Complex harmonic deceleration joint module

Abstract

The compound harmonic reducer joint module consists of a frameless torque motor, a compound harmonic reducer assembly, a brake assembly, an encoder assembly, a driver assembly, an external load support bearing, an inner hollow fixed shaft, and a housing. The inner hollow fixed shaft is fixed to the housing via tapered sleeve expansion or key connection, supporting the rotor of the frameless torque motor while fixing the front and rear rigid wheel stationary parts of the compound harmonic reducer assembly. Because both the rotor of the frameless torque motor and the rolling wave generator of the compound harmonic reducer assembly are hollow structures, they are arranged in axial series with each other and with the brake and encoder assemblies. This solves the problems of insufficient motor power and poor heat dissipation caused by the built-in external rotor structure of existing compound harmonic reducers, achieving optimized matching between motor power and reducer transmission capacity, and significantly improving the output load capacity, power density, and service life of the harmonic reducer joint.

Description

Technical Field

[0001] This utility model belongs to the field of mechatronics technology, and specifically relates to a mechatronics device that uses a parallel harmonic decelerator for speed reduction. Background Technology

[0002] Harmonic reducers are characterized by small size, large transmission ratio, high transmission accuracy, light weight, and coaxial transmission. They are core transmission components in high-precision automatic control devices such as intelligent machinery, high-end CNC machining equipment, aerospace vehicles, and medical equipment.

[0003] The compound harmonic reducer is a novel structure of harmonic reducers. It cleverly utilizes the orthogonal anti-symmetric deformation of the composite flexible cylinder to achieve synchronous deceleration through two sets of harmonic components connected back-to-back in parallel. The output is achieved through the constant circular midsection of the composite flexible cylinder, which not only improves the load transmission capacity, but also eliminates the roundness constraint of tooth meshing such as the cup bottom of the flexible wheel, the top hat-shaped diaphragm structure, or the double rigid wheel output rigid wheel, thus reducing elastic energy consumption and failure risk.

[0004] Invention patent ZL 2024 1 0078142.3 proposes a compound harmonic reducer with an internal external rotor motor. By embedding the motor inside the compound harmonic reducer, it is necessary to use the stator shaft to fix the two ends of the rigid wheel for coaxial output. However, the internal space of the reducer is limited, the motor power is difficult to match the transmission capacity of the harmonic reducer, and there are problems such as motor heat dissipation. CN 121067011 A also discloses a short flexible cylinder compound harmonic reducer with an internal motor. The internal space of the reducer in this structure is further compressed, further limiting the motor power. Utility Model Content

[0005] In view of the defects of the existing technology, this utility model proposes an axially arranged motor and a compound harmonic reducer based on invention patents ZL 2024 1 0078142.3 and CN 121067011 A, and integrates a complete joint module solution consisting of an encoder, a brake assembly and a driver, to solve the problems of insufficient power and heat dissipation of the built-in motor.

[0006] A compound harmonic deceleration joint module is characterized by comprising a frameless torque motor, a compound harmonic deceleration assembly, a brake assembly, an encoder assembly, a driver assembly, an external load support bearing, an inner hollow fixed shaft, and a housing.

[0007] The frameless torque motor includes a motor stator and a motor rotor equipped with permanent magnets; the compound harmonic reduction assembly includes a front rigid wheel stationary component, a rear rigid wheel stationary component, an output rigid wheel, a composite flexible cylinder, a rolling element-cage assembly, and a rolling wave generator; both the motor rotor and the rolling wave generator of the compound harmonic reduction assembly are hollow structures; the frameless torque motor, the compound harmonic reduction assembly, and the brake assembly are arranged in series along the axial direction; the inner hollow fixed shaft is fixed to the outer shell by tapered sleeve expansion or key connection, and the front and rear rigid wheel stationary components of the compound harmonic reduction assembly are fixed by a pair of motor bearings while supporting the frameless torque motor rotor.

[0008] The motor rotor is directly fixed to the rolling wave generator, or fixed to the rolling wave generator through the motor transmission shaft, and supported on the inner hollow fixed shaft by a pair of motor bearings to realize the power input of the compound harmonic reduction assembly; one end of the inner hollow fixed shaft passes through the inner hole of the motor rotor and the inner hole of the rolling wave generator and is fixed to the front rigid wheel stationary component, and the other end of the inner hollow fixed shaft is fixedly connected to the end cover through a tapered sleeve tightening device or key connection. The end cover is fixedly connected to the outer shell, and the rear rigid wheel stationary component is fixedly connected to the outer shell, realizing the fixed installation of the front and rear rigid wheel stationary components of the compound harmonic reduction assembly.

