CN216625446U - Harmonic speed reduction module - Google Patents

Abstract

The utility model discloses a harmonic wave speed reduction module, which comprises: the driving piece comprises a motor shell and a frameless torque motor part, and the frameless torque motor part is arranged in the motor shell; 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 motor shell, and the output part is arranged on the harmonic speed reduction part; the harmonic speed reducer comprises a harmonic speed reducer which is arranged in the motor shell; a stopper; the monitoring control part comprises a monitoring part and a control part; wherein: the frameless torque motor part transmits to the harmonic speed reducer, the harmonic speed reducer transmits to the output part to output and do work after speed reduction, and the control part monitors the rotating speed of the frameless torque motor part and the rotating speed of the output part in real time through the monitoring part so as to control the rotating speed in real time. The utility model has the advantages of compact structure, reasonable design, small volume, light weight, low noise, high integration level, high transmission precision, good reliability and excellent overall dynamic performance.

Description

Harmonic speed reduction module

Technical Field

The utility model relates to the technical field of motor execution systems, in particular to a harmonic wave speed reduction module.

Background

The harmonic wave speed reducing module is an executing element in the system, converts a position instruction sent by the controller into self rotary motion, and further drives or drives the tail end component to realize certain motion actions. At present, the structure of a harmonic speed reducing module on the market mainly comprises a harmonic speed reducer part, a brake part (optional), a motor part and a drive control part (optional). The power transmission of the motor part and the harmonic reducer part has two forms, one is that the output shaft of the motor and the wave generator of the reducer are structurally independent and are directly connected through a screw or connected through a coupling; the other is to make the wave generator and the output shaft of the motor into a single part, thus omitting the intermediate connecting device.

The two structures have own advantages and disadvantages, the former structure is a single high-speed shaft, so that the vibration and noise of the high-speed operation of the motor can be greatly improved through dynamic balance balancing, and the defect is that the error caused by the connection of the shaft and a wave generator needs to be compensated by increasing the precision of parts; in the latter case, although the shaft and the wave generator are made into an integral part, the shaft is limited in that the structure is not capable of balancing the shaft, and the shaft system structure also depends on the support of the reducer, so that the dynamic performance of the whole machine is difficult to achieve high quality. The brake part can be divided into an excitation brake and a non-excitation brake in principle, can be placed at the end close to a speed reducer or the end close to a motor of the module according to the arrangement of the whole shafting, and has the main function of braking the motor shaft under the condition that the module is powered off so as to prevent dangerous conditions.

The excitation brake and the non-excitation brake are respectively good and bad according to the use condition, the excitation brake needs to provide a high voltage pulse for the brake when being disengaged, and then the duty ratio is used for maintaining the suction force of the brake, so that the brake can be made to be hollow, the size is small and thin, the power supply of the non-excitation brake is a constant voltage, the rated braking torque provided by the excitation brake is smaller under the same voltage and volume, but the excitation brake needs to be matched with a rectifier on a circuit for use, and the cost is increased by a lot. The driving control part can determine whether to install according to the use environment and scene of the user. The harmonic speed reduction module can be regarded as a combined external rotation output mechanism with small volume, high integration, high precision and large torque, and a user can select a proper module according to the actual use scene of the user. At present, in some application occasions, the requirements on good dynamic performance of the whole module, small size, small length and light weight of the whole module are required, a brake, a double encoder and a driver can be integrated into the whole module, and higher requirements on the structural design and the integration level of the whole module are provided, so that a harmonic speed reduction module meeting the requirements is urgently needed to meet the market requirements.

The present invention is a further improvement over the prior application, which is published by the number: CN111673486A, patent name: third harmonic numerical control turntable.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects, the utility model provides a harmonic wave speed reduction module, which specifically adopts the following technical scheme:

a harmonic speed reduction module comprising:

a drive member including a motor housing and a frameless torque motor, the frameless torque motor disposed within the motor housing;

the harmonic speed reduction output piece is arranged on the driving piece and comprises a harmonic speed reduction piece and an output piece, the harmonic speed reduction piece is arranged on the motor shell, and the output piece is arranged on the harmonic speed reduction piece; the harmonic speed reducer comprises a harmonic speed reducer, and the harmonic speed reducer is arranged in the motor shell;

the braking part is arranged on the driving part and can brake the frameless moment motor part in real time;

the monitoring control part is arranged on the driving part and comprises a monitoring part and a control part, and the monitoring part and the control part are both arranged on the motor shell;

wherein: the frameless torque motor part transmits to the harmonic speed reducer, the harmonic speed reducer transmits to the output part to output work after speed reduction, and the control part monitors the rotating speed of the frameless torque motor part and the rotating speed of the output part in real time through the monitoring part so as to control the rotating speed in real time.

