An integrated drive arrangement

Abstract

The utility model relates to motor technical field, concretely relates to a kind of integrated drive device, it includes shell, built-in accommodating cavity;Shaft, rotatably connected in accommodating cavity;Rotor assembly, solidly arranged on the outer circumferential side of shaft, and rotor assembly is rotatably connected with shell by shaft;Stator assembly, solidly arranged on the shell outside rotor assembly, and with rotor assembly keep air gap cooperation;Wave generator, solidly arranged on the outer circumferential side of shaft, and shaft drives rotor assembly and wave generator coaxial rotation;Steel wheel, solidly arranged on the shell;Flexible wheel, coaxially assembled in the peripheral side of wave generator, and under the driving of wave generator make its same radial relative side wall and steel wheel engage, to make the rotational speed of flexible wheel lower than the rotational speed of wave generator, the integrated design of motor and speed reducer is realized in the application, the structure design of simplification reduces the moment of inertia, it is favorable to promote the dynamic response capability and acceleration performance of system, make motion control more stable and reliable.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and in particular to an integrated drive device. Background Technology

[0002] In traditional mechanical transmission systems, the motor output shaft and the wave generator of the harmonic reducer are typically coupled via mechanical connections such as couplings or gears. While this split design offers modular flexibility, it inevitably introduces several key technical bottlenecks. The added intermediate transmission stage significantly reduces the torsional stiffness of the system's transmission chain, primarily due to the elastic deformation of the coupling itself, gear meshing clearance, and the cumulative effect of assembly tolerances. This stiffness reduction directly leads to a decrease in the system's resonant frequency, easily causing mechanical oscillations under dynamic conditions, severely impacting the response speed and positioning accuracy of motion control. Particularly in applications with stringent dynamic performance requirements, such as robot joints and high-precision turntables, the reduced transmission chain stiffness results in significant trajectory tracking errors in the end effector. Furthermore, the introduction of backlash causes uncompensated backlash errors during bidirectional motion. In addition, the multi-stage transmission structure introduces additional rotational inertia, further deteriorating the system's acceleration performance. Utility Model Content

[0003] The purpose of this invention is to provide an integrated drive device to solve the problems of reduced motion control accuracy and decreased response performance caused by the separate design of the motor and reducer in the prior art.

[0004] The technical solution of this utility model is: an integrated drive device, comprising: a housing with a built-in receiving cavity; a rotating shaft rotatably connected to the receiving cavity; a rotor assembly fixed to the outer periphery of the rotating shaft, the rotor assembly being rotatably connected to the housing via the rotating shaft; a stator assembly fixed to the housing outside the rotor assembly and maintaining an air gap fit with the rotor assembly; a wave generator fixed to the outer periphery of the rotating shaft, the rotating shaft driving the rotor assembly and the wave generator to rotate coaxially; a steel wheel fixed to the housing; and a flexible wheel coaxially mounted to the outer periphery of the wave generator, and under the drive of the wave generator, having its opposite sidewalