Flat lightweight harmonic reduction joint module

Abstract

The application discloses a kind of flat lightweight harmonic reduction joint module, comprising: power piece, including shell and frameless motor piece, frameless motor piece is arranged on shell, to provide rotary torque;Harmonic reduction output piece, including harmonic reduction piece and output piece, harmonic reduction piece is arranged in shell, and harmonic reduction piece is connected with frameless motor piece, output piece is arranged on shell, and output piece is reduced after harmonic reduction piece and outputs torque;Drive control coding integrated piece, including encoder code disc and drive control encoder integrated board, encoder code disc is arranged on frameless motor piece, drive control encoder is arranged on shell, and encoder code disc and drive control encoder integrated board cooperate to constitute encoder and driver two-in-one data acquisition and processing combination.This application has compact structure, reasonable design, small volume, small space occupation, light weight, high integration and easy installation and use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harmonic reduction integrated module, more particularly, the present application relates to a flat lightweight harmonic reduction joint module. BACKGROUND

[0002] The flat lightweight harmonic reduction joint module is an execution element in the system, which integrates the harmonic reducer, servo motor assembly and driver assembly in a module to directly accept the instructions of the control system for action, and is a highly integrated execution element. At present, the harmonic reduction integrated module has various technical types in structure. Due to the small volume and large output power advantage of the harmonic reducer, the harmonic reduction integrated module is widely used in some high-demand industrial fields. These schemes have high output precision and large output torque. Due to the requirement of high strength, rigidity and high comprehensive performance in industrial use, the overall volume and weight of the module are large. However, in some service robot industry, the requirement for the volume and weight of the module is higher than the requirement for the output torque and output precision. The service robot usually has small load and small fluctuation, and the requirement for strength and rigidity is much lower than that in industry. Moreover, some sensors are integrated on the module to meet the intelligent requirement of the robot, which puts forward new requirements for the harmonic reduction integrated module, i.e. smaller volume, lighter weight and higher integration degree to meet the special requirements of the service robot industry for the overall appearance and weight. Therefore, we design a short cylinder type flat lightweight harmonic reduction integrated module to meet the requirements. SUMMARY

[0003] In order to overcome the above defects, the present application provides a flat lightweight harmonic reduction joint module, which specifically adopts the following technical scheme:

[0004] A flat lightweight harmonic reduction joint module, comprising:

[0005] A power element, which comprises a casing and a frameless motor element, the frameless motor element is arranged on the casing to provide rotary torque;

[0006] A harmonic reduction output element, which is arranged on the casing and comprises a harmonic reduction element and an output element, the harmonic reduction element is arranged in the casing, and the harmonic reduction element is connected with the frameless motor element, the output element is arranged on the casing, and the output element outputs the torque after the harmonic reduction of the harmonic reduction element;

[0007] The drive control coding integrated piece is arranged on the casing, which comprises an encoder code disc and a drive control encoder integrated plate, the encoder code disc is arranged on the frameless motor piece, the drive control encoder is arranged on the casing, and the encoder code disc and the drive control encoder integrated plate cooperate to constitute a data acquisition and processing combination of encoder and driver two-in-one.

[0008] Preferably, the casing comprises a motor casing and a rear end cover, the rear end cover is fastened on one end of the motor casing; the frameless motor piece comprises a stator, a rotor mounting piece and a rotor assembly, the stator is arranged in one end cavity of the motor casing, the rotor mounting piece is arranged in the other end cavity of the motor casing, and the rotor assembly is arranged in the rotor mounting piece.

[0009] Preferably, the rotor mounting piece comprises an angular contact ball bearing and a retainer, the angular contact ball bearing is embedded in the other end cavity of the motor casing, and the retainer is fastened on the other end of the motor casing, so that the retainer is pressed on the outer ring free end surface of the angular contact ball bearing.

[0010] Preferably, a plurality of angular contact ball bearings are arranged, and the plurality of angular contact ball bearings are embedded in the other end cavity of the motor casing in back-to-back adhesion.

[0011] Preferably, the rotor assembly comprises a rotating shaft and a nut retainer, one end of the rotating shaft is embedded in the inner ring of the angular contact ball bearing, the other end of the rotating shaft is embedded in the stator, the nut retainer is sleeved on one end of the rotating shaft, and the nut retainer is matched with the external threads of one end of the rotating shaft, and the end surface of the nut retainer is tightly pressed on the free end of the inner ring of the angular contact ball bearing.

[0012] Preferably, a set of labyrinth seals are arranged between the rotating shaft and the other end surface of the motor casing.

