High-flexibility integrated speed reducer convenient to maintain and method

Abstract

The invention relates to the technical field and method of mechanical transmission, in particular to a convenient-to-maintain high-flexibility integrated speed reducer which comprises a steel wheel, a flexible wheel, a wave generator and a motor assembly. The output shaft of the motor is detachably connected with the cam shaft through the spline, so that the motor assembly and the wave generator are independently arranged in a split mode, reliable transmission is achieved, and meanwhile disassembly, assembly, replacement and maintenance are convenient. And the elliptical structure of the wave generator drives the flexible gear to generate periodic deformation and is meshed with the steel wheel so as to obtain high-precision speed reduction output. The device is compact in structure, high in transmission rigidity and suitable for high-integration scenes such as robot joints.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and in particular to a highly flexible integrated speed reduction device and method that is easy to maintain. Background Technology

[0002] Harmonic reducers are widely used in robot joints, collaborative robotic arms, and high-precision positioning systems due to their advantages such as high reduction ratio, high transmission accuracy, and compact size. Traditional harmonic reducers typically consist of a flexspline, a steel wheel, and a wave generator. The wave generator is generally directly driven by the motor output shaft, causing the flexspline to undergo periodic elliptical deformation to achieve meshing transmission. However, in traditional structures, the motor and wave generator are often connected as a single unit, for example, the motor output shaft is directly machined into the wave generator's input shaft, or it is fixed by a non-removable connection structure. While this connection method can transmit torque, it has the following drawbacks: First, the motor assembly and wave generator assembly are difficult to disassemble independently, resulting in high maintenance and replacement costs; second, the single-unit connection is not conducive to precision upgrades or component replacement. Once the motor output shaft or wave generator camshaft wears or deforms, it is usually necessary to replace the entire motor or the entire reduction gear; third, the axial structure at the motor end is restricted, making it difficult to improve assembly freedom and hindering the overall flexibility of the machine.

[0003] As robots and precision equipment evolve towards miniaturization, lightweighting, and high reliability, speed reduction devices, while maintaining high coaxiality and rigidity transmission, still need to possess higher maintainability and modularity. Therefore, achieving a reliable separate connection between the motor assembly and wave generator assembly while maintaining harmonic drive accuracy and structural rigidity, and solving the problems of difficult disassembly and replacement in traditional structures, has become a crucial technological breakthrough for the industry.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a highly flexible integrated speed reduction device and method that is easy to maintain, addressing the shortcomings of existing technologies. The aim is to achieve a technical solution that allows for separate connection of the motor assembly and the wave generator assembly, independent disassembly and assembly, and easier maintenance without reducing harmonic drive performance.

[0006] This invention achieves the above objectives through the following technical solution: a highly flexible integrated speed reduction device that is easy to maintain, comprising:

[0007] Steel wheel with rigid internal teeth;

[0008] A flexible gear has flexible external teeth that mesh with the internal teeth of a rigid gear;

[0009] A wave generator comprises a camshaft in an elliptical structure, and a flexible bearing installed inside a flexible gear and sleeved on the camshaft and located on the elliptical structure;

[0010] A motor assembly has a motor output shaft splined with the camshaft at an end away from the flexible bearing.

[0011] Further, the camshaft is provided with an inner spline at an end away from the flexible bearing, and the motor output shaft is provided with an outer spline matched with the inner spline.

[0012] Further, the camshaft is provided with an outer spline at an end away from the flexible bearing, and the motor output shaft is provided with an inner spline matched with the outer spline.

[0013] Further, the motor assembly further comprises a motor housing, a motor stator arranged on the motor housing, and a motor rotor arranged on the motor output shaft.

[0014] The flexible gear is provided with a bottom wall at an end away from the flexible gear outer teeth, and the bottom wall abuts against one side of the motor housing.

[0015] The speed reduction device further comprises a speed reduction output shaft connected with the steel gear, and a cross bearing connected with the bottom wall at a side away from the motor housing.

[0016] Further, the motor assembly further comprises:

[0017] A first oil seal sleeved on the motor output shaft and arranged in the motor housing;

[0018] A first deep groove ball bearing sleeved on the motor output shaft and arranged adjacent to the first oil seal, and arranged in the motor housing;

[0019] A flange arranged at a side of the motor housing away from the cross bearing;

[0020] A second deep groove ball bearing sleeved on the motor output shaft, arranged at a side of the first deep groove ball bearing away from the first oil seal, and connected with the flange;

[0021] A second oil seal sleeved on the speed reduction output shaft and connected between the speed reduction output shaft and the motor output shaft.

[0022] Further, a driver assembly is arranged at a side of the flange away from the motor housing, and the driver assembly comprises a driver mounting plate and a driver end cover.

[0023] The camshaft is provided with a first threaded hole, and the motor output shaft is provided with a second threaded hole matched with the first threaded hole at an end face of the outer spline, the motor output shaft is inserted into the camshaft through the alignment of the outer spline and the inner spline to realize the spline connection, and then a screw is threaded through the first threaded hole and the second threaded hole to fasten and connect.

[0024] An assembly method of a high-flexibility integrated speed reduction device convenient for maintenance, comprising the following steps:

[0025] A pre-step of providing a steel wheel, a flexible wheel, a wave generator, a motor assembly and a speed reduction output shaft, wherein the wave generator comprises a camshaft and a flexible bearing, and the motor assembly comprises a motor output shaft;

[0026] An embedding step of installing the flexible bearing in the flexible wheel and inserting the camshaft into the flexible bearing to make the flexible wheel deformed by the elliptical structure of the camshaft;

[0027] A docking step of aligning and inserting the spline part of the motor output shaft with the spline part of the camshaft to form a spline connection for transmitting torque;

[0028] A locking step of axially locking by a fastener connected to the first threaded hole at the end of the camshaft and the second threaded hole at the end of the motor output shaft after the spline insertion is completed;

[0029] A connecting step of abutting the bottom wall of the flexible wheel with the motor housing, connecting the speed reduction output shaft with the steel wheel, and supporting the flexible wheel and the speed reduction output shaft by the cross bearing.

[0030] Further comprising the following steps:

[0031] An encapsulating step of sleeving the first oil seal and the first deep groove ball bearing on the motor output shaft, and installing the first oil seal and the first deep groove ball bearing in the motor housing, so that the first deep groove ball bearing is adjacent to the first oil seal;

[0032] A supporting step of sleeving the second deep groove ball bearing on the motor output shaft, so that the second deep groove ball bearing is located on the side of the first deep groove ball bearing away from the first oil seal, and connecting the second deep groove ball bearing with the flange to fix the flange to the motor housing;

[0033] An oil separation step of sleeving the second oil seal between the speed reduction output shaft and the motor output shaft, and arranging the second oil seal between the speed reduction output shaft and the motor output shaft to form a sealing structure to prevent the penetration of the lubricating grease into the motor cavity.

[0034] A disassembly method of a high-flexibility integrated speed reduction device convenient for maintenance, comprising the following steps:

[0035] An unlocking step of removing the fastener fixed to the end of the camshaft and the end of the motor output shaft to disconnect the first threaded hole and the second threaded hole;

[0036] A separation step of pulling out the motor output shaft from the spline part of the camshaft in the axial direction to separate the motor assembly and the wave generator assembly;

[0037] Replacement step: replace at least one of the motor output shaft, motor assembly, camshaft or wave generator assembly as needed;

[0038] Reassembly step: after repair or replacement, reassemble the device according to the pre-step, embedding step, docking step and locking step in the assembly method of claim 8.

[0039] Further, the replaced parts in the replacement step include: a worn motor output shaft, a worn camshaft or a damaged flexible bearing.

