A driving and controlling integrated transmission device

Abstract

The present invention provides a drive control integrated transmission device. The device includes a housing, a driver, a harmonic reducer assembly, a hollow shaft, an input shaft, a motor rotor, a motor stator, a magnetic ring mounting seat, a torque sensor, and an end cover. In the present invention, a fan is arranged on the input shaft, and the hollow shaft, the torque sensor, the end cover, and the driver are all intermediate through structures. The input shaft and the hollow shaft are mostly provided with radial through holes in the axial position, and the air inside the device is exchanged with the outside through the fan, so as to achieve the effect of heat dissipation and cooling; the present invention is provided with an outer magnetic ring and an inner magnetic ring to realize the detection of the position, speed, and number of rotations of the input shaft and the flexible wheel output; a groove is provided on the housing to enhance heat dissipation and reduce mass. In the present invention, the flexible wheel is a short barrel type, and an input shaft with a three-cam profile is used to make up for the shortcomings of the short barrel type flexible wheel. The present invention adopts a compact and lightweight design while enhancing the heat dissipation of the integrated transmission device.

Description

Technical Field

[0001] The invention relates to the field of transmission devices, in particular to a drive-control integrated transmission device. Background Art

[0002] Drive-control integrated transmission devices are widely used, mostly in automation equipment, such as executive control transmission devices for new energy vehicles, joints in intelligent robots, and control transmission devices in high-precision machine tools.

[0003] The drive control integrated transmission device is generally composed of a precision reducer, a motor and a control device. It can provide power output and can perform real-time control adjustments based on the data collected during operation. In actual use, the precision reducer, motor and control device are usually connected in series. Such a direct combination will make the overall weight heavy, occupy a large space, and make the whole too bulky, which is not conducive to the weight and volume of the application equipment, nor is it conducive to the miniaturization of the application equipment.

[0004] There are already many solutions for driving control integrated transmission devices or transmission joint modules that reduce weight and make the structure more compact in the industry. For example, CN 216185586U and CN114313054A use a combination of harmonic reducer and motor, and house the motor and detection elements in the inner cavity of the flexible wheel, which makes the structure compact. However, since the motor and detection elements are both electrical components, and the harmonic reducer is actually used, the inner cavity of the flexible wheel is filled with lubricating oil and grease, which will interfere with the operation of the electrical components and cause corrosion. In addition, these two technologies place the detection element in the inner cavity of the flexible wheel and the torque sensor on the surrounding wall. Since the surrounding wall is thick and the deformation is small, it is difficult for the torque sensor to collect data sensitively.

[0005] In addition, existing integrated transmission devices or power modules do not have good heat dissipation capabilities. As the working time increases, heat will continue to accumulate, and the increase in temperature causes nonlinear changes in the motor output characteristics, which makes stable control very difficult. At the same time, when the temperature reaches a certain value, the motor will demagnetize and fail.

[0006] Therefore, the prior art lacks an integrated transmission device that can achieve high precision, sensitive control, light weight, small size, and good heat dissipation function. Summary of the invention

[0007] In order to solve the problems mentioned in the above background technology, the present invention provides a drive control integrated transmission device. In the present invention, a harmonic reducer assembly, a motor assembly and a control assembly are arranged in the housing of the integrated transmission device. The harmonic reducer assembly adopts a lightweight and flat design to reduce the volume and mass of the device. The motor assembly and the control assembly are reasonably arranged to avoid interference from lubricating oil or grease in the harmonic reducer assembly. A cooling fan is arranged in the device and radial and axial through holes are arranged to form a cooling air duct, thereby greatly improving the heat dissipation capacity of the device.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] The present invention provides a drive control integrated transmission device, comprising a housing, a driver, and a harmonic reducer assembly, a hollow shaft, an input shaft, a motor rotor, and a motor stator located inside the housing; the hollow shaft penetrates the harmonic reducer assembly, the input shaft, and the housing; the input shaft and the hollow shaft are rollingly connected through a bearing, the input shaft and the motor rotor are fixedly connected, both of which are in the inner ring of the motor stator, the input shaft is fixedly connected to the wave generator of the harmonic reducer assembly, and the motor stator is fixed on the housing; the driver is connected to the motor stator and drives the motor rotor to rotate through the motor stator;

[0010] A fan is arranged on the end of the input shaft away from the harmonic reducer assembly, and a mounting hole is arranged near the rotating axis of the fan, and an outer magnetic ring is installed in the mounting hole; a magnetic ring mounting seat is fixedly installed on the end of the hollow shaft away from the harmonic reducer assembly, and an inner magnetic ring is installed on the magnetic ring mounting seat; the centers of the end cover and the driver are both designed with openings, and a plurality of axial through holes are arranged on the magnetic ring mounting seat; through holes are arranged on the circumference of the input shaft and the hollow shaft, wherein the input shaft and the hollow shaft are provided with corresponding radial through holes at multiple axial positions, and there is a gap between the input shaft and the stator; a plurality of grooves are arranged on the outer ring of the housing;

[0011] One end of the housing is connected to a connecting flange through a bearing assembly, a torque sensor is arranged on the connecting flange, and an end cover is fixedly arranged on the other end of the housing; the driver is fixedly installed in the end cover; the wire of the torque sensor passes through the middle hole of the hollow shaft and is electrically connected to the driver;

[0012] The inner circle of the bearing outer ring of the bearing assembly is fixedly connected to the outer circle of the connecting flange, the outer circle of the torque sensor and the inner circle of the connecting flange cooperate with each other, and the bearing outer ring, the connecting flange and the torque sensor are fixedly connected radially; the rigid wheel of the harmonic reducer assembly cooperates with and is fixedly connected to the inner circle of the bearing inner ring of the bearing assembly, the hollow shaft, the torque sensor and the flexible wheel of the harmonic reducer assembly are fixedly connected, and the hollow shaft passes through the torque sensor.

[0013] According to an embodiment of the present invention, the ratio of the axial dimension to the radial dimension of the flexible wheel is 0.15-0.60, preferably 0.15-0.3; the input shaft and the flexible bearing constitute a wave generator with a three-cam profile; the wave generator is placed in the inner cavity of the flexible wheel, and the flexible wheel is meshed with the rigid wheel; the three-cam profile consists of three long axes and three short axes, the three long axes are evenly distributed around the circumference, each long axis is 120° apart, and the three short axes are respectively distributed in the middle of the angle between each two long axes, that is, the short axis is 60° apart from the two adjacent long axes, and each short axis is 120° apart.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects:

[0015] 1) In the present invention, the outer magnetic ring is installed on the fan, that is, it rotates synchronously with the input shaft; the inner magnetic ring is fixedly installed on the magnetic ring mounting seat, that is, it rotates synchronously with the flexible wheel and the hollow shaft; the inner magnetic ring and the outer magnetic ring are installed away from the harmonic reducer assembly. In this way, the outer magnetic ring and the inner magnetic ring can rotate synchronously with the input and output of the harmonic reducer group respectively, so that the driver can obtain data; and the outer magnetic ring and the inner magnetic ring and the sensor in the driver will not be disturbed by the lubricating oil or grease in the harmonic reducer assembly, so that the detection data is inaccurate and they are corroded.

[0016] 2) The present invention is provided with a fan, which is fixedly connected to the input shaft or made into one piece. When the device is running, the fan will run synchronously, which plays a role in heat dissipation and cooling the device, allowing air to flow inside the device. Since the outer shell has a heat dissipation function, the driver is a hollow structure and has its own heat dissipation function, the end cover is provided with a through hole, and the hollow shaft is a hollow structure, the air inside the device can be exchanged with the outside, thereby achieving the effect of heat dissipation and cooling; the input shaft, hollow shaft, and magnetic ring mounting seat are all provided with through holes in the circumference, which can further play a role in air circulation and heat dissipation. The present invention effectively controls the temperature rise of the device, so that the motor components, electrical components and reducer components in the device can be at a better working temperature, so that the performance of the device is always in a better state.

[0017] 3) In the present invention, the torque sensor is located at one end of the transmission device and can be directly connected to the output end. The torque sensor can directly obtain the load data of the output end, so that the data obtained is more accurate and the control adjustment made by the driver is more precise.

[0018] 4) The hollow shaft, housing, driver mounting seat, end cover, magnetic ring mounting seat, and input shaft of the present invention are all made of lightweight metal materials, which can greatly reduce weight, at least 50% or more. The hollow shaft 7, torque sensor 9, end cover 23, and driver 32 of the present invention are all middle through structures, so that the drive control integrated transmission device becomes a middle through whole, which is convenient for threading and prevents the wires from getting tangled during use.

[0019] 5) The flexible wheel of the present invention is of short-cylinder type, and the ratio of the axial dimension to the radial dimension is between 0.15-0.6. The axial dimension is 65% shorter than that of the ordinary flexible wheel. The use of the short-cylinder type flexible wheel can further compact the structure and reduce the weight. Since the flexible wheel is of short-cylinder type, the axial length of its tooth portion is shorter than that of the ordinary flexible wheel, so the bearing part of the tooth is less, which will lead to insufficient bearing capacity. Therefore, the use of a three-wave cam can make up for this deficiency. While the drive control integrated transmission device has a more compact structure and lighter weight, it does not affect the bearing capacity, rigidity and other performances. The three-wave cam will make the harmonic reducer more accurate, which is about 60%-70% higher than the conventional double-wave cam profile. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a cross-sectional structural diagram of the drive control integrated transmission device of the present invention.

[0021] Figure 2 This is a diagram of the matching structure of the rigid wheel and the inner ring of the bearing in an embodiment of the present invention.

[0022] Figure 3 It is a shell structure diagram of the present invention.

[0023] Figure 4 This is a structural diagram of the wave generator of the present invention.

[0024] Figure 5 It is a structural diagram of the driver of the present invention.

[0025] Figure 6 It is a structural diagram of the end cover of the present invention.

[0026] Figure 7 This is a structural diagram of the flexible wheel installation of the present invention.

[0027] Figure 8 It is a structural diagram of the fan of the present invention.

[0028] Fig. 9 Schematic diagram of heat dissipation function.

[0029] In the figure: 1-bearing outer ring; 2-pin; 3-connecting flange; 4-flexible bearing; 5-cam; 6-deep groove ball bearing one; 7-hollow shaft; 8-screw one; 9-torque sensor; 10-flexible wheel; 11-rigid wheel; 12-screw two; 13-bearing inner ring one; 14-bearing retainer; 15-bearing roller; 16-bearing inner ring two; 17-oil seal; 18-screw three; 19-housing; 20-deep groove ball bearing two; 21-screw four; 22-driver mounting seat; 23-end cover; 24-fan; 24-1-fan blade; 25-screw five; 26-outer magnetic ring; 27-inner magnetic ring; 28-magnetic ring mounting seat; 29-screw six; 30-screw seven; 31-input shaft; 32-driver; 33-motor rotor; 34-motor stator. DETAILED DESCRIPTION

[0030] The present invention will be further described and illustrated in conjunction with specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0031] like Figure 1 As shown, the present invention provides a drive control integrated transmission device, including a bearing assembly, a rigid wheel 11, a flexible wheel 10, a cam 5, a flexible bearing 4, a connecting flange 3, a torque sensor 9, a hollow shaft 7, an input shaft 30, a motor rotor 33, a motor stator 34, a magnetic ring mounting seat 28, an inner magnetic ring 27, an outer magnetic ring 26, a driver 32, a driver mounting seat 22, a housing 19, an end cover 23, and a fan 24. The connecting flange 3, the torque sensor 9 and the bearing assembly are located at one end of the housing 19, and the end cover 23 is located at the other end of the housing, and the assembly is located inside the area surrounded by the housing 19 and the end cover 23.