[0013] Preferably, the harmonic reducer piece comprises a harmonic reducer and a mounting plate, the rigid wheel of the harmonic reducer is fastened on the other end surface of the motor casing, the flexible wheel of the harmonic reducer is embedded in the rigid wheel, the wave generator of the harmonic reducer is embedded in the flexible wheel, and the wave generator is sleeved on one end of the rotating shaft; the mounting plate is fastened on one end surface of the rotating shaft, so that the mounting plate is tightly pressed on the wave generator.

[0014] Preferably, the output piece comprises a base, a deep groove ball bearing and an output flange, one end of the base is fastened on the other end surface of the motor casing, the deep groove ball bearing is embedded in the inner cavity of the base, and a pressing plate is fastened on the other end surface of the base, and the pressing plate is tightly pressed on the free end of the outer ring of the deep groove ball bearing.

[0015] Preferably, the output flange is an output flange with a torque sensor, the output flange is embedded in the deep groove ball bearing inner ring, and one end of the output flange is fastened on the fixed end face of the flexible gear through a first transition sleeve, and an O-ring is arranged between the first transition sleeve and the output flange, and a snap spring is sleeved on the other end of the output flange.

[0016] Preferably, the encoder disc is installed on one end face of the rotating shaft through a second transition sleeve, the drive control encoder integrated plate is installed on the rear end cover, and the drive control encoder integrated plate corresponds to the encoder disc.

[0017] The present application at least includes the following beneficial effects:

[0018] 1) The flat lightweight harmonic reduction joint module has compact structure, reasonable design, small volume, small space occupation, light weight, high integration and convenient installation and use.

[0019] 2) The flat lightweight harmonic reduction joint module adopts three components of the harmonic reducer with ultra-short cylinder design matched with deep groove ball bearings as a reduction unit, effectively improves the problem of excessive length and weight of the traditional cross-roller bearing integrated harmonic reducer structure in the axial direction, significantly shortens the axial length and weight of the reducer under the premise of meeting the low overturning load requirement of service robots.

[0020] 3) The flat lightweight harmonic reduction joint module adopts a torque sensor pre-embedded output flange integrated structure, which eliminates the length increase and wiring difficulty caused by separately installing a torque sensor by the user later, greatly improves the integration of the whole machine, and facilitates the intelligent control of the finished robot by the user.

[0021] 4) The motor rotor assembly in the flat lightweight harmonic reduction joint module adopts a pair of back-to-back mounted angular contact ball bearings, which are embedded in the motor housing along the axial direction. Since the angular contact ball bearing can simultaneously bear a large axial load and a radial load, on the one hand, it can meet the high-speed rotation requirement of the single bearing fixed shaft, and on the other hand, it can bear the large axial load of the wave generator under high-speed rotation. At the same time, by adopting the back-to-back mounting method, the actual support span of the bearing is expanded, so that the rotating shaft can meet the stability and rigidity requirements during high-speed motion.

[0022] 5) The flat lightweight harmonic reduction joint module adopts a drive control encoder integrated design, which can greatly save the axial length increase caused by separately installing the encoder and the driver in the traditional case, and significantly simplify the problems of multiple cables and complex wiring caused by separate installation, thereby significantly improving the stability and easy installation and use of the whole machine.

[0023] Additional advantages, objects, and features of the application will be apparent from the following description, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0025] Figure 2 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0026] Figure 3 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0027] Figure 4 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0028] Figure 5 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0029] Figure 6 Front view of the flat lightweight harmonic reduction joint module of the present application; Figure 1 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0030] Figure 7 Front view of the flat lightweight harmonic reduction joint module of the present application; Figure 1 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0031] Figure 8 Front view of the flat lightweight harmonic reduction joint module of the present application; Figure 1 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0032] Figure 9 Front view of the flat lightweight harmonic reduction joint module of the present application;

[0033] Wherein: 1 - motor housing, 2 - rear end cover, 3 - stator, 4 - angular contact ball bearing, 5 - check ring, 6 - rotating shaft, 7 - nut check ring, 8 - labyrinth seal, 9 - mounting plate, 10 - rigid wheel, 11 - flexible wheel, 12 - wave generator, 13 - base, 14 - deep groove ball bearing, 15 - output flange, 16 - pressing plate, 17 - first transition sleeve, 18 - snap spring, 19 - encoder disc, 20 - drive control encoder integrated plate, 21 - second transition sleeve, 22 - O-ring. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described in detail below with reference to the drawings and by way of examples. It should be noted that the descriptions of these examples are used to help understand the present application, but do not constitute a limitation of the present application.