[0009] The high-speed moving part of the compound harmonic deceleration assembly consists of two sets of ball-cage assemblies and a rolling wave generator. The rolling wave generator has two identical cam raceways with a phase difference of 180° / n, where n is a natural number greater than 1; or, the high-speed moving part consists of a set of needle roller-cage assemblies and a rolling wave generator with a rolling wave surface, so that the compound flexible cylinder can produce n sets of anti-symmetric deformations.

[0010] The encoder assembly is divided into high-speed and low-speed encoder assemblies. The rotor of the high-speed encoder assembly is fixed on the motor rotor, and the stator of the high-speed encoder assembly is fixed on the end cover. It is used to detect the angular position of the frameless torque motor rotor. The rotor of the low-speed encoder assembly is fixed on the output disk, and the stator of the low-speed encoder assembly is fixed on the flange of the hollow fixed shaft. It is used to detect the angular position of the low-speed output end of the joint module.

[0011] The braking assembly is arranged between the frameless torque motor and the compound harmonic reduction assembly, or between the frameless torque motor and the end cover, for braking the motor rotor.

[0012] The external load support bearing is a double-row angular contact needle roller bearing, a crossed roller bearing, a double-row angular contact ball bearing, or a four-point contact ball bearing; the output rigid wheel of the compound harmonic deceleration assembly is integrated with or fixedly connected to the moving part of the external load support bearing, and the stationary part of the external load support bearing is connected to the housing by bolts.

[0013] The driver assembly is mounted on the end cover and isolated from the outside world by the rear cover, which has an external electrical interface.

[0014] This compound harmonic reducer module integrates the motor and the compound harmonic reducer into a compact electromechanical design, fully leveraging the performance of both the motor and the reducer to improve the output load, power density, and lifespan of the harmonic reducer module. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a preferred embodiment of the compound harmonic deceleration joint module of this utility model.

[0016] Figure 2 This is a schematic diagram of another compound harmonic deceleration joint module of this utility model.

[0017] Figure 3 yes Figure 2 A three-dimensional exploded diagram.

[0018] Figure 4 This is a schematic diagram of a rolling wave generator with a double cam raceway.

[0019] Figure 5 This is a schematic diagram of a hollow, fixed-axis structure. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] In the following description, specific details, such as particular internal techniques, are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, and installation methods have been omitted so as not to obscure the description of the present invention with unnecessary detail.

[0022] To further illustrate the technical solution of this utility model, the following is combined with... Figures 1-5 To elaborate.

[0023] Example 1

[0024] Figure 1 The first embodiment of this utility model is given. The compound harmonic reduction joint module mainly consists of a frameless torque motor 1, a compound harmonic reduction assembly 2, an external load support bearing 3, an encoder assembly 4, a brake assembly 5, and a driver 6.

[0025] The stator 101 of the frameless torque motor 1 is fixed to the housing 11 by interference fit or adhesive bonding. The motor rotor 102, which is embedded with permanent magnets, is fixedly connected to the rolling wave generator 201 of the compound harmonic reduction assembly 2 via the motor power transmission shaft 103. The motor rotor 102, the motor power transmission shaft 103, and the rolling wave generator 201 are all hollow structures. The inner hollow fixed shaft 14 passes through the inner holes of the motor power transmission shaft 103 and the rolling wave generator 201. The front rigid wheel stationary component 206 is fixedly connected to the inner hollow fixed shaft 14 by bolts. The inner hollow fixed shaft 14 is fixedly connected to the end cover 12 by the tapered sleeve tightening device 13, thereby realizing the fixed installation of the front rigid wheel stationary component 206. The rear rigid wheel stationary component 204 of the compound harmonic reduction assembly is fixedly connected to the housing 11. The aforementioned high-speed moving components 102, 103, and 201 are supported on the inner hollow fixed shaft 14 by a pair of motor bearings 17. A pair of motor bearings 17 are positioned by a bushing 16 and axially limited by a retaining ring 18 to prevent the motor rotor 102 from moving axially.

