Integrated lifting module for large torque

Abstract

This utility model discloses a high-torque integrated lifting module, which relates to the field of automated logistics equipment technology. It includes a reduction assembly, a motor assembly on one side of the reduction assembly, and an integrated steel wheel housing. A cup-shaped flexible wheel is located at one end inside the integrated steel wheel housing, and a rear bearing is located inside the cup-shaped flexible wheel. A wave generator end cap is fixedly mounted on one side of the rear bearing, and a cam is located on the other side of the rear bearing. The wave generator end cap, the cam, and the inner ring of the rear bearing are fixedly connected. The rear bearing is a flexible bearing. An external gear is located on the outer side of the cup-shaped flexible wheel, and an internal gear is located on the inner side of the integrated steel wheel housing. The cup-shaped flexible wheel and the integrated steel wheel housing are meshed together. This utility model effectively reduces flange connections, lowers assembly errors, achieves high-precision, high-torque power output, is simple to maintain, has a small overall size, and has high practical value.

Description

Technical Field

[0001] This utility model relates to the field of automated logistics equipment technology, specifically a high-torque integrated lifting module. Background Technology

[0002] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, automated guided vehicles, or laser-guided vehicles, are a typical example of automated logistics equipment. These devices typically include loading and unloading mechanisms and can automatically interface with other logistics equipment to automate the entire process of loading, unloading, and transporting goods and materials. During the transport process, the lifting module is a key component.

[0003] Based on the above, the inventors have discovered the following problems: Most of the current mainstream lifting modules adopt a worm gear reducer structure, or achieve high thrust output through the cooperation of servo motor, nut and screw. The assembly of such split-structure components such as motor, reducer, and screw is bulky, which is not conducive to the compact design of AGV robots, and increases the overall weight, affecting the AGV's endurance and flexibility, and making it inconvenient to use.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and provided a high-torque integrated lifting module in order to achieve a more practical purpose. Utility Model Content

[0005] The purpose of this invention is to provide a high-torque integrated lifting module to solve the problems mentioned in the background art.

[0006] A high-torque integrated lifting module includes a reduction assembly. A motor assembly is located on one side of the reduction assembly. The reduction assembly includes an integrated steel wheel housing. A cup-shaped flexible wheel is located at one end inside the integrated steel wheel housing. A rear bearing is located inside the cup-shaped flexible wheel. A wave generator end cap is fixedly located on one side of the rear bearing, and a cam is located on the other side of the rear bearing. The wave generator end cap, the cam, and the inner ring of the rear bearing are fixedly connected. The rear bearing is a flexible bearing. An external gear is located on the outer side of the cup-shaped flexible wheel, and an internal gear is located on the inner side of the integrated steel wheel housing. The number of teeth on the cup-shaped flexible wheel is slightly less than the number of teeth on the integrated steel wheel housing. The cup-shaped flexible wheel and the integrated steel wheel housing are meshed together.

[0007] By adopting the above technical solution, a motor assembly is located on one side of the reduction gear assembly, facilitating power input to drive the entire lifting module. The reduction gear assembly achieves high-precision, high-torque output. The integrated steel wheel housing facilitates the formation of a rigid structural shell, with an integrated reduction mechanism inside, which improves overall rigidity and ease of installation. This results in a device that is easy to maintain and has a small overall size. The wave generator end cover, cam, and rear bearing inner ring are fixedly connected, allowing the wave generator end cover, cam, and rear bearing to be combined to form a wave generator. The cup-shaped flexible wheel and the integrated steel wheel housing mesh with each other, facilitating the wave generator to move within the cup-shaped flexible wheel. The cup-shaped flex wheel is elliptical in shape. Along the major axis of the ellipse, the teeth of the cup-shaped flex wheel are fully engaged with the teeth of the integrated steel wheel housing, while they are completely disengaged along the minor axis. The teeth at other locations are either engaged or disengaged depending on the rotational position of the cup-shaped flex wheel. As the wave generator rotates continuously, the major and minor axes of the cup-shaped flex wheel, as well as the engagement and disengagement positions, constantly change. The cup-shaped flex wheel teeth change from engaged to disengaged, and then from disengaged to disengaged, repeating this cycle continuously, forcing the flex wheel to rotate continuously. The difference in the number of teeth between the cup-shaped flex wheel and the integrated steel wheel housing is used to achieve speed reduction transmission, thereby converting the high speed of the servo motor into a low speed, high torque output.