[0032] In the present invention, the rigid wheel 11, the flexible wheel 10, the cam 5, and the flexible bearing 4 constitute the harmonic reducer assembly of the present invention; since the inner cavity of the flexible wheel is filled with lubricating oil and grease, it will interfere with the operation of the electrical components; therefore, when designing the present invention, the harmonic reducer assembly is designed at the end away from the end cover 23, that is, the harmonic reducer assembly is close to the connecting flange 3, and the inner magnetic ring 27, the outer magnetic ring 26, the driver 32 and other electrical components are arranged at the end close to the end cover 23 or arranged in the end cover 23, so as to avoid the influence of lubricating oil and grease and ensure the accuracy of detection.

[0033] Specifically, in one embodiment of the present invention, a fan 24 is provided on one end of the input shaft 30 away from the harmonic reducer assembly, and a mounting hole is provided near the rotating axis of the fan 24, and an outer magnetic ring 26 is installed in the mounting hole; a magnetic ring mounting seat 28 is fixedly installed on one end of the hollow shaft 7 away from the harmonic reducer assembly, and an inner magnetic ring 27 is installed on the magnetic ring mounting seat 28; the centers of the end cover 23 and the driver 32 are both designed with openings, and a plurality of axial through holes are provided on the magnetic ring mounting seat 28; the input shaft and the hollow shaft are provided with corresponding radial through holes at multiple axial positions; the outer ring of the housing 19 is provided with a plurality of grooves;

[0034] One end of the housing 19 is connected to a connecting flange 3 through a bearing assembly, and a torque sensor 9 is arranged on the connecting flange 3. An end cover 23 is fixedly arranged at the other end of the housing 19; a driver 32 is fixedly installed in the end cover 23; and the wire of the torque sensor 9 passes through the middle hole of the hollow shaft 7 and is electrically connected to the driver 32;

[0035] like Figure 7 As shown, the inner circle of the bearing outer ring of the bearing assembly is fixedly connected to the outer circle of the connecting flange 3, the outer circle of the torque sensor 9 cooperates with the inner circle of the connecting flange 3, and the bearing outer ring, the connecting flange 3, and the torque sensor 9 are fixedly connected radially; the rigid wheel 11 of the harmonic reducer assembly cooperates with and is fixedly connected to the inner circle of the bearing inner ring of the bearing assembly, the hollow shaft 7, the torque sensor 9, and the flexible wheel 10 of the harmonic reducer assembly are fixedly connected, and the hollow shaft 7 passes through the torque sensor 9.

[0036] In an optional embodiment of the present invention, the central opening size of the end cover 23 and the driver 32 is larger than the hollow shaft 7 to form a good heat dissipation channel.

[0037] like Figure 1 As shown, in one embodiment of the present invention, the bearing assembly includes a bearing inner ring 13, a bearing inner ring 2 16, a bearing outer ring 1, a bearing retainer 14; a bearing roller 15; and an oil seal 17. The bearing inner ring 13 and the bearing inner ring 2 16 are connected by pins to form a complete bearing inner ring. The outer ring of the bearing inner ring is provided with a raceway, and the inner ring of the bearing outer ring 1 is provided with raceways that can match each other. The bearing inner ring and the bearing outer ring 1 are rollingly connected through the bearing roller 15. The purpose of the present invention designing the bearing inner raceway into two parts is to achieve the installation of the bearing roller 15, that is, first install the bearing roller into the rolling groove formed by the bearing outer ring and half of the inner raceway, and then install the remaining general inner raceway. If the bearing inner raceway is also designed as an integrated unit, then due to

[0038] The outer ring of the bearing is fixed to the connecting flange, and the inner ring of the bearing is fixed to the rigid wheel, the housing, etc., forming a compact structure. Under the structure of the present invention, the bearing roller cannot be installed.

[0039] like Figure 2 As shown, the outer circle of the rigid wheel 11 is provided with a half pin hole, and the inner circle of the second inner ring 16 of the bearing is provided with half pin holes that match each other. The outer circle of the rigid wheel 11 and the inner circle of the second inner ring 16 of the bearing are matched and connected with each other and fixedly connected by pins.

