Lightweight harmonic drive integrated joint module

Abstract

The application discloses a light-weight harmonic drive integrated joint module, which comprises an output flange, a cross roller bearing, a flexible gear, a motor assembly, a harmonic generator assembly, a sensing assembly, a drive control assembly and a fixed flange, the cross roller bearing is arranged between the output flange and the fixed flange, components of the sensing assembly are respectively fixed on the harmonic generator assembly and the output flange, and the drive control assembly is arranged at the rear end of the module in the axial direction; the cross roller bearing comprises a first inner ring and a first outer ring, an inner circular surface of the first inner ring is provided with inner teeth for replacing a harmonic steel gear, the flexible gear is engaged with the inner teeth of the first inner ring, the first inner ring is fixedly connected with the fixed flange, the first outer ring is fixedly connected with the output flange, and rolling bodies are arranged between the first inner ring and the first outer ring; the flexible gear is in a cup-shaped structure, and the motor assembly and the harmonic generator assembly are arranged in the cup-shaped structure of the flexible gear; and the application has the characteristics of high integration degree and light weight.

Description

Technical Field

[0001] This invention relates to the field of robot joint drive technology, specifically a lightweight harmonic drive integrated joint module. Background Technology

[0002] Joint modules are the core transmission components of humanoid robots and high-precision automated equipment. They typically integrate key structures such as harmonic reducers, motors, bearings, sensors, and drive controls. Their integration, structural compactness, lightweight nature, and operational stability directly determine the motion accuracy, load capacity, and spatial adaptability of the equipment.

[0003] A published Chinese patent, publication number CN119635709A, discloses an axially compact joint module and joint structure, including a harmonic assembly comprising a cross roller bearing flexure outer ring fixedly connected to a steel wheel, a cross roller bearing flexure inner ring fixedly connected to a hollow shaft, the flexure meshing with the steel wheel, and the flexure connected to a wave generator via a bearing; a motor assembly comprising a motor stator and a motor rotor coupled together, a motor shaft fixedly connected to the motor rotor, the meshing portion of the flexure and the steel wheel extending into the motor shaft, and a small bearing disposed between the inner circle of the motor shaft and the hollow shaft; and a brake assembly comprising a brake shaft and a brake cover plate, the brake shaft fixedly connected to the motor shaft, the brake cover plate fixedly connected to the outer casing, and the outer circle of the motor shaft and the outer casing connected by a large bearing and the brake cover plate in cooperation.

[0004] The joint module provided in this disclosed patent has the following shortcomings: 1. The bearings and steel wheels of the harmonic assembly are designed separately. The crossed roller bearings only provide radial and axial support. The steel wheels need to be configured separately and fixedly connected to the outer ring of the bearing flexible wheel to achieve harmonic meshing. This increases the number of parts and the radial dimension of the module, making the assembly more complex. 2. The flexible wheel is only used as the core meshing component of the harmonic drive. Its internal idle space is not effectively utilized. The motor assembly is an independently arranged structure. The axial overlap is only achieved by extending the meshing part of the flexible wheel and the steel wheel into the cavity of the motor shaft. There is still a lot of room for improvement in space utilization. Summary of the Invention

[0005] The purpose of this invention is to provide a lightweight harmonic drive integrated joint module to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a lightweight harmonic drive integrated joint module, including an output flange, a crossed roller bearing, a flexible wheel, a motor assembly, a harmonic generator assembly, a sensing assembly, a drive control assembly, and a fixed flange. The crossed roller bearing is disposed between the output flange and the fixed flange. The components of the sensing assembly are respectively fixed on the harmonic generator assembly and the output flange. The drive control assembly is disposed at the axial rear end of the module. The crossed roller bearing includes a first inner ring and a first outer ring. The inner surface of the first inner ring is provided with internal teeth to replace the harmonic steel wheel. The flexible wheel meshes with the internal teeth of the first inner ring. The first inner ring is fixedly connected to a fixed flange. The first outer ring is fixedly connected to an output flange. A rolling element is provided between the first inner ring and the first outer ring. The flexible wheel has a cup-shaped structure, and the motor assembly and harmonic generator assembly are both located inside the cup-shaped structure of the flexible wheel.

