High-rigidity built-in driving module of integrated harmonic wave double-steel-wheel structure

Abstract

The utility model provides a high-rigidity built-in driving module of an integrated harmonic wave double-steel-wheel structure, relates to the technical field of harmonic wave speed reducers, and solves the problem that an integrated electromechanical module which is small in size, good in rigidity and integrated in driving is lacked in the existing market. The speed reducing device comprises a speed reducing assembly and a driving assembly, the speed reducing assembly comprises a cross roller bearing outer ring and a cross roller bearing inner ring, a first inner gear ring is integrated on the inner wall of the cross roller bearing inner ring, a rigid inner gear ring is connected to the right end of the cross roller bearing outer ring, and flexible gear rings are meshed in the first inner gear ring and the rigid inner gear ring at the same time. The right end of the rigid inner gear ring is connected with a speed reducer end cover through a bolt, the hollow wire passing pipe is sleeved with a cam, and the flexible gear ring is arranged on the peripheral wall of the protruding portion of the cam in a sleeving mode. The beneficial effects of the utility model are that: the torsional rigidity is doubled; due to the integrated design, the structural space is more compact, and the torque density is higher; and customer use is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to harmonic reducer technical field, concretely relates to integrated high rigidity built-in drive module of harmonic double steel wheel structure. BACKGROUND

[0002] At present, the flexible wheel shape of the harmonic reducer on the market mainly has two kinds, cup type and top hat type. Due to the structural defects, the part (far from the tooth surface) fixed with the flexible wheel is rigid, and the actual torque transmission position (flexible wheel tooth surface) is elastically deformed. It needs a long axial dimension transition to change from elastic deformation to rigidity, so the torsional rigidity of the harmonic reducer is generally lower than that of RV and planetary reducer. Many 3C and woodworking machine tool industries generally feedback that the torsional rigidity of the harmonic reducer is not enough, and it is easy to produce vibration knife lines, but the RV reducer backlash and weight are too large, so it is necessary to use imported precision planetary reducer from Germany. Some humanoid robot customers have relatively large deformation of the harmonic after loading, and the peak torque is not high, which makes it difficult to realize high-precision and high-response control algorithm. There is an urgent need for small size, good rigidity and integrated electromechanical module of integrated drive on the market. SUMMARY

[0003] The utility model discloses a kind of integrated high rigidity built-in drive module of harmonic double steel wheel structure, and the purpose is to solve the problem of lacking small size, good rigidity and integrated electromechanical module of integrated drive in the market.

[0004] To achieve the above object, the utility model adopts the following technical scheme:

[0005] A kind of integrated high rigidity built-in drive module of harmonic double steel wheel structure, it is characterized by comprising reduction assembly and drive assembly;

[0006] The reduction assembly includes cross roller bearing outer ring and the inner wall integrated with the first inner gear ring of cross roller bearing inner ring, the ball groove of the cross roller bearing outer ring and the cross roller bearing inner ring is arranged together in cross form by cylindrical roller, the right end of the cross roller bearing outer ring is connected with rigid inner gear ring by bolt, the first inner gear ring and rigid inner gear ring are coaxial and the inner ring diameters are same, the first inner gear ring and rigid inner gear ring are simultaneously engaged with flexible gear ring, the right end of the rigid inner gear ring is connected with reducer end cover by bolt, the left end of the cross roller bearing inner ring is connected with the output flange integrated with hollow wire tube in middle part by bolt, the hollow wire tube is sleeved with cam, the flexible gear ring is sleeved on the outer circumferential wall of the protruding part of cam, the output flange inner wall is sleeved on the left side of the protruding part of cam, the reducer end cover is sleeved on the right side of the protruding part of cam;The number of teeth of the flexible gear ring and rigid inner gear ring is same, and the flexible gear ring is less than the first inner gear ring by two teeth;

[0007] The driving assembly comprises a rotor yoke fastened on the cam on the right side of the reducer end cover, a magnetic encoder shaft sleeve connected to the right end of the rotor yoke, the magnetic encoder shaft sleeve sleeved on the hollow wire tube, a magnetic code disc fastened on the outer periphery of the right end of the magnetic encoder shaft sleeve through a screw, a permanent magnet arranged on the outer peripheral wall of the rotor yoke, a frameless motor stator sleeved on the permanent magnet, a motor casing arranged outside the frameless motor stator, the outer wall of the frameless motor stator fastened on the inner wall of the motor casing, the motor casing connected to the right end of the rigid inner gear ring, a driver cover clamped on the right end of the motor casing, and a driving plate with an integrated encoder reading head arranged in the driver cover.

[0008] Further improvement is that the outer wall of the frameless motor stator is fastened on the inner wall of the motor casing through an adhesive.

[0009] Further improvement is that the rotor yoke is fastened on the cam through an interference fit, and the permanent magnet is uniformly adhered to the outer peripheral wall of the rotor yoke through an adhesive.

[0010] Further improvement is that the magnetic encoder shaft sleeve is connected to the rotor yoke through a stopper fit and fastened through a screw.

[0011] Further improvement is that a first supporting bearing is arranged between the cam and the inner wall of the output flange, and the first supporting bearing is connected to the cam through a transition fit.

[0012] Further improvement is that a first flexible bearing is arranged between the cam and the inner wall of the flexible gear ring at the first inner gear ring, and a second flexible bearing is arranged between the cam and the inner wall of the flexible gear ring at the rigid inner gear ring, and the first flexible bearing and the second flexible bearing are fastened on the cam through a transition fit and an adhesive.

[0013] Further improvement is that a second supporting bearing is arranged between the cam and the inner wall of the reducer end cover, and the second supporting bearing is connected to the reducer end cover through a gap fit.

[0014] Further improvement is that the ball grooves of the outer ring of the cross roller bearing and the inner ring of the cross roller bearing are arranged in a cross form through cylindrical rollers.

[0015] Further improvement is that the cylindrical rollers are 5mm cylindrical rollers.

[0016] Further improvement is that wear-resistant pieces are embedded in the corresponding flexible gear rings of the reducer end cover and the output flange.

[0017] After the above technical scheme is adopted, the following beneficial effects are obtained compared with the prior art:

[0018] The first inner gear ring and the rigid inner gear ring in straight cylinder type are adopted, the maximum stress point at the corner of the flexspline is avoided, the actual cantilever length of the flexspline is greatly shortened, the torsional rigidity is doubled, the tooth surface contact in the direction of the meshing tooth line of the flexspline tooth ring is improved from the original 30% to 50% to nearly 100%, therefore, the limit peak torque can reach nearly double of the market products, through the integrated design of the speed reducer, the frameless motor, the encoder and the driver, the structure space is more compact, and the torque density is higher, the hollow hole design is adopted for the output flange, the middle wire, air pipe and the like of the customer are facilitated, and the wear-resistant sheet is additionally arranged to greatly reduce the generation of the iron powder content caused by the axial displacement of the flexspline during the operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0020] Figure 1 is a three-dimensional structure schematic diagram of the present application;

[0021] Figure 2 is another angle three-dimensional structure schematic diagram of the present application;

[0022] Figure 3 is a front structure schematic diagram of the present application;

[0023] Figure 4 is a A-A direction cross-sectional structure schematic diagram in the present application; Figure 3

[0024] Figure 5 is an explosion structure schematic diagram of the present application;

[0025] Figure 6 is a flexspline simulation deformation state diagram of the present application under the condition of 100Nm;

[0026] Figure 7 is a flexspline simulation deformation state diagram of the prior art under the condition of 100Nm.

[0027] ​Explanation of reference signs: 1-crossed roller bearing outer ring, 2-cylindrical roller, 3-crossed roller bearing inner ring, 4-output flange, 5-first support bearing, 6-first flexible bearing, 7-cam, 8-second flexible bearing, 9-flexible ring gear, 10-rigid inner ring, 11-reducer end cover, 12-second support bearing, 13-frameless motor stator, 14-rotor yoke, 15-motor housing, 16-permanent magnet, 17-driver cover, 18-driving plate, 19-magnetic code disc, 20-magnetic encoder shaft sleeve, 21-wear-resistant sheet. DETAILED DESCRIPTION

[0028] Reference Figures 1-7 The technical scheme adopted in the specific embodiment is shown in the figure: a high-rigidity built-in drive module integrated with a harmonic double-steel wheel structure, comprising a speed reducer assembly and a driving assembly;

[0029] The speed reducer assembly comprises a crossed roller bearing outer ring 1 and a crossed roller bearing inner ring 3 with a first inner ring integrated on the inner wall, the ball grooves of the crossed roller bearing outer ring 1 and the crossed roller bearing inner ring 3 are arranged in a cross shape and matched together through cylindrical rollers 2, the right end of the crossed roller bearing outer ring 1 is connected with a rigid inner ring 10 through bolts, the first inner ring and the rigid inner ring 10 are coaxially arranged and have the same inner ring diameter, the first inner ring and the rigid inner ring 10 are simultaneously meshed with a flexible ring gear 9, the right end of the rigid inner ring 10 is connected with a reducer end cover 11 through bolts, the left end of the crossed roller bearing inner ring 3 is connected with an output flange 4 with a hollow wire tube integrated in the middle through bolts, the hollow wire tube is sleeved with a cam 7, the flexible ring gear 9 is sleeved on the outer circumferential wall of the protruding part of the cam 7, the inner wall of the output flange 4 is sleeved on the left side of the protruding part of the cam 7, and the reducer end cover 11 is sleeved on the right side of the protruding part of the cam 7; the flexible ring gear 9 has the same number of teeth as the rigid inner ring 10, and the flexible ring gear 9 has two fewer teeth than the first inner ring;

[0030] The driving assembly comprises a rotor yoke 14 fastened on the cam 7 on the right side of the reducer end cover 11, the right end of the rotor yoke 14 is connected with a magnetic encoder shaft sleeve 20, the magnetic encoder shaft sleeve 20 is sleeved on the hollow wire tube, the outer periphery of the right end of the magnetic encoder shaft sleeve 20 is fastened with a magnetic code disc 19 through a screw, the outer periphery of the rotor yoke 14 is provided with a permanent magnet 16, the permanent magnet 16 is sleeved with a frameless motor stator 13, the magnetic code disc 19 and the frameless motor stator 13 are provided with a motor housing 15, the outer wall of the frameless motor stator 13 is fastened to the inner wall of the motor housing 15, the motor housing 15 is connected to the right end of the rigid inner ring 10, the right end of the motor housing 15 is clamped with a driver cover 17, and the driver cover 17 is provided with a driving plate 18 integrated with an encoder reading head in the inside.

[0031] Wherein, the outer wall of the frameless motor stator 13 is fastened with the inner wall of the motor casing 15 by adhesive.

[0032] Wherein, the rotor magnetic yoke 14 is fastened with the cam 7 by interference fit, and the permanent magnet 16 is equally adhered to the outer peripheral wall of the rotor magnetic yoke by adhesive.

[0033] Wherein, the magnetic isolation encoder shaft sleeve 20 is connected with the rotor magnetic yoke 14 by stop port fit and fastened by screw.

[0034] Wherein, the first support bearing 5 is arranged between the cam 7 and the inner wall of the output flange 4, and the first support bearing 5 is connected with the cam 7 by transition fit.

[0035] Wherein, the first flexible bearing 6 is arranged between the cam 7 and the inner wall of the flexible gear ring 9 at the first inner gear ring, and the second flexible bearing 8 is arranged between the cam 7 and the inner wall of the flexible gear ring 9 at the rigid inner gear ring 10, and the first flexible bearing 6 and the second flexible bearing 8 are fastened with the cam 7 by transition fit and adhesive.

[0036] Wherein, the second support bearing 12 is arranged between the cam 7 and the inner wall of the reducer end cover 11, and the second support bearing 12 is connected with the reducer end cover 11 by gap fit.

[0037] Wherein, the ball groove of the cross roller bearing outer ring 1 and the cross roller bearing inner ring 3 are arranged together in cross form by the cylindrical roller 2.

[0038] Wherein, the cylindrical roller 2 is a 5mm cylindrical roller.

[0039] Wherein, the reducer end cover 11 and the output flange 4 are inlaid with wear-resistant sheets 21 at the corresponding flexible gear ring 9.

[0040] Wherein, the wear-resistant sheets can greatly reduce the generation of iron powder content caused by the axial displacement of the flexible gear ring 9 during operation.

[0041] Wherein, the reducer end cover 11 and the output flange 4 are fastened with the wear-resistant sheets by adhesive.

[0042] The utility model discloses a working principle: the module work, magnetic code disc gives the drive board of integrated encoder reading head with the absolute position feedback of permanent magnet relative to frameless motor stator, and drive board compares the instruction of outside host computer, and the frameless motor stator exports vector voltage, and the frameless motor stator generates the magnetic field after voltage and permanent magnet coupling, thereby promoting rotor yoke rotation or positioning, and rotor yoke drives cam synchronous operation, and cam drives the elastic deformation of first flexible bearing that changes with time sine wave, and first flexible bearing extrudes flexible gear ring and produces corresponding elastic deformation, because the tooth number of flexible gear ring and rigid inner tooth ring is same, and flexible gear ring and rigid inner tooth ring are actually relatively stationary along the circumferential rotation direction, because flexible gear ring is two teeth less than first inner tooth ring, so in the one -way rotation of cam, flexible gear ring relatively cross -roller bearing inner ring rotates 2 teeth, and the utility model discloses a kind of frameless motor rotor drive mechanism.

[0043] The following is the simulation torque same 100Nm under the condition, flexible gear deformation state contrast:

[0044]

[0045] From the above table and Figure 6 And Figure 7 It can be seen that the maximum deformation of the double-steel gear ring in the theoretical simulation is twice that of the cup-type flexible gear, i.e. the torsional stiffness is improved by 1 times.

[0046] The above shows and describes the basic principles and main features of the utility model and its advantages, and those skilled in the art should understand that the utility model is not limited by the above examples, and the above examples and descriptions are only to illustrate the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model can also have various changes and improvements, which fall within the scope of the claimed utility model. The scope of protection of the utility model is defined by the appended claims and their equivalents. The utility model is not detailed, and all known technologies of those skilled in the art are known.

Claims

1. A high-rigidity built-in drive module with an integrated harmonic double-steel wheel structure, characterized by: including a reduction assembly and a drive assembly; The reduction assembly includes a cross roller bearing outer ring and a cross roller bearing inner ring with a first inner gear integrated into its inner wall. The ball grooves of the cross roller bearing outer ring and the cross roller bearing inner ring are arranged and matched together in a cross pattern by cylindrical rollers. The right end of the cross roller bearing outer ring is connected to the rigid inner gear by bolts. The first inner gear and the rigid inner gear are coaxially arranged and have the same inner ring diameter. The first inner gear and the rigid inner gear are meshed with a flexible gear ring. The right end of the rigid inner gear is connected to the reducer end cover by bolts. The left end of the cross roller bearing inner ring is connected to an output flange with a hollow wire tube integrated in the middle by bolts. The hollow wire tube is sleeved with a cam. The flexible gear ring is sleeved on the outer peripheral wall of the cam protrusion. The inner wall of the output flange is sleeved on the left side of the cam protrusion. The reducer end cover is sleeved on the right side of the cam protrusion. The flexible gear ring has the same number of teeth as the rigid inner gear ring, but has two fewer teeth than the first inner gear ring. The drive assembly includes a rotor yoke fastened to a cam on the right side of the reducer end cover, the right end of the rotor yoke is connected to a magnetic isolation encoder sleeve, the magnetic isolation encoder sleeve is sleeved on a hollow wire passing tube, the outer periphery of the right end of the magnetic isolation encoder sleeve is fastened with a magnetic code disk by screws, a permanent magnet is provided on the outer peripheral wall of the rotor yoke, a frameless motor stator is provided on the outer periphery of the permanent magnet, a motor casing is provided outside the magnetic code disk and the frameless motor stator, the outer wall of the frameless motor stator is fastened to the inner wall of the motor casing, the motor casing is connected to the right end of the rigid inner gear ring, the right end of the motor casing is clamped with a drive cover, and a drive plate with an integrated encoder reader is provided in the drive cover.

2. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: The outer wall of the frameless motor stator is fastened to the inner wall of the motor casing by adhesive.

3. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: The rotor yoke is tightly fitted with the cam through interference fit, and the permanent magnets are evenly bonded to the outer peripheral wall of the rotor yoke through adhesive.

4. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: The magnetic isolation encoder shaft sleeve is connected to the rotor yoke through stopper fitting and is fastened by screws.

5. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: A first support bearing is provided between the cam and the inner wall of the output flange, and the first support bearing is connected to the cam through a transition fit.

6. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: A first flexible bearing is provided between the cam and the inner wall of the flexible gear ring at the first inner gear ring, and a second flexible bearing is provided between the cam and the inner wall of the flexible gear ring at the rigid inner gear ring. The first flexible bearing and the second flexible bearing are both fastened to the cam by transition fit and adhesive.

7. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: A second support bearing is provided between the cam and the inner wall of the reducer end cover, and the second support bearing is connected to the reducer end cover through clearance fit.

8. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: The ball grooves of the outer ring of the cross roller bearing and the inner ring of the cross roller bearing are arranged and matched together in a cross form through cylindrical rollers.

9. The high-rigidity built-in drive module with integrated harmonic dual-steel wheel structure according to claim 1, characterized in that: The reducer end cover and the output flange are both inlaid with wear-resistant sheets at positions corresponding to the flexible gear ring.

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