[0040] The inner circle of the bearing outer ring 1 and the outer circle of the connecting flange 3 are matched with each other, the outer circle of the torque sensor 9 and the inner circle of the connecting flange 3 are matched with each other, and the three are fixedly connected from the radial direction by screws. The connecting flange 3 is made of lightweight metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.), which can reduce the axial size and reduce the weight.

[0041] like Figure 1 and 4 As shown, the ratio of the axial dimension to the radial dimension of the flexible wheel 10 is between 0.15-0.6, preferably 0.15-0.3, and the flexible wheel 10 is fixedly connected to the torque sensor 9 by screws; the cam 5 is a wave generator with a three-wave profile composed of a three-wave cam and a flexible bearing 4, and the wave generator is placed in the inner cavity of the flexible wheel, and the flexible wheel is meshed and connected with the rigid wheel. The axial dimension of the flexible wheel is 65% shorter than that of the ordinary flexible wheel. The use of a short-barrel type flexible wheel can further compact the structure and reduce the weight; because the flexible wheel is a short-barrel type, the axial length of its tooth part is shorter than that of the general flexible wheel, so the bearing part of the tooth is less, which will lead to insufficient bearing capacity. Therefore, the use of a three-wave cam can make up for this deficiency. While the drive control integrated transmission device has a more compact structure and lighter weight, it does not affect the bearing capacity, rigidity and other performances, and the three-wave cam will make the harmonic reducer more accurate, about 60%-70% higher than the conventional double-wave cam profile.

[0042] like Figure 4 As shown, according to a preferred embodiment of the present invention, the three-cam profile of the wave generator consists of three long axes and three short axes. The three long axes are evenly distributed around the circumference, each long axis is 120° apart, and the three short axes are respectively distributed in the middle of the angle between every two long axes, that is, the short axis is 60° apart from the two adjacent long axes, and each short axis is 120° apart.

[0043] In a specific embodiment of the present invention, the hollow shaft 7 is made of a light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.), matched and connected with the bottom of the inner cavity of the flexible wheel 10, and fixedly connected with the torque sensor 9 by screws. The hollow shaft 7 passes through the inner hole of the cam 5, and the cam 5 is provided with a bearing mounting hole. The hollow shaft 7 and the cam 5 are rotatably connected through a deep groove ball bearing 6.

[0044] like Figure 3As shown, the housing 19 is provided with a mounting boss, the inner ring of the boss cooperates with the outer circle of the rigid wheel 11, and is fixedly connected with the inner ring of the bearing by screws. The housing 19 is provided with a bearing hole for installing a deep groove ball bearing 20, and the cam 5 is rotatably connected with the housing 19 through the deep groove ball bearing 20. The housing 19 is provided with an inner cavity, and the motor stator 34 is placed in the inner cavity of the housing 19, and the outer circle of the motor stator 34 is matched and connected with the inner cavity of the housing 19. The housing 19 is made of light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.), and a number of grooves are provided on the outer circle to reduce weight.

[0045] In a specific embodiment of the present invention, the input shaft 31 is made of a light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.), fixedly connected to the motor rotor 33, and fixedly connected to the cam 5 by screws. The input shaft 31 is provided with a bearing hole for installing a deep groove ball bearing 6, and the input shaft 31 is rotatably connected to the hollow shaft 7 through the deep groove ball bearing 6. The input shaft 31 and the motor rotor 33 assembly are located in the inner ring of the motor stator 34.

[0046] like Figure 8 As shown, the fan 24 is made of light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.) or plastic material, and is provided with a mounting hole for mounting the outer magnetic ring 26. The outer circle is provided with blades 24-1 evenly distributed around the circumference. The fan 24 is fixedly connected to the input shaft 31 or made into one piece. Fig. 9 As shown, when the motor rotor 33 rotates, the input shaft 31 rotates, driving the fan 24 to rotate together, so that the air inside the device flows, and because the housing 19 has a heat dissipation function, the driver 32 has a heat dissipation function and is a hollow structure, the end cover 23 is provided with a through hole, and the hollow shaft 7 is a hollow structure, the air inside the device can be exchanged with the outside, thereby achieving the effect of heat dissipation and cooling. The input shaft 31, the hollow shaft 7, and the magnetic ring mounting seat 28 are all provided with through holes in the circumference, wherein the input shaft and the hollow shaft are provided with corresponding radial through holes at multiple axial positions, so that the airflow can flow radially to the inside of the transmission device or from the inside of the transmission device to the hollow shaft, and the magnetic ring mounting seat 28 is provided with multiple axial through holes, and there is a gap between the input shaft and the stator; the rotation of the fan can further strengthen the radial and axial flow of the internal air, which can further play the role of air circulation and heat dissipation.