[0007] In one embodiment of the present invention, the harmonic generator assembly includes a cam, a flexible bearing, and a double-row angular contact bearing structure. The double-row angular contact bearing structure includes a second outer ring and a second inner ring. The second outer ring is integral with the cam, and the second inner ring is bonded and fixed to the output flange. The flexible bearing is sleeved on the outside of the cam and abuts against the inner wall of the flexible wheel. The flexible bearing meshes with the flexible wheel and drives the first outer ring to rotate synchronously.

[0008] In one embodiment of the present invention, the rolling element is a crossed roller or a four-point angular contact steel ball, and the crossed roller bearing integrates the functions of a radial bearing, an axial bearing, and a harmonic steel wheel into one unit.

[0009] In one embodiment of the present invention, the motor assembly includes a frameless motor and a motor mount, the motor mount being fixedly disposed within the cup-shaped space of the flexible wheel, the frameless motor including a stator and a rotor magnet, the stator being mounted on the motor mount, and the rotor magnet being bonded to the outer wall of the second outer ring.

[0010] In one embodiment of the present invention, the sensing component includes a first bracket and a speed encoder, a second bracket and a position encoder, the first bracket being bonded to the inner wall of the second outer ring, the speed encoder being mounted on the first bracket, the second bracket being bonded to the output flange on the side facing the harmonic generator assembly, and the position encoder being mounted on the second bracket.

[0011] In one embodiment of the present invention, the drive control component includes an integrated drive board, which integrates a sensing chip, a signal processing circuit, a drive control circuit, and a communication interface. The sensing chip is matched with the speed encoder and the position encoder signals, and the communication interface is used to connect the integrated drive board to an external power supply and a controller.

[0012] In one embodiment of the present invention, the center of the harmonic joint module is provided with a through hollow hole, through which an output flange, a crossed roller bearing, a flexible wheel, a harmonic generator assembly and a fixing flange are axially inserted for the installation of cables and pipes.

[0013] In one embodiment of the present invention, the bottom end of the flexible wheel cup and the integrated drive plate are both fixedly connected to the fixed flange by fasteners, the first inner ring is fixedly connected to the fixed flange by a threaded connection structure, and the output flange is fixedly connected to the first outer ring by fasteners.

[0014] In one embodiment of the present invention, a rear cover is provided on the side of the fixed flange away from the output flange, and the rear cover covers the outside of the integrated drive plate and closes the axial end of the module.

[0015] In one embodiment of the present invention, the output flange, crossed roller bearing, flexspline, motor assembly, harmonic generator assembly, sensing assembly, drive control assembly, and fixed flange are all coaxially arranged. The output flange is connected to the robot's load end, and the fixed flange is connected to the robot's fixed end.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are: (1) By setting internal teeth on the first inner ring of the crossed roller bearing to replace the harmonic steel wheel, the crossed roller bearing integrates the functions of radial bearing, axial bearing and harmonic steel wheel into one, abandoning the traditional split steel wheel structure, greatly reducing the number of parts, simplifying the assembly process, and effectively compressing the radial dimension of the joint module, thus improving the space utilization rate.

[0017] (2) By setting the flexible wheel as a cup-shaped structure and arranging the motor assembly and harmonic generator assembly inside the cup-shaped structure of the flexible wheel, the space reuse of the core power components is realized, avoiding the space redundancy problem of the axial side-by-side arrangement of the components of the traditional module, further optimizing the overall volume of the module, realizing lightweight design, and adapting to application scenarios such as humanoid robots that are sensitive to weight and size.

[0018] (3) By making the second outer ring of the double-row angular contact bearing structure and the cam an integral part, and bonding the rotor magnet of the frameless motor to the outer wall of the second outer ring, the integrated design of the harmonic generator and the motor rotor is realized, reducing the connection and coordination links between components, improving the structural integration and operational stability of the module, and reducing the transmission accuracy loss caused by assembly errors.