[0008] Furthermore, a flexible wheel output flange is fixedly installed on one side of the cup-shaped flexible wheel, and an output crankshaft is fixedly installed on one side of the flexible wheel output flange.

[0009] By adopting the above technical solution and setting the flexible wheel output flange, it is easy to connect the cup-shaped flexible wheel and the output crankshaft to transmit low-speed, high-torque motion after deceleration.

[0010] Furthermore, the output crankshaft is provided with a double bearing on its outer side, the inner ring of the double bearing is fixedly connected to the outer side of the output crankshaft, and the outer ring of the double bearing is fixedly connected to the inner side of the integrated steel wheel housing.

[0011] By adopting the above technical solution and using the dual bearing configuration, it is easier to support the rotation of the output crankshaft and withstand radial and axial loads, replacing the traditional crossed roller bearings, thereby reducing costs and improving load-bearing capacity.

[0012] Furthermore, an oil seal is provided on one side of the dual bearings, and an output bearing end cover is provided on the other side of the oil seal. The output bearing end cover is fixedly connected to the integrated housing of the steel wheel.

[0013] By adopting the above technical solution and setting the output bearing end cover, it is easy to fix the oil seal, facilitate the sealing of lubricating grease, prevent leakage, and extend service life.

[0014] Furthermore, a cover is fixedly installed in the middle of the output crankshaft, and a crankshaft end cap is fixedly installed at the output end of the output crankshaft.

[0015] By adopting the above technical solution, the setting of the cover and crankshaft end cover facilitates the crankshaft end cover as the final output component to be directly connected to the actuator to realize linear or oscillating lifting action. The cover closes the opening in the middle of the output crankshaft to prevent impurities from entering and enhance the sealing performance.

[0016] Furthermore, the integrated steel wheel housing has mounting ears on both sides of its top, and a rear end cover is fixedly installed on the side of the integrated steel wheel housing away from the output bearing end cover.

[0017] By adopting the above technical solution, the mounting ears and rear cover facilitate the fixing of the entire device on AGV or other equipment, while the rear cover closes the rear of the deceleration assembly, supports the servo motor, and protects the internal structure.

[0018] Furthermore, the motor assembly includes a servo motor, which is fixedly connected to the rear end cover. The output end of the servo motor is provided with a motor output shaft, which is fixedly connected to a cam.

[0019] By adopting the above technical solution and setting the motor output shaft, it is easy to transmit the power of the servo motor to the cam to start the reduction gear.

[0020] Furthermore, a control cavity is provided at one end of the servo motor, and a driver is fixedly installed inside the control cavity. By adopting the above technical solution, the setting of the control cavity facilitates the installation of the driver, centralized management of the control circuit, and facilitates maintenance and debugging.

[0021] Furthermore, an interface is provided at the bottom of the control cavity, and a tail cover is fixedly installed on one side of the control cavity.

[0022] By adopting the above technical solution, the interface and tail cover facilitate connection to external lines and transmission of power and control signals. The tail cover seals the tail of the control cavity, protecting the driver and internal wiring. Furthermore, a cable outlet hole is provided on the top of the servo motor, and a wire clamping cover is fixedly installed on the outside of the cable outlet hole.

