volume and weight cannot meet the requirements for miniaturization and light weight of the module. In addition, most of the reducer shaft and the motor shaft in the existing modules are two separate shafts, which makes it difficult to achieve high coaxiality between the two, which greatly increases the difficulty of assembly and cannot guarantee the smooth operation of the module. sex.

Contents of the invention

The purpose of the present invention is to provide a double rigid wheel harmonic reducer joint module, which can improve the motion accuracy and stability of the module, shorten the axis length of the module, and meet the small size, light weight and high torque of the module. Density, high reliability requirements.

Above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

A joint module of a double rigid wheel harmonic reducer, including a wave generator, a flexible bearing, a flexible wheel, a rigid wheel 1, a rigid wheel 2, a motor casing, a motor stator, a motor rotor, a drive plate, a motor back cover, and a front cover And the rear end cover, the wave generator is equipped with a flexible bearing, the flexible bearing is covered with a flex spline, the outer teeth of the flex spline mesh with the first inner tooth of the rigid wheel and the second inner tooth of the rigid wheel, and the flexible spline The wheel meshes with one of the rigid wheel one and the rigid wheel two, and the other differential tooth meshes; a cross roller bearing is arranged between the rigid wheel one and the rigid wheel two, and the rigid wheel one and the rigid wheel The outer walls of the two are respectively used as the inner ring and the outer ring of the cross roller bearing, and the inner teeth of the first and second wheels are respectively processed and formed on the inner and outer rings of the cross roller bearing;

The motor housing is arranged coaxially with the wave generator and fixed at one end of the wave generator, the second rigid wheel is located between the first rigid wheel and the motor housing and is connected to the motor housing, and the motor rotor is set and fixed outside the wave generator Drive the wave generator to rotate, the motor stator is installed in the motor shell to cooperate with the motor rotor; the motor back cover is set at the end of the motor stator away from the flexible bearing, and the rear end cover is set at the end of the motor shell away from the wave generator , the drive board is arranged between the motor rear cover and the rear end cover;

The front end cover is arranged on the end of the wave generator away from the motor casing, and a line pipe arranged along its axial direction and integrally formed with it is provided on the side close to the wave generator, and the line pipe passes through the wave generator In the inner hole of the device and the motor casing, and it is coaxially arranged with the front end cover and the wave generator; the first bearing close to the front end cover is arranged between the wave generator and the line pipe, and the motor back cover and the wave generator A second bearing is provided between the generators.

By adopting the above technical scheme, the stator of the motor is fixed in the motor casing, the rotor of the motor is fixed on the wave generator, the second rigid wheel is connected to the motor casing, one of the rigid wheel 1 and the second rigid wheel is used as a fixed end, and the other is used as an output end, The drive plate drives the motor rotor to drive the wave generator to rotate. The wave generator drives the flex spline to deform through the flexible bearing. There are one to four more teeth for differential tooth number meshing, and the meshing with the same number of teeth keeps running at the same speed with the flexspline, and the meshing with the differential number of teeth keeps running with a different number of teeth for the flexspline. The double rigid wheel harmonic reducer is used to replace the single rigid wheel harmonic reducer to improve the impact resistance and load capacity of the module.

Among them, the steel wheel 1 and the steel wheel 2 are respectively used as the inner ring and the outer ring of the cross roller bearing, and the inner teeth of the steel wheel 1 and the steel wheel 2 are all on the inner wall of the inner ring and the outer ring of the cross roller bearing As a result of processing, cross rollers are installed between the two to form an integrated structure of the first and second steel wheels and the cross roller bearings. That is to say, the inner ring and the outer ring of the original crossed roller bearing are processed with internal teeth to replace the original two rigid wheels. The weight and volume of a rigid wheel, and the axial length of the harmonic reducer is only equivalent to the length of the original cross roller bearing, the axial length is greatly shortened, thereby effectively reducing the volume and weight of the module and meeting the requirements of the module. Miniaturization and lightweight requirements.

In addition, the axial length of the wave generator is lengthened, the motor rotor is installed outside the wave generator, and the wave generator is directly used as the input shaft of the frameless torque motor, which improves the coaxiality of the motor and the reducer, reduces the difficulty of assembly, and The reducer and the motor are supported by the first bearing and the second bearing to ensure the stability of the module operation. The provision of the line pipe integrally formed with the front end cover facilitates the installation between the wave generator and the front end cover on the one hand, and facilitates the routing of wires from the line pipe on the other hand.

In the present invention, the double rigid wheel harmonic reducer is used to replace the single rigid wheel harmonic reducer in the module, and the wave generator is used as the input shaft of the frameless torque motor, and the first bearing and the second bearing are arranged to oppose the wave generator and the The motor is supported, and the cross roller bearing is set between the first and second steel wheels, and the outer walls of the first and second steel wheels are used as the inner and outer rings of the cross roller bearings, which effectively improves the performance of the module. Motion accuracy and stability, shorten the axis length of the module, and meet the requirements of small size, light weight, high torque density and high reliability of the module.