Preferably, the frameless torque motor component comprises a stator, a rotating shaft and a rear bearing, the stator is pressed in the inner cavity of the motor housing, the outer ring of the rear bearing is fixedly embedded in a bearing chamber of the inner cavity of the motor housing, and a bearing pressing plate is arranged in the inner cavity of the motor housing at the free end of the rear bearing.

Preferably, one end of the rotating shaft is fixedly embedded in the rear bearing inner ring, the other end of the rotating shaft is inserted into the stator inner ring, a magnetic yoke is sleeved on the outer side surface of the other end of the rotating shaft, and a magnetic steel sheet is adhered to the outer side surface of the magnetic yoke.

Preferably, harmonic speed reducer spare still includes rotating basis and connecting axle, harmonic speed reducer ware includes rigid gear, flexbile gear and wave generator, rotating basis sets up on the motor casing, the rigid gear sets up on the rotating basis, the flexbile gear sets up on the rigid gear, the wave generator sets up on the flexbile gear, the connecting axle sets up on the wave generator.

Preferably, one end of a rigid gear and one end of a flexible gear of the rotating base are simultaneously fastened on a first straight plane at one end of the motor shell, the rigid gear is fastened on an inner ring of the rotating base, the other end of the flexible gear is embedded in the inner ring of the rigid gear, and the wave generator is embedded in the other end of the flexible gear; one end of the connecting shaft penetrates through the rotating shaft and then is fixedly connected to the wave generator, and the other end of the connecting shaft is fixedly connected to the rotating shaft.

Preferably, the output member includes an output flange, a first O-ring is disposed between the output flange and the rigid wheel, a front bearing is disposed between a stepped shaft section of the output flange and a bearing chamber of the wave generator, and a hollow shaft of the output flange passes through the connecting shaft.

Preferably, the braking part comprises a brake end cover, a winding frame, a return spring, an armature, a positioning piece and a friction plate, the brake end cover is fastened on a second straight opening plane on the left side of the motor shell, a second O-shaped ring is arranged in front of the brake end cover and the flexible gear, a second oil seal is arranged between the brake end cover and the connecting shaft, and a coil is wound on the winding frame; the winding framework is arranged in the annular deep groove of the brake end cover, and the annular deep groove of the brake end cover is located in the cavity at one end of the flexible gear.

Preferably, the return spring is embedded in a spring hole of the brake end cover close to the inner ring, an axial guide notch is formed in the armature, the positioning piece comprises a height fixing pipe and a height fixing screw, the height fixing pipe is in a step shape, one end of the height fixing pipe is embedded in the guide notch, and the height fixing pipe is fastened on the brake end cover through the height fixing screw; the friction plate is fastened to the yoke end face, and the friction plate has a predetermined distance from the armature.

Preferably, the monitoring part comprises a transition pressing block and a double encoder, the transition pressing block is fixedly arranged on the end face of one end of the rotating shaft, the double encoder comprises a high-speed code disc, a low-speed code disc and a reading head chip, the high-speed code disc is fixed on the transition pressing block, the low-speed code disc is arranged on the free end of the hollow shaft of the output flange, and the reading head chip is arranged on the control part.

Preferably, the control part comprises a driving circuit board and a driving protective cover, the driving circuit board and the driving protective cover are both mounted on the end face of the other end of the motor casing, the reading head chip is arranged on the annular projection surface of the driving circuit board corresponding to the high-speed code disc and the low-speed code disc, and the inner surface of the driving protective cover plays roles in protecting and radiating the driving circuit board.

