A robot harmonic drive structure

Abstract

The utility model provides a robot harmonic drive structure, including a bottom shell, an outer rotor brushless motor is installed on one side of the bottom shell, a flexible wheel is installed on the inner side of the bottom shell, a wave generator is installed on the inner side of the flexible wheel, an upper cover is installed on one side of the flexible wheel, and a cross roller bearing is installed on one side of the upper cover; the utility model eliminates repeated brackets and bearings and even bearing steel rings through the integrated design of brushless and harmonic, reduces the weight of parts, greatly reduces the weight of the reducer, avoids the problem of non-concentric installation of the outer rotor brushless motor and the reducer, and can reduce the height of the drive compared to a drive structure using a multi-stage planet. Compared with a traditional drive using a DC motor and a planetary reducer, it can provide higher torque density, reliability and cost-effectiveness, and can provide high-precision position and speed control, and is suitable for applications requiring precise and repeatable motion control.

Description

Technical Field

[0001] The utility model relates to a harmonic driver, in particular to a robot harmonic driver structure, belonging to the technical field of drivers. Background Art

[0002] Actuators are key components in robots and other automated systems, requiring precise and repeatable motion control and sufficient torque density, which is very important for bionic robots, especially humanoid robots.

[0003] However, traditional industrial drives cannot meet the needs of torque density. Traditional industrial drives take up a lot of space and are heavy, which makes them unsuitable for small and flexible robots. They are not ideal when used in scenarios that require precise and repeatable motion control.

[0004] In order to solve the above technical problems, a robot harmonic drive structure is proposed. Utility Model Content

[0005] In view of this, the utility model provides a robot harmonic drive structure to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial choice.

[0006] The technical solution of the utility model is implemented as follows: a robot harmonic drive structure, characterized in that it includes a bottom shell, an outer rotor brushless motor is installed on one side of the bottom shell, a flexible wheel is installed on the inner side of the bottom shell, a wave generator is installed on the inner side of the flexible wheel, an upper cover is installed on one side of the flexible wheel, and a cross roller bearing is installed on one side of the upper cover.

[0007] Further preferably, fixing bolts are threadedly connected at equal intervals on one side of the bottom shell, one end of the fixing bolts is threadedly connected to the outer rotor brushless motor, and screw holes are integrally formed at equal intervals on one side of the bottom shell.

[0008] Further preferably, one side of the bottom shell is integrally formed with through holes which are evenly distributed.

[0009] Further preferably, key slots are equidistantly distributed and integrally formed on one side of the upper cover, and the upper cover is keyed to the flexible wheel via the key slots.

[0010] Further preferably, a mounting groove is integrally formed on one side of the upper cover, and a limiting ring is integrally formed on one side of the upper cover.

[0011] Further preferably, the crossed roller bearing consists of a crossed roller outer ring, rollers, a crossed roller upper inner ring and a crossed roller lower inner ring, the crossed roller outer ring is fixedly connected to one side of the upper cover, the rollers are equidistantly installed on one side of the crossed roller outer ring, the crossed roller upper inner ring is installed on one side of the crossed roller outer ring, and the crossed roller lower inner ring is installed on one side of the wave generator.

[0012] Further preferably, a circular hole is opened on one side of the interior of the roller.

[0013] The embodiment of the utility model has the following advantages due to the adoption of the above technical solution:

[0014] 1. The utility model adopts the integrated design of brushless and harmonic, removes repeated brackets and bearings and even bearing steel rings, reduces the weight of parts, greatly reduces the weight of the reducer, avoids the problem of non-concentric installation of the outer rotor brushless motor and the reducer, and can reduce the height of the drive compared to the drive structure using multi-stage planets. Compared with the traditional drive using DC motors and planetary reducers, it can provide higher torque density, reliability and cost-effectiveness, and can provide high-precision position and speed control. It is suitable for applications that require precise and repeatable motion control, especially for the end joints of robotic arms;

[0015] Second, the utility model obtains better axial bearing capacity by arranging a cross roller bearing, and is easier to process, does not need to be restricted by the bearing size during design, and can reduce the overall height.

[0016] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the utility model will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural diagram of the utility model;

[0019] Figure 2 It is the exploded structure diagram of the utility model;

[0020] Figure 3 This is a structural diagram of the bottom shell of the utility model;

[0021] Figure 4 This is a structural diagram of the upper cover in the utility model;

[0022] Figure 5 This is a structural diagram of the cross roller bearing in the utility model.

[0023] Figure numerals: 11, upper cover; 111, keyway; 112, limit ring; 113, mounting groove; 12, bottom shell; 121, through hole; 13, outer rotor brushless motor; 14, cross roller bearing; 141, cross roller outer ring; 142, roller; 143, cross roller upper inner ring; 144, cross roller lower inner ring; 145, round hole; 15, flexible wheel; 16, wave generator; 17, fixing bolt. DETAILED DESCRIPTION

[0024] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0025] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0026] like Figure 1-5 As shown, the embodiment of the utility model provides a robot harmonic drive structure, including a bottom shell 12, an outer rotor brushless motor 13 is installed on one side of the bottom shell 12, through holes 121 for weight reduction and heat dissipation are evenly distributed and integrated on one side of the bottom shell 12, a flexible wheel 15 is installed on one side of the inner side of the bottom shell 12, a wave generator 16 is installed on one side of the inner side of the flexible wheel 15, an upper cover 11 is installed on one side of the flexible wheel 15, a cross roller bearing 14 is installed on one side of the upper cover 11, and screw holes for fixing and installing a controller are evenly distributed and integrated on one side of the bottom shell 12;

[0027] The crossed roller bearing 14 is composed of a crossed roller outer ring 141, rollers 142, a crossed roller upper inner ring 143 and a crossed roller lower inner ring 144. The crossed roller outer ring 141 is fixedly connected to one side of the upper cover 11, the rollers 142 are cross-arranged and equidistantly installed on one side of the crossed roller outer ring 141, the crossed roller upper inner ring 143 is installed on one side of the crossed roller outer ring 141, and the crossed roller lower inner ring 144 is installed on one side of the wave generator 16.