[0047] In a specific embodiment of the present invention, the magnetic ring mounting seat 28 is made of lightweight metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.) and is fixedly mounted on the hollow shaft 7 by screws, and the inner magnetic ring 27 is fixedly mounted on the magnetic ring mounting seat 28 .

[0048] In a specific embodiment of the present invention, the driver mounting seat 22 is made of a light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.) and is fixedly connected to the housing 19 from the radial direction by screws, and the driver 32 is fixedly mounted on the driver mounting seat 22 by screws. Figure 5 As shown, the driver is designed with a through hole in the center.

[0049] like Figure 6 As shown, the end cover 23 is made of light metal material (aluminum alloy, magnesium alloy, titanium alloy, etc.) or carbon fiber material, and is fixedly connected to the driver mounting seat 22 by screws to encapsulate and protect the driver 31. The end cover 23 is provided with a through hole to play the role of threading and heat dissipation.

[0050] In a specific embodiment of the present invention, the motor rotor 33 and the motor stator 34 form a motor assembly, and the motor stator 34 is electrically connected to the driver 32. When the driver is powered on and controls the motor stator 34 to be powered on, the motor rotor 33 rotates and the input shaft 31 also rotates. The rotation of the input shaft 31 drives the rotation of the cam 5, and the rotation of the cam 5 causes the flexible wheel 10 to produce periodic deformation, so that the flexible wheel 10 meshes with the rigid wheel 11, so that the flexible wheel 10 rotates to output power.

[0051] In a specific embodiment of the present invention, a sensor is provided in the driver 32. When the input shaft 31 and the hollow shaft 7 rotate, the outer magnetic ring 26 and the inner magnetic ring 27 rotate accordingly. The sensor can detect the position, rotation speed and number of rotations of the input shaft 31 and the output of the flexible wheel 10 by detecting the outer magnetic ring 26 and the inner magnetic ring 27, thereby obtaining input and output data, and adjusting the motor control based on the obtained data.

[0052] In a specific embodiment of the present invention, the wires of the torque sensor 9 pass through the middle hole of the hollow shaft 7 and are electrically connected to the driver 32, so that the torque sensor 9 can transmit the torque data received at the output end to the driver 32, and the driver 32 adjusts the control of the motor based on the obtained data.

[0053] According to a preferred embodiment of the present invention, the bearing assembly uses a bearing type that can bear both axial loads and radial loads, such as a cross cylindrical roller bearing, a four-point contact ball bearing, etc. In order to make the structure compact and facilitate the installation of the roller, the inner ring of the bearing is split, consisting of a bearing inner ring 13 and a bearing inner ring 2 16. The bearing inner ring 13 and the bearing inner ring 2 16 are each provided with a half raceway and are fixedly connected by pins.

[0054] According to a preferred embodiment of the present invention, in order to reduce the axial and radial dimensions and make the structure compact, the bearing outer ring 1, the connecting flange 3, and the torque sensor 9 are fixedly connected radially by screws; the driver mounting seat 22 and the housing 19 are fixedly connected radially by screws.

[0055] According to a preferred embodiment of the present invention, for the purpose of lightweight design, the connecting flange 3, the hollow shaft 7, the magnetic ring mounting seat 28, the driver mounting seat 22, the outer shell 19, and the end cover 23 are made of lightweight materials; the outer circle of the outer shell 19 is provided with a plurality of grooves, the cam 5 is provided with a plurality of holes, and the input shaft 31 is provided with a groove to reduce weight.

