Harmonic module integrating bearing and rigid wheel

Abstract

The utility model discloses a bearing and rigid wheel integrated harmonic module which comprises an input shaft, a wave generator arranged on the input shaft, a first supporting bearing and a second supporting bearing arranged on the two sides of the wave generator respectively, a flexible bearing arranged outside the wave generator, and an encoder assembly arranged at one end of the input shaft. A bearing outer ring and a rigid wheel are integrated, a rolling body is arranged between a bearing inner ring and the bearing outer ring, and the rolling body is arranged on the outer side of a cup-shaped flexible wheel cylinder body, so that the axial length and the outer diameter are effectively shortened, a wave generator is integrated with the input shaft, and the speed reducer assembly is arranged at the other end of the input shaft. The inner ring of the bearing is fixedly connected with the cup-shaped flexible gear to form the output shaft, and the inner teeth of the rigid gear are meshed with the outer teeth of the cup-shaped flexible gear, so that the integral weight is relatively light, and the integral rigidity can be effectively improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical joint transmission, and more specifically relates to a harmonic module that integrates a bearing and a rigid wheel. Background Technology

[0002] In the existing field of mechanical joint transmission technology, the components in an integrated joint module are connected in series coaxially, resulting in a long overall joint length. This leads to a large size and weight of the integrated joint module, which is detrimental to the miniaturization and weight reduction of robots. Therefore, there is an urgent need for a transmission module that can achieve miniaturization and weight reduction, and obtain a higher load-to-weight ratio. Utility Model Content

[0003] The main purpose of this utility model is to provide a harmonic module that integrates a bearing and a rigid wheel, which not only has a short axial length and a relatively small outer diameter, but also a relatively light weight and higher overall rigidity.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A harmonic module integrating a bearing and a rigid wheel includes an input shaft with a wave generator on it. A first support bearing and a second support bearing are respectively located on both sides of the wave generator. A flexible bearing is located outside the wave generator. An encoder assembly is located at one end of the input shaft, and a reducer assembly is located at the other end. The reducer assembly includes a bearing outer ring, a rigid wheel integrally formed with the bearing outer ring, a cup-shaped flexible wheel, and a bearing inner ring fixedly connected to the cup-shaped flexible wheel. The internal teeth of the rigid wheel mesh with the external teeth of the cup-shaped flexible wheel. A rolling element is located between the bearing inner ring and the bearing outer ring, and the rolling element is positioned on the outer side of the cup-shaped flexible wheel's cylinder.

[0006] According to a first aspect of the present invention, the first support bearing is disposed inside the cup-shaped flexible wheel on the side near the wave generator.

[0007] According to a first aspect of the present invention, a bearing seat is provided on the outer side of the first support bearing, and both the first support bearing and the bearing seat are disposed at the bottom of the cup-shaped flexible wheel.

[0008] According to a first aspect of the present invention, the inner ring of the bearing is fixedly connected to the cup-shaped flexible wheel and the bearing housing by screws.

[0009] According to a first aspect of the present invention, the encoder assembly includes an input encoder and an output encoder arranged sequentially along the axial direction of the input shaft.

[0010] According to a first aspect of the present invention, the encoder assembly is provided with a drive plate and a tail cover on its outer side, and the drive plate is disposed between the output encoder and the tail cover.

[0011] According to a first aspect of the present invention, the outer surface of the bearing inner ring is provided with an inner groove for mounting the rolling elements.

[0012] According to a first aspect of the present invention, the rolling element is one of a spherical, cylindrical, or conical shape.

[0013] According to a first aspect of the present invention, the flexible bearing, the first support bearing, and the bearing housing are all disposed within the cup-shaped flexible wheel.

[0014] According to a first aspect of the present invention, a motor assembly is provided on the input shaft, and one end of the input shaft is inserted into the cup-shaped flexible wheel.

[0015] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0016] This utility model integrates the outer ring of the bearing with the rigid wheel, sets a rolling element between the inner ring and the outer ring of the bearing, and places the rolling element on the outside of the cup-shaped flexible wheel cylinder, thereby effectively shortening the axial length and outer diameter.