The utility model at least comprises the following beneficial effects:

1) the harmonic speed reduction module has the advantages of compact structure, reasonable design, small volume, light weight, low noise, high integration level, high transmission precision, good reliability and excellent overall dynamic performance;

2) the harmonic speed reduction module is provided with the harmonic speed reducer and the driving piece, and the harmonic speed reducer effectively improves the transmission precision and the bearing rigidity by adopting a multiple harmonic principle; the driving part adopts a frameless torque motor mode to provide power, is provided with a double-encoder nested driving part and an output part, carries out full closed loop control on a high-speed end speed loop and a low-speed end output position loop of the motor, and further improves the rotation precision of the whole machine by utilizing an interpolation algorithm; built-in driving piece, harmonic speed reduction output piece, arresting member and monitoring control piece that this harmonic speed reduction module adopted are in an organic whole, make the walking of complete machine become very succinct on the one hand, the integration nature of on the other hand height makes signal transmission's loss and interference reduce as far as, support multiple communication protocol on the market on the function of the one hand again, accomplish to adorn promptly and use, really accomplish the complete machine small, and is small in length, light in weight, can also integrate the stopper, double encoder, the harmonic speed reduction module of driver.

Additional advantages, objects, and features of the utility model 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 utility model.

Drawings

FIG. 1 is a front view of a harmonic speed reduction module according to the present invention;

FIG. 2 is a left side view of the harmonic speed reduction module of the present invention;

FIG. 3 is a schematic diagram of a left side perspective structure of the harmonic speed reduction module according to the present invention;

FIG. 4 is a schematic diagram of a right side perspective structure of the harmonic speed reduction module according to the present invention;

FIG. 5 is a schematic diagram of a left side perspective view of an exploded view of a harmonic speed reduction module according to the present invention;

FIG. 6 is a schematic diagram of a right side perspective view of an exploded view of a harmonic speed reduction module according to the present invention;

FIG. 7 is a front view of the harmonic speed reduction module of the present invention taken in section A-A of FIG. 2;

FIG. 8 is an enlarged view of a portion of I of FIG. 7 of the harmonic speed reduction module of the present invention;

FIG. 9 is a schematic diagram of a sectional perspective view taken along the direction A-A of FIG. 2 of the harmonic speed reduction module according to the present invention.

Wherein: 1-motor housing, 2-stator, 3-shaft, 4-rear bearing, 5-bearing press plate, 6-magnet yoke, 7-magnetic steel sheet, 8-rotating base, 9-rigid wheel, 10-flexible wheel, 11-wave generator, 12-connecting shaft, 13-first oil seal, 14-output flange, 15-first O-ring, 16-front bearing, 17-brake end cover, 18-bobbin, 19-reset spring, 20-armature, 21-friction plate, 22-second O-ring, 23-second oil seal, 24-coil, 25-height fixing pipe, 26-height fixing screw, 27-transition press block, 28-high speed code disc, 29-low speed code disc, 30-reading head chip, 31-driving circuit board, 32-drive shield, 33-drive, 34-harmonic speed reduction output, 35-brake, 36-monitor control, 37-predetermined spacing.

Detailed Description

Technical solutions of the present invention will be described in detail below 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 fig. 1-9, a harmonic speed reduction module comprises a driving member 33, a harmonic speed reduction output member 34, a braking member 35 and a monitoring control member 36, wherein the harmonic speed reduction output member 34, the braking member 35 and the monitoring control member 36 are all arranged on the driving member 33. The driving part 33 comprises a motor casing 1, a stator 2, a rotating shaft 3 and a rear bearing 4, wherein the stator 2 and the rear bearing 4 are arranged on the motor casing 1, and the rotating shaft 3 is arranged on the rear bearing 4. The motor casing 1 inner chamber totality is the tubulose, 2 pressure equipment of stator are in the motor casing 1 inner chamber, the fixed dress that inlays of rear bearing 4 outer lane is in the bearing chamber of motor casing 1 inner chamber, motor casing 1 inner chamber is provided with bearing clamp plate 5, bearing clamp plate 5 one end is supported on the outer lane free end of rear bearing 4, in order to prevent rear bearing 4 axial displacement improves 3 rotational stability of pivot.