[0056] During operation, the driver controls the input shaft to rotate, the input shaft drives the wave generator to rotate, the flexible wheel is meshed with the rigid wheel, and the rigid wheel is fixed to the outer shell; therefore, the flexible wheel serves as the output end of the harmonic reducer assembly; the flexible wheel, the hollow shaft, the torque sensor, the outer ring of the rigid wheel, and the connecting flange are fixed as a whole, with the torque sensor as the output end. Threaded holes can be set on the torque sensor to install external components. The torque sensor of the present invention can directly obtain the load data of the output end, so that the data obtained is more accurate, and the control adjustment made by the driver 32 is more accurate. The present invention arranges the electrical components such as the inner magnetic ring 27, the outer magnetic ring 26, and the driver 32 at one end close to the end cover 23 or in the end cover 23 to avoid the influence of lubricating oil and grease and ensure the accuracy of detection. During operation, the input shaft and the hollow shaft rotate, and the outer magnetic ring and the inner magnetic ring will rotate accordingly. The sensing element detects the position, speed and number of rotations of the input shaft and the flexible wheel output by detecting the outer magnetic ring and the inner magnetic ring, thereby obtaining input and output data, and adjusting the motor control by the obtained data; the torque sensor transmits the torque data received at the output end to the driver, and the driver adjusts the motor control by the obtained data. The present invention greatly enhances the air flow inside the device and improves the heat dissipation capacity through the design of the fan, the design of the hollow shaft, the end cover, and the center of the driver, and the design of the input shaft, the hollow shaft, and the magnetic ring mounting seat with through holes in the circumference. The present invention further carries out lightweight and miniaturized design of the device, and each component is made of lightweight metal materials. The flexible wheel is a short barrel type with a compact structure to reduce weight; the input shaft with a three-cam profile is used to make up for the shortcomings of the short barrel type flexible wheel, which has a more compact structure and lighter weight without affecting the load-bearing capacity.

[0057] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A drive control integrated transmission device, comprising a housing, a driver, and a harmonic reducer assembly, a hollow shaft, an input shaft, a motor rotor, and a motor stator located inside the housing; the hollow shaft penetrates the harmonic reducer assembly, the input shaft, and the housing; the input shaft and the hollow shaft are rollingly connected through a bearing, and the input shaft and the motor rotor are fixedly connected, the input shaft and the motor rotor are both in the inner ring of the motor stator, the input shaft is fixedly connected to the wave generator of the harmonic reducer assembly, and the motor stator is fixed on the housing; the driver is connected to the motor stator and drives the motor rotor to rotate through the motor stator; It is characterized in that A fan is arranged on the end of the input shaft away from the harmonic reducer assembly, and a mounting hole is arranged near the rotating axis of the fan, and an outer magnetic ring is installed in the mounting hole; a magnetic ring mounting seat is fixedly installed on the end of the hollow shaft away from the harmonic reducer assembly, and an inner magnetic ring is installed on the magnetic ring mounting seat; through holes are arranged on the circumference of the input shaft and the hollow shaft; and a plurality of grooves are arranged on the outer ring of the outer shell; One end of the housing is connected to a connecting flange through a bearing assembly, a torque sensor is arranged on the connecting flange, and an end cover is fixedly arranged on the other end of the housing; the driver is fixedly installed in the end cover; the wire of the torque sensor passes through the middle hole of the hollow shaft and is electrically connected to the driver; the center of the end cover and the driver are both open-hole designed, and a plurality of axial through holes are arranged on the magnetic ring mounting seat; The inner circle of the bearing outer ring of the bearing assembly is fixedly connected to the outer circle of the connecting flange, the outer circle of the torque sensor and the inner circle of the connecting flange cooperate with each other, and the bearing outer ring, the connecting flange and the torque sensor are fixedly connected radially; the rigid wheel of the harmonic reducer assembly cooperates with and is fixedly connected to the inner circle of the bearing inner ring of the bearing assembly, the hollow shaft, the torque sensor and the flexible wheel of the harmonic reducer assembly are fixedly connected, and the hollow shaft passes through the torque sensor.