[0019] (4) By arranging the speed code disk and position code disk of the sensing component on the harmonic generator assembly and the output flange respectively, and using bracket bonding to achieve precise positioning, combined with the integrated sensing and processing circuit on the integrated drive board, the transmission path of the sensing signal is shortened, signal interference is reduced, and the accuracy of speed and position detection is improved. At the same time, the integrated drive board integrates drive, control and communication functions, reduces external connection harnesses, and further improves the stability and reliability of the joint module electrical system.

[0020] (5) By setting a through hollow hole in the center of the module and arranging the core components such as the output flange, cross roller bearing, and flexible wheel coaxially, it not only facilitates the installation of cables and pipes inside the robot and optimizes the overall wiring design, but also ensures the coaxiality of the joint module during transmission and improves the stability of torque transmission. At the same time, the corresponding connection design between the output flange and the load end, and between the fixed flange and the fixed end makes the installation and adaptation of the joint module more convenient. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0022] Figure 1 This is a schematic diagram of the structural composition of the present invention.

[0023] Figure 2 This is a cross-sectional view of the present invention.

[0024] Figure 3 This is a structural breakdown diagram of the present invention.

[0025] Figure 4 This is a sectional view of the present invention.

[0026] In the diagram: 10, Output flange; 20, Crossed roller bearing; 21, First inner ring; 22, First outer ring; 23, Rolling element; 30, Flexible wheel; 40, Fixed flange; 41, Rear cover; 50, Cam; 51, Flexible bearing; 52, Double row angular contact bearing structure; 521, Second outer ring; 522, Second inner ring; 60, Frameless motor; 601, Stator; 602, Rotor magnet; 61, Motor base; 70, First bracket; 71, Speed ​​encoder; 80, Second bracket; 81, Position encoder; 90, Integrated drive board; 100, Hollow hole. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] This invention provides a technical solution: a lightweight harmonic-driven integrated joint module, including an output flange 10, a crossed roller bearing 20, a flexible wheel 30, a motor assembly, a harmonic generator assembly, a sensing assembly, a drive control assembly, and a fixed flange 40. The crossed roller bearing 20 is disposed between the output flange 10 and the fixed flange 40. Components of the sensing assembly are respectively fixed on the harmonic generator assembly and the output flange 10. The drive control assembly is located at the axial rear end of the module. The crossed roller bearing 20 includes a first inner ring 21 and a first... The outer ring 22 and the inner surface of the first inner ring 21 are provided with internal teeth to replace the harmonic steel wheel. The flexible wheel 30 meshes with the internal teeth of the first inner ring 21. The first inner ring 21 is fixedly connected to the fixed flange 40, and the first outer ring 22 is fixedly connected to the output flange 10. A rolling element 23 is provided between the first inner ring 21 and the first outer ring 22. The first inner ring 21 of the crossed roller bearing 20 integrates the function of the harmonic steel wheel, abandoning the traditional independently set harmonic steel wheel structure, greatly reducing the number of parts in the joint module, and simplifying the assembly structure. The flexible wheel 30 has a cup-shaped structure, and the motor assembly and the harmonic generator assembly are both set inside the cup-shaped structure of the flexible wheel 30. This design realizes the space reuse of the core power components, effectively compresses the radial and bearing dimensions of the module, makes the joint module more compact, significantly reduces the overall weight, achieves lightweight design, and the crossed roller bearing 20 also bears the radial load. The dual function of axial support and harmonic drive, combined with the coaxial arrangement of each core component, simplifies the structure while ensuring the transmission rigidity and operational stability of the module. It is fully compatible with the application requirements of humanoid robots, high-precision automated equipment and other applications that require miniaturization, lightweighting and high integration of joint modules.