[0026] The inner wall of the composite flexible cylinder 203 is a raceway with a straight cylindrical surface. The rolling wave generator 201 is a rolling wave surface, and flanges 207 are installed at both ends of the rolling wave generator 201 to axially limit the needle roller-cage assembly 202. The composite flexible cylinder 203 can achieve n sets of anti-symmetric deformations (where n is 2, it is orthogonal anti-symmetric deformation) through a set of needle roller-cage assemblies 202 and rolling wave generator 201, so that the outer teeth of the composite flexible cylinder 203 partially mesh with the inner teeth of the front rigid wheel stationary component 206 and the rear rigid wheel stationary component 204. Among them, the outer teeth of the composite flexible cylinder 203 have n fewer teeth than the inner teeth of the front rigid wheel stationary component 206 and the rear rigid wheel stationary component 204. The inner teeth of the output rigid wheel 205 mesh with the outer teeth of the composite flexible cylinder 203 at the same tooth ratio.

[0027] The external load support bearing 3 is a double-row angular contact needle roller bearing, and the outer ring 301 has a double half outer ring structure. Compared with the cross roller bearing of the flexible wheel type harmonic reduction joint, the double-row angular contact needle roller bearing has a smaller frictional torque and better rigidity.

[0028] The inner teeth of the output rigid wheel 205 are integrated with the inner ring 302 of the external load support bearing 3. The outer ring 301 of the external load support bearing 3 is fixed to the motor housing by bolts, and the inner ring 302 of the external load support bearing 3 is fixedly connected to the output disc 305.

[0029] The power provided by the frameless torque motor 1 drives the rolling wave generator 201 to rotate at high speed through the motor power transmission shaft 103. The rolling wave generator 201 provides controllable rotational elastic deformation through the needle roller-cage assembly 202, so that the composite flexible cylinder 203 and the front rigid wheel stationary component 206 and the rear rigid wheel stationary component 204 are synchronously reduced by differential gear reduction, which amplifies the torque of the motor. The output rigid wheel 205 outputs the parallel amplified torque to the output disk 305, thereby driving the external connecting parts.

[0030] The encoder assembly 4 includes a high-speed encoder 4-1 and a low-speed encoder 4-2. The rotor 401 of the high-speed encoder 4-1 is mounted on the motor power transmission shaft 103 of the frameless torque motor 1, and the stator 402 of the high-speed encoder 4-1 is mounted on the end cover 12 for detecting the angular position of the motor rotor 102 of the frameless torque motor 1. The rotor 403 of the low-speed encoder 4-2 is mounted on the output disk, and the stator 404 is mounted upside down on the hollow fixed shaft 14 for detecting the angular position of the output end.

[0031] The brake assembly 5 is installed between the frameless torque motor 1 and the compound harmonic reduction assembly 2. The brake stationary component 502 is fixedly connected to the rear rigid wheel stationary component 204, and the brake moving component 501 is fixedly connected to the motor rotor 102 or the motor power transmission shaft 103.

[0032] The driver 6 is mounted on the end cover 12 and isolated from the outside world by the rear cover 19, which has an external electrical interface.

[0033] Example 2

[0034] like Figure 2 The diagram shown is a schematic of a complex harmonic deceleration joint module provided by this utility model. Figure 3 This is an exploded view of this embodiment without the driver assembly 6. Unlike Embodiment 1, the rolling wave generator 701 has two identical cam raceways with a phase difference of 180° / n, where n is a natural number greater than 1, preferably n=2 and 3, as shown below. Figure 4 The diagram shows the three-dimensional structure of the rolling wave generator 701 when n=2. The inner walls of the composite flexible cylinder 703 integrate raceways for the outer rings of flexible bearings. Under the action of the two sets of ball-cage assemblies 702 and the rolling wave generator 701, the composite flexible cylinder 703 undergoes n sets of anti-symmetric deformations (where n=2, it is orthogonal anti-symmetric deformation). The external load support bearing 8 adopts a crossed roller bearing structure.

[0035] Figure 5 This is a three-dimensional structural diagram of the hollow fixed shaft in this embodiment. The hollow fixed shaft 14 is circumferentially fixed to the end cover by a key 20 and axially fixed by a precision nut 15. The motor bearing 17-1 is directly supported on the end cover 12, while the motor bearing 17-2 is installed at the end of the rolling wave generator 701 near the output disk 805 to achieve higher positioning accuracy and rigidity.

