Harmonic module integrating bearing and rigid wheel

Abstract

The invention discloses a bearing and rigid wheel integrated harmonic module which comprises an input shaft, a speed reducer assembly, a wave generator arranged on the input shaft and a flexible bearing arranged outside the wave generator, and an encoder assembly is arranged at one end of the input shaft. A rolling body is arranged between a bearing inner ring and a bearing outer ring and arranged on the outer side of a cup-shaped flexible gear cylinder body, so that the axial length and the outer diameter are effectively shortened, a wave generator and an input shaft are integrated, the bearing inner ring and a cup-shaped flexible gear are fixedly connected to form an output shaft, rigid gear inner teeth are meshed with cup-shaped flexible gear outer teeth, and therefore the axial length and the outer diameter are effectively reduced. The integral weight is relatively light, the integral rigidity can be effectively improved, and the invention belongs to the field of mechanical joint transmission.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical joint transmission, and more specifically relates to a harmonic module integrating a bearing and a rigid wheel. Background Art

[0002] In the existing field of mechanical joint transmission technology, the components of an integrated joint module are connected coaxially in series, resulting in a long joint length. This results in a large volume and weight of the integrated joint module, which is not conducive to miniaturization and lightweighting of the robot. Therefore, there is an urgent need for a transmission module that can achieve miniaturization and lightweighting, and a higher load-to-weight ratio. Summary of the Invention

[0003] The main purpose of the present invention is to provide a harmonic module with an integrated bearing and a rigid wheel, which not only has a short axial length and a relatively small outer diameter, but also has a relatively light weight and higher overall rigidity.

[0004] To achieve the above object, the technical solution of the present invention is:

[0005] A harmonic module with an integrated bearing and a rigid spline comprises an input shaft, a reducer assembly, a wave generator disposed on the input shaft, and a flexible bearing disposed outside the wave generator. An encoder assembly is provided at one end of the input shaft. The reducer assembly comprises a bearing outer ring, a rigid spline integral with the bearing outer ring, a cup-type flexspline, and a bearing inner ring fixedly connected to the cup-type flexspline. The inner teeth of the rigid spline mesh with the outer teeth of the cup-type flexspline. A rolling element is provided between the bearing inner ring and the bearing outer ring, and the rolling element is disposed on the outside of the cup-type flexspline.

[0006] According to the first aspect of the embodiment of the present invention, it also includes a support assembly, which includes a first support bearing and a second support bearing respectively arranged on both sides of the wave generator, and the first support bearing is arranged on the side of the cup-type flexible wheel close to the wave generator.

[0007] According to an embodiment of the first aspect of the present invention, a bearing seat is provided on the outer side of the first support bearing, and the first support bearing and the bearing seat are both arranged at the bottom of the cup-type flexible spline.

[0008] According to an embodiment of the first aspect of the present invention, the bearing inner ring is fixedly connected to the cup-type flexspline and the bearing seat by screws.

[0009] According to an embodiment of the first aspect of the present invention, the encoder assembly includes an input-end encoder and an output-end encoder sequentially arranged along the axial direction of the input shaft.

[0010] According to the first aspect of the present invention, a driving plate and a tail cover are provided on the outside of the encoder assembly, and the driving plate is arranged between the output end encoder and the tail cover.

[0011] According to an embodiment of the first aspect of the present invention, an inner groove for mounting the rolling elements is provided on the outside of the inner ring of the bearing.

[0012] According to an embodiment of the first aspect of the present invention, the rolling element is spherical, cylindrical or conical.

[0013] According to the first aspect of the embodiment of the present invention, the flexible bearing, the first support bearing and the bearing seat are all arranged in the cup-type flexspline.

[0014] According to the first aspect of the present invention, a motor assembly is provided on the input shaft, and one end portion of the input shaft is inserted into the cup-type flexspline.

[0015] One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:

[0016] The present invention integrates the outer ring of the bearing with the rigid wheel, arranges rolling elements between the inner ring of the bearing and the outer ring of the bearing, and arranges the rolling elements on the outside of the cup-type flexible wheel barrel, thereby effectively shortening the axial length and outer diameter; by integrating the wave generator with the input shaft, the inner ring of the bearing and the cup-type flexible wheel are fixedly connected to form an output shaft, and the inner teeth of the rigid wheel are meshed with the outer teeth of the cup-type flexible wheel, not only the overall weight is relatively light, but also the overall rigidity can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0018] Attachment Figure 1 A cross-sectional view of an embodiment of the present invention;

[0019] Attachment Figure 2 A side view of an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal communication between two elements, indirect communication, or an interactive relationship between two elements.