[0017] By integrating the wave generator with the input shaft, fixing the inner ring of the bearing with the cup-shaped flexible wheel to form the output shaft, and meshing the internal teeth of the rigid wheel with the external teeth of the cup-shaped flexible wheel, not only is the overall weight relatively light, but the overall rigidity can also be effectively improved. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Appendix Figure 1 This is a cross-sectional view of one embodiment of the present invention;

[0020] Appendix Figure 2 This is a side view of one embodiment of the present invention. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] Furthermore, 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 number of technical features indicated. Therefore, a feature defined as "first" and "second" may explicitly or implicitly include one or more features.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements, an indirect connection, or an interaction between two elements.

[0026] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0027] See attached document Figure 1 To be continued Figure 2 As shown, a harmonic module integrating a bearing and a rigid wheel includes an input shaft 1, a wave generator 11 mounted on the input shaft 1, a motor assembly sleeved on the input shaft 1, a reducer assembly 3 mounted at one end of the input shaft 1, and a support assembly. The input shaft 1 can be a hollow input shaft or a solid input shaft.

[0028] In one embodiment of this utility model, the reducer assembly 3 includes a bearing outer ring 31, a rigid wheel 35 integrally formed with the bearing outer ring 31, a cup-shaped flexible wheel 32, and a bearing inner ring 33 fixedly connected to the cup-shaped flexible wheel 32. The inner teeth of the rigid wheel 35 mesh with the outer teeth of the cup-shaped flexible wheel 32. A rolling element 34 is provided between the bearing inner ring 33 and the bearing outer ring 31. The rolling element 34 is located on the outside of the cup-shaped flexible wheel 32, so that the input shaft 1 is used as the input shaft, the wave generator 11 is integrated with the input shaft, and the bearing outer ring 31 and the rigid wheel 35 are integrated. Then, the bearing inner ring 33 and the cup-shaped flexible wheel 32 are fixedly connected to form an output shaft, and the inner teeth of the rigid wheel 35 mesh with the outer teeth of the cup-shaped flexible wheel 32, thereby effectively shortening the axial length, reducing the outer diameter, and reducing the weight.

[0029] In one embodiment of this utility model, the bearing inner ring 33, the cup-shaped flexible wheel 32, and the bearing seat 43 are fixedly connected as a whole by screws. (See attached drawing.) Figure 2 Multiple screws are spaced apart on the side of the bearing inner ring 33 to connect the bearing inner ring 33, the cup-shaped flexible wheel 32 and the bearing housing 43 in sequence.

[0030] In one embodiment of this utility model, the outer side of the bearing inner ring 33 is provided with an inner groove for mounting the rolling element 34. The rolling element 34 is one of spherical, cylindrical or conical, preferably cylindrical.

[0031] In one embodiment of this utility model, the support assembly includes a first support bearing 41 and a second support bearing 42 respectively disposed on both sides of the wave generator 11. The first support bearing 41 is disposed inside the cup-shaped flexible wheel 32 on the side close to the wave generator 11, and a bearing seat 43 is provided on the outer side of the first support bearing 41. Both the first support bearing 41 and the bearing seat 43 are disposed at the bottom of the cup-shaped flexible wheel 32, which makes reasonable use of space to control the overall size of the robot joint, thereby achieving greater torque output while ensuring miniaturization and lightweight.

[0032] In one embodiment of this utility model, both the first support bearing 41 and the second support bearing 42 are deep groove ball bearings. Therefore, they are not only easy to use and maintain, with a long service life and high reliability, but also able to withstand large radial and axial loads, and have high speed capability, low friction loss and high efficiency.

[0033] In one embodiment of this utility model, a first support bearing 41 is disposed between a bearing seat 43 and an input shaft 1. The first support bearing 41 and the bearing seat 43 are disposed in the inner cavity of a cup-shaped flexible wheel 32. A flexible bearing 5 is disposed between the cup-shaped flexible wheel 32 and the input shaft 1. The flexible bearing 5, the first support bearing 41, and the bearing seat 43 are all disposed inside the cup-shaped flexible wheel 32, thereby making reasonable use of space, controlling the axial length of the harmonic joint, and realizing the miniaturization of the joint structure.

[0034] In one embodiment of the present invention, the motor assembly includes a drive source disposed on the input shaft 1 and a motor housing with one end abutting against the outer ring 31 of the bearing. The power source is the power input of this joint structure and includes a motor stator and a motor rotor. The motor stator is sleeved inside the motor housing, and the motor rotor is sleeved outside the input shaft 1 by a permanent magnet.

[0035] In one embodiment of this utility model, one end of the motor housing is fixedly connected to the outer ring 31 of the bearing, and the other end is connected to the tail cover 7. The overall dimensions of the outer ring 31 of the bearing, the motor housing, and the tail cover 7 are consistent to ensure that the robot joint has a neat appearance.

[0036] In one embodiment of the present invention, an encoder assembly 2 is provided at the end of the central tube away from the reducer assembly 3. The encoder assembly 2 includes an input encoder 21 and an output encoder 22 arranged sequentially along the axial direction of the central tube. A drive plate 6 is provided on the outer side of the encoder assembly 2, and the drive plate 6 is disposed between the output encoder 22 and the tail cover 7.

[0037] In one embodiment of this utility model, a bearing seat 43 and a first support bearing 41 are provided in the cavity of the cup-shaped flexible wheel 32. The inner ring of the first support bearing 41 is engaged with the input shaft 1, and the outer ring of the first support bearing 41 is engaged with the inner hole of the bearing seat 43. The first support bearing 41 is coaxial with the outer ring 31 of the bearing.

[0038] Therefore, this utility model integrates the outer ring 31 of the bearing with the rigid wheel 35, sets a rolling element 34 between the inner ring 33 of the bearing and the outer ring 31 of the bearing, and sets the rolling element 34 on the outside of the cylinder of the cup-shaped flexible wheel 32, thereby effectively shortening the axial length and outer diameter. Furthermore, by integrating the wave generator 11 with the input shaft, fixing the inner ring 33 of the bearing and the cup-shaped flexible wheel 32 to form an output shaft, and meshing the internal teeth of the rigid wheel 35 with the external teeth of the cup-shaped flexible wheel 32, the overall weight is relatively light and the overall rigidity is effectively improved.

[0039] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A harmonic module integrating a bearing and a rigid wheel, comprising an input shaft (1), characterized in that, The input shaft (1) is provided with a wave generator (11), the wave generator (11) is provided with a first support bearing (41) and a second support bearing (42) on both sides, the wave generator (11) is externally provided with a flexible bearing (5), one end of the input shaft (1) is provided with an encoder assembly (2), the other end of the input shaft (1) is provided with a reducer assembly (3), the reducer assembly (3) comprises a bearing outer ring (31), a rigid wheel (35) which is an integrated component with the bearing outer ring (31), a cup-shaped flexible wheel (32) and a bearing inner ring (33) fixedly connected with the cup-shaped flexible wheel (32), the inner teeth of the rigid wheel (35) are engaged with the outer teeth of the cup-shaped flexible wheel (32), the bearing inner ring (33) and the bearing outer ring (31) are provided with rolling elements (34) therebetween, and the rolling elements (34) are arranged on the outer side of the barrel of the cup-shaped flexible wheel (32).

2. The integrated bearing and rigid gear harmonic module of claim 1, wherein: The first support bearing (41) is arranged inside the cup-shaped flexible wheel (32) and close to one side of the wave generator (11).

3. The integrated bearing and rigid gear harmonic module of claim 2, wherein: The outer side of the first support bearing (41) is provided with a bearing seat (43), and the first support bearing (41) and the bearing seat (43) are arranged at the bottom of the cup-shaped flexible wheel (32).

4. The integrated bearing and rigid gear harmonic module of claim 3, wherein: The bearing inner ring (33), the cup-shaped flexible wheel (32) and the bearing seat (43) are fixedly connected through screws.

5. The integrated bearing and rigid gear harmonic module of claim 1, wherein: The encoder assembly (2) comprises an input end encoder (21) and an output end encoder (22) arranged in sequence along the axis of the input shaft (1).

6. The integrated bearing and rigid gear harmonic module of claim 5, wherein: The outer side of the encoder assembly (2) is provided with a driving plate (6) and a tail cover (7), and the driving plate (6) is arranged between the output end encoder (22) and the tail cover (7).

7. The integrated bearing and rigid gear harmonic module of claim 1, wherein: The outer side of the bearing inner ring (33) is provided with an inner channel for mounting the rolling elements (34).

8. The integrated bearing and rigid gear harmonic module of claim 7, wherein: The rolling elements (34) are one of a spherical type, a cylindrical type or a conical type.

9. The integrated bearing and rigid gear harmonic module of claim 3, wherein: The flexible bearing (5), the first support bearing (41) and the bearing seat (43) are arranged in the cup-shaped flexible wheel (32).

10. The integrated bearing and rigid gear harmonic module of claim 1, wherein: The input shaft (1) is provided with a motor assembly, and one end of the input shaft (1) is partially inserted into the cup-shaped flexible wheel (32).

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