[0029] The harmonic generator assembly includes a cam 50, a flexible bearing 51, and a double-row angular contact bearing structure 52. The double-row angular contact bearing structure 52 includes a second outer ring 521 and a second inner ring 522. The second outer ring 521 is integral with the cam 50, and the second inner ring 522 is bonded and fixed to the output flange 10. The flexible bearing 51 is sleeved on the outside of the cam 50 and abuts against the inner wall of the flexible wheel 30. The flexible bearing 51 meshes with the flexible wheel 30 to drive the first outer ring 22 to rotate synchronously. By designing the second outer ring 521 of the double-row angular contact bearing structure 52 and the cam 50 as an integral part, the integrated design of the core components of the harmonic generator is achieved, reducing the number of parts connecting and fitting, reducing assembly errors, and improving the performance of the harmonic generator. The structure enhances rigidity and operational stability. The second inner ring 522 is bonded and fixed to the output flange 10, creating a stable connection between the harmonic generator assembly and the output flange 10. Combined with the meshing transmission of the flexible bearing 51 and the flexure 30, power can be precisely transmitted to the first outer ring 22 of the crossed roller bearing 20 and output from the output flange 10. This simplifies the transmission path, effectively improving torque transmission efficiency and accuracy. Furthermore, the integrated cam 50 and second outer ring 521 structure provide a stable mounting base for the rotor magnet 602 of the frameless motor 60, creating conditions for subsequent spatial integration of the motor components and the harmonic generator assembly. This further optimizes the internal spatial layout of the joint module and enhances overall integration.

[0030] The rolling element 23 is a crossed roller or a four-point contact steel ball. The crossed roller bearing 20 integrates the functions of a radial bearing, an axial bearing, and a harmonic steel wheel. By setting the rolling element 23 as a crossed roller or a four-point contact steel ball, the crossed roller bearing 20 can simultaneously bear radial and axial bidirectional loads, providing high rigidity support for the entire joint module and ensuring the structural stability and operational accuracy of the joint module during transmission. At the same time, by integrating the functions of a radial bearing, an axial bearing, and a harmonic steel wheel into one unit, the cross roller bearing 20 eliminates the need for a separate harmonic steel wheel component, significantly reducing the number of parts, simplifying the assembly relationship between the crossed roller bearing 20 and surrounding components, effectively compressing the radial dimension of the joint module, and optimizing the internal space layout. While achieving lightweighting, it also reduces clearance errors caused by the cooperation of multiple components, further improving the accuracy and stability of the meshing transmission between the crossed roller bearing 20 and the flexible wheel 30.

[0031] The motor assembly includes a frameless motor 60 and a motor mount 61. The motor mount 61 is fixed inside the cup-shaped space of the flexible wheel 30. The frameless motor 60 includes a stator 601 and a rotor magnet 602. The stator 601 is mounted on the motor mount 61, and the rotor magnet 602 is bonded to the outer wall of the second outer ring 521. By fixing the motor mount 61 inside the cup-shaped space of the flexible wheel 30 and embedding the frameless motor 60 inside the hollow structure of the flexible wheel 30, the unused internal space of the flexible wheel 30 is fully utilized, realizing the integration of the motor assembly and the harmonic section. The space reuse of components effectively compresses the radial and axial dimensions of the joint module, further improving the structural compactness. At the same time, the stator 601 of the frameless motor 60 is mounted on the motor base 61 to form a stable support, and the rotor magnet 602 is directly bonded to the outer wall of the second outer ring 521, so that the rotor of the frameless motor 60 and the harmonic generator assembly can be integrated into one unit. This eliminates the traditional independent motor rotor mounting structure, allowing the motor power to be directly transmitted to the harmonic generator assembly, shortening the power transmission path and improving torque transmission efficiency.

[0032] The sensing assembly includes a first bracket 70 and a speed encoder 71, a second bracket 80 and a position encoder 81. The first bracket 70 is bonded to the inner wall of the second outer ring 521, the speed encoder 71 is mounted on the first bracket 70, the second bracket 80 is bonded to the output flange 10 facing the harmonic generator assembly, and the position encoder 81 is mounted on the second bracket 80. Bonding the first bracket 70 to the inner wall of the second outer ring 521 and mounting the speed encoder 71 allows direct detection of the operating speed of the harmonic generator assembly. Bonding the second bracket 80 to the output flange 10 facing the harmonic generator assembly allows direct detection of the operating speed of the harmonic generator assembly. The flange 10 is equipped with a position encoder 81, which can accurately detect the position of the output end of the joint module, realize independent and accurate detection of speed and position, and provide reliable sensing data for the closed-loop control of the joint module. At the same time, each component of the sensing assembly is fixed to the harmonic generator assembly and the output flange 10 respectively, without the need for additional installation space, making full use of the internal structural space of the module. Furthermore, the speed encoder 71 and the position encoder 81 are arranged in a coaxial nested layout based on their respective brackets, further optimizing the internal space utilization of the joint module and making the overall structure more compact.

[0033] The drive control component includes an integrated drive board 90, which integrates a sensing chip, signal processing circuit, drive control circuit, and communication interface. The sensing chip is signal-matched with the speed encoder 71 and position encoder 81, and the communication interface is used to connect the integrated drive board 90 to an external power supply and controller. This design realizes the integrated design of joint module sensing signal processing and motor drive control, abandoning the traditional distributed circuit layout, significantly reducing external connection harnesses, reducing the risk of interference during signal transmission, and improving the operational stability and reliability of the motor system. At the same time, the sensing chip on the integrated drive board 90 is signal-matched with the speed encoder 71 and position encoder 81, and can directly receive and process speed and position sensing signals, shortening the signal transmission path, improving the timeliness and accuracy of signal processing, and ensuring the response efficiency of the joint module closed-loop control. In addition, the integrated drive board 90 eliminates the need for separate circuit installation structures, simplifying the layout of electrical components in the joint module, and the communication interface enables convenient connection between the integrated drive board 90 and external power supply and controller, simplifying the external adaptation and assembly operations of the joint module.

[0034] The harmonic joint module has a through hollow hole 100 at its center. The output flange 10, crossed roller bearing 20, flexible wheel 30, harmonic generator assembly and fixed flange 40 are axially inserted through the hollow hole 100 for the installation of cables and pipes. The hollow hole 100 provides a unified channel for the cables and pipes inside the robot, optimizes the overall wiring and pipe layout of the robot, and avoids messy and tangled cables that affect the operation of the module.

[0035] The bottom end of the flexible wheel 30 cup and the integrated drive plate 90 are both fixedly connected to the fixed flange 40 by fasteners. The first inner ring 21 is fixedly connected to the fixed flange 40 by a threaded connection structure. The output flange 10 is fixedly connected to the first outer ring 22 by fasteners. The bottom end of the flexible wheel 30 cup and the integrated drive plate 90 are fixedly connected to the fixed flange 40 by fasteners. The first inner ring 21 is firmly connected to the fixed flange 40 by a threaded connection structure. The output flange 10 is also fixed to the first outer ring 22 by fasteners. This achieves a precise and reliable connection between the core components of the module and the fixed flange 40 and the output flange 10, allowing the module to form an integrated rigid structure and improving the overall structural stability and resistance to load deformation.

[0036] The fixed flange 40 is provided with a rear cover 41 on the side away from the output flange 10. The rear cover 41 covers the outside of the integrated drive board 90 and seals the axial end of the module. The rear cover 41 can effectively protect the integrated drive board 90 and various circuits and sensing components inside the module, preventing external dust, moisture and other impurities from entering the joint module and avoiding them from corroding or interfering with the motor components.

[0037] The output flange 10, crossed roller bearing 20, flexure 30, motor assembly, harmonic generator assembly, sensing assembly, drive control assembly, and fixed flange 40 are all coaxially arranged. The output flange 10 is connected to the robot's load end, and the fixed flange 40 is connected to the robot's fixed end. This design allows the joint module's power transmission to proceed along the same axis, significantly reducing off-center load and eccentricity losses during transmission, improving the smoothness and accuracy of torque transmission, ensuring coaxiality during module operation, reducing frictional losses between components, and extending the service life of the joint module.