[0023] By adopting the above technical solution, the cable outlet and the wire clamp cover facilitate the cable entry and exit, making it easier to wire between the servo motor and the driver. The wire clamp cover is used to fix the cable position, prevent damage caused by pulling, and improve safety and reliability. In addition, this structure allows the driver to be installed first and then the tail cover to be installed. The traditional method is to install the driver on the tail cover first and then install the tail cover and the servo motor. This structure facilitates the connection between the motor coil and the driver.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows: The motor assembly on one side of the reduction assembly facilitates power input to drive the entire lifting module; the reduction assembly achieves high precision and high torque output; the integrated steel wheel housing facilitates the formation of a rigid structural shell, with an integrated reduction mechanism inside, which improves overall rigidity and ease of installation, making the device simple to maintain and compact in size; the wave generator end cover, cam, and rear bearing inner ring are fixedly connected, facilitating the combination of the wave generator end cover, cam, and rear bearing to form a wave generator; the cup-shaped flexible wheel and the integrated steel wheel housing mesh with each other, allowing the wave generator to expand the cup-shaped flexible wheel into an elliptical shape inside the cup-shaped flexible wheel, with the teeth of the cup-shaped flexible wheel along the major axis of the ellipse... The teeth of the cup-shaped flexible wheel are fully engaged with the integrated steel wheel housing, but completely disengaged in the short axis direction. The teeth in other locations are either engaged or disengaged depending on the rotational position of the cup-shaped flexible wheel. As the wave generator rotates continuously, the long and short axes of the cup-shaped flexible wheel, as well as the engagement and disengagement positions, constantly change. The cup-shaped flexible wheel teeth change from engaged to disengaged, and then from disengaged to disengaged, repeating this cycle continuously, forcing the flexible wheel to rotate continuously. The difference in the number of teeth between the cup-shaped flexible wheel and the integrated steel wheel housing is used to achieve speed reduction transmission, thereby converting the high speed of the servo motor into a low speed, high torque output. This utility model can effectively reduce flange connections, reduce assembly errors, achieve high-precision, high-torque power output, and is simple to maintain. It has a small overall size and high practical value. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of a high-torque integrated lifting module according to the present invention;

[0026] Figure 2 This is an exploded view of a high-torque integrated lifting module according to this utility model;

[0027] Figure 3 This is an exploded view of the deceleration component of this utility model;

[0028] Figure 4 This is a partial exploded view of the deceleration component of this utility model;

[0029] Figure 5 This is an exploded view of the motor assembly of this utility model.

[0030] In the diagram: 1. Reduction assembly; 11. Integrated steel wheel housing; 12. Mounting ear; 13. Rear end cover; 14. Output bearing end cover; 15. Cam; 16. Wave generator end cover; 17. Cup-shaped flexspline; 18. Crankshaft end cover; 19. Rear bearing; 110. Flexspline output flange; 111. Double bearing; 112. Oil seal; 113. Output crankshaft; 114. Cover; 2. Motor assembly; 21. Servo motor; 22. Motor output shaft; 23. Control chamber; 24. Tail cover; 25. Interface; 26. Cable outlet; 27. Cable clamping cover. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Please see Figures 1-5This utility model provides a technical solution: a high-torque integrated lifting module, including a reduction assembly 1. A motor assembly 2 is located on one side of the reduction assembly 1. The motor assembly 2 provides power input to drive the entire lifting module. The reduction assembly 1 achieves high-precision, high-torque output. The reduction assembly 1 includes an integrated steel wheel housing 11. The integrated steel wheel housing 11 facilitates the formation of a rigid structural shell. The integrated reduction mechanism improves overall rigidity and ease of installation, making the device simple to maintain and compact. A cup-shaped flexible wheel 17 is located at one end inside the integrated steel wheel housing 11. A rear bearing 19 is located inside the cup-shaped flexible wheel 17. A wave generator end cap 16 is fixedly located on one side of the rear bearing 19, and a cam 15 is located on the other side. The wave generator end cap 16, cam 15, and inner ring of the rear bearing 19 are fixedly connected. This fixed connection facilitates the combination of the wave generator end cap 16, cam 15, and rear bearing 19 to form a wave generator. Bearing 19 is a flexible bearing. An external gear is located on the outer side of the cup-shaped flexible wheel 17, and an internal gear is located on the inner side of the integrated steel wheel housing 11. The number of teeth on the cup-shaped flexible wheel 17 is slightly less than the number of teeth on the integrated steel wheel housing 11. The cup-shaped flexible wheel 17 and the integrated steel wheel housing 11 are meshed together. This meshing connection facilitates the wave generator to shape the cup-shaped flexible wheel 17 into an elliptical shape inside the cup-shaped flexible wheel 17. Along the major axis of the ellipse, the teeth of the cup-shaped flexible wheel 17 are fully meshed with the teeth of the integrated steel wheel housing 11, while along the minor axis... Then they are completely separated. Depending on the rotation position of the cup-shaped flexible wheel 17, the teeth at other locations are either in a meshing state or in a disengaging state. As the wave generator rotates continuously, the long axis and short axis of the cup-shaped flexible wheel 17, as well as the meshing and disengaging positions, change continuously. The teeth of the cup-shaped flexible wheel 17 change from meshing to disengaging, and then from disengaging to disengaging. This cycle repeats, forcing the flexible wheel to rotate continuously. The difference in the number of teeth between the cup-shaped flexible wheel 17 and the integrated steel wheel housing 11 is used to achieve speed reduction transmission, thereby converting the high speed of the servo motor 21 into a low speed and high torque output.