The rotating shaft 3 is in a boss tubular shape, the outer diameter of one end of the rotating shaft 3 is larger than that of the other end of the rotating shaft 3, the outer diameter of the other end of the rotating shaft 3 is smaller than that of the inner ring of the stator 2, one end of the rotating shaft 3 is fixedly embedded in the inner ring of the rear bearing 4, the other end of the rotating shaft 3 is inserted into the inner ring of the stator 2, and the axis of the rotating shaft 3 is coincided with the axis of the stator 2. The outer side face of the other end of the rotating shaft 3 is sleeved with a magnetic yoke 6, and the magnetic yoke 6 is fastened on the rotating shaft 3 along the axial direction through a first screw. And the outer side surface of the magnetic yoke 6 is covered with a magnetic steel sheet 7 along the circumferential direction through an adhesive process. The stator 2, the rotating shaft 3, the magnet yoke 6 and the magnetic steel sheet 7 jointly form a frameless torque motor, and when the stator 2 is electrified to generate a magnetic field, the magnetic steel sheet 7 is pushed to drive the rotating shaft 3 to rotate circumferentially to output work.

The harmonic speed reduction output member 34 includes a harmonic speed reduction member provided on the drive member 33 and an output member provided on the harmonic speed reduction member. Harmonic speed reducer spare includes rotating basis 8, rigid gear 9, flexbile gear 10, wave generator 11 and connecting axle 12, rotating basis 8 sets up on the motor casing 1, rigid gear 9 sets up on the rotating basis 8, flexbile gear 10 sets up on the rigid gear 9, wave generator 11 sets up on the flexbile gear 10, connecting axle 12 sets up on the wave generator 11. Rotating base 8 is crossed roller bearing, rotating base 8's outer lane with notch department between rotating base 8's the inner circle is provided with first oil blanket 13, first oil blanket 13 can prevent that inside grease from leaking. And one ends of a rigid wheel 9 and a flexible wheel 10 of the rotating base 8 are fastened on a first straight port plane at one end of the motor shell 1 through second screws, and the rigid wheel 9 is fixedly connected with the inner ring of the crossed roller bearing through a straight port and third screws. The other end of the flexible gear 10 is embedded in the inner ring of the rigid gear 9, and the wave generator 11 is embedded in the other end of the flexible gear 10. The connecting shaft 12 is in a hollow tubular shape, the outer diameter of the connecting shaft 12 is smaller than the inner diameter of the rotating shaft 3, one end of the connecting shaft 12 is fixedly connected to the wave generator 11, the other end of the connecting shaft 12 is fixedly connected to the rotating shaft 3 through a fourth screw, the axis of the connecting shaft 12 coincides with the axis of the rotating shaft 3, and therefore the connecting shaft 12 rotates along with the rotation of the rotating shaft 3 and passes through the connecting shaft 12 to drive the wave generator 11 to rotate.

According to the operation principle of the wave generator 11, the outer ring of the flexible bearing of the wave generator 11 is regularly deformed to extrude the outer teeth of the flexible gear 10 to be meshed with the inner teeth of the rigid gear 9, and along with the continuous rotation of the connecting shaft 12, continuous so-called staggered tooth movement is generated between the flexible gear 10 and the rigid gear 9, and finally the rigid gear 9 drives the output part to decelerate and output movement. The harmonic reducer formed by the rigid gear 9, the flexible gear 10 and the wave generator 11 in the scheme is different from the traditional second harmonic but multiple harmonics, so that the meshing point between the flexible gear 10 and the rigid gear 9 is changed from two traditional points to multiple points in the operation process of the harmonic reducer, the number of meshing teeth at the same time is more, the number of supporting points is more, and the precision and the rigidity of the reducer are effectively improved.