[0040] Advantages of the present application:

[0041] By setting the motor output shaft with a spline connection structure and making it detachably mesh with the end of the camshaft, the motor assembly and the wave generator form a split structure arrangement. The motor output shaft is no longer integrally connected with the wave generator, but torque transmission is achieved through spline engagement. The spline structure has good angular positioning ability and torsional stiffness, which can ensure that the wave generator maintains sufficient transmission stiffness and coaxiality when the driving flexspline generates elliptical deformation, so it will not weaken the precision of harmonic transmission.

[0042] At the same time, this spline connection is a detachable connection, which allows the motor assembly and the camshaft to be independently removed from the device. When the motor output shaft, camshaft or wave generator part is worn or deformed, the corresponding parts can be replaced individually without replacing the entire speed reducer. This structure not only significantly reduces maintenance costs and downtime, but also improves the overall configurability of the device, allowing users to select different precision levels of motors or wave generator assemblies according to their needs, thereby making the speed reducer more flexible and adaptable.

[0043] In addition, since the motor end and the wave generator end no longer use an integral structure, the device has higher freedom in assembly layout, allowing the entire speed reduction system to maintain high torsional stiffness while achieving more compact space utilization efficiency. This structure is particularly suitable for robot joint systems that require high reliability, maintainability and modularity. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a schematic diagram of the overall structure of the present application.

[0045] Figure 2 is a schematic diagram of the overall structure of the present application.

[0046] Figure 3 is a schematic diagram of the overall structure of the present application.

[0047] Figure 4 is a schematic diagram of the overall structure of the present application.

[0048] Figure 5 Fig. 1 is a structural schematic diagram of a camshaft of the present application.

[0049] Figure 6 Fig. 2 is a sectional structural schematic diagram of the present application.

[0051] Reference signs include:

[0052] 11 - steel wheel, 12 - flexible wheel, 13 - wave generator, 14 - speed reduction output shaft, 15 - cross bearing,

[0053] 121 - bottom wall,

[0054] 131 - camshaft, 132 - flexible bearing,

[0055] 131a - inner spline, 131b - first threaded hole;

[0056] 2 - motor assembly,

[0057] 21 - motor output shaft, 22 - motor housing, 23 - motor stator, 24 - motor rotor, 25 - first oil seal, 26 - first deep groove ball bearing, 27 - second deep groove ball bearing, 28 - flange, 29 - second oil seal,

[0058] 211 - outer spline, 212 - second threaded hole;

[0059] 3 - driver assembly,

[0060] 31 - driver mounting plate, 32 - driver end cover. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. It can be understood that the drawings are only provided for reference and illustration, and are not used to limit the present application. The connection relationship shown in the drawings is only for clear description, and does not limit the connection mode.

[0062] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance, in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application.

[0063] As Figure 1 As shown in FIG. 7, in the embodiment of the present application, a high-flexibility integrated speed reducer convenient for maintenance is provided, comprising:

[0064] A steel wheel 11 has a rigid inner tooth;

[0065] A flexible wheel 12 has a flexible outer tooth engaged with the rigid inner tooth of the steel wheel;

[0066] A wave generator 13 includes a camshaft 131 of an elliptical structure, and a flexible bearing 132 installed inside the flexible wheel 12 and sleeved on the camshaft 131 and located on the elliptical structure;

[0067] A motor assembly 2 has a motor output shaft 21 spline-connected with one end of the camshaft 131 away from the flexible bearing 132.

[0068] Further, the camshaft 131 away from the flexible bearing 132 is provided with an inner spline 131a, and the motor output shaft 21 is provided with an outer spline 211 matched with the inner spline 131a.

[0069] Further, the camshaft 131 away from the flexible bearing 132 is provided with an outer spline 211, and the motor output shaft 21 is provided with an inner spline 131a matched with the inner spline 131a.