[0033] The cup-shaped flexible wheel 17 is fixedly mounted with a flexible wheel output flange 110 on one side, and an output crankshaft 113 is fixedly mounted on one side of the flexible wheel output flange 110. The flexible wheel output flange 110 facilitates the connection between the cup-shaped flexible wheel 17 and the output crankshaft 113, and transmits the low-speed, high-torque motion after deceleration.

[0034] The output crankshaft 113 is provided with a double bearing 111 on the outside. The inner ring of the double bearing 111 is fixedly connected to the outside of the output crankshaft 113, and the outer ring of the double bearing 111 is fixedly connected to the inside of the integrated steel wheel housing 11. The double bearing 111 facilitates the rotation of the output crankshaft 113 and bears radial and axial loads, replacing the traditional crossed roller bearing, thereby reducing costs and improving load-bearing capacity.

[0035] Among them, the double bearing 111 is provided with an oil seal 112 on one side, and an output bearing end cover 14 is provided on the other side of the oil seal 112. The output bearing end cover 14 is fixedly connected to the steel wheel integrated housing 11. The setting of the output bearing end cover 14 facilitates the fixing of the oil seal 112, which facilitates the sealing of the lubricating grease by the oil seal 112, prevents leakage, and extends the service life.

[0036] The output crankshaft 113 is fixedly equipped with a cover 114 in the middle, and a crankshaft end cap 18 is fixedly equipped at the output end of the output crankshaft 113. The cover 114 and the crankshaft end cap 18 facilitate the crankshaft end cap 18 to be directly connected to the actuator as the final output component, so as to realize linear or oscillating lifting action. The cover 114 closes the opening in the middle of the output crankshaft 113 to prevent impurities from entering and enhance the sealing performance.

[0037] The integrated steel wheel housing 11 has mounting ears 12 on both sides of its top, and a rear end cover 13 is fixedly installed on the side of the integrated steel wheel housing 11 away from the output bearing end cover 14. The mounting ears 12 and the rear end cover 13 facilitate the use of the mounting ears 12 to fix the entire device on the AGV or other equipment. The rear end cover 13 closes the rear of the deceleration assembly 1, supports the servo motor 21 and protects the internal structure.

[0038] The motor assembly 2 includes a servo motor 21, which is fixedly connected to the rear cover 13. The output end of the servo motor 21 is provided with a motor output shaft 22, which is fixedly connected to the cam 15. The setting of the motor output shaft 22 facilitates the transmission of power from the servo motor 21 to the cam 15 to start the deceleration assembly 1.