The output part comprises an output flange 14, and the output flange 14 is fixedly connected with the rigid wheel 9 through a fifth screw. A first O-ring 15 is arranged between the output flange 14 and the rigid wheel 9, the first O-ring 15 can keep static seal between the rigid wheel 9 and the output flange 14, a front bearing 16 is arranged between a stepped shaft section of the output flange 14 and a bearing chamber of the wave generator 11, an inner ring of the front bearing 16 is matched with the stepped shaft section of the output flange 14, and an outer ring of the front bearing 16 is matched with the bearing chamber of the wave generator 11, so that the whole high-speed shafting is supported. The outer diameter of the hollow shaft of the output flange 14 is smaller than the inner diameter of the connecting shaft 12, and the length of the hollow shaft of the output flange 14 is larger than the length of the connecting shaft 12. The hollow shaft of the output flange 14 is inserted into the connecting shaft 12, and the hollow shaft axis of the output flange 14 coincides with the connecting shaft 12 axis. The hollow shaft of the output flange 14 can be used by a customer to pass through a cable or an air pipe, and the ordering of the arrangement of the cable and the air pipe of the harmonic speed reducing module is improved.

The braking member 35 comprises a brake end cover 17, a bobbin 18, a return spring 19, an armature 20, a positioning member and a friction plate 21, the brake end cover 17 is arranged on the motor casing 1, the bobbin 18, the armature 20, the return spring 19 and the positioning member are all arranged on the brake end cover 17, and the friction plate 21 is arranged on the driving member 33. The brake end cover 17 is fastened on a second straight plane on the left side of the motor casing 1 by a sixth screw. And a second O-ring 22 is arranged in front of the brake end cover 17 and the flexible gear 10, and the second O-ring 22 can keep static seal between the brake end cover 17 and the flexible gear 10 to prevent grease in the reducer from leaking. Meanwhile, a second oil seal 23 is arranged between the brake end cover 17 and the connecting shaft 12, and the second oil seal 23 can play a role in dynamic sealing between the connecting shaft 12 and the brake end cover 17. A coil 24 is wound on the bobbin 18. The winding frame 18 is fixed in an annular deep groove of the brake end cover 17 through a potting process, and the annular deep groove of the brake end cover 17 is located in a cavity at one end of the flexible gear 10, so that the space utilization rate of the motor casing 1 is improved, and the overall volume of the harmonic speed reduction module is reduced.

The return spring 19 is embedded in a spring hole of the brake end cover 17 close to the inner ring, one end of the return spring 19 is in contact with the bottom surface of the spring hole, the other end of the return spring 19 is abutted against one end surface of the armature 20, and when the driving piece 33 is in a rotating state, the coil 24 is electrified to generate a magnetic field so as to attract the armature 20 to compress the return spring 19. The outer edge of the armature iron 20 is provided with four axial guide notches, and the four guide notches are uniformly distributed along the circumferential direction of the armature iron 20. The positioning piece comprises a height fixing pipe 25 and a height fixing screw 26, wherein the height fixing pipe 25 is in a stepped shaft shape, the outer diameter of one end of the height fixing pipe 25 is larger than the outer diameter of the other end of the height fixing pipe 25, the outer diameter of one end of the height fixing pipe 25 is larger than the inner diameter of the guide groove opening, and meanwhile, the length of the other end of the height fixing pipe 25 is not smaller than the sum of the thickness of the armature 20 and the distance from the other end face of the armature 20 to the friction plate 21. The other end of the height fixing pipe 25 is embedded in the guide notch, the other end of the height fixing pipe 25 is matched with the guide notch, and meanwhile, the height fixing pipe 25 is fastened on the brake end cover 17 through the height fixing screw 26. The elevation tube 25 can both prevent circumferential rotation of the armature 20 to provide guidance for axial movement of the armature 20. The friction plate 21 is fastened to the end face of the yoke 6 by a seventh screw, and the free end face of the friction plate 21 has a predetermined distance 37 from the other end face of the armature 20.

When the coil 24 is powered on, the coil 24 will generate a ring magnetic field to form an attraction force to the armature 20, one end face of the armature 20 will move to the left due to the attraction force until contacting with the right plane of the brake end cover 17, the armature 20 will compress the return spring 19 during the movement to the left, and at this time, the other end face of the armature 20 will be separated from the friction plate 21 and keep a predetermined distance 37, so that the motor can operate normally. When the coil 24 is powered off, the coil 24 loses the attraction force on the armature 20, at the moment, the return spring 19 is reset and pushes the armature 20 to move towards the right side along the height fixing pipe 25 until the armature is tightly pressed on the friction plate 21 to generate a braking torque, so that the whole motor shaft system is braked, and at the moment, a certain distance is generated between one end face of the armature 20 and the right side plane of the brake end cover 17, and the size of the distance is equal to the preset distance 37. The design mode of the braking member 35 can improve the operation stability of the braking member 35, improve the space utilization rate and the braking torque, and is also very suitable for being used in the installation condition of a hollow shaft system.

