Integrated driving structure used for bearing-like mechanism and capable of rotating with large torque

Abstract

The utility model relates to a drive of a bearing structure, in particular to an integrated drive structure which is used for a bearing-like mechanism and can rotate at a large torque, and comprises an outer ring piece, an inner ring piece, an outer ring piece and an inner ring piece, a plurality of small driving machines are installed on the inner ring piece in the circumferential direction, and the small driving machines are in driving connection with the driving gear; the inner ring piece is sleeved with the outer ring piece, and the outer ring piece and the inner ring piece are arranged to be of a bearing-like structure through balls; the driving gear is meshed with the inner gear ring; when a plurality of small driving machines drive the outer ring piece to rotate through the driving gear, large-torque rotation of the outer ring piece and the inner ring piece is achieved. And the small driving machine and the inner ring piece are integrally designed. The utility model has the beneficial effects that the large torque, stable operation, uniform stress, long service life, small space ratio, high reliability and the like are realized, and the requirements of some special equipment are met.

Description

Technical Field

[0001] The utility model relates to the technical field of bearing joint drive and wheel hub drive, in particular to an integrated drive structure which is used for a bearing-like mechanism and can rotate with a large torque. Background Art

[0002] In joint design, a corresponding driving mechanism is required to realize the rotation of the joint in the form of a revolute pair.

[0003] The usual design method is: the two joint arms are connected by a revolute pair, and then the two joint arms are rotated by a drive structure, such as the patent with publication number CN216067529U. However, the torque force of this design is very small and cannot achieve high torque rotation, especially for some special equipment (large robot joint modules, aircraft wheels, unmanned vehicle wheels) that require high torque and small space. It is difficult to achieve.

[0004] Based on this, our company has developed a bearing-based joint drive structure that can provide large torque and takes up little space, meeting the needs of some special equipment. Summary of the invention

[0005] The purpose of the utility model is to overcome the shortcomings of the prior art and provide an integrated drive structure for a bearing-like mechanism that can rotate with large torque, which has the characteristics of large torque, smooth operation, uniform force, long service life, small space occupation, high reliability, etc., and meets the needs of some special equipment.

[0006] The purpose of the utility model is achieved through the following technical solutions: an integrated drive structure for a bearing-like mechanism capable of high torque rotation, comprising:

[0007] The outer ring has a coaxial inner gear ring on its annular inner wall;

[0008] The inner ring part has a plurality of small drive machines installed on the circumference thereof, and the small drive machines are connected to the driving gear drive;

[0009] The outer ring is sleeved on the inner ring and a bearing-like structure is formed between the two via balls, and the driving gear is meshed with the inner gear ring; when multiple small drive motors drive the outer ring to rotate via the driving gear, the outer ring and the inner ring can rotate with a large torque.

[0010] As a preferred technical solution of the present application, the small drive machine is a small drive motor.

[0011] As a preferred technical solution of the present application, the inner ring member includes a ring body member; a mounting hole is opened in the left-right direction on the ring body member, and multiple mounting holes are evenly opened in the circumferential direction on the ring body member; the ring body member serves as the outer shell of the small drive motor, and the internal parts of the small drive motor are arranged in the mounting hole; the output shaft of the small drive motor extends from the left side of the ring body member, and a driving gear is sleeved on the extended end of the output shaft. When the driving gear meshes with the inner gear ring, it can form a driving structure between the inner ring member and the outer ring member, and a deceleration structure between the inner ring member and the outer ring member.

[0012] As a preferred technical solution of the present application, the mounting hole is a left small-diameter hole and a right large-diameter hole connected in sequence on the left and right, forming a stepped through-hole shape; when the output shaft of the small drive motor is arranged in the mounting hole: the output shaft at the right position of the right large-diameter hole has a corresponding magnet, and the inner wall at the right position of the right large-diameter hole has a winding; a fan is installed on the output at the left position of the right large-diameter hole; a corresponding bearing A is provided between the left small-diameter hole and the corresponding output shaft, the right end of the right large-diameter hole is closed by an end cover and the end cover and the corresponding output shaft are installed in combination with the bearing B, and a hole is opened on the end cover, so that air flows from right to left when the fan rotates, which can not only dissipate heat for the motor, but also dissipate heat for the meshing of the inner ring and the outer ring.