Further, a bearing spacer is provided between the inner ring of the second bearing and the outer circle of the wave generator, and a third bearing is provided between the end of the motor housing close to the wave generator and the wave generator; the wave generator The diameter of the outer circle of the device is stepped, and it increases sequentially relative to the diameters of the outer circle at the three positions of the bearing spacer, the third bearing and the flexible bearing.

By adopting the above technical scheme, the axial length of the wave generator is relatively long, one side is used as the input shaft of the harmonic reducer, and the other side is used as the input shaft of the frameless torque motor, and the first bearing and the third bearing are set to support the reducer together , the second bearing and the third bearing support the motor together, so that the use of three bearings in one ensures that the harmonic reducer and the motor of the entire module can always maintain coaxial operation, and at the same time reduce the runout of the wave generator, thereby ensuring the module movement precision and stability. Wherein, due to the installation requirements of the third bearing, the outer diameter of the outer circle of the wave generator relative to the position of the second bearing is smaller than the outer diameter of the outer circle corresponding to the third position, which is convenient for the third bearing to be installed in place from one end of the wave generator. The arrangement of the bearing spacer facilitates the installation of the second bearing, and can make the size of the second bearing and the third bearing the same, without additionally designing the second bearing. In addition, the diameter of the outer circle of the wave generator relative to the position of the flexible bearing is greater than the diameter of the outer circle corresponding to the position of the third bearing. Under the premise of ensuring the normal function of the wave generator, enough space is provided for the installation of the motor, and as much as possible Reduce the weight of the wave generator to meet the lightweight requirements of the module.

Further, a motor encoder is provided between the drive plate and the second bearing, and the motor encoder is connected to one end of the wave generator close to the rear end cover; the inner wall of the motor housing is provided with a torque sensor coaxial with it, And the torque sensor has a plurality of induction plates arranged in a circular array.

By adopting the above-mentioned technical scheme, a motor encoder connected to the wave generator is provided to improve the rotational accuracy of the wave generator, that is, the input end, thereby ensuring the motion accuracy of the module. The torque sensor with the induction sheet will elastically deform when the module is subjected to the torque in the rotation direction and the bending moment in the axial direction, and the torque received by the module in different directions can be calculated according to the measured deformation, so as to facilitate the control of the module. group work.

Further, there are two flexible bearings, and the two flexible bearings correspond to the first inner tooth of the rigid wheel and the second inner tooth of the rigid wheel; the outer wall of the first rigid wheel serves as the inner ring of the cross roller bearing, so The outer wall of the second rigid wheel is used as the outer ring of the cross roller bearing; the end face of the first rigid wheel near the front end cover and the front end cover are provided with end face installation holes that cooperate with each other, and the axis of the end face installation hole is parallel to the rigid wheel. Axis of wheel one.

By adopting the above-mentioned technical scheme, two flexible bearings are provided and correspond to the inner teeth of the first and second rigid wheels respectively, so that the wave generator drives the flexible wheels to closely mesh with the first and second rigid wheels respectively through the two flexible bearings. Due to the shape of the steel wheel 1 and the steel wheel 2, the outer wall of the steel wheel 1 is used as the inner ring of the cross roller bearing, and the steel wheel 2 is used as the outer ring of the cross roller bearing. The mounting holes on the end face are convenient for the installation and connection between the front end cover and the first wheel.

Further, the flexible bearing is provided with one and is located in the middle of the flexible spline, the flexible bearing corresponds to the first and second rigid splines at the same time, and the width of the outer teeth of the flexible spline is the same as that of the first internal tooth of the rigid spline and the second rigid spline. The total width of the internal teeth is the same; the outer wall of the first wheel is used as the outer ring of the cross roller bearing, and the outer wall of the second wheel is used as the inner ring of the cross roller bearing; the outer wall of the first wheel is provided with an outer circle A mounting hole, and the axis of the outer circle mounting hole is arranged along the radial direction of the rigid wheel.

By adopting the above technical scheme, the flexible bearing is set as one, and the axial lengths of the elliptical cam, flex spline, rigid spline 1 and rigid spline 2 of the corresponding wave generator and flexible bearing can be appropriately shortened, while maintaining the axial length In terms of length, the width of the outer tooth of the flexspline is the same as the total width of the first inner tooth of the rigid spline and the second inner tooth of the rigid spline, and the flexible bearing is located in the middle of the flexspline and corresponds to the first and second rigid spline, so that the outer tooth of the flexspline and the second spline The first internal tooth of the rigid wheel and the second internal tooth of the rigid wheel are equally stressed during the meshing process, and are in an optimal balance state. The reducer runs the most smoothly and maximizes the service life. After one flexible bearing replaces two flexible bearings, the volume of the whole module is greatly reduced, and the axial length is greatly shortened. There is no longer space for locking screws in the axial direction between the shells, but the outer diameter does not change. Therefore, an outer circular mounting hole is set on the outer wall of the first wheel, and the screws are locked from the radial direction to fix the first wheel and the module housing. Due to the setting and shape requirements of the outer circle mounting holes, it is necessary to use the first outer wall of the rigid wheel as the outer ring of the crossed roller bearing, and the second outer wall of the rigid wheel as the inner ring of the crossed roller bearing.