[0070] Further, the motor assembly 2 further comprises a motor housing 22, a motor stator 23 arranged on the motor housing 22, and a motor rotor 24 arranged on the motor output shaft 21;

[0071] The bottom wall 121 is arranged on one end of the flexible gear 12 away from the outer teeth of the flexible gear, and abuts against one side of the motor housing 22;

[0072] The speed reduction device further comprises a speed reduction output shaft 14 connected with the steel gear 11, and a cross bearing 15 connected with the side of the bottom wall 121 away from the motor housing 22.

[0073] Further, the motor assembly 2 further comprises:

[0074] A first oil seal 25 is sleeved on the motor output shaft 21 and installed in the motor housing 22;

[0075] A first deep groove ball bearing 26 is sleeved on the motor output shaft 21 and arranged adjacent to the first oil seal 25, and installed in the motor housing 22;

[0076] A flange 28 is installed on the side of the motor housing 22 away from the cross bearing 15;

[0077] A second deep groove ball bearing 27 is sleeved on the motor output shaft 21 and arranged on the side of the first deep groove ball bearing 26 away from the first oil seal 25, and connected with the flange 28;

[0078] A second oil seal 29 is sleeved on the speed reduction output shaft 14 and connected between the speed reduction output shaft 14 and the motor output shaft 21.

[0079] Further, the drive assembly 3 is installed on the side of the flange 28 away from the motor housing 22, and the drive assembly 3 comprises a drive mounting plate 31 and a drive end cover 32;

[0080] The camshaft 131 is provided with a first threaded hole 131b, and the end face of the outer spline 211 on one end of the motor output shaft 21 is provided with a second threaded hole 212 matched with the first threaded hole 131b, the motor output shaft 21 is inserted into the camshaft 131 to realize spline connection through the alignment of the outer spline 211 and the inner spline 131a, and then fastened and connected through the screw penetrating the first threaded hole 131b and the second threaded hole 212.

[0081] An assembly method of a high-flexibility integrated speed reduction device convenient for maintenance comprises the following steps:

[0082] Preparation step: providing a steel gear 11, a flexible gear 12, a wave generator 13, a motor assembly 2 and a speed reduction output shaft 14, wherein the wave generator 13 comprises a camshaft 131 and a flexible bearing 132, and the motor assembly 2 comprises a motor output shaft 21;

[0083] Embedding step: installing the flexible bearing 132 in the inside of the flexible gear 12, and inserting the camshaft 131 into the flexible bearing 132, so that the flexible gear 12 is deformed by the elliptical structure of the camshaft 131;

[0084] mating step: mating the spline part of the motor output shaft 21 with the spline part of the camshaft 131 and inserting them to form a spline connection for transmitting torque;

[0085] locking step: after the spline insertion is completed, the axial locking is performed by the fastener connected to the first threaded hole 131b at the end of the camshaft 131 and the second threaded hole 212 at the end of the motor output shaft 21;

[0086] assembly step: abutting the bottom wall 121 of the flexspline 12 with the motor housing 22, connecting the reduction output shaft 14 with the steel wheel 11, and supporting the flexspline 12 and the reduction output shaft 14 through the cross bearing 15.

[0087] Further, the following steps are included:

[0088] encapsulation step: sleeving the first oil seal 25 and the first deep groove ball bearing 26 on the motor output shaft 21, and installing the first oil seal 25 and the first deep groove ball bearing 26 in the motor housing 22, so that the first deep groove ball bearing 26 is adjacent to the first oil seal 25;

[0089] supporting step: sleeving the second deep groove ball bearing 27 on the motor output shaft 21, so that the second deep groove ball bearing 27 is located on the side of the first deep groove ball bearing 26 away from the first oil seal 25, and connecting the second deep groove ball bearing 27 with the flange 28 to fix the flange 28 to the motor housing 22;

[0090] oil separation step: sleeving the second oil seal 29 between the reduction output shaft 14 and the motor output shaft 21, and arranging the second oil seal 29 between the reduction output shaft 14 and the motor output shaft 21 to form a sealing structure that prevents the penetration of lubricating grease into the motor cavity.

