Installation structure of harmonic reducer and motor

Abstract

The utility model relates to a harmonic reducer and motor installation structure, the motor comprises an end plate, a housing, a stator core, a rotating shaft and a rotor core, the harmonic reducer comprises a wave generator, a flexible gear and a steel wheel, the end face of one end of the housing is provided with a through hole, the outer ring of the through hole is provided with a convex ring, one side of the outer ring of a bearing B is clamped in the convex ring, and the other side of the outer ring of the bearing B is clamped in the bearing B; the bearing pressing plate is buckled on the other side of the bearing outer ring, the bearing pressing plate is fixed to the inner end face of the shell through a bolt, the bolt penetrates through the inner end face of the shell and then is fixed to the steel wheel, and the rotating shaft penetrates through the through hole and then is fixed to the wave generator; according to the utility model, the overall installation is convenient, parts are not easy to damage, and the bolts used for fixing the bearing pressing plate and the motor shell penetrate through the motor shell and can be directly used for fixing the harmonic reducer, so that the installation steps are further simplified; in addition, a torque sensor on the harmonic reducer can accurately detect torque information of the output end of the joint motor.

Description

Technical Field

[0001] The utility model belongs to the technical field of joint motor structures, and particularly relates to an installation structure of a harmonic reducer and a motor. Background Art

[0002] The rapid development of robot technology has caused revolutionary changes in multiple fields, from manufacturing to healthcare and then to daily life. In the motion control of robots, joint motor modules play a key role, providing power and precise motion control for the joints of robots.

[0003] A joint motor module generally includes parts such as a motor body, a reducer, a bearing, a controller assembly, and a housing. The bearing between the motor shaft and the motor housing needs to be installed with interference fit, and improper operation is likely to cause damage to parts. Moreover, due to the large number of components in existing joint motors, the motor and the reducer need to be separately assembled and then connected together. The entire installation process has cumbersome steps, affecting the assembly efficiency.

[0004] In addition, most existing joint motors do not have a torque information detection function for the output end (the output end of the reducer), and cannot improve the control progress. Even if a small number of joint motors are equipped with torque sensors, it will increase the volume of the joint motor, make the structure more complex, and the assembly more cumbersome. Summary of the Utility Model

[0005] In order to solve the above technical problems, the purpose of the utility model is to provide an installation structure of a harmonic reducer and a motor, which is convenient to install and can improve the control accuracy of the joint motor.

[0006] To achieve the above utility model purpose, the utility model adopts the following technical solutions:

[0007] An installation structure of a harmonic reducer and a motor, comprising a motor and a harmonic reducer. The motor includes an end plate, a housing, a stator core, a rotating shaft and a rotor core. The stator core is fixed on the inner wall of the housing. The rotor core is fixed on the rotating shaft and located inside the stator core. The end plate is fixed at one end of the housing. Both ends of the rotating shaft are rotatably connected to the end plate and the housing through bearing A and bearing B respectively. The harmonic reducer includes a wave generator, a flexible gear and a rigid gear. The flexible gear is sleeved outside the wave generator. The rigid gear is sleeved outside the flexible gear. Under the push of the wave generator, the flexible gear and the rigid gear drive with staggered teeth. A through hole is provided on the end face of one end of the housing. A convex ring is provided on the outer circle of the through hole. One side of the outer ring of bearing B is clamped inside the convex ring. A bearing pressure plate is also buckled on the other side of the outer ring of bearing B. The bearing pressure plate is fixed to the inner end face of the housing through bolts, and the bolts penetrate through the inner end face of the housing and are fixed to the rigid gear. A sealing ring D is also provided between the contact surface of the rigid gear and the housing. The rotating shaft penetrates through the through hole and is fixed to the wave generator. One side of the rigid gear is also connected with a torque sensor through a crossed roller bearing. The crossed roller bearing includes a bearing inner ring and a bearing outer ring that are sleeved with each other and rotatably arranged. The rigid gear is fixed to the bearing inner ring, and a sealing ring is also provided between the rigid gear and the bearing outer ring. The torque sensor includes an elastic matrix, a signal conditioning module and a strain gauge. The outer circle of the elastic matrix is fixed to the bearing outer ring, and the inner circle of the elastic matrix is fixed to the flexible gear.

[0008] As a preferred solution: A T-shaped shaft is also fixed on the outside of the torque sensor. The T-shaped shaft includes an integrally formed middle tube and a connecting disk. The connecting disk is arranged at one end of the middle tube. A through hole communicating with the middle tube is also provided in the middle of the connecting disk. The middle tube penetrates through the torque sensor, the harmonic reducer and the rotating shaft.

[0009] As a preferred solution: A wire passing hole is also provided on the connecting disk. The wire of the signal conditioning module passes through the wire passing hole.

[0010] As a preferred solution: The outer circle of the elastic matrix is an outer flange, and the inner circle of the elastic matrix is an inner flange. The two are connected by a strain beam. The strain gauge is arranged on the strain beam. One end of the middle tube is fixed to the outer flange through the connecting disk. One end of the middle tube is supported in the rotating shaft of the motor through a bearing bush.

[0011] As a preferred solution: There are multiple strain beams, and they are arranged at equal intervals along the circumference. A groove is provided between adjacent strain beams. The signal conditioning module is embedded in the groove.

[0012] As a preferred solution: A sealing ring B is also provided between the middle tube and the rotating shaft, and the sealing ring B is located outside the bearing bush.

[0013] As a preferred solution: One end of the rotating shaft is further provided with a mounting seat for limiting the sealing ring B.

[0014] As a preferred solution: The intermediate pipe penetrates through the inner flange plate, and a sealing ring A is further provided between the connection part of the intermediate pipe and the connection plate and the inner flange plate.

[0015] As a preferred solution: A sealing ring C is further provided between the end faces of the outer flange plate in contact with the outer ring of the bearing.

[0016] As a preferred solution: A circular convex edge is provided near the periphery of the end face of the outer flange plate, and the outer side wall of the connection plate abuts against the inner wall of the convex edge.

[0017] The rotating shaft of the present utility model is connected to the motor housing through a bearing, and the bearing is installed and limited through the convex ring and the bearing pressing plate on the motor housing. The overall installation is convenient, the parts are not easily damaged, and the bolts for fixing the bearing pressing plate and the motor housing penetrate through the motor housing and can be directly used to fix the harmonic reducer, further simplifying the installation steps; in addition, the harmonic reducer is connected with a torque sensor through a bearing. The outer ring of the torque sensor is used as the output end, and the torque information of the output end of the joint motor can be accurately detected through the torque sensor. At the same time, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible gear and driven by the flexible gear. The overall structure is compact and the operation is stable. Description of the Drawings

[0018] The specification drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation to the present application.

[0019] Figure 1 is the structural schematic diagram of the present utility model;

[0020] Figure 2 is the sectional structural schematic diagram of the present utility model;

[0021] Figure 3 and Figure 4 are the exploded structural schematic diagrams of the present utility model at two different angles;

[0022] Figure 5 is the disassembled structural schematic diagram of the housing, rotating shaft, bearing and bearing cover plate of the present utility model;

[0023] Figure 6 and Figure 7 are the exploded structural schematic diagrams of the harmonic reducer, torque sensor and T-shaped pipe of the present utility model at two different angles;

[0024] Figure 8It is a schematic structural diagram of the elastic matrix of the torque sensor of the present utility model.

[0025] The reference numerals are: 4, end plate; 46, bearing A; 5, housing; 500, stator core; 54, convex ring; 6, rotating shaft; 600, rotor core; 60, bearing bush; 61, mounting seat; 63, bearing pressing plate; 64, bearing B; 65, circlip; 7, intermediate pipe; 73, connecting plate; 731, wire outlet hole; 732, seal ring A; 8, harmonic reducer; 80, elliptical hub; 81, thin-wall bearing; 82, flexspline; 83, rigid ring; 84, seal ring; 85, bearing inner ring; 86, bearing outer ring; 9, torque sensor; 91, inner flange; 92, strain beam; 93, outer flange; 94, groove; 95, signal conditioning module; 96, strain gauge; 97, wire; 100, seal ring B; 900, seal ring C; 800, seal ring D. Detailed implementation manners

[0026] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0027] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] In addition, in the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present utility model.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

[0030] In the present utility model, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0031] In the present utility model, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0032] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments:

[0033] As Figures 1 to 4 shown, an installation structure of a harmonic reducer and a motor includes a motor and a harmonic reducer 8. The motor includes an end plate 4, a housing 5, a stator core 500, a rotating shaft 6, and a rotor core 600. The stator core 500 is fixed on the inner wall of the housing 5. The rotor core 600 is fixed on the rotating shaft 6 and is located inside the stator core 500. The end plate 4 is fixed at one end of the housing 5. Both ends of the rotating shaft 6 are rotatably connected to the end plate 4 and the housing 5 through a bearing A 46 and a bearing B 64 respectively. The harmonic reducer includes a wave generator, a flexible gear 82, and a rigid gear 83. The flexible gear 82 is sleeved outside the wave generator. The rigid gear 83 is sleeved outside the flexible gear 82, and under the push of the wave generator, the flexible gear 82 and the rigid gear 83 perform a staggered-tooth transmission.

[0034] As Figure 5As shown, a through hole is provided on the end face of one end of the housing 5. A convex ring 54 is provided on the outer ring of the through hole. One side of the outer ring of the bearing B64 is clamped in the convex ring 54. A bearing pressure plate 63 is also buckled on the other side of the outer ring of the bearing B64. The bearing pressure plate 62 is fixed to the inner end face of the housing 5 by bolts, and the bolts pass through the inner end face of the housing 5 and are fixed to the steel wheel 83. A sealing ring D800 is also provided between the contact surface of the steel wheel 83 and the housing 5. The rotating shaft 6 passes through the through hole and is fixed to the wave generator. The wave generator includes an elliptical hub 80 for fixing to the motor shaft and a thin-walled bearing 81 sleeved outside the elliptical hub 80. The flexible gear 82 is sleeved outside the thin-walled bearing 81.

[0035] The inner ring of the bearing B64 is fixedly sleeved on the rotating shaft 6. An installation ring groove is provided on the rotating shaft 6, and a snap ring 65 is also provided in the installation ring groove. One side of the bearing B64 abuts against the snap ring 65. The bearing pressure plate 63 includes an integrally formed fixing plate edge, a clamping sleeve, and a retaining ring. The fixing plate edge and the retaining ring are parallel to each other, and the clamping sleeve is perpendicular to the retaining ring. A circular notch is also provided at the connection between the fixing plate edge and the clamping sleeve of the bearing pressure plate 63, and the circular notch is buckled on the convex ring 54. The convex ring on the housing can not only limit the bearing but also position the bearing pressure plate when installing the bearing cover, which is convenient for operation.

[0036] As Figures 6 to 8 As shown, one side of the steel wheel 83 is also connected to a torque sensor 9 through a crossed roller bearing. The crossed roller bearing includes a bearing inner ring 85 and a bearing outer ring 86 that are sleeved with each other and rotatably arranged. The steel wheel 83 is fixed to the bearing inner ring 85, and a sealing ring 84 is also provided between the steel wheel 83 and the bearing outer ring 86. The torque sensor 9 includes an elastic matrix, a signal conditioning module 95, and a strain gauge 96. The outer ring of the elastic matrix is fixed to the bearing outer ring 86, and the inner ring of the elastic matrix is fixed to the flexible gear 82.

[0037] A T-shaped shaft is also fixed to the outside of the torque sensor 9. The T-shaped shaft includes an integrally formed intermediate tube 7 and a connection disk 73. The connection disk 73 is arranged at one end of the intermediate tube 7. A through hole communicating with the intermediate tube 7 is also provided in the middle of the connection disk. The intermediate tube 7 passes through the torque sensor 9, the harmonic reducer 8, and the rotating shaft 6; the intermediate tube 7 passes through the inner flange 91, and a sealing ring A732 is also provided between the connection between the intermediate tube 7 and the connection disk 73 and the inner flange 91. A sealing ring B100 is also provided between the intermediate tube 7 and the rotating shaft 6, and the sealing ring B100 is located outside the bearing bush 60. An installation seat 61 for limiting the sealing ring B100 is also provided at one end of the rotating shaft 6.

[0038] Sealing rings are provided between the two ends of the T-shaped shaft and the motor and the torque sensor respectively, and also between the harmonic reducer and the torque sensor and the motor. The above structure can prevent the oil leakage in the harmonic reducer clamped between the motor and the torque sensor, and ensure the stable operation of the joint motor.

[0039] The outer ring of the elastic matrix is the outer flange 93, the inner ring of the elastic matrix is the inner flange 91, and the two are connected by the strain beam 92. The strain gauge 96 is arranged on the strain beam 92. A sealing ring C900 is also provided between the end face of the outer flange 93 in contact with the outer ring of the bearing 86. One end of the intermediate pipe 7 is fixed to the outer flange 93 through the connecting plate 73, and one end of the intermediate pipe 7 is supported on the rotating shaft 6 of the motor through the bearing bush 60.

[0040] A circle of convex edges is provided near the periphery of the end face of the outer flange 93, and the outer side wall of the connecting plate 73 abuts against the inner wall of the convex edge. The above structure makes the end face connection of the T-shaped shaft and the torque sensor flat, which is convenient for the output end of the joint motor to be connected with other structures.

[0041] There are multiple strain beams 92, which are arranged at equal intervals along the circumference. Grooves 94 are provided between adjacent strain beams 92, and the signal conditioning module 95 is embedded in the grooves 94. The above structure makes the torque sensor itself smaller in volume and convenient to use in the joint motor. A wire passing hole 731 is also provided on the connecting plate 73, and the wire 97 of the signal conditioning module 95 passes through the wire passing hole 731. The above structure is convenient for the circuit at the torque sensor end to be connected to the motor controller end through the T-shaped shaft.

[0042] The rotating shaft of the present utility model is connected to the motor housing through a bearing, and the bearing is installed in a limited way through the convex ring and the bearing pressing plate on the motor housing. The overall installation is convenient, and the parts are not easily damaged. Moreover, the bolts for fixing the bearing pressing plate and the motor housing penetrate the motor housing and can be directly used to fix the harmonic reducer, further simplifying the installation steps; in addition, the harmonic reducer is connected to a torque sensor through a bearing. The outer ring of the torque sensor is used as the output end. Through the torque sensor, the torque information at the output end of the joint motor can be accurately detected. At the same time, the inner ring of the bearing is fixed to the steel wheel of the harmonic reducer, the outer ring of the bearing is fixed to the outer ring of the torque sensor, and the inner ring of the torque sensor is fixed to the flexible gear and is driven by the flexible gear. The overall structure is compact and the operation is stable.

[0043] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0044] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Without departing from the principles and purposes of the present utility model, those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model. Any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims

1. A mounting structure of a harmonic reducer and a motor, comprising a motor and a harmonic reducer (8), wherein the motor comprises an end plate (4), a housing (5), a stator core (500), a rotating shaft (6) and a rotor core (600), wherein the stator core (500) is fixed to the inner wall of the housing (5), the rotor core (600) is fixed to the rotating shaft (6) and is located inside the stator core (500), the end plate (4) is fixed to one end of the housing (5), and the two ends of the rotating shaft (6) are rotatably connected to the end plate (4) and the housing (5) through a bearing A (46) and a bearing B (64), respectively; the harmonic reducer comprises a wave generator, a flexible wheel (82) and a steel wheel (83), wherein the flexible wheel (82) is sleeved outside the wave generator, and the steel wheel (83) is sleeved outside the flexible wheel (82), and under the drive of the wave generator, the flexible wheel (82) and the steel wheel (83) are staggered in gear transmission, characterized in that: A through hole is provided on the end surface of one end of the housing (5), and a convex ring (54) is provided on the outer ring of the through hole. One side of the outer ring of the bearing B (64) is clamped in the convex ring (54), and a bearing pressure plate (63) is also provided on the other side of the outer ring of the bearing B (64). The bearing pressure plate (63) is fixed to the inner end surface of the housing (5) by bolts, and the bolts penetrate the inner end surface of the housing (5) and are fixed to the steel wheel (83). A sealing ring D (800) is also provided between the contact surfaces of the steel wheel (83) and the housing (5), and the rotating shaft (6) is fixed to the wave generator after passing through the through hole. One side of the steel wheel (83) is also connected to a torque sensor (9) via a cross roller bearing. The cross roller bearing comprises a bearing inner ring (85) and a bearing outer ring (86) which are mutually sleeved and rotatably arranged. The steel wheel (83) is fixed to the bearing inner ring (85), and a sealing ring (84) is also provided between the steel wheel (83) and the bearing outer ring (86). The torque sensor (9) comprises an elastic matrix, a signal conditioning module (95) and a strain gauge (96). The outer ring of the elastic matrix is ​​fixed to the bearing outer ring (86), and the inner ring of the elastic matrix is ​​fixed to the flexible wheel (82).

2. The installation structure of a harmonic reducer and a motor according to claim 1, characterized in that: A T-shaped shaft is also fixed to the outside of the torque sensor (9), the T-shaped shaft comprising an integrally formed intermediate tube (7) and a connecting disk (73), the connecting disk (73) being arranged at one end of the intermediate tube (7), the middle portion of the connecting disk also being provided with a through hole communicating with the intermediate tube (7), the intermediate tube (7) passing through the torque sensor (9), the harmonic reducer (8) and the rotating shaft (6).

3. The installation structure of a harmonic reducer and a motor according to claim 2, characterized in that: The connection plate (73) is also provided with a wire hole (731), and the wire (97) of the signal conditioning module (95) passes through the wire hole (731).

4. The installation structure of a harmonic reducer and a motor according to claim 2, characterized in that: The outer ring of the elastic base is an outer flange (93), and the inner ring of the elastic base is an inner flange (91), and the two are connected via a strain beam (92). The strain gauge (96) is arranged on the strain beam (92), and one end of the intermediate tube (7) is fixed to the outer flange (93) via a connecting plate (73), and one end of the intermediate tube (7) is supported in the rotating shaft (6) of the motor via a bearing (60).

5. The installation structure of a harmonic reducer and a motor according to claim 4, characterized in that: There are a plurality of strain beams (92) which are arranged at equal intervals along the circumference; a groove (94) is provided between adjacent strain beams (92); and the signal conditioning module (95) is embedded in the groove (94).

6. The installation structure of a harmonic reducer and a motor according to claim 2, characterized in that: A sealing ring B (100) is also provided between the intermediate tube (7) and the rotating shaft (6), and the sealing ring B (100) is located outside the bearing bush (60).

7. The installation structure of a harmonic reducer and a motor according to claim 6, characterized in that: One end of the rotating shaft (6) is also provided with a mounting seat (61) for limiting the position of the sealing ring B (100).

8. The installation structure of a harmonic reducer and a motor according to claim 4, characterized in that: The intermediate pipe (7) passes through the inner flange (91), and a sealing ring A (732) is provided between the connection between the intermediate pipe (7) and the connecting plate (73) and the inner flange (91).

9. The installation structure of a harmonic reducer and a motor according to claim 4, characterized in that: A sealing ring C (900) is also provided between the end surfaces of the outer flange (93) and the bearing outer ring (86) that are in contact with each other.

10. The installation structure of a harmonic reducer and a motor according to claim 4, characterized in that: The end surface of the outer flange (93) is provided with a convex edge near the periphery, and the outer wall of the connecting plate (73) abuts against the inner wall of the convex edge.

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