[0025] The following disclosure provides many different embodiments or examples for implementing different solutions of the present invention.

[0026] Refer to the attached Figure 1 To the attached Figure 2 As shown, a harmonic module with an integrated bearing and a rigid wheel includes an input shaft 1, a wave generator 11 arranged on the input shaft 1, a motor assembly sleeved on the input shaft 1, a reducer assembly 3 arranged at one end of the input shaft 1, and a support assembly. The input shaft 1 is a hollow input shaft or a solid input shaft.

[0027] In one embodiment of the present invention, the reducer assembly 3 includes a bearing outer ring 31, a rigid wheel 35 that is an integrated component with the bearing outer ring 31, a cup-type flexible wheel 32, and a bearing inner ring 33 fixedly connected to the cup-type flexible wheel 32. The inner teeth of the rigid wheel 35 are meshed with the outer teeth of the cup-type flexible wheel 32. A rolling body 34 is provided between the bearing inner ring 33 and the bearing outer ring 31. The rolling body 34 is arranged on the outside of the cup-type flexible wheel 32, so that the input shaft 1 is used as the input shaft, the wave generator 11 is integrated with the input shaft, and the bearing outer ring 31 is integrated with the rigid wheel 35. Then, the bearing inner ring 33 is fixedly connected to the cup-type flexible wheel 32 to form an output shaft, and the inner teeth of the rigid wheel 35 are meshed with the outer teeth of the cup-type flexible wheel 32, thereby effectively shortening the axial length, reducing the outer diameter, and reducing the weight.

[0028] In one embodiment of the present invention, the inner ring 33 of the bearing, the cup-shaped flexible spline 32 and the bearing seat 43 are fixedly connected as a whole by screws. Figure 2 A plurality of screws are provided at intervals on the side of the bearing inner ring 33 to sequentially connect the bearing inner ring 33, the cup-shaped flexible spline 32 and the bearing seat 43.

[0029] In one embodiment of the present invention, an inner groove is provided on the outside of the bearing inner ring 33 for mounting the rolling element 34 . The rolling element 34 is spherical, cylindrical or conical, preferably cylindrical.

[0030] In one embodiment of the present invention, the support assembly includes a first support bearing 41 and a second support bearing 42 respectively arranged on both sides of the wave generator 11. The first support bearing 41 is arranged on the side of the cup-type flexible wheel 32 close to the wave generator 11. A bearing seat 43 is provided on the outside of the first support bearing 41. The first support bearing 41 and the bearing seat 43 are both arranged at the bottom of the cup-type flexible wheel 32, which makes rational use of space to control the overall size of the robot joint, thereby being able to obtain greater torque output while ensuring miniaturization and lightweight.

[0031] In one embodiment of the present invention, the first support bearing 41 and the second support bearing 42 are both deep groove ball bearings. Therefore, they are not only easy to use, simple to maintain, and have a long service life and reliability, but also can withstand large radial and axial loads, and have high speed capability, low friction loss and high efficiency.

[0032] In one embodiment of the present invention, the first support bearing 41 is arranged between the bearing seat 43 and the input shaft 1, the first support bearing 41 and the bearing seat 43 are arranged in the inner cavity of the cup-type flexible spline 32, and a flexible bearing 5 is provided between the cup-type flexible spline 32 and the input shaft 1, and the flexible bearing 5, the first support bearing 41, and the bearing seat 43 are all arranged in the cup-type flexible spline 32, thereby rationally utilizing the space, controlling the axial length of the harmonic joint, and realizing the miniaturization of the joint structure.

[0033] In one embodiment of the present invention, the motor assembly includes a driving source arranged on the input shaft 1 and a motor housing whose one end abuts against the outer ring of the bearing 31, wherein the power source is the power input of the joint structure, including a motor stator and a motor rotor, the motor stator is sleeved on the inner side of the motor housing, and the motor rotor is sleeved on the outer side of the input shaft 1 through a permanent magnet.

[0034] In one embodiment of the present invention, one end of the motor housing is fixedly connected to the bearing outer ring 31, and the other end is connected to the tail cover 7. The overall dimensions of the outer circles of the bearing outer ring 31, the motor housing and the tail cover 7 are kept consistent to ensure a neat appearance of the robot joint.