[0035] The term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, B alone, and A and B together. The term " / and" herein describes another association relationship of associated objects, which means that there can be two relationships, for example, A / and B, which means that there are two cases of A alone and A and B together. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0036] According to Figures 1-9 As shown in the figure, a flat and lightweight harmonic reduction joint module includes a power component, a harmonic reduction output component, and a drive control and coding integrated component. The harmonic reduction output component and the drive control and coding integrated component are both arranged on the power component. The power component includes a machine shell and a frameless motor component, and the frameless motor component is arranged on the machine shell. The machine shell includes a motor shell 1 and a rear end cover 2, and the rear end cover 2 is fastened to one end of the motor shell 1 through a straight port on it with first glue. The frameless motor component includes a stator 3, a rotor mounting component, and a rotor assembly, and the stator 3 and the rotor mounting component are both arranged on the motor shell 1, and the rotor assembly is arranged on the rotor mounting component. The stator 3 is press-fitted into one end cavity of the motor shell 1 through second glue.

[0037] The rotor mounting component includes an angular contact ball bearing 4 and a retainer 5, and the angular contact ball bearing 4 and the retainer 5 are both arranged on the motor shell 1. The angular contact ball bearing 4 is embedded in the other end cavity of the motor shell 1, and the angular contact ball bearing 4 is provided with two angular contact ball bearings 4, which are embedded in the other end cavity of the motor shell 1 back to back. The two back-to-back angular contact ball bearings 4 constitute a pair of double-row angular contact ball bearings 4, which can significantly improve the axial and radial stability of the rotor assembly. The retainer 5 is fastened to the other end of the motor shell 1 through a first screw, so that the retainer 5 is firmly pressed against the outer ring free end surface of the angular contact ball bearing 4, to prevent the angular contact ball bearing 4 from moving axially.

[0038] The rotor assembly includes a rotor shaft 6 and a nut retainer 7, the rotor shaft 6 is arranged on the rotor mount, and the nut retainer 7 is arranged on the rotor shaft 6. One end of the rotor shaft 6 is embedded in the inner ring of the angular contact ball bearing 4, and the other end of the rotor shaft 6 is embedded in the stator 3, so that when the stator 3 is powered to generate a magnetic field, it pushes the rotor shaft 6 to rotate. The nut retainer 7 is sleeved on one end of the rotor shaft 6, and the nut retainer 7 is matched with the external threads of one end of the rotor shaft 6, while the end face of the nut retainer 7 is tightly pressed against the free end of the inner ring of the angular contact ball bearing 4, thereby fastening the rotor shaft 6 to the inner ring of the angular contact ball bearing 4. To improve the axial stability of the inner ring of the angular contact ball bearing 4, further improve the axial stability of the rotor shaft 6. A set of labyrinth seals 8 is arranged between the rotor shaft 6 and the other end face of the motor housing 1 to prevent the harmonic reducer and the lubricating grease in the angular contact ball bearing 4 from entering the motor.

[0039] The harmonic speed reduction output assembly includes a harmonic speed reduction assembly and an output assembly, the harmonic speed reduction assembly is arranged on the housing, and the output assembly is arranged on the harmonic speed reduction assembly. The harmonic speed reduction assembly includes a harmonic reducer and a mounting plate 9, the rigid wheel 10 of the harmonic reducer is fastened on the other end face of the motor housing 1 by a second screw to limit the rotation of the rigid wheel 10. The flexible wheel 11 of the harmonic reducer is embedded in the rigid wheel 10, the wave generator 12 of the harmonic reducer is embedded in the flexible wheel 11, and the wave generator 12 is sleeved on one end of the rotor shaft 6. The mounting plate 9 is fastened on one end face of the rotor shaft 6 by a third screw, so that the mounting plate 9 is tightly pressed against the wave generator 12 to improve the connection stability of the wave generator 12 of the harmonic reducer and the rotor shaft 6. Further, the harmonic reducer is a three-order harmonic reducer.

[0040] The output part includes a base 13, a deep groove ball bearing 14 and an output flange 15, the base 13 is arranged on the motor casing 1, the deep groove ball bearing 14 is arranged on the base 13, and the output flange 15 is arranged on the deep groove ball bearing 14. One end of the base 13 is also fastened on the other end face of the motor casing 1 by the third screw. The deep groove ball bearing 14 is embedded in the inner cavity of the base 13, and a pressing plate 16 is fastened on the other end face of the base 13 by a fourth screw, the pressing plate 16 is tightly attached to the free end of the outer ring of the deep groove ball bearing 14 to prevent the axial movement of the deep groove ball bearing 14. The output flange 15 is an output flange with a torque sensor, the output flange 15 is embedded in the inner ring of the deep groove ball bearing 14, and one end of the output flange 15 is fastened on the fixed end face of the flexspline 11 by a first transition sleeve 17 and a fifth screw, and an O-ring 22 is arranged between the first transition sleeve 17 and the output flange 15 to play the role of grease sealing of the inner cavity of the harmonic reducer. A circlip 18 is sleeved on the other end of the output flange 15 to improve the axial stability of the output flange 15 in the deep groove ball bearing 14. The pressing plate 16 and the circlip 18 provide axial 4-point fixation to improve stability.