[0038] Working principle: The external power supply supplies power to the integrated drive board 90 through the communication interface. The drive control circuit on the integrated drive board 90 drives the frameless motor 60 to run. The magnetic field generated by the stator 601 drives the rotor magnet 602, which is attached to the outer wall of the second outer ring 521, to rotate. This, in turn, drives the cam 50, which is an integral part of the second outer ring 521, to rotate synchronously, thus completing the transmission of motor power to the harmonic generator assembly. When the cam 50 rotates, it causes the flexible bearing 51 sleeved on its outer side to undergo elastic deformation, so that the outer side of the flexible bearing 51 is in close contact with the inner wall of the flexible wheel 30 and pushes the flexible wheel 30 to undergo periodic deformation synchronously. The flexible wheel 30 meshes with the internal teeth of the first inner ring 21 integrated with the harmonic steel wheel function. Because the number of teeth of the flexible wheel 30 is less than the number of teeth of the internal teeth of the first inner ring 21, the flexible wheel 30 generates deceleration motion in the meshing transmission, realizing the power conversion of high torque and low speed. The decelerated power drives the first outer ring 22 of the crossed roller bearing 20 linked with the flexible wheel 30 to rotate, and transmits the decelerated power to the output flange 10 fixedly connected to the first outer ring 22. The output flange 10 serves as the torque output end of the module and is connected to the robot load end. It accurately transmits the high torque power after harmonic deceleration to the robot load end, driving the robot joints to complete the corresponding actions. The fixed flange 40, which is connected to the robot fixed end, provides a stable installation support for the entire module and ensures the stability of the overall structure of the module during power transmission. During the operation of the module, the first bracket 70, which is attached to the inner wall of the second outer ring 521, rotates synchronously with the second outer ring 521. The speed encoder 71 on it detects the operating speed of the harmonic generator assembly in real time, reflecting the real-time operating conditions of the motor and the harmonic generator. The second bracket 80, which is attached to the output flange 10, rotates synchronously with the output flange 10. The position encoder 81 on it detects the rotation position of the module output end in real time, accurately feeding back the actual movement position of the robot joint. The detection signals of the speed encoder 71 and the position encoder 81 are transmitted to the sensing chip on the integrated drive board 90 in real time. The signal processing circuit on the integrated driver board 90 quickly processes the received speed and position sensing signals and feeds the processing results back to the drive control circuit. The drive control circuit adjusts the operating parameters of the frameless motor 60 in real time according to the comparison between the preset instructions and the actual detection signals, so as to achieve precise closed-loop control of the module's operating speed and output position, and ensure the accuracy and stability of the robot's joint movements. When the module is in operation, the rolling elements 23 of the crossed roller bearing 20 provide smooth support for the relative rotation of the first inner ring 21 and the first outer ring 22, while bearing radial and axial bidirectional loads to ensure structural rigidity during transmission. The rear cover 41 forms a sealed protection for the integrated drive board 90 and internal circuits and sensing components to prevent dust, moisture and other impurities from affecting the normal operation of the components. The hollow hole 100 in the center of the module provides a passage for the internal cables and pipes of the robot, which optimizes the overall wiring layout of the robot without interfering with the normal operation of the module.

[0039] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] In the description of this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this invention without contradiction.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lightweight harmonic drive integrated joint module, comprising an output flange (10), a cross roller bearing (20), a flexible wheel (30), a motor assembly, a harmonic generator assembly, a sensing assembly, a drive control assembly, and a fixed flange (40), wherein the cross roller bearing (20) is disposed between the output flange (10) and the fixed flange (40), the components of the sensing assembly are respectively fixed on the harmonic generator assembly and the output flange (10), and the drive control assembly is disposed at the axial rear end of the module; Its features are: The crossed roller bearing (20) includes a first inner ring (21) and a first outer ring (22). The inner surface of the first inner ring (21) is provided with internal teeth to replace the harmonic steel wheel. The flexible wheel (30) meshes with the internal teeth of the first inner ring (21). The first inner ring (21) is fixedly connected to the fixed flange (40). The first outer ring (22) is fixedly connected to the output flange (10). A rolling element (23) is provided between the first inner ring (21) and the first outer ring (22). The flexible wheel (30) has a cup-shaped structure, and the motor assembly and the harmonic generator assembly are both located inside the cup-shaped structure of the flexible wheel (30).