[0035] In one embodiment of the present invention, an encoder assembly 2 is provided at one end of the center tube away from the reducer assembly 3. The encoder assembly 2 includes an input end encoder 21 and an output end encoder 22 arranged in sequence along the axial direction of the center tube. A drive plate 6 is provided on the outside of the encoder assembly 2. The drive plate 6 is arranged between the output end encoder 22 and the tail cover 7.

[0036] In one embodiment of the present invention, a bearing seat 43 and a first support bearing 41 are provided in the cavity of the cup-type flexible spline 32. The inner ring of the first support bearing 41 cooperates with the input shaft 1, and the outer ring of the first support bearing 41 cooperates with the inner hole of the bearing seat 43. The first support bearing 41 is coaxial with the bearing outer ring 31.

[0037] Therefore, the present invention integrates the bearing outer ring 31 with the rigid wheel 35, sets the rolling body 34 between the bearing inner ring 33 and the bearing outer ring 31, and sets the rolling body 34 on the outside of the cylinder of the cup-type flexible wheel 32, thereby effectively shortening the axial length and the outer diameter. In addition, by integrating the wave generator 11 with the input shaft, the bearing inner ring 33 and the cup-type flexible wheel 32 are fixedly connected to form the output shaft, and the inner teeth of the rigid wheel 35 are meshed with the outer teeth of the cup-type flexible wheel 32, not only the overall weight is relatively light, but also the overall rigidity can be effectively improved.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A harmonic module integrating bearing and rigid wheel, characterized in that: include: Input shaft (1); a wave generator (11) provided on the input shaft (1) and a flexible bearing (5) provided outside the wave generator (11); An encoder assembly (2) is provided at one end of the input shaft (1); A reducer assembly (3), the reducer assembly (3) comprising a bearing outer ring (31), a rigid wheel (35) integral with the bearing outer ring (31), a cup-shaped flexible wheel (32), and a bearing inner ring (33) fixedly connected to the cup-shaped flexible wheel (32); The inner teeth of the rigid wheel (35) mesh with the outer teeth of the cup-shaped flexible wheel (32); A rolling body (34) is provided between the bearing inner ring (33) and the bearing outer ring (31), and the rolling body (34) is arranged on the outside of the cylinder of the cup-shaped flexible wheel (32).

2. The harmonic module with integrated bearing and rigid wheel according to claim 1, characterized in that: The invention also includes a support assembly, wherein the support assembly includes a first support bearing (41) and a second support bearing (42) respectively arranged on both sides of the wave generator (11); the first support bearing (41) is arranged on a side of the cup-shaped flexible wheel (32) close to the wave generator (11).

3. The harmonic module with integrated bearing and rigid wheel according to claim 2, characterized in that: A bearing seat (43) is provided on the outer side of the first support bearing (41), and the first support bearing (41) and the bearing seat (43) are both arranged at the bottom of the cup-shaped flexible wheel (32).

4. The harmonic module with integrated bearing and rigid wheel according to claim 3, characterized in that: The bearing inner ring (33), the cup-shaped flexible wheel (32) and the bearing seat (43) are fixedly connected by screws.

5. The harmonic module with integrated bearing and rigid wheel according to claim 1, characterized in that: The encoder assembly (2) comprises an input end encoder (21) and an output end encoder (22) which are sequentially arranged along the axial direction of the input shaft (1).

6. The harmonic module with integrated bearing and rigid wheel according to claim 5, characterized in that: A driving plate (6) and a tail cover (7) are provided on the outside of the encoder assembly (2), and the driving plate (6) is arranged between the output end encoder (22) and the tail cover (7).

7. The harmonic module with integrated bearing and rigid wheel according to claim 1, characterized in that: An inner groove for mounting the rolling element (34) is provided on the outside of the bearing inner ring (33).

8. The harmonic module with integrated bearing and rigid wheel according to claim 7, characterized in that: The rolling element (34) is spherical, cylindrical or conical.

9. The harmonic module with integrated bearing and rigid wheel according to claim 1, characterized in that: The flexible bearing (5), the first support bearing (41) and the bearing seat (43) are all arranged in the cup-shaped flexible wheel (32).

10. The harmonic module with integrated bearing and rigid wheel according to claim 1, characterized in that: A motor assembly is provided on the input shaft (1), and one end portion of the input shaft (1) is inserted into the cup-shaped flexible wheel (32).

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