Further, the motor casing and the second rigid wheel are integrally formed, the motor stator is fixed on the second rigid wheel by screws, and the outer wall of the wave generator is provided with a ring groove coaxial with it and matched with the motor rotor, so The motor rotor is embedded in the ring groove.

By adopting the above technical scheme, the motor shell and the rigid wheel are integrally formed, that is, the integrated design of the motor shell and the rigid wheel can increase the rigidity and strength of the entire module, and make the structure of the module more compact and further shorten The axial length of the module. The motor stator is fixed on the second rigid wheel with screws, which makes the installation of the motor stator more firm, avoids the deformation of parts caused by interference installation or the instability and glue pollution caused by glue fixing, and makes the installation more convenient. In addition, the stator of the motor is fixed on the second rigid wheel to ensure that the motor and the reducer are coaxial as much as possible, and the two are fixed as firmly as possible to avoid relative displacement, thereby ensuring the stability and motion accuracy of the overall operation of the module. The motor rotor is embedded in the ring groove, that is, the integrated design of the motor rotor and the wave generator. On the one hand, the thickness of the motor rotor can be increased, and the output power of the motor can be increased. On the other hand, the inner hole of the wave generator can be further enlarged. , that is, the expansion of the wire pipe provides convenience for module wiring, and the module structure is simpler and more compact, and the power density of the entire module is greatly improved.

Further, the flexible bearing is provided with one and is located in the middle of the flexible spline, the flexible bearing corresponds to the first and second rigid splines at the same time, and the width of the outer teeth of the flexible spline is the same as that of the first internal tooth of the rigid spline and the second rigid spline. The total width of the internal teeth is the same; the outer wall of the first wheel is used as the outer ring of the cross roller bearing, the outer wall of the second wheel is used as the inner ring of the cross roller bearing, and the outer wall of the first wheel is provided with an outer ring. A circular mounting hole, the axis of the outer circular mounting hole is arranged along the radial direction of the rigid wheel.

By adopting the above technical scheme, the flexible bearing is set as one, and the axial lengths of the elliptical cam, flex spline, rigid spline 1 and rigid spline 2 of the corresponding wave generator and flexible bearing can be appropriately shortened, while maintaining the axial length In terms of length, the width of the outer tooth of the flexspline is the same as the total width of the first inner tooth of the rigid spline and the second inner tooth of the rigid spline, and the flexible bearing is located in the middle of the flexspline and corresponds to the first and second rigid spline, so that the outer tooth of the flexspline and the second spline The first internal tooth of the rigid wheel and the second internal tooth of the rigid wheel are equally stressed during the meshing process, and are in an optimal balance state. The reducer runs the most smoothly and maximizes the service life. After one flexible bearing replaces two flexible bearings, the volume of the whole module is greatly reduced, and the axial length is greatly shortened. There is no longer space for locking screws in the axial direction between the shells, but the outer diameter does not change. Therefore, an outer circular mounting hole is set on the outer wall of the first wheel, and the screws are locked from the radial direction to fix the first wheel and the module housing. Due to the setting and shape requirements of the outer circle mounting holes, it is necessary to use the first outer wall of the rigid wheel as the outer ring of the crossed roller bearing, and the second outer wall of the rigid wheel as the inner ring of the crossed roller bearing.

Further, a first encoder is provided between the motor rotor and the second bearing, a second encoder is provided between the drive plate and the rear end cover, and the first encoder is connected to the wave generator, so The second encoder is connected to the wire pipe on the front end cover; the inner wall of the motor casing is provided with a torque sensor coaxial with it, and the torque sensor has a plurality of induction plates arranged in a circular array.

By adopting the above technical scheme, the first encoder and the second encoder are set, so that the module adopts a double encoder structure, the first encoder is connected to the wave generator, that is, the input end of the module, and the second encoder is connected to the line pipe It is connected to the output end of the module, and the closed-loop control of the double encoder at the input end and the output end can greatly improve the movement accuracy of the module. The torque sensor with the induction sheet will elastically deform when the module is subjected to the torque in the rotation direction and the bending moment in the axial direction, and the torque received by the module in different directions can be calculated according to the measured deformation, so as to facilitate the control of the module. group work.

Further, a motor brake is provided between the end face of the wave generator away from the front end cover and the drive plate, the motor brake includes an armature, a yoke, an electromagnetic coil and a spring, and the armature is close to the wave generating end face, the When the motor brakes, the spring pushes the armature to press against the end face of the wave generator for braking.

By adopting the above-mentioned technical scheme, the original motor brake has a brake disc. This application directly uses the end face of the wave generator as a brake disc, omitting the original brake disc. When the motor brakes, the spring pushes the armature to press Tighten the end face of the wave generator, under the action of friction torque, the wave generator stops running immediately, that is, the motor stops running at the same time, and the brake is realized. In this way, the weight and volume of the motor brake can be reduced, and the weight and miniaturization of the module can be realized.

Further, a sealing gasket ring is provided between the motor stator and the second rigid wheel, and the sealing gasket ring is a polytetrafluoroethylene gasket ring.

By adopting the above technical solution, the gasket ring arranged between the stator of the motor and the second rigid wheel plays a sealing role, preventing grease from leaking from one side of the reducer into the motor. Among them, the gasket ring is a polytetrafluoroethylene gasket ring, which has excellent chemical stability, corrosion resistance, sealing, high lubrication and non-stickiness, electrical insulation and good anti-aging endurance, and effectively guarantees the use effect of the gasket ring and service life.