[0028] In one embodiment, in order to facilitate fixing of the outer rotor brushless motor 13 , fixing bolts 17 are threadedly connected to one side of the bottom shell 12 at equal intervals, and one end of the fixing bolts 17 is threadedly connected to the outer rotor brushless motor 13 .

[0029] In one embodiment, in order to make the upper cover 11 more stable, key slots 111 are evenly distributed and integrally formed on one side of the upper cover 11 , and the upper cover 11 is keyed to the flexible spline 15 via the key slots 111 .

[0030] In one embodiment, in order to facilitate the installation of the cross roller bearing 14, a mounting groove 113 is integrally formed on one side of the upper cover 11, and the mounting groove 113 reserves sufficient installation space for the cross roller bearing 14. A limiting ring 112 is integrally formed on one side of the upper cover 11, and the limiting ring 112 limits the cross roller bearing 14 to prevent the cross roller bearing 14 from contacting the flexible wheel 15.

[0031] In one embodiment, the cross roller outer ring 141 is fixed to the upper cover 11 by bolts or is directly formed integrally with the upper cover 11, and the cross roller lower inner ring 144 is connected to the rotor of the outer rotor brushless motor 13 by bolts.

[0032] In one embodiment, a circular hole 145 is opened on one side of the roller 142 to reduce the weight of the roller 142 .

[0033] In one embodiment, the outer shell of the outer rotor brushless motor 13 is removed, so that the outer rotor brushless motor 13 is integrated with the bottom shell 12, thereby further reducing the overall weight.

[0034] Optionally, a controller is installed on one side of the bottom shell 12 , and a magnet is installed on the output shaft of the outer rotor brushless motor 13 .

[0035] Optionally, the cross roller bearing 14 is replaced by a ball bearing, and a plane bearing is installed at the connection between the upper cover 11 and the bottom shell 12. The plane bearing can be replaced by a cross roller bearing.

[0036] When the utility model is working: the outer rotor brushless motor 13 is connected to the bottom shell 12, the flexible wheel 15 and the wave generator 16 are installed, and the upper cover 11 and the bottom shell 12 are assembled, and the cross roller bearing 14 is connected to the upper cover 11. The cross roller bearing 14 can reduce the overall height. The harmonic drive structure can provide high torque output in a small and lightweight appearance, which is very suitable for small and flexible robots; the combination of the outer rotor brushless motor 13 and the harmonic reducer composed of the flexible wheel 15 and the wave generator 16 can also provide high-precision position and speed control, which is very suitable for applications that require precise and repeatable motion control, especially for the end joints of robotic arms.

[0037] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A robot harmonic drive structure, characterized in that: The invention comprises a bottom shell (12), an outer rotor brushless motor (13) is installed on one side of the bottom shell (12), a flexible wheel (15) is installed on the inner side of the bottom shell (12), a wave generator (16) is installed on the inner side of the flexible wheel (15), an upper cover (11) is installed on one side of the flexible wheel (15), and a cross roller bearing (14) is installed on one side of the upper cover (11).

2. A robot harmonic drive structure according to claim 1, characterized in that: One side of the bottom shell (12) is threadedly connected with fixing bolts (17) at equal intervals, one end of the fixing bolt (17) is threadedly connected to the outer rotor brushless motor (13), and one side of the bottom shell (12) is integrally formed with screw holes at equal intervals.

3. A robot harmonic drive structure according to claim 1, characterized in that: One side of the bottom shell (12) is integrally formed with through holes (121) distributed evenly at intervals.

4. A robot harmonic drive structure according to claim 1, characterized in that: One side of the upper cover (11) is integrally formed with keyways (111) distributed at equal intervals, and the upper cover (11) is keyed to the flexible wheel (15) via the keyways (111).

5. The robot harmonic drive structure according to claim 1, characterized in that: A mounting groove (113) is integrally formed on one side of the upper cover (11), and a limiting ring (112) is integrally formed on one side of the upper cover (11).

6. A robot harmonic drive structure according to claim 1, characterized in that: The crossed roller bearing (14) is composed of a crossed roller outer ring (141), rollers (142), a crossed roller upper inner ring (143) and a crossed roller lower inner ring (144); the crossed roller outer ring (141) is fixedly connected to one side of the upper cover (11); the rollers (142) are equidistantly installed on one side of the crossed roller outer ring (141); the crossed roller upper inner ring (143) is installed on one side of the crossed roller outer ring (141); and the crossed roller lower inner ring (144) is installed on one side of the wave generator (16).

7. A robot harmonic drive structure according to claim 6, characterized in that: A circular hole (145) is formed on one side of the interior of the roller (142).

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