The monitoring control member 36 includes a monitoring member and a control member, both of which are provided on the driving member 33. The monitoring piece comprises a transition pressing block 27 and a double encoder, wherein the transition pressing block 27 is fixedly arranged on the end face of one end of the rotating shaft 3 and rotates along with the rotation of the rotating shaft 3. The dual-encoder comprises a high-speed code disc 28, a low-speed code disc 29 and a reading head chip 30, wherein the high-speed code disc 28 is fixed on the transition pressing block 27, the low-speed code disc 29 is arranged at the free end of the hollow shaft of the output flange 14, and the reading head chip 30 is arranged on the control piece.

The control element comprises a driving circuit board 31 and a driving protective cover 32, the driving circuit board 31 and the driving protective cover 32 are both installed on the end face of the other end of the motor casing 1, two reading head chips 30 are arranged on the annular projection surface of the driving circuit board 31 corresponding to the high-speed coded disc 28 and the low-speed coded disc 29 and used for collecting the position information of the high-speed coded disc 28 and the low-speed coded disc 29, and the driving circuit board 31 forms closed-loop control over a speed ring and a position ring of the whole machine according to the position information, so that the high-precision stable operation of the whole machine is controlled in real time. The inner surface of the driving shield 32 serves to protect the driving circuit board 31 and dissipate heat.

The power line of the driving part 33 and the control line of the braking part 35 are connected to the driving circuit board 31 at the rearmost end through an axial through hole formed in the thickness of the outer side wall of the motor casing 1, so that power supply and control functions are realized.

The harmonic reducer adopted by the harmonic speed reduction module adopts a multiple harmonic principle, is different from a common second harmonic principle, and can provide higher motion precision and higher bearing rigidity than a common harmonic speed reduction module; the braking part 35 adopted by the harmonic speed reduction module utilizes the excitation brake principle, so that the braking part 35 occupies a small space, has reliable and stable performance, has a braking torque larger than that of a non-friction plate 21 braking mode used on the market, skillfully utilizes the inner cavity space of the harmonic speed reducer, does not occupy the extra space of the whole machine, and further reduces the volume and the size of the whole machine; the frameless torque motor which is provided with the double code discs and is nested is adopted by the harmonic speed reduction module, on one hand, the output torque of the frameless torque motor is much larger than that of a common motor under the same volume due to the high torque density characteristic of the frameless torque motor, and on the other hand, the complete machine still has lower torque ripples under low rotating speed due to the ultralow tooth space torque of the frameless torque motor, so that the low noise and low vibration of the complete machine are ensured; on the other hand, a double-encoder nested driving piece 33 and an output piece are arranged, full closed-loop control of a high-speed end speed loop and a low-speed end output position loop is carried out on the motor, and the rotation precision of the whole machine is further improved by utilizing an interpolation algorithm; built-in driving piece 33, harmonic speed reduction output 34, braking piece 35 and the monitoring control piece 36 that this harmonic speed reduction module adopted are in an organic whole, make the line of complete machine become very succinct on the one hand, and the high integrated nature of on the other hand makes signal transmission's loss and interference can reduce as far as, supports multiple communication protocol on the market on the function of the one hand again, accomplishes to install promptly and uses. The harmonic speed reduction module can be integrated with a brake, a double encoder and a driver.

While embodiments of the utility model 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 utility model pertains, and further modifications may readily be made by those skilled in the art, it being understood that the utility model 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. A harmonic speed reduction module, comprising:

a drive comprising a motor housing and a frameless torque motor, the frameless torque motor disposed within the motor housing;

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 motor casing, and the output part is arranged on the harmonic speed reduction part; the harmonic speed reducer comprises a harmonic speed reducer;

the braking part is arranged on the driving part and brakes the frameless moment motor part in real time;

the monitoring control part comprises a monitoring part and a control part, and the monitoring part and the control part are both arranged on the motor shell;

wherein: the frameless torque motor part transmits to the harmonic speed reducer, the harmonic speed reducer transmits to the output part to output and do work after speed reduction, and the control part monitors the rotating speed of the frameless torque motor part and the rotating speed of the output part in real time.