[0091] A disassembly method for a high-flexibility integrated reduction device for facilitating maintenance, comprising the following steps:

[0092] unlocking step: releasing the fastener fixed to the end of the camshaft 131 and the end of the motor output shaft 21, and disconnecting the first threaded hole 131b from the second threaded hole 212;

[0093] separation step: axially pulling out the motor output shaft 21 from the spline part of the camshaft 131 to separate the motor assembly 2 from the wave generator 13 assembly;

[0094] replacement step: replacing at least one of the motor output shaft 21, the motor assembly 2, the camshaft 131, or the wave generator 13 assembly as needed;

[0095] reassembly step: after the maintenance or replacement is completed, reassembling the device according to the preceding steps, the embedding step, the mating step, and the locking step in the assembly method of claim 8.

[0096] Further, the components replaced in the replacement step include: a worn motor output shaft 21, a worn camshaft 131, or a damaged flexible bearing 132.

[0097] The integrated speed reducer provided by the application has high structural rigidity and high coaxiality, and has excellent maintenance convenience and assembly flexibility.

[0098] In the application, the camshaft 131 and the motor output shaft 21 are connected by means of splines, and the splines are detachable split structures. Unlike the traditional harmonic reducer in which the motor shaft, the wave generator 13 shaft and the encoder shaft are independent components and need to be connected by multiple connecting members to realize power transmission, the application directly connects the motor output shaft 21 and the camshaft 131 by means of splines, so that the power link is simplified, the structure is more compact, and the torque transmission efficiency is improved. At the same time, since the splines have good torsional resistance and angular positioning ability, the wave generator 13 can still maintain a stable elliptical excitation shape under high load, thereby ensuring the accuracy of harmonic transmission.

[0099] In order to ensure the reliability of the spline connection during assembly and replacement, the camshaft 131 is provided with a first threaded hole 131b at the end, and the motor output shaft 21 is provided with a second threaded hole 212 matched with the first threaded hole 131b at the spline end face. After the spline is aligned, a screw is inserted through the two threaded holes for axial fastening, so as to further prevent the spline from moving axially during long-term work, improve the connection stability, and facilitate the subsequent quick disassembly, replacement and maintenance of the motor assembly 2.

[0100] The application further adopts multiple sealing and supporting structures to improve the assembly density and sealing performance of the whole machine. The first oil seal 25 and the first deep groove ball bearing 26 arranged in the motor assembly 2 are installed together with the second deep groove ball bearing 27 arranged on the flange 28 to form two-stage support for the motor output shaft 21. The second oil seal 29 arranged between the speed reduction output shaft 14 and the motor output shaft 21 is used to separate the oil penetration between the wave generator 13 part and the motor cavity. Through the above structure, a stable oil isolation area can be formed to prevent the lubricating grease from entering the motor cavity or leaking in the opposite direction.

[0101] The reason why such a high level of sealing oil resistance is required is mainly due to the following technical reasons: The meshing area of the flexible bearing 132 of the wave generator 13, the steel wheel 11 and the flexible wheel 12 needs to be filled with lubricating grease to reduce friction and wear, and the internal pressure and temperature rise are relatively high. Once the lubricating grease enters the motor, the motor coil will be contaminated, the motor rotor 24 damping will increase, the heat will increase, and the motor life will be seriously affected. The spline connection is located between the motor end and the wave generator 13 end, and if there is no strict sealing isolation, the lubricating grease may seep into the motor cavity along the spline gap. Therefore, the spline connection area is designed as a sealed isolation zone, and a double-layer protection structure is formed by the first oil seal 25 and the second oil seal 29, so that the lubricating grease is always maintained in the wave generator 13 cavity, thereby ensuring long-term reliable operation.