In summary, the present invention has the following beneficial effects:

1. In the present invention, the harmonic speed reducer adopts a double rigid wheel structure including the first rigid wheel and the second rigid wheel to replace the single rigid wheel structure, which enhances the impact resistance and load capacity of the harmonic reducer; the difference between the first rigid wheel and the second rigid wheel Cross roller bearings are also set in the room, and the outer walls of the first and second steel wheels are respectively used as the inner and outer rings of the cross roller bearings, and the inner teeth are processed on the inner and outer rings of the original cross roller bearings as the steel wheels One and two rigid wheels, the integrated design of double rigid wheels and cross roller bearings saves the weight and volume of the original two rigid wheels, and the axial length of the harmonic reducer is only equivalent to the original cross rollers The length of the bearing and the axial length of the reducer are greatly shortened, making the whole module lighter and smaller;

2. In the present invention, the motor rotor is installed on the wave generator, the axial length of the wave generator is lengthened, the original motor input shaft is replaced by the wave generator, and the first bearing, the second bearing and the third bearing jointly support the deceleration The machine and motor can greatly improve the coaxiality of the reducer and the motor to ensure the operation accuracy and stability of the module;

3. In the present invention, the wave generator and the motor rotor are integrated, and the motor casing and the rigid wheel are integrated to effectively improve the coaxiality of the reducer and the motor, improve the running accuracy and stability of the module, and increase the size of the motor rotor at the same time. The thickness of the motor increases the output power of the motor, and the power density of the entire module is greatly improved to meet the load capacity requirements of the module.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a joint module of a double rigid wheel harmonic reducer in Embodiment 1;

Fig. 2 is a schematic diagram of the overall structure of a joint module of a double rigid wheel harmonic reducer in the second embodiment;

Fig. 3 is a schematic diagram of the overall structure of a joint module of a double rigid wheel harmonic reducer in the third embodiment;

FIG. 4 is a schematic structural diagram of part A in FIG. 3 .

In the figure, 1. wave generator; 2. flexible bearing; 3. flexible wheel; 4. rigid wheel 1; Bearing; 7. Motor shell; 8. Motor stator; 81. Gasket ring; 82. Screw; 9. Motor rotor; 91. Ring groove; 10. Drive plate; 11. Motor back cover; 12. Front cover; 13. 14. Rear end cover; 15. First bearing; 16. Second bearing; 17. Bearing spacer; 18. Third bearing; 19. Motor encoder; 20. Torque sensor; 21. First code 22, the second encoder; 23, the motor brake; 24, the armature; 25, the yoke; 26, the electromagnetic coil; 27, the spring.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Embodiment one:

A double rigid wheel harmonic reducer joint module, as shown in Figure 1, includes a double rigid wheel harmonic reducer and a motor, and the double rigid wheel harmonic reducer includes a wave generator 1, a flexible bearing 2, and a flexible wheel 3 , rigid wheel one 4, rigid wheel two 5, the motor includes a motor casing 7, a motor stator 8, a motor rotor 9, a drive plate 10, a motor back cover 11, and the motor casing 7 is coaxially arranged with the wave generator 1 and fixed on the wave generator. One end of the wave generator 1, and the end of the wave generator 1 away from the motor housing 7 is provided with a front end cover 12, and the end of the motor housing 7 away from the wave generator 1 is provided with a rear end cover 14.

As shown in Figure 1, the position corresponding to the wave generator 1 and the flexible bearing 2 is in the shape of an elliptical cam. The flexible bearing 2 is installed on the elliptical cam of the wave generator 1. The external teeth of wheel 3 mesh with the internal teeth of rigid wheel 1 4 and rigid wheel 2 5 at the same time, and one of the internal teeth of rigid wheel 1 4 and rigid wheel 2 5 has the same number of teeth as the external teeth of flexible wheel 3. The number of teeth meshes to keep rotating at the same speed, and the other internal tooth has one to four teeth more than the outer teeth of the flexspline 3, and the meshing of the two different numbers of teeth keeps the differential speed running. One of the rigid wheel 4 and the rigid wheel 2 5 is used as an output end, and the other is used as a fixed end.

As shown in Figure 1, a cross roller bearing 6 is provided between the first wheel 4 and the second wheel 5, and the outer walls of the first wheel 4 and the second wheel 5 are used as the inner ring and the inner ring of the cross roller bearing 6 respectively. The outer ring, and the internal teeth of the first wheel 4 and the second wheel 5 are respectively processed on the inner ring and the outer ring of the cross roller bearing 6, so that the first wheel 4 and the second wheel 5 are connected to the cross roller bearing 6 integration. That is to say, the outer teeth meshing with the flexible spline 3 are directly processed on the inner and outer rings of the original crossed roller bearing 6, so that the inner and outer rings of the crossed roller bearing 6 can directly replace the original two rigid wheels , which saves the volume and weight of the two rigid wheels, and greatly reduces the axial length of the double rigid wheel harmonic reducer.