2. The drive-control integrated transmission device according to claim 1, characterized in that: The bearing assembly includes a bearing outer ring, a bearing inner ring, and bearing rollers; the bearing inner ring includes a bearing inner ring 1 and a bearing inner ring 2, each of which is provided with half of the bearing inner raceway and is connected by pins to form a complete bearing inner ring; the bearing inner ring and the bearing outer ring are rollingly connected by bearing rollers; the bearing rollers are evenly spaced apart by a bearing retainer, and an oil seal is provided on the bearing rollers close to the outer shell.

3. The drive-control integrated transmission device according to claim 2, characterized in that: The outer circle of the rigid wheel is provided with a half pin hole, and the inner circle of the second inner ring of the bearing is provided with a half pin hole matching it. The outer circle of the rigid wheel and the inner circle of the second inner ring of the bearing are matched and connected with each other and fixedly connected by pins; the outer ring size of the first inner ring of the bearing is larger than the outer ring size of the second inner ring of the bearing; the rigid wheel is axially limited by a pair of inner rings of the bearing.

4. The drive-control integrated transmission device according to claim 1, characterized in that: The ratio of the axial dimension to the radial dimension of the flexible wheel is 0.15-0.60; the input shaft and the flexible bearing constitute a wave generator with a three-cam profile; the wave generator is placed in the inner cavity of the flexible wheel, and the flexible wheel is meshed with the rigid wheel; the three-cam profile consists of three long axes and three short axes, the three long axes are evenly distributed around the circumference, each long axis is 120° apart, and the three short axes are respectively distributed in the middle of the angle between each two long axes, that is, the short axis is 60° apart from the two adjacent long axes, and each short axis is 120° apart.

5. The drive-control integrated transmission device according to claim 1, characterized in that: The outer shell is provided with a mounting boss facing inward, the inner ring of the boss cooperates with the outer circle of the rigid wheel, and the boss is fixedly connected to the inner ring of the bearing of the bearing assembly by screws; the outer shell is provided with a bearing hole for installing a second deep groove ball bearing, and the cam of the harmonic reducer assembly is rotatably connected to the outer shell through the second deep groove ball bearing.

6. The drive-control integrated transmission device according to claim 1, characterized in that: An inner cavity is provided in the shell, and the motor stator is placed in the inner cavity of the shell. The outer circle of the motor stator is matched and connected with the inner cavity of the shell. The shell is made of lightweight metal material and has a plurality of grooves on the outer circle. The grooves are used to reduce the weight of the shell and increase the heat dissipation area of ​​the shell.

7. The drive-control integrated transmission device according to claim 1, characterized in that: The hollow shaft is fixedly mounted with a magnetic ring mounting seat by means of screws. The magnetic ring mounting seat is made of a light metal material. The inner magnetic ring mounted on the magnetic ring mounting seat is used to detect the position, rotation speed and number of rotations of the flexible wheel output.

8. The drive-control integrated transmission device according to claim 1, characterized in that: The fan is made of light metal or plastic material; the outer magnetic ring and the inner magnetic ring are located at the same axial position, and the inner magnetic ring is located inside the inner ring of the outer magnetic ring; the fan is fixedly connected to the input shaft or made into one piece.

9. The drive-control integrated transmission device according to claim 1, characterized in that: The housing is fixedly connected with a driver mounting seat from the radial direction by screws. The driver mounting seat is hollow and made of a light metal material. The driver is fixedly mounted on the driver mounting seat by screws and is protected by an end cover.

10. The drive-control integrated transmission device according to claim 7, characterized in that: The driver is provided with a sensing component for cooperating with the outer magnetic ring and the inner magnetic ring for detection; when the input shaft and the hollow shaft rotate, the outer magnetic ring and the inner magnetic ring will rotate accordingly, and the sensing component detects the position, speed and number of rotations of the input shaft and the flexible wheel output by detecting the outer magnetic ring and the inner magnetic ring, thereby obtaining input and output data, and adjusting the motor control based on the obtained data; the torque sensor transmits the torque data received at the output end to the driver, and the driver adjusts the motor control based on the obtained data.

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