[0102] In the structural part, the application further provides a reduction output shaft 14 in the form of an output structure arrangement, which is in the shape of a "T" section and includes a disc-shaped part in the upper part and a tubular part in the lower part. The tubular part is inserted into the inside of the motor output shaft 21 and is sealed by the second oil seal 29. This structure not only enhances the support stiffness of the output section, but also enables the reduction output shaft 14 and the motor assembly 2 to be arranged compactly, which is beneficial to further shorten the overall axial size and improve the integration.

[0103] In summary, the application realizes the comprehensive effects of high coaxiality, high torsional stiffness, high sealing performance and easy maintenance through the split spline connection, double oil seal and multi-bearing support structure, T-shaped cross-section output shaft and other technical means, and is particularly suitable for integrated harmonic reduction systems with high precision and high reliability requirements.

[0104] In addition, in the application, the camshaft 131 and the motor output shaft 21 are connected by a detachable spline, so that the motor assembly 2 and the wave generator 13 assembly are arranged in a split structure. Since the torque is transmitted by the spline instead of permanent interference fit or welding structure, the motor output shaft 21 and the camshaft 131 are independent in structure and can be disassembled and replaced separately.

[0105] Specifically, during assembly, the outer spline 211 of the motor output shaft 21 and the inner spline 131a (or the reverse spline form) of the camshaft 131 are inserted and fitted after being aligned with each other, and then the first threaded hole 131b and the second threaded hole 212 at the end thereof are screwed and locked, thereby forming a reliable and detachable axial positioning mode. When disassembled, only the screws need to be removed, and the motor output shaft 21 and the camshaft 131 can be separated, and any part can be replaced as needed without replacing the entire reduction device.

[0106] Since the motor output shaft 21, the camshaft 131, the flexible bearing 132 and the motor assembly 2 and other components are modularized and separated, and the power transmission path is detachable through the spline connection, when a certain part is worn, deformed or failed, the corresponding part can be replaced alone. For example, when the motor output shaft 21 is worn or the bearing area is abnormal, the motor assembly 2 can be separated from the camshaft 131 directly, and the motor output shaft 21 or the entire motor module can be replaced alone; when the camshaft 131 is deformed due to long-term stress or the spline is worn, the motor assembly 2 does not need to be replaced, and only the camshaft 131 needs to be disassembled and replaced.

[0107] The separated and detachable structure significantly reduces the maintenance cost and downtime, and avoids the important defect that the traditional integrated harmonic reducer has to be replaced as a whole due to the high coupling of the input shaft, the motor shaft and the wave generator 13 shaft. Meanwhile, the spline positioning mode of the present application has good assembly repeatability while ensuring high coaxiality and high torsional stiffness, so that the device after maintenance can still maintain the original accuracy performance.

[0108] Based on the above structure design, the present application realizes independent replacement of modular components, makes the replacement and maintenance of key components such as the motor assembly 2, the wave generator 13 assembly and the output assembly more convenient, greatly improves the reliability and service life, and reduces the operation and maintenance cost.

[0109] When the device works, the motor assembly 2 serves as a power input source, and provides rotary driving force to the camshaft 131 through the motor output shaft 21. When the motor output shaft 21 rotates, the spline part thereof synchronously engages with the spline part of the camshaft 131 to transmit the rotary driving force, so that the camshaft 131 rotates at an angular velocity consistent with the motor speed. Since the camshaft 131 forms an elliptical structure on the outer periphery thereof, when the camshaft 131 rotates, the elliptical structure drives the flexible bearing 132 to produce periodic eccentric motion.