2. The lightweight harmonic drive integrated joint module according to claim 1, characterized in that: The harmonic generator assembly includes a cam (50), a flexible bearing (51), and a double-row angular contact bearing structure (52). The double-row angular contact bearing structure (52) includes a second outer ring (521) and a second inner ring (522). The second outer ring (521) is integral with the cam (50). The second inner ring (522) is bonded and fixed to the output flange (10). The flexible bearing (51) is sleeved on the outside of the cam (50) and abuts against the inner wall of the flexure wheel (30). The flexible bearing (51) meshes with the flexure wheel (30) and drives the first outer ring (22) to rotate synchronously.

3. The lightweight harmonic-driven integrated joint module according to claim 2, characterized in that: The rolling element (23) is a cross roller or a four-point contact steel ball, and the cross roller bearing (20) integrates the functions of a radial bearing, an axial bearing and a harmonic steel wheel.

4. The lightweight harmonic drive integrated joint module according to claim 3, characterized in that: The motor assembly includes a frameless motor (60) and a motor mount (61). The motor mount (61) is fixed inside the cup of the flexible wheel (30). The frameless motor (60) includes a stator (601) and a rotor magnet (602). The stator (601) is mounted on the motor mount (61), and the rotor magnet (602) is bonded to the outer wall of the second outer ring (521).

5. A lightweight harmonic-driven integrated joint module according to claim 4, characterized in that: The sensing assembly includes a first bracket (70) and a speed encoder (71), a second bracket (80) and a position encoder (81). The first bracket (70) is bonded to the inner wall of the second outer ring (521). The speed encoder (71) is mounted on the first bracket (70). The second bracket (80) is bonded to the output flange (10) facing the harmonic generator assembly. The position encoder (81) is mounted on the second bracket (80).

6. A lightweight harmonic-driven integrated joint module according to claim 5, characterized in that: The drive control component includes an integrated drive board (90), which integrates a sensing chip, a signal processing circuit, a drive control circuit, and a communication interface. The sensing chip is matched with the speed encoder (71) and the position encoder (81). The communication interface is used to connect the integrated drive board (90) to an external power supply and controller.

7. A lightweight harmonic-driven integrated joint module according to claim 6, characterized in that: The center of the harmonic joint module is provided with a through hollow hole (100), through which an output flange (10), a crossed roller bearing (20), a flexible wheel (30), a harmonic generator assembly and a fixed flange (40) are axially inserted for the installation of cables and pipes.

8. A lightweight harmonic-driven integrated joint module according to claim 7, characterized in that: The bottom end of the flexible wheel (30) cup and the integrated drive plate (90) are fixedly connected to the fixed flange (40) by fasteners. The first inner ring (21) is fixedly connected to the fixed flange (40) by a threaded connection structure. The output flange (10) is fixedly connected to the first outer ring (22) by fasteners.

9. A lightweight harmonic-driven integrated joint module according to claim 8, characterized in that: The fixed flange (40) is provided with a rear cover (41) on the side away from the output flange (10). The rear cover (41) covers the outside of the integrated drive plate (90) and closes the axial end of the module.

10. A lightweight harmonic drive integrated joint module according to claim 9, characterized in that: The output flange (10), cross roller bearing (20), flex wheel (30), motor assembly, harmonic generator assembly, sensing assembly, drive control assembly and fixed flange (40) are all coaxially arranged. The output flange (10) is connected to the robot load end and the fixed flange (40) is connected to the robot fixed end.

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