As shown in Figure 1, in this embodiment, two flexible bearings 2 are provided, and the two flexible bearings 2 are respectively corresponding to the inner teeth of the first wheel 4 and the inner teeth of the second wheel 5, so as to ensure that the flexible wheel 3 and the inner teeth of the first wheel 4 and the engagement effect of the rigid wheel 2 5. The outer wall of the steel wheel 1 is used as the inner ring of the cross roller bearing 6, and the outer wall of the steel wheel 2 5 is used as the outer ring of the cross roller bearing 6, that is, the inner ring of the cross roller bearing 6 is processed as the steel wheel One 4, the outer ring of the crossed roller bearing 6 processes internal teeth as the rigid wheel two 5. Based on this structure, in order to facilitate the connection between the steel wheel-4 and the module housing (not shown in the figure), the end surface of the steel wheel-4 close to the front end cover 12 and the front end cover 12 are provided with a mating end face mounting hole 41 , and the axis of the end mounting hole 41 is parallel to the axis of the rigid wheel 4.

As shown in Figure 1, in this embodiment, the second rigid wheel 5 is located between the first rigid wheel 4 and the motor casing 7 and is connected to the motor casing 7, the axial length of the wave generator 1 is lengthened, and the motor rotor 9 is fixed by rotation. Installed outside the wave generator 1, the motor stator 8 is installed in the motor casing 7 to cooperate with the motor rotor 9. The motor back cover 11 is arranged at the end of the motor stator 8 away from the flexible bearing 2, the rear end cover 14 is arranged at the end of the motor casing 7 away from the wave generator 1, and the driving board 10 is arranged between the motor back cover 11 and the rear end cover 14, The drive motor rotor 9 drives the wave generator 1 to rotate. Wherein, the side of the front end cover 12 close to the wave generator 1 is provided with a hollow line pipe 13 arranged along its axial direction and integrally formed with it, and the line pipe 13 is penetrated in the inner hole of the wave generator 1 and the motor housing 7 , and it is arranged coaxially with the front end cover 12 and the wave generator 1, which not only facilitates the rotational connection between the wave generator 1 and the front end cover 12, but also facilitates the threading of the harmonic reducer.

As shown in Figure 1, by lengthening the axial length of the wave generator 1, the motor rotor 9 is installed on the wave generator 1, one side is used as the input shaft of the harmonic reducer, and the other side is used as the input shaft of the motor. The wave generator 1 replaces the input shaft of the motor, improves the coaxiality between the harmonic reducer and the motor, and reduces assembly difficulty. Wave generator 1 is easy to jump when running after the axial length is lengthened, therefore, be provided with the first bearing 15 close to front end cover 12 between wave generator 1 and line pipe 13, between motor rear cover 11 and wave generator 1 A second bearing 16 is provided between them, and a bearing spacer 17 is provided between the inner ring of the second bearing 16 and the outer circle of the wave generator 1, and a bearing spacer 17 is provided between the end of the motor housing 7 close to the wave generator 1 and the wave generator 1. The third bearing 18 . The first bearing 15, the second bearing 16 and the third bearing 18 are all high-precision deep groove ball bearings, so the wave generator 1 is supported by the first bearing 15 and the third bearing 18, and the second bearing 16 and the third bearing 18 support The motor ensures the coaxiality while reducing the axial runout of the wave generator 1 and improving the stability of the module operation.

As shown in Figure 1, in this embodiment, the diameter of the outer circle of the wave generator 1 is stepped, and its outer circle diameter at three positions of the bearing spacer 17, the third bearing 18, and the flexible bearing 2 increases sequentially. , so as to ensure the overall working performance of the wave generator 1 while leaving enough installation space for the motor, while reducing the overall weight and volume of the module.

As shown in Figure 1, a motor encoder 19 is also provided between the drive plate 10 and the second bearing 16, and the motor encoder 19 is connected with the wave generator 1 near the end cover 14, and the motor encoder 19 is used to accurately Control wave generator 1, namely the running accuracy of the input end. In addition, a torque sensor 20 coaxial with the inner wall of the motor casing 7 is provided, and the torque sensor 20 has a plurality of induction plates arranged in a circumferential array. The torque sensor 20 with an induction piece will elastically deform when the module is subjected to the torque in the rotation direction and the bending moment in the axial direction, and the torque received by the module in different directions can be calculated according to the measured deformation, so as to facilitate control Mod work.

Embodiment two:

A double rigid wheel harmonic reducer joint module, as shown in Figure 1 and Figure 2, its structure and principle are basically the same as in Embodiment 1, the difference from Embodiment 1 is that the flexible bearing 2 is equipped with Only one is provided, and the flexible bearing 2 is changed from two to one. Correspondingly, the axial lengths of the elliptical cam, the flexible wheel 3, the first rigid wheel 4 and the second rigid wheel 5 of the flexible bearing 2 installed on the wave generator 1 can be appropriate shorten. After the flexible bearing 2 is set as one, it is required that the flexible bearing 2 is located in the middle of the flexible spline 3 and corresponds to the rigid spline 1 4 and the rigid spline 2 5 at the same time, and the width of the external teeth of the flexible spline 3 is the same as that of the rigid spline 1 4 internal teeth and the rigid spline The total width of the two 5 internal teeth is the same, so that the external teeth of the flexible spline 3 and the internal teeth of the rigid spline 4 and the internal teeth of the rigid spline 2 and 5 are in the same degree of force during the meshing process, and are in an optimal balance state, and the reducer runs the most smoothly , to maximize service life.