[0013] Alternatively, as a preferred technical solution of the present application, another design is selected for the small drive motor; the inner ring member includes a ring body member; mounting holes are opened on the ring body member in the left and right directions, and multiple mounting holes are evenly distributed in the circumferential positions of the ring body member; a small drive motor is arranged in the mounting hole and is drive-connected to a small multi-stage planetary reducer, and the output shaft of the multi-stage planetary reducer extends from the left side of the ring body member, and the protruding end of the output shaft is provided with a driving gear.

[0014] As a preferred technical solution of the present application, a ring body part is arranged on the right side of the inner gear ring of the outer ring part, and a left ball mounting part is arranged on the left side of the inner gear ring; the left ball mounting part is detachably arranged on the ring body part and there is a spacing between the sides of the two, and the left ball mounting part cooperates with the outer ring part through corresponding balls to form a bearing-like structure; if the inner ring part axially falls off from the outer ring part, the left ball mounting part and the ring body part will press against the side of the inner gear ring to form a structure to prevent axial falling off.

[0015] As a preferred technical solution of the present application, a detachable right ball mounting part is provided on the right side of the ring body, and the right ball mounting part cooperates with the outer ring part through corresponding balls to form a bearing-like structure. The structure that makes the left and right positions of the outer ring part bear more uniform force through the left and right ball mounting parts is suitable for large torque or high speed rotation. In this case, the left ball mounting part and the right ball mounting part are used together. Of course, the left ball mounting part can also be omitted and only the right ball mounting part can be used.

[0016] As a preferred technical solution of the present application, a spacing is formed between the left ball mounting member and the ring body member, and the spacing is the matching space between the driving gear and the inner gear ring; the left ball mounting member is in the shape of a disc, and a ball groove A is opened on its annular cylindrical surface, and a corresponding ball is placed in the ball groove A. After the outer ring member is sleeved on the inner ring member and the corresponding ball is placed in the ball groove A, a retaining frame and a retaining edge are also installed.

[0017] As a preferred technical solution of the present application, the inner gear ring is convexly arranged on the inner wall of the outer ring, that is, the inner diameter of the inner gear ring is smaller than the inner diameter of the outer ring; the left ball mounting member includes a large disc part and a small disc part which are coaxial and integrally arranged, and a ball groove A is opened on the cylindrical surface of the small disc part. When the inner ring part and the outer ring part are adapted for installation: first install the corresponding small drive machine and the corresponding driving gear on the ring body part, install the ring body part into the outer ring part from the right end of the outer ring part, let the left side of the ring body part gradually approach the right end face of the inner gear ring, and let it mesh with the inner gear ring by rotating the driving gear; then install the left end of the outer ring part of the left ball mounting member seat into the outer ring part, let the large disc part be located on the inner side of the small disc part and let the right side face of the large disc part approach the left side face of the inner gear ring. When the entire inner ring and outer ring are installed, the large disc part and the ring body can be limited by the inner gear ring to prevent the inner ring and the outer ring from axially falling off under the action of large torque.

[0018] As the preferred technical solution of the present application, in the inner ring component, a right ball mounting component is fixedly installed on the right side surface of the ring body component; the right ball mounting component is disc-shaped, and a ball groove B is opened on its annular cylindrical surface, and corresponding balls are placed in the ball groove B; when the outer ring component is sleeved on the inner ring component and the corresponding balls are placed in the ball groove B, the corresponding retaining frame and retaining edge are also installed.

[0019] It should be noted that when this solution is used in a large robot joint module, the joint can automatically rotate (multiple motors are integrated in the joint and are part of the joint). Compared with the method of setting up additional large motors outside the joint, it can provide sufficiently large torque and better hide, so that the center of gravity can be better concentrated on the joint. If used in a large humanoid robot, the stability of the robot can be better guaranteed (for example, when used in the arm joint, this integrated design makes the center of the arm close to the joint, and when the arm performs complex movements-such as the arm is raised vertically or placed horizontally, it is conducive to the stability of the entire robot);

[0020] When this solution is used on the wheel hub of an aircraft, when the aircraft needs to be transferred on the ground (when the aircraft is moved on the ground before taking off, it usually needs to be transferred by a transfer vehicle), no transfer equipment is needed, and the rotation of the aircraft can be achieved directly through the wheel hub;

[0021] When this solution is used on the wheel hub of an unmanned vehicle, the corresponding customer only needs to purchase the wheel hub without installing any additional drive equipment to realize the driving of the unmanned vehicle;

[0022] That is, this solution designs the motor as a part of the joint and drives it through multiple motors. This design not only hides the motor, but also greatly reduces the size of the joint (traditional joint drive is achieved through external large motors, which take up a lot of space), and can ensure sufficiently large torque.

[0023] The utility model has the following advantages:

[0024] (1) Greatly reduce the structure of the bearing joint and ensure sufficient torque;

[0025] Improve the general bearing structure so that the inner and outer rings of the bearing can rotate by themselves, and also have the characteristics of large torque, stable operation, uniform force, long service life, small space occupation, high reliability, etc., to meet the needs of some special equipment;

[0026] (2) Sufficient power, capable of achieving large torque, uniform force, stable operation and long service life;

[0027] Specifically, multiple small drive motors are arranged around the inner ring to drive the outer ring to rotate, ensuring sufficient power;

[0028] At the same time, the inner gear ring on the outer ring is meshed with multiple driving gears in the circumferential direction. Since there are many force points and they can offset each other in the radial direction, the operation is stable. Compared with the single-point force drive method, this solution has a longer service life;

[0029] (3) Small space occupation and compact structure;

[0030] A plurality of mounting holes are opened circumferentially on the ring body of the inner ring member, and the ring body member is used as the outer shell of the motor. Various components inside the motor are installed in the mounting holes, which is equivalent to integrating the inner ring member with multiple motors. There is no need to set up a separate drive motor, making the structure compact and occupying a small space - especially the circumferential space;

[0031] The entire mechanism is both a bearing and a drive, meeting the needs of some special equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the utility model;

[0033] Figure 2 It is a schematic diagram of the structure from another angle;

[0034] Figure 3 It is a schematic diagram of the structure of the outer ring;

[0035] Figure 4 It is a structural schematic diagram of the inner ring;

[0036] Figure 5 It is a schematic diagram of the structure of the explosion of the utility model;

[0037] Figure 6 It is a structural schematic diagram of another angle of the utility model;

[0038] Figure 7 This is a schematic diagram of the structure of installing a small drive machine on the ring body of the inner ring;

[0039] Figure 8 It is a structural schematic diagram of another angle of installing a small driving machine on the ring body of the inner ring;

[0040] Fig. 9 It is a cross-sectional view of a small drive motor installed on the ring body of the inner ring;

[0041] Fig.10 The exploded view of the left ball mounting part, the corresponding ball and the corresponding retaining edge;

[0042] Fig.11 It is an exploded view of the left ball mounting part, the corresponding ball and the corresponding retaining edge at another angle;

[0043] Fig.12 The exploded view of the right ball mounting part, the corresponding ball and the corresponding retaining edge;

[0044] Fig.13 It is a structural schematic diagram of another embodiment in which a small drive motor is connected to a driving gear via a multi-stage planetary reduction box;

[0045] Fig.14 for Fig.13 The schematic diagram of the structure without the shell of the multi-stage planetary reduction gearbox;

[0046] In the figure: 1-outer ring, 101-inner gear ring;

[0047] 2-inner ring, 201-ring body, 202-left ball mounting part, 202-1-large disc part, 202-2-small disc part, 20201-ball groove A, 203-right ball mounting part, 20301-ball groove B, 204-rib;

[0048] 3- small driving machine, 301- driving gear, 302- magnet, 303- winding, 304- fan, 4- ball bearing. DETAILED DESCRIPTION

[0049] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0050] It should be noted that the directions or positional relationships indicated by "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use, or are the directions or positional relationships commonly understood by those skilled in the art. Such terms are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the utility model.

[0051] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0052] (Example 1)

[0053] See also Figure 1 to Figure 6 , an integrated drive structure for a bearing-like mechanism capable of rotating with a large torque, comprising an outer ring member 1 and an inner ring member 2;

[0054] A plurality of small drive machines 3 are evenly installed on the inner ring member 2 in the circumferential direction, and each small drive machine 3 is correspondingly connected to a driving gear 301, and the driving gear 301 is arranged on the inner ring member 2; wherein, a coaxial inner gear ring 101 is provided on the annular inner wall of the outer ring member 1; in addition, the outer ring member 1 is sleeved on the inner ring member 2, and the two are arranged to form a bearing-like structure through the ball 4, and the driving gear 301 is meshed with the inner gear ring 101;

[0055] During operation, the corresponding driving gears 301 are driven to rotate respectively by multiple small driving machines 3, and the multiple driving gears 301 act on the inner gear ring 101 of the outer ring member 1 together, which is equivalent to multiple small driving machines 3 acting on the outer ring member 1 together; thereby achieving rotation with large torque.

[0056] In this solution, in order to form a compact and reliable structure, a small drive motor is selected as the small drive machine 3; and the structure of the small drive motor 3 is: a plurality of mounting holes are opened in the inner ring member 2, and the mounting holes are used as the inner cavity of the motor to install the corresponding internal components of the motor, and the inner ring member 2 is used as the housing of the motor. The motor structure formed in this way is very compact, and even in the case of large torque or high-speed rotation, it can still maintain good reliability and the structure is very compact (the existing motor-driven bearing structure is driven by additionally setting up a motor as a whole when rotating. On the one hand, it is difficult to provide a large torque. On the other hand, the motor is external, the structure is not compact enough, and generally there is only one driving force point - for example, the driving gear on the motor is meshed with the driven gear on a certain inner ring member / outer ring member at only one position, resulting in the bearing structure not running smoothly under large torque or high-speed rotation);

[0057] Specifically, see Figure 7~Figure 9 The inner ring member 2 includes a ring member 201; a mounting hole is opened on the ring member 201 along the left and right directions, and a plurality of mounting holes are evenly opened on the ring member 201 in the circumferential direction. The ring member 201 serves as the outer shell of the small drive motor, and the internal parts of the small drive motor are arranged in the mounting hole, and the output shaft of the small drive motor extends from the left side of the ring member 201, and a driving gear 301 is sleeved on the extended end of the output shaft; when the plurality of driving gears 301 in the circumferential direction mesh with the inner gear ring 101, there are a plurality of meshing points in the circumferential direction, which can ensure that the inner gear ring 101 is subjected to a sufficiently large driving force-thereby forming a large torque, and can ensure that the force is uniform, so that the inner ring member 2 and the outer ring member 1 can run smoothly under large torque or high-speed rotation, thereby improving the service life; and this structure can also form a reduction structure between the inner ring member 2 and the outer ring member 1, that is, after the small drive motor 3 is transmitted to the outer ring member 1 through the driving gear 301, the rotation speed of the outer ring member 1 is lower than that of the small drive motor, which plays a role similar to a reduction box.

[0058] Further, the interior of the mounting hole is structurally designed, or the interior of the motor is structurally designed; specifically, see Fig. 9 , the mounting hole is a left small diameter hole and a right large diameter hole connected in sequence, forming a stepped through hole. When the output shaft of the small drive motor is set in the mounting hole: the output shaft at the right position of the right large diameter hole has a corresponding magnet 302, and the inner wall at the right position of the right large diameter hole has a winding 303; a fan 304 is installed on the output at the left position of the right large diameter hole; a corresponding bearing A is provided between the left small diameter hole and the corresponding output shaft, the right end of the right large diameter hole is closed by an end cover 305, and the end cover and the corresponding output shaft are installed in cooperation with the bearing B, and a hole is opened on the end cover 305; when the output shaft of the motor rotates, it will drive the fan 304 to rotate, so that the air flows through the hole on the end cover 305 through the inside of the mounting hole, and then flows out from the bearing A at the left position, so as to achieve heat dissipation of the inside of the mounting hole, that is, the inside of the motor. In addition, the flowing air also plays a heat dissipation role to a certain extent on the meshing part of the inner gear ring 101 and the outer ring member 1.

[0059] In this proposal, see Figure 4 A ring body part 201 is arranged on the right side of the inner gear ring 101 of the outer ring part 1, and a left ball mounting part 202 is arranged on the left side of the inner gear ring 101; the left ball mounting part 202 is detachably arranged on the ring body part 201 and there is a spacing between the sides of the two, and the left ball mounting part 202 cooperates with the outer ring part 1 through the corresponding ball 4 to form a bearing-like structure; if the inner ring part 2 falls off axially on the outer ring part 1, the left ball mounting part 202 and the ring body part 201 will be pressed against the side of the inner gear ring 101 to form a structure to prevent axial falling off.

[0060] In this proposal, see Figure 4A removable right ball mounting member 203 is provided on the right side of the ring body 201. The right ball mounting member 203 cooperates with the outer ring member 1 through the corresponding ball 4 to form a bearing-like structure. The structure that allows the outer ring member 1 to be subjected to more uniform force on the left and right positions through the left ball mounting member 202 and the right ball mounting member 203 is suitable for large torque or high speed rotation. In this case, the left ball mounting member 202 and the right ball mounting member 203 are used together. Of course, the left ball mounting member may not be used, and only the right ball mounting member 203 may be used.

[0061] In this embodiment, the structure of the left ball mounting member 202 is designed;

[0062] Specifically, see Fig.10 and Fig.11 , a left ball mounting member 202 is detachably fixedly mounted on the left side of the ring body 201 via a screw rod; a spacing is formed between the left ball mounting member 202 and the ring body 201, and the spacing is the matching space between the driving gear 301 and the inner gear ring 301; the left ball mounting member 202 is disc-shaped, and includes a large disc portion 202-1 and a small disc portion 202-2 that are coaxial and integrally arranged, and a ball groove A20201 is opened on the cylindrical surface of the small disc portion 202-2, and a corresponding ball 4 is placed in the ball groove B20301; and the inner gear ring 101 is convexly arranged on the inner wall of the outer ring member 1, that is, the inner diameter of the inner gear ring 101 is smaller than the inner diameter of the outer ring member 1;

[0063] When the inner ring 2 and the outer ring 1 are adapted for installation: first install the corresponding small drive machine 3 on the ring body 201, and install the corresponding driving gear 301, install the ring body 201 into the outer ring 1 from the right end of the outer ring 1, let the left side of the ring body 201 gradually approach the right end face of the inner gear ring 101, and rotate the driving gear 301 to make it mesh with the inner gear ring 101; then, seat the left ball mounting member 202 on the left end of the outer ring 1 Install it into the outer ring part 1, let the large disc part 202-1 be located inside the small disc part 202-2 and let the right side of the large disc part 202-1 be close to the left side of the inner gear ring 101, put the ball 4 in the ball groove B20301 (eccentric placement, which is a conventional ball placement method), then fix the left ball mounting part 202 on the ring body part 201 through the bolt rod (there is a gap between the two), and then install the retaining frame and the retaining edge 204;

[0064] After the entire inner ring 2 and the outer ring 1 are installed, the large disc 202-1 and the ring body 201 can be limited by the inner gear ring 101 to prevent the inner ring 2 and the outer ring 1 from axially falling off under the action of large torque.

[0065] In this embodiment, the right ball mounting member 202 is designed; specifically, refer to Fig.12The right ball mounting part 203 is disc-shaped, and a ball groove B20301 is opened on its annular cylindrical surface, and the corresponding ball 4 is placed in the ball groove B20301; when the outer ring part 1 is put on the inner ring part 2 and the corresponding ball 4 is placed in the ball groove B20301, the corresponding retaining frame and retaining edge 204 are also installed.

[0066] For ease of understanding, this solution is described in detail below:

[0067] Most of the current bearings are used as rotating pairs. When installing, the outer ring is usually interference-fitted with a hole, and then the inner ring is matched with the rotating shaft. If the inner and outer rings are to rotate, they are connected to the corresponding motor through the rotating shaft. This installation structure can meet the rotation of large torque to a certain extent - it only needs to increase the diameter of the rotating shaft and the power of the corresponding motor; however, this bearing and motor drive installation structure makes the entire mechanism very long in the axial direction, which does not meet the use of some special situations;

[0068] If the existing bearings are used for the rotation of the joint, for example, one joint arm is connected to the inner ring, and the other joint arm is connected to the outer ring, the conventional design is to fix a motor on one joint arm, and the output shaft of the motor is meshed with the gear on the other joint arm through the gear, so that the inner ring and the outer ring of the joint rotate; however, the torque generated by this design is very small, and it is easy to run unsteadily or break down under high torque or high speed conditions;

[0069] The present solution uses some special equipment to achieve the design requirements of large torque, smooth rotation, low replacement frequency (long service life), and small length and space occupation; specifically: (1) by setting up multiple small drive machines 3 to ensure sufficient power, at the same time, the inner gear ring 101 on the outer ring member 1 is circumferentially meshed with multiple driving gears 301 to ensure smooth operation. Due to the large number of force points, compared with the single-point force drive method, the service life of this solution is long; (2) In addition, the inner ring member 2 has a ring body member 201, and a mounting hole is opened on the ring body member 201. The small drive machine 3 uses a small drive motor, and the ring body member 201 is used as the outer shell of the motor. The internal components required by the motor are installed in the mounting hole. The entire ring body member 201 is a plurality of motors. The integrated structure is very compact and occupies a small space, meeting special design requirements. The fan is used to dissipate heat in the mounting hole and also dissipate heat at the meshing point between the driving gear 301 and the inner gear ring 101. (3) By installing the left ball mounting member 202 and the ring body member 201 on the left and right sides of the inner gear ring 101, the inner ring member 2 and the outer ring member 1 can be prevented from falling off in the axial direction, ensuring the reliability under the action of large torque. The right ball mounting frame 203 is also installed on the right side of the ring body member 201. The left ball mounting frame 201 and the right ball mounting frame 203 form a bearing-like structure with the outer ring member 1 through the corresponding balls 4, so that the outer ring member 1 and the inner ring member 2 are evenly stressed at the left and right sides, further improving the reliability.

[0070] (Example 2)

[0071] On the basis of Example 1, another design method is adopted for the installation of the small drive motor and the ring body, and other structures are the same, so as to achieve the purpose of simplifying the structure.

[0072] Specifically, see Fig.13 and Fig.14 The ring body 201 is provided with mounting holes along the left-right direction, and the plurality of mounting holes are evenly distributed at the circumferential position of the ring body 201; a small drive motor is arranged in the mounting hole, and the small drive motor is connected to the multi-stage planetary reduction gearbox, and the output shaft of the multi-stage planetary reduction gearbox extends from the left side of the ring body 201, and the extending end of the output shaft is provided with a driving gear 301.

[0073] It should be noted that the new multi-stage structure in this embodiment is a prior art, for example, the product of Changshu Xinliming Power Technology Co., Ltd. can be used.

[0074] The above embodiments only express the preferred implementation modes, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model.

Claims

1. An integrated drive structure for a bearing-like mechanism capable of high torque rotation, characterized in that: include: An outer ring member (1) having a coaxial inner gear ring (101) on its annular inner wall; The inner ring member (2) has a plurality of small drive machines (3) mounted on its circumference, and the small drive machines (3) are drivingly connected to the driving gear (301); The outer ring member (1) is sleeved on the inner ring member (2) and a bearing-like structure is formed between the two via a ball (4), and the driving gear (301) is meshed with the inner gear ring (101); when a plurality of small drive motors (3) drive the outer ring member (1) to rotate via the driving gear (301), a high torque rotation of the outer ring member (1) and the inner ring member (2) is achieved.

2. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 1, characterized in that: The small drive machine (3) is a small drive motor.

3. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 2, characterized in that: The inner ring member (2) comprises a ring body member (201); The ring body (201) is provided with mounting holes in the left-right direction, and the plurality of mounting holes are evenly distributed at circumferential positions of the ring body (201); the ring body (201) serves as an outer shell of a small drive motor, and components inside the small drive motor are arranged in the mounting holes; the output shaft of the small drive motor extends from the left side of the ring body (201), and a driving gear (301) is sleeved on the extended end of the output shaft; When the driving gear (301) is meshed with the inner gear ring (101), a driving structure can be formed between the inner ring member (2) and the outer ring member (1), and a speed reduction structure can be formed between the inner ring member (2) and the outer ring member (1).

4. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 3, characterized in that: The mounting hole is a left small-diameter hole and a right large-diameter hole that are connected in sequence on the left and right sides to form a stepped through hole; When the output shaft of the small drive motor is arranged in the mounting hole: the output shaft at the right position of the right large diameter hole has a corresponding magnet (302), and the inner wall at the right position of the right large diameter hole has a winding (303); a fan (304) is installed on the output at the left position of the right large diameter hole, a corresponding bearing A is provided between the left small diameter hole and the corresponding output shaft, the right end of the right large diameter hole is closed by an end cover (305), and the end cover (305) and the corresponding output shaft are mounted in cooperation with each other via a bearing B, a hole is opened on the end cover (305), and when the fan (304) rotates, air flows from right to left, which can not only dissipate heat for the motor, but also dissipate heat for the meshing portion of the inner ring member (2) and the outer ring member (1).

5. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 2, characterized in that: The inner ring member (2) comprises a ring body member (201); The ring body (201) is provided with mounting holes in the left-right direction, and the plurality of mounting holes are evenly distributed at circumferential positions of the ring body (201); a small drive motor is arranged in the mounting hole, and the output shaft of the small drive motor is connected to a small multi-stage planetary reduction gearbox for driving; the output shaft of the multi-stage planetary reduction gearbox protrudes from the left side of the ring body (201), and a driving gear (301) is sleeved on the protruding end of the output shaft.

6. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 3, 4 or 5, characterized in that: A ring body part (201) is provided on the right side of the inner gear ring (101) of the outer ring part (1), and a left ball mounting part (202) is provided on the left side of the inner gear ring (101); The left ball mounting member (202) is detachably arranged on the ring member (201) and a distance is provided between the sides of the two. The left ball mounting member (202) cooperates with the outer ring member (1) via the corresponding ball (4) to form a bearing-like structure. If the inner ring member (2) falls off axially from the outer ring member (1), the left ball mounting member (202) and the ring body member (201) abut against the side surface of the inner gear ring (101), thereby forming a structure to prevent axial falling off.

7. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 3, 4 or 5, characterized in that: A detachable right ball mounting member (203) is provided on the right side of the ring body member (201); the right ball mounting member (203) cooperates with the outer ring member (1) via corresponding balls (4) to form a bearing-like structure.

8. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 6, characterized in that: A spacing is formed between the left ball mounting member (202) and the ring member (201), and the spacing is a matching space between the driving gear (301) and the inner gear ring (101); The left ball mounting member (202) is in the shape of a disk, and a ball groove A (20201) is formed on its annular cylindrical surface, and a corresponding ball (4) is placed in the ball groove A (20201); after the outer ring member (1) is sleeved on the inner ring member (2) and the corresponding ball (4) is placed in the ball groove A (20201), a retaining frame and a retaining edge (204) are also installed.

9. The integrated drive structure for a bearing-like mechanism capable of high torque rotation according to claim 6, characterized in that: The inner gear ring (101) is convexly arranged on the inner wall of the outer ring member (1), that is, the inner diameter of the inner gear ring (101) is smaller than the inner diameter of the outer ring member (1); The left ball mounting member (202) comprises a large disc portion (202-1) and a small disc portion (202-2) which are coaxial and integrally arranged, and a ball groove A (2201) is formed on the cylindrical surface of the small disc portion (202-2); When the inner ring member (2) and the outer ring member (1) are adapted for installation: first, the corresponding small drive motor (3) is installed on the ring member (201), and the corresponding driving gear (301) is installed, and the ring member (201) is inserted into the outer ring member (1) from the right end of the outer ring member (1), so that the left side surface of the ring member (201) gradually approaches the right end surface of the inner gear ring (101), and the driving gear (301) is rotated to mesh with the inner gear ring (101); then, the left end of the outer ring member (1) of the left ball mounting member (202) seat is installed into the outer ring member (1), so that the large disc portion (202-1) is located on the inner side of the small disc portion (202-2) and the right side surface of the large disc portion (202-1) is close to the left side surface of the inner gear ring (101); When the entire inner ring member (2) and the outer ring member (1) are installed, the large disc portion (202-1) and the ring body member (201) can be limited by the inner gear ring (101), thereby preventing the inner ring member (2) and the outer ring member (1) from axially falling off under the action of a large torque.

10. The integrated drive structure for a bearing-like mechanism capable of large torque rotation according to claim 7, characterized in that: In the inner ring member (2), a right ball mounting member (203) is fixedly mounted on the right side surface of the ring member (201); The right ball mounting member (203) is in the shape of a disk, and a ball groove B (20301) is formed on its annular cylindrical surface, and a corresponding ball (4) is placed in the ball groove B (20301); after the outer ring member (1) is sleeved on the inner ring member (2) and the corresponding ball (4) is placed in the ball groove B (20301), a corresponding retaining frame and retaining edge (204) are also installed.

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