[0110] The flexible bearing 132 is installed inside the flexspline 12 and is sleeved on the elliptical structure part of the camshaft 131, so that the outer teeth of the flexspline 12 are synchronously deformed to form an elliptical state under the periodic deformation action of the flexible bearing 132. With the continuous rotation of the camshaft 131, the outer teeth of the flexspline 12 form engagement with the rigid inner teeth of the steel wheel 11 at the position of the major axis of the ellipse, and disengage at the position of the minor axis of the ellipse, so that two opposite engagement zones are formed on the inner teeth of the steel wheel 11. The engagement zones gradually move along the inner periphery of the steel wheel 11 with the rotation of the camshaft 131, so that the flexspline 12 produces a small reverse rotation difference relative to the steel wheel 11.

[0111] Due to the tooth difference transmission relationship between the flexible gear 12 and the steel gear 11, and the number of teeth of the flexible gear 12 is less than that of the steel gear 11, the flexible gear 12 only reverses a small angle in each complete input cycle, and through multiple cycle deformation, the output end of the flexible gear 12 forms a stable low-speed and high-torque output. The steel gear 11 is fixed to the output end structure, and the relative movement of the flexible gear 12 realizes the speed reduction effect.

[0112] During the entire working process, the motor output shaft 21 and the camshaft 131 are connected by detachable spline connection, which not only ensures the coaxiality and stiffness of the rotary transmission, but also enables the motor assembly 2 to be independently disassembled when maintenance is required without affecting the wave generator 13 or the flexible gear 12 and other components. This structure not only ensures the continuous and stable working process, but also makes the device have higher maintainability and operation efficiency.

[0113] Finally, it should be noted that: the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements for some technical features, as long as they are within the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. shall be included in the protection scope of the present application.

Claims

1. An assembly method for a highly flexible integrated speed reduction device that is easy to maintain, characterized in that, Includes the following steps: Preliminary steps: Provide a steel wheel (11), a flexible wheel (12), a wave generator (13), a motor assembly (2) and a reduction output shaft (14), wherein the wave generator (13) includes a camshaft (131) and a flexible bearing (132), and the motor assembly (2) includes a motor output shaft (21); Installation steps: Install the flexible bearing (132) inside the flexible wheel (12) and insert the camshaft (131) into the flexible bearing (132), so that the flexible wheel (12) is deformed by the elliptical structure of the camshaft (131); Docking steps: Align and insert the splined part of the motor output shaft (21) with the splined part of the camshaft (131) to form a splined connection for transmitting torque; Locking steps: After the spline is plugged in, axial locking is performed by fasteners that connect the first threaded hole (131b) at the end of the camshaft (131) to the second threaded hole (212) at the end of the motor output shaft (21); Assembly steps: The bottom wall (121) of the flexible wheel (12) is brought into contact with the motor housing (22) to connect the reduction output shaft (14) with the steel wheel (11), and the flexible wheel (12) and the reduction output shaft (14) are supported by the cross bearing (15).

2. The method according to claim 7, characterized in that, It also includes the following steps: Packaging steps: A first oil seal (25) and a first deep groove ball bearing (26) are fitted onto the motor output shaft (21), and the first oil seal (25) and the first deep groove ball bearing (26) are installed inside the motor housing (22), so that the first deep groove ball bearing (26) is adjacent to the first oil seal (25); Support steps: A second deep groove ball bearing (27) is fitted on the motor output shaft (21) so that the second deep groove ball bearing (27) is located on the side of the first deep groove ball bearing (26) away from the first oil seal (25), and the second deep groove ball bearing (27) is connected to the flange (28) so that the flange (28) is fixed to the motor housing (22); Oil separation step: A second oil seal (29) is fitted between the deceleration output shaft (14) and the motor output shaft (21), and the second oil seal (29) is arranged between the deceleration output shaft (14) and the motor output shaft (21) to form a sealing structure that prevents grease from seeping into the motor cavity.