[0041] The drive control coding integrated part includes an encoder code disc 19 and a drive control encoder integrated plate 20, the encoder code disc 19 is arranged on the frameless motor part, and the drive control encoder integrated plate 20 is arranged on the casing. The encoder code disc 19 is installed on one end face of the rotating shaft 6 by a sixth screw and a second transition sleeve 21. The drive control encoder integrated plate 20 is installed on the rear end cover 2, and the drive control encoder integrated plate 20 corresponds to the encoder code disc 19, and the encoder code disc 19 and the drive control encoder integrated plate 20 jointly form a data acquisition and processing combination of encoder and driver two-in-one.

[0042] Although the embodiments of the present application have been disclosed as above, they are not limited to only the applications listed in the specification and embodiments, and can be fully applied to various fields suitable for the present application, and additional modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein, without departing from the general concept defined by the claims and the equivalent scope.

Claims

1. A flat, lightweight harmonic deceleration joint module, characterized in that, include: A power component, comprising a housing and a frameless motor assembly disposed on the housing to provide rotational torque; A harmonic speed reducer output device is disposed on the housing. It includes a harmonic speed reducer and an output device. The harmonic speed reducer is disposed inside the housing and is connected to the frameless motor. The output device is disposed on the housing and outputs torque after the harmonic speed reducer is decelerated. The drive control encoder integrated unit is mounted on the housing and includes an encoder code disk and a drive control encoder integrated board. The encoder code disk is mounted on the frameless motor component, and the drive control encoder is mounted on the housing. The encoder code disk and the drive control encoder integrated board work together to form a data acquisition and processing combination of encoder and driver. The housing includes a motor housing and a rear end cover, the rear end cover being fastened to one end of the motor housing; the frameless motor component includes a stator, a rotor mounting component, and a rotor assembly, the stator being mounted in one end cavity of the motor housing, the rotor mounting component being disposed in the other end cavity of the motor housing, and the rotor assembly being disposed within the rotor mounting component; the rotor mounting component includes an angular contact ball bearing and a retaining ring, the angular contact ball bearing being embedded in the other end cavity of the motor housing, and the retaining ring being fastened to the other end of the motor housing, such that the retaining ring presses against the free end face of the outer ring of the angular contact ball bearing; multiple angular contact ball bearings are provided, and multiple angular contact ball bearings are fitted back-to-back in the other end cavity of the motor housing; the rotor assembly includes a shaft and a nut / retaining ring. One end of the shaft is fitted into the inner ring of the angular contact ball bearing, and the other end of the shaft is fitted into the stator. The nut retaining ring is fitted onto one end of the shaft, and the nut retaining ring is threaded into the external thread of one end of the shaft. At the same time, the end face of the nut retaining ring tightly abuts against the free end of the inner ring of the angular contact ball bearing. A labyrinth seal is provided between the shaft and the other end face of the motor housing. The harmonic reducer includes a harmonic reducer and a mounting plate. The rigid wheel of the harmonic reducer is fastened to the other end face of the motor housing. The flexible wheel of the harmonic reducer is fitted into the rigid wheel. The wave generator of the harmonic reducer is fitted into the flexible wheel, and the wave generator is fitted onto one end of the shaft. The mounting plate is fastened to one end face of the shaft, so that the mounting plate tightly abuts against the wave generator.

2. The flat, lightweight harmonic deceleration joint module according to claim 1, characterized in that, The output component includes a base, a deep groove ball bearing, and an output flange. One end of the base is fastened to the other end face of the motor housing. The deep groove ball bearing is embedded in the inner cavity of the base. A pressure plate is fastened to the other end face of the base, and the pressure plate presses tightly against the free end of the outer ring of the deep groove ball bearing.

3. The flat, lightweight harmonic deceleration joint module according to claim 2, characterized in that, The output flange is an output flange with a torque sensor. The output flange is embedded in the inner ring of the deep groove ball bearing, and one end of the output flange is fastened to the fixed end face of the flexible wheel through a first transition sleeve. At the same time, an O-ring is provided between the first transition sleeve and the output flange, and a snap ring is fitted on the other end of the output flange.

4. The flat, lightweight harmonic deceleration joint module according to claim 3, characterized in that, The encoder code disk is mounted on one end face of the rotating shaft via a second transition sleeve, and the drive control encoder integrated plate is mounted on the rear end cover, with the drive control encoder integrated plate corresponding to the encoder code disk.

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