[0039] The servo motor 21 has a control cavity 23 at one end, and a driver is fixedly installed inside the control cavity 23. The control cavity 23 facilitates the installation of the driver, centralized management of the control circuit, and easy maintenance and debugging. The bottom of the control cavity 23 has an interface 25, and a tail cover 24 is fixedly installed on one side of the control cavity 23. The interface 25 and the tail cover 24 facilitate the connection of the interface 25 to external circuits for the transmission of power and control signals. The tail cover 24 is used to close the tail of the control cavity 23 and protect the driver and internal circuitry.

[0040] The servo motor 21 has a cable outlet hole 26 on its top, and a wire clamping cover 27 is fixedly installed on the outside of the cable outlet hole 26. The cable outlet hole 26 and the wire clamping cover 27 facilitate the cable entry and exit of the cable outlet hole 26, making it convenient for wiring between the servo motor 21 and the driver. The wire clamping cover 27 is used to fix the cable position, prevent damage caused by pulling, and improve safety and reliability. In addition, this structure allows the driver to be installed first, and then the tail cover 24 to be installed. The traditional method is to install the driver on the tail cover 24 first, and then install the tail cover 24 and the servo motor 21. This structure facilitates the connection between the motor coil and the driver.

[0041] Specifically, the working principle of this high-torque integrated lifting module is as follows: During use, the mounting ears 12 and rear cover 13 facilitate the installation of the entire device on an AGV or other equipment. The rear cover 13 encloses the rear of the reduction gear assembly 1, supporting the servo motor 21 and protecting the internal structure. The cable outlet 26 and wire clamping cover 27 facilitate cable entry and exit, allowing for easy wiring between the servo motor 21 and the driver. The wire clamping cover 27 secures the cable position, preventing damage from pulling and improving safety and reliability. Furthermore, this structure allows for the driver to be installed first, followed by the tail cover 24. The traditional method involves first installing the driver on the tail cover 24, and then installing the tail cover 24 and the servo motor 21. This structure... The design facilitates convenient connection between the motor coil and the driver. The interface 25 and tail cover 24 allow for easy connection of external wiring via the interface 25, facilitating power and control signal transmission. The tail cover 24 seals the tail of the control cavity 23, protecting the driver and internal wiring. The control cavity 23 facilitates driver installation, centralized management of control wiring, and easy maintenance and debugging. The motor output shaft 22 facilitates the transmission of power from the servo motor 21 to the cam 15, starting the reduction gear 1. The wave generator end cover 16, cam 15, and rear bearing 19 are fixedly connected, allowing them to combine to form a wave generator. The cup-shaped flexible wheel 17 and the integrated steel wheel housing 11 mesh together, facilitating wave generation. The device expands the cup-shaped flexible wheel 17 into an elliptical shape inside the device. Along the major axis of the ellipse, the teeth of the cup-shaped flexible wheel 17 are fully engaged with the teeth of the integrated steel wheel housing 11, while they are completely disengaged along the minor axis. The teeth at other points are either engaged or disengaged depending on the rotational position of the cup-shaped flexible wheel 17. As the wave generator rotates continuously, the major and minor axes of the cup-shaped flexible wheel 17, as well as the engagement and disengagement positions, constantly change. The teeth of the cup-shaped flexible wheel 17 shift from engagement to disengagement, and then from disengagement to disengagement, repeating this cycle continuously, forcing the flexible wheel to rotate continuously. The difference in the number of teeth between the cup-shaped flexible wheel 17 and the integrated steel wheel housing 11 achieves speed reduction, thereby converting the high speed of the servo motor 21 into a low speed, high torque output, which is then transmitted through the flexible wheel output flange. The 110 setting facilitates the connection between the cup-shaped flexible wheel 17 and the output crankshaft 113, transmitting low-speed, high-torque motion after deceleration. The double bearing 111 setting facilitates the rotation of the output crankshaft 113, bearing radial and axial loads, replacing the traditional crossed roller bearing, thus reducing costs and increasing load-bearing capacity. The output bearing end cover 14 setting facilitates the fixing of the oil seal 112, making it easy for the oil seal 112 to seal the lubricating grease, prevent leakage, and extend service life. The setting of the cover 114 and the crankshaft end cover 18 facilitates the crankshaft end cover 18 as the final output component, directly connecting to the actuator to realize linear or oscillating lifting action. The cover 114 closes the opening in the middle of the output crankshaft 113, preventing impurities from entering and enhancing sealing.