3. A method for disassembling a highly flexible integrated speed reduction device for easy maintenance, characterized in that, Includes the following steps: Unlocking steps: Release the fasteners fixed to the end of the camshaft (131) and the end of the motor output shaft (21) to disengage the first threaded hole (131b) from the second threaded hole (212); Separation step: Pull the motor output shaft (21) out of the spline part of the camshaft (131) along the axial direction to separate the motor assembly (2) from the wave generator (13) assembly; Replacement steps: Replace at least one of the following components as needed: motor output shaft (21), motor assembly (2), camshaft (131), or wave generator (13) assembly; Reassembly step: After the repair or replacement is completed, the device is reassembled according to the preparatory step, insertion step, docking step and locking step in the assembly method of claim 8.

4. The method according to claim 9, characterized in that, The replacement parts in the replacement step include: worn motor output shaft (21), worn camshaft (131) or damaged flexible bearing (132).

5. A highly flexible integrated speed reduction device that is easy to maintain, characterized in that, The integrated speed reduction device is the integrated speed reduction device according to any one of claims 1-4, and the integrated speed reduction device comprises: A steel wheel (11) has rigid internal gear teeth; The flexible wheel (12) has flexible external teeth that mesh with the internal teeth of the rigid wheel; The wave generator (13) includes a camshaft (131) with an elliptical structure and a flexible bearing (132) installed inside the flexible wheel (12) and sleeved on the camshaft (131) and located on the elliptical structure; The motor assembly (2) has a motor output shaft (21) that is splined to the end of the camshaft (131) away from the flexible bearing (132).

6. The highly flexible integrated speed reduction device with easy maintenance according to claim 5, characterized in that, An internal spline (131a) is provided on the side of the camshaft (131) away from the flexible bearing (132), and an external spline (211) matching the internal spline (131a) is provided on the motor output shaft (21).

7. The highly flexible integrated speed reduction device with easy maintenance according to claim 5, characterized in that, The camshaft (131) has an external spline (211) on the side away from the flexible bearing (132), and the motor output shaft (21) has an internal spline (131a) that matches the internal spline (131a).

8. The highly flexible integrated speed reduction device with easy maintenance according to claim 6, characterized in that, The motor assembly (2) also includes a motor housing (22), a motor stator (23) disposed on the motor housing (22), and a motor rotor (24) disposed on the motor output shaft (21); The flexible wheel (12) has a bottom wall (121) at the end away from the external teeth of the flexible wheel, and one side of the bottom wall (121) abuts against one side of the motor housing (22); The speed reduction device also includes a speed reduction output shaft (14) connected to the steel wheel (11) and a cross bearing (15) connected to the side of the bottom wall (121) away from the motor housing (22).

9. The highly flexible integrated speed reduction device with easy maintenance according to claim 8, characterized in that, The motor assembly (2) also includes: The first oil seal (25) is sleeved on the motor output shaft (21) and installed inside the motor housing (22); The first deep groove ball bearing (26) is sleeved on the motor output shaft (21), adjacent to the first oil seal (25), and installed inside the motor housing (22); Flange (28) is installed on the side of the motor housing (22) away from the cross bearing (15); The second deep groove ball bearing (27) is sleeved on the motor output shaft (21), located on the side of the first deep groove ball bearing (26) away from the first oil seal (25), and connected to the flange (28); The second oil seal (29) is sleeved on the reduction output shaft (14) and connected between the reduction output shaft (14) and the motor output shaft (21).

10. The highly flexible integrated speed reduction device with easy maintenance according to claim 9, characterized in that, It also includes a drive assembly (3) installed on the side of the flange (28) away from the motor housing (22), the drive assembly (3) including a drive mounting plate (31) and a drive end cover (32); The camshaft (131) is provided with a first threaded hole (131b), and the motor output shaft (21) is provided with a second threaded hole (212) that matches the first threaded hole (131b) on the end face of one end of the external spline (211). The motor output shaft (21) is inserted into the camshaft (131) to achieve spline connection by aligning the external spline (211) and the internal spline (131a). The connection is then fastened by screws passing through the first threaded hole (131b) and the second threaded hole (212).

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