2. The harmonic speed reduction module of claim 1 wherein the frameless torque motor comprises a stator, a shaft and a rear bearing, the stator is press-fitted in the motor housing cavity, the rear bearing outer race is fixedly fitted in a bearing chamber of the motor housing cavity, and the motor housing cavity of the rear bearing free end is provided with a bearing pressure plate.

3. The harmonic speed reduction module as claimed in claim 2, wherein one end of the shaft is fixedly embedded in the rear bearing inner ring, the other end of the shaft is inserted into the stator inner ring, and a magnetic yoke is sleeved on an outer side surface of the other end of the shaft, and a magnetic steel sheet is adhered to an outer side surface of the magnetic yoke.

4. The harmonic speed reduction module of claim 3, wherein the harmonic speed reducer further comprises a rotating base and a connecting shaft, the harmonic speed reducer comprises a rigid gear, a flexible gear and a wave generator, the rotating base is disposed on the motor housing, the rigid gear is disposed on the rotating base, the flexible gear is disposed on the rigid gear, the wave generator is disposed on the flexible gear, and the connecting shaft is disposed on the wave generator.

5. The harmonic speed reduction module according to claim 4, wherein one end of the rigid gear and one end of the flexible gear of the rotating base are simultaneously fastened on a first straight plane at one end of the motor housing, the rigid gear is fastened on the inner ring of the rotating base, the other end of the flexible gear is embedded in the inner ring of the rigid gear, and the wave generator is embedded in the other end of the flexible gear; a first oil seal is arranged at a notch between the inner ring and the outer ring of the rotating base; one end of the connecting shaft penetrates through the rotating shaft and then is fixedly connected to the wave generator, and the other end of the connecting shaft is fixedly connected to the rotating shaft.

6. The harmonic reduction module of claim 5 wherein the output member comprises an output flange, a first O-ring is disposed between the output flange and the rigid wheel, a front bearing is disposed between a stepped shaft section of the output flange and a bearing housing of the wave generator, and a hollow shaft of the output flange passes through the connecting shaft.

7. The harmonic speed reduction module according to claim 6, wherein the brake member comprises a brake end cover, a bobbin, a return spring, an armature, a positioning member and a friction plate, the brake end cover is fastened on a second straight port plane on the left side of the motor housing, a second O-ring is arranged in front of the brake end cover and the flexspline, a second oil seal is arranged between the brake end cover and the connecting shaft, and a coil is wound on the bobbin; the winding framework is arranged in the annular deep groove of the brake end cover, and the annular deep groove of the brake end cover is positioned in the cavity at one end of the flexible gear.

8. The harmonic speed reduction module according to claim 7, wherein the return spring is embedded in a spring hole of the brake end cover near the inner ring, the armature is provided with an axial guide notch, the positioning element comprises a height fixing pipe and a height fixing screw, the height fixing pipe is in a step shape, one end of the height fixing pipe is embedded in the guide notch, and the height fixing pipe is fastened on the brake end cover through the height fixing screw; the friction plate is fastened to the yoke end face, and the friction plate has a predetermined distance from the armature.

9. The harmonic speed reduction module as claimed in claim 6, wherein the monitoring member comprises a transition pressure block and a dual encoder, the transition pressure block is fixedly disposed on an end face of one end of the rotating shaft, the dual encoder comprises a high-speed code wheel, a low-speed code wheel and a reading head chip, the high-speed code wheel is fixed on the transition pressure block, the low-speed code wheel is disposed on a free end of the hollow shaft of the output flange, and the reading head chip is disposed on the control member.

10. The harmonic speed reduction module of claim 9, wherein the control member comprises a driving circuit board and a driving protective cover, the driving circuit board and the driving protective cover are both mounted on the other end face of the motor casing, and the reading head chip is arranged on the annular projection surface of the driving circuit board corresponding to the high-speed code disc and the low-speed code disc.

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