As shown in Figure 1 and Figure 2, after one flexible bearing 2 replaces two flexible bearings 2, the volume of the whole module is greatly reduced, and the axial length is greatly shortened. The length is shortened, at this moment, there is no space for the axial direction locking screw 82 between the rigid wheel-4 and the housing (not shown in the figure) of the package module, but the outer diameter does not change, so in the rigid wheel-4 The outer wall is provided with an outer circular mounting hole 42 whose axis is arranged radially along the radial direction of the rigid wheel 4, and the outer circular mounting hole 42 is used to replace the end face mounting hole 41 in Embodiment 1, and the locking screw 82 from the radial direction is used to fix the rigid wheel 4 and the module case.

As shown in Figure 1 and Figure 2, due to the setting and shape requirements of the outer circular mounting hole 42, it is necessary to use the outer wall of the rigid wheel 4 as the outer ring of the cross roller bearing 6, and the outer wall of the rigid wheel 2 5 as the cross roller The inner ring of the bearing 6 is equivalent to exchanging the shapes of the first wheel 4 and the second wheel 5 in the first embodiment, that is to say, processing the inner teeth on the outer ring of the cross roller bearing 6 as the first wheel 4 Use, process the internal teeth on the inner ring of the cross roller bearing 6 and use it as the rigid wheel two 5.

Embodiment three:

A double rigid wheel harmonic reducer joint module, its basic structure and principle are basically the same as those in Embodiment 1, the difference lies in:

As shown in Fig. 1 and Fig. 3, in embodiment one, the motor is detachably installed and connected to the rigid wheel 2, and the motor rotor 9 is directly set and fixed outside the wave generator 1, while in this embodiment, the motor casing 7 is connected to the rigid wheel The second 5 is set to be integrally formed, the motor stator 8 is fixedly installed on the rigid wheel 25 by screws 82, the outer wall of the wave generator 1 is provided with a ring groove 91 coaxial with it and matched with the motor rotor 9, and the motor rotor 9 is embedded in the ring. In the slot 91, that is to say, in this embodiment, the motor casing 7 and the rigid wheel 2 5 are integrated, and the motor rotor 9 and the wave generator 1 are integrated.

As shown in Figures 1 and 3, the integrated design of the motor housing 7 and the rigid wheel can increase the rigidity and strength of the entire module, make the structure of the module more compact, and further shorten the axial length of the module. Use screws 82 to fix the motor stator 8 on the rigid wheel 2 5, so that the motor stator 8 is installed more firmly, avoiding parts deformation caused by interference installation or instability and glue pollution caused by glue fixing, and the installation is more convenient. In addition, the motor stator 8 is fixed on the rigid wheel 2 to ensure that the motor and the reducer are coaxial as much as possible, and the two are fixed as firmly as possible to avoid relative displacement, thereby ensuring the stability and motion accuracy of the overall operation of the module .

As shown in Figures 1 and 3, the integrated design of the motor rotor 9 and the wave generator 1 can increase the thickness of the motor rotor 9 on the one hand and increase the output power of the motor, and on the other hand can make the inner hole of the wave generator 1 Further expansion, that is, the expansion of the line pipe 13 provides convenience for module wiring, and the module structure is simpler and more compact, and the power density of the entire module is greatly improved.

As shown in Fig. 1 and Fig. 3, due to the integrated design of rigid wheel 2 5 and motor housing 7 in this embodiment, the third bearing 18 between the wave generator 1 and the motor housing 7 and the second bearing 16 and the wave Bearing spacer 17 between generators 1. In addition, as shown in Figure 3, after the integrated design of the rigid wheel 5 and the motor housing 7, in order to avoid leakage, a gasket ring 81 is provided between the motor stator 8 and the rigid wheel 5, and the gasket ring 81 is poly Tetrafluoroethylene backing ring prevents grease from leaking from the reducer side into the motor.

In this embodiment, there is only one flexible bearing 2, instead of two in the first embodiment, as shown in Figure 2 and Figure 3, the same as in the second embodiment, the single flexible bearing 2 is located in the middle of the flexible wheel 3 and is connected with the flexible wheel 3 at the same time. Rigid wheel one 4 corresponds to rigid wheel two 5, and the width of flex spline 3 external teeth is consistent with the total width of rigid wheel one 4 internal teeth and rigid wheel two 5 internal teeth. Similarly, the outer wall of the rigid wheel 4 is provided with an outer circular mounting hole 42 whose axis is arranged radially along the radial direction of the rigid wheel 4. The outer circular mounting hole 42 is used to replace the end surface mounting hole 41 in the first embodiment, and the screw 82 is locked from the radial direction. Fix the rigid wheel one 4 and the module housing. Due to the setting and shape requirements of the outer circle mounting hole 42, the outer wall of the first wheel 4 is used as the outer ring of the cross roller bearing 6, and the outer wall of the second wheel 5 is used as the inner ring of the cross roller bearing 6, which is equivalent to implementing The shape of the first wheel 4 and the second wheel 5 in Example 1 is exchanged, that is to say, the inner teeth are processed on the outer ring of the crossed roller bearing 6 as the first wheel 4, and the outer ring of the crossed roller bearing 6 is used as the first wheel. The internal teeth processed on the inner ring are used as the rigid wheel 25.

As shown in Figures 1 and 3, in this embodiment, as in Embodiment 1, the inner wall of the motor housing 7 is provided with a torque sensor 20 coaxial with it, and the torque sensor 20 has a plurality of induction plates arranged in a circular array, and utilizes the torque The deformation measured by the sensor 20 calculates the magnitude of the torque received by the module in different directions, so as to facilitate the operation of the control module.

As shown in FIG. 1 and FIG. 3 , the difference is that there are two encoders in this embodiment, instead of one motor encoder 19 in the first embodiment. A first encoder 21 is provided between the motor rotor 9 and the second bearing 16, a second encoder 22 is provided between the drive plate 10 and the rear end cover 14, the first encoder 21 is connected to the wave generator 1, and the second encoder 21 is connected to the wave generator 1. The second encoder 22 is connected with the line pipe 13 on the front end cover 12 . The module adopts double encoder structure like this, and the first encoder 21 is connected with the input end of the module that is the wave generator 1, and the second encoder 22 is connected with the line pipe 13 that is the output end of the module, and the input end and the output end Dual-encoder closed-loop control can greatly improve the movement accuracy of the module.

As shown in Figures 3 and 4, in this embodiment, a motor brake 23 is provided between the end face of the wave generator 1 away from the front end cover 12 and the drive plate 10, and the motor brake 23 includes an armature 24, a magnetic yoke 25, an electromagnetic The coil 26 and the spring 27, and the armature 24 is close to the end face of the wave generator. When the motor brake 23 brakes, the spring 27 pushes the armature 24 to compress the end face of the wave generator 1 for braking. The original motor brake 23 has a brake disc. In this embodiment, the end face of the wave generator 1 is directly used as a brake disc, as long as the end face of the wave generator 1 is processed to meet the performance of the original brake disc. When the motor brake 23 brakes, the spring 27 pushes the armature 24 to compress the end face of the wave generator 1, and under the action of friction torque, the wave generator 1 stops running immediately, that is, the motor stops running at the same time, and the brake is realized. In this way, the original brake disc is omitted, the weight and volume of the motor brake 23 can be reduced, and the weight and miniaturization of the module can be realized.

The foregoing description shows and describes preferred embodiments of the present invention, and as previously stated, it is to be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments but may be applied to various other embodiments. Combinations, modifications and circumstances, and can be modified within the scope of the inventive concept described herein, by the above teachings or by skill or knowledge in the relevant field. However, changes and changes made by those skilled in the art do not depart from the spirit and scope of the present invention, and should all be within the protection scope of the appended claims of the present invention.

Claims (10)

1. The utility model provides a two rigid wheel harmonic speed reducer machine joint module which characterized in that: the flexible gear generator comprises a wave generator (1), a flexible bearing (2), a flexible gear (3), a first rigid gear (4), a second rigid gear (5), a motor shell (7), a motor stator (8), a motor rotor (9), a drive plate (10), a motor rear cover (11), a front end cover (12) and a rear end cover (14), wherein the flexible bearing (2) is installed outside the wave generator (1), the flexible gear (3) is sleeved outside the flexible bearing (2), the outer teeth of the flexible gear (3) are meshed with the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5), the flexible gear (3) is meshed with one of the first rigid gear (4) and the second rigid gear (5) in the same tooth manner, and the other is meshed in the different tooth manner; a crossed roller bearing (6) is arranged between the first rigid wheel (4) and the second rigid wheel (5), the outer walls of the first rigid wheel (4) and the second rigid wheel (5) are respectively used as an inner ring and an outer ring of the crossed roller bearing (6), and the inner teeth of the first rigid wheel (4) and the inner teeth of the second rigid wheel (5) are respectively processed and formed on the inner ring and the outer ring of the crossed roller bearing (6);

the motor shell (7) is coaxial with the wave generator (1) and is fixed at one end of the wave generator (1), the rigid wheel II (5) is positioned between the rigid wheel I (4) and the motor shell (7) and is connected with the motor shell (7), the motor rotor (9) is sleeved and fixed outside the wave generator (1) to drive the wave generator (1) to rotate, and the motor stator (8) is arranged in the motor shell (7) and is matched with the motor rotor (9); the motor rear cover (11) is arranged at one end, far away from the flexible bearing (2), of the motor stator (8), the rear end cover (14) is arranged at one end, far away from the wave generator (1), of the motor shell (7), and the driving plate (10) is arranged between the motor rear cover (11) and the rear end cover (14);

the front end cover (12) is arranged at one end of the wave generator (1) far away from the motor shell (7), a through line pipe (13) which is axially arranged along the wave generator (1) and is integrally formed with the wave generator is arranged at one side of the wave generator (1), the through line pipe (13) penetrates through inner holes of the wave generator (1) and the motor shell (7), and the through line pipe, the front end cover (12) and the wave generator (1) are coaxially arranged; a first bearing (15) close to the front end cover (12) is arranged between the wave generator (1) and the through wire pipe (13), and a second bearing (16) is arranged between the motor rear cover (11) and the wave generator (1).

2. The double rigid-wheel harmonic speed reducer joint module of claim 1, characterized in that: a bearing spacer bush (17) is arranged between the inner ring of the second bearing (16) and the outer circle of the wave generator (1), and a third bearing (18) is arranged between one end of the motor shell (7) close to the wave generator (1) and the wave generator (1); the outer circle diameter of the wave generator (1) is in a step shape, and the outer circle diameters of the wave generator at three positions relative to the bearing spacer bush (17), the third bearing (18) and the flexible bearing (2) are increased in sequence.

3. The double-rigid-wheel harmonic reducer joint module of claim 2, characterized in that: a motor encoder (19) is arranged between the driving plate (10) and the second bearing (16), and the motor encoder (19) is connected with one end, close to the rear end cover (14), of the wave generator (1); the motor is characterized in that a torque sensor (20) coaxial with the motor is arranged on the inner wall of the motor shell (7), and the torque sensor (20) is provided with a plurality of sensing pieces arranged in a circumferential array.

4. The double-rigid-wheel harmonic reducer joint module according to claim 3, characterized in that: the number of the flexible bearings (2) is two, and the two flexible bearings (2) correspond to the inner teeth of the first rigid wheel (4) and the inner teeth of the second rigid wheel (5) respectively; the outer wall of the rigid wheel I (4) is used as an inner ring of the crossed roller bearing (6), and the outer wall of the rigid wheel II (5) is used as an outer ring of the crossed roller bearing (6); the end face, close to the front end cover (12), of the first rigid wheel (4) and the front end cover (12) are provided with end face mounting holes (41) which are matched with each other, and the axis of each end face mounting hole (41) is parallel to the axis of the first rigid wheel (4).

5. The double rigid-wheel harmonic speed reducer machine joint module of claim 3, characterized in that: the flexible bearing (2) is provided with one flexible bearing and is located in the middle of the center of the flexible gear (3), the flexible bearing (2) corresponds to the first rigid gear (4) and the second rigid gear (5) simultaneously, and the width of the outer teeth of the flexible gear (3) is consistent with the total width of the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5); the outer wall of the first rigid wheel (4) is used as an outer ring of the crossed roller bearing (6), and the outer wall of the second rigid wheel (5) is used as an inner ring of the crossed roller bearing (6); the outer wall of the first rigid wheel (4) is provided with an outer circle mounting hole (42), and the axis of the outer circle mounting hole (42) is arranged along the radial direction of the first rigid wheel (4).

6. The double-rigid-wheel harmonic reducer joint module according to claim 1, characterized in that: motor housing (7) and rigid wheel two (5) integrated into one piece, motor stator (8) pass through screw (82) fixed mounting on rigid wheel two (5), wave generator (1) outer wall be equipped with rather than coaxial and with electric motor rotor (9) complex annular (91), electric motor rotor (9) inlay and adorn in annular (91).

7. The double-rigid-wheel harmonic reducer joint module of claim 6, characterized in that: the flexible bearing (2) is provided with one flexible bearing and is located in the middle of the center of the flexible gear (3), the flexible bearing (2) corresponds to the first rigid gear (4) and the second rigid gear (5) simultaneously, and the width of the outer teeth of the flexible gear (3) is consistent with the total width of the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5); the outer wall of the first rigid wheel (4) serves as an outer ring of the crossed roller bearing (6), the outer wall of the second rigid wheel (5) serves as an inner ring of the crossed roller bearing (6), an outer circle mounting hole (42) is formed in the outer wall of the first rigid wheel (4), and the axis of the outer circle mounting hole (42) is arranged along the radial direction of the first rigid wheel (4).

8. The double-rigid-wheel harmonic reducer joint module according to claim 7, characterized in that: a first encoder (21) is arranged between the motor rotor (9) and the second bearing (16), a second encoder (22) is arranged between the driving plate (10) and the rear end cover (14), the first encoder (21) is connected with the wave generator (1), and the second encoder (22) is connected with a through pipe (13) on the front end cover (12); the motor is characterized in that a torque sensor (20) coaxial with the motor is arranged on the inner wall of the motor shell (7), and the torque sensor (20) is provided with a plurality of sensing pieces arranged in a circumferential array.

9. The double-rigid-wheel harmonic reducer joint module of claim 8, characterized in that: be equipped with motor brake (23) between one end terminal surface and drive plate (10) of front end housing (12) are kept away from in wave generator (1), motor brake (23) include armature (24), yoke (25), solenoid (26) and spring (27), just armature (24) are close to the ripples and take place the terminal surface, during motor brake (23) braking, spring (27) promote armature (24) and compress tightly wave generator (1) terminal surface and brake the braking.

10. The double-rigid-wheel harmonic reducer joint module of claim 9, characterized in that: and a sealing gasket ring (81) is arranged between the motor stator (8) and the second rigid wheel (5), and the sealing gasket ring (81) is a polytetrafluoroethylene gasket ring.

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