[0042] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A high-torque integrated lifting module, characterized in that, The device includes a speed reduction assembly (1), a motor assembly (2) on one side of the speed reduction assembly (1), a steel wheel integrated housing (11), a cup-shaped flexible wheel (17) inside the steel wheel integrated housing (11), a rear bearing (19) inside the cup-shaped flexible wheel (17), a wave generator end cap (16) fixedly provided on one side of the rear bearing (19), and a cam (15) provided on the other side of the rear bearing (19). The wave generator end cap (16), the cam (15) and the inner ring of the rear bearing (19) are fixedly connected. The rear bearing (19) is a flexible bearing. An external gear is provided on the outside of the cup-shaped flexible wheel (17), and an internal gear is provided on the inside of the steel wheel integrated housing (11). The number of teeth of the cup-shaped flexible wheel (17) is slightly less than the number of teeth of the steel wheel integrated housing (11). The cup-shaped flexible wheel (17) and the steel wheel integrated housing (11) are meshed together.

2. The high-torque integrated lifting module according to claim 1, characterized in that, The cup-shaped flexible wheel (17) is fixedly mounted with a flexible wheel output flange (110) on one side, and an output crankshaft (113) is fixedly mounted with one side of the flexible wheel output flange (110).

3. The high-torque integrated lifting module according to claim 2, characterized in that, The output crankshaft (113) is provided with a double bearing (111) on the outside. The inner ring of the double bearing (111) is fixedly connected to the outside of the output crankshaft (113), and the outer ring of the double bearing (111) is fixedly connected to the inside of the steel wheel integrated housing (11).

4. The high-torque integrated lifting module according to claim 3, characterized in that, An oil seal (112) is provided on one side of the double bearing (111), and an output bearing end cover (14) is provided on one side of the oil seal (112). The output bearing end cover (14) is fixedly connected to the steel wheel integrated housing (11).

5. The high-torque integrated lifting module according to claim 4, characterized in that, A cover (114) is fixedly installed in the middle of the output crankshaft (113), and a crankshaft end cap (18) is fixedly installed at the output end of the output crankshaft (113).

6. The high-torque integrated lifting module according to claim 5, characterized in that, The integrated steel wheel housing (11) has mounting ears (12) on both sides of its top, and a rear end cover (13) is fixedly installed on the side of the integrated steel wheel housing (11) away from the output bearing end cover (14).

7. The high-torque integrated lifting module according to claim 1, characterized in that, The motor assembly (2) includes a servo motor (21), which is fixedly connected to the rear end cover (13). The output end of the servo motor (21) is provided with a motor output shaft (22), which is fixedly connected to a cam (15).

8. The high-torque integrated lifting module according to claim 7, characterized in that, The servo motor (21) has a control cavity (23) at one end, and a driver is fixedly installed inside the control cavity (23).

9. A high-torque integrated lifting module according to claim 8, characterized in that, The bottom of the control cavity (23) is provided with an interface (25), and a tail cover (24) is fixedly installed on one side of the control cavity (23).

10. A high-torque integrated lifting module according to claim 9, characterized in that, The servo motor (21) has a wire outlet hole (26) on its top, and a wire clamping cover (27) is fixedly installed on the outside of the wire outlet hole (26).

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