[0036] The motor rotor 102 in Embodiment 1 and Embodiment 2 can also be directly fixed to the rolling wave generators 201 and 701.

[0037] The above describes in detail two preferred embodiments of this utility model. In fact, some of the concepts between them are interchangeable, such as the form of the rolling wave generator in the complex harmonic reducer.

[0038] In addition to double-row angular contact needle roller bearings and crossed roller bearings, the external load support bearings 3 and 8 can also be double-row angular contact ball bearings, four-point contact ball bearings, etc. The brake assembly 5 can also be installed between the end cover 12 and the frameless torque motor 1.

[0039] It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A complex harmonic deceleration joint module, characterized in that, It consists of a frameless torque motor, a compound harmonic reduction gear assembly, a brake assembly, an encoder assembly, a driver assembly, an external load support bearing, an inner hollow fixed shaft, and a housing; The frameless torque motor includes a motor stator and a motor rotor equipped with permanent magnets; The compound harmonic deceleration assembly includes a front rigid wheel stationary component, a rear rigid wheel stationary component, an output rigid wheel, a compound flexible cylinder, a rolling element-cage assembly, and a rolling wave generator; Both the motor rotor and the rolling wave generator are hollow structures; The frameless torque motor, the compound harmonic reduction gear assembly and the brake assembly are arranged in series along the axial direction. The hollow fixed shaft is fixed to the outer shell by tapered sleeve expansion or key connection, and the front and rear rigid wheel static parts of the compound harmonic reduction assembly are fixed by a pair of motor bearings while supporting the motor rotor.

2. The complex harmonic deceleration joint module according to claim 1, characterized in that, The motor rotor is directly fixed to the rolling wave generator, or fixed to the rolling wave generator through the motor transmission shaft, and supported on the inner hollow fixed shaft by a pair of motor bearings to realize the power input of the compound harmonic reduction assembly; one end of the inner hollow fixed shaft passes through the inner hole of the motor rotor and the inner hole of the rolling wave generator and is fixed to the front rigid wheel stationary component, and the other end of the inner hollow fixed shaft is fixedly connected to the end cover through a tapered sleeve tightening device or key connection. The end cover is fixedly connected to the outer shell, and the rear rigid wheel stationary component is fixedly connected to the outer shell to realize the fixed installation of the front and rear rigid wheel stationary components of the compound harmonic reduction assembly.

3. The complex harmonic deceleration joint module according to claim 1, characterized in that, The high-speed moving part of the compound harmonic deceleration assembly consists of two sets of ball-cage assemblies and a rolling wave generator. The rolling wave generator has two identical cam raceways with a phase difference of 180° / n, where n is a natural number greater than 1; or, the high-speed moving part consists of a set of needle roller-cage assemblies and a rolling wave generator with a rolling wave surface, so that the composite flexible cylinder can generate n sets of antisymmetric deformations.

4. The complex harmonic deceleration joint module according to claim 2, characterized in that, The encoder assembly is divided into high-speed and low-speed encoder assemblies. The rotor of the high-speed encoder assembly is fixed on the motor rotor, and the stator of the high-speed encoder assembly is fixed on the end cover, which is used to detect the angular position of the motor rotor. The rotor of the low-speed encoder assembly is fixed on the output disk, and the stator of the low-speed encoder assembly is fixed on the flange of the hollow fixed shaft, which is used to detect the angular position of the low-speed output end of the joint module.

5. The complex harmonic deceleration joint module according to claim 2, characterized in that, The braking assembly is arranged between the frameless torque motor and the compound harmonic reduction assembly, or between the frameless torque motor and the end cover, for braking the motor rotor.

6. The complex harmonic deceleration joint module according to claim 1, characterized in that, The external load support bearing is a double-row angular contact needle roller bearing, a crossed roller bearing, a double-row angular contact ball bearing, or a four-point contact ball bearing; the output rigid wheel of the compound harmonic deceleration assembly is integrated with or fixedly connected to the moving part of the external load support bearing, and the stationary part of the external load support bearing is connected to the housing by bolts.

7. The complex harmonic deceleration joint module according to claim 1 or 2, characterized in that, The driver assembly is mounted on the end cover and isolated from the outside world by the rear cover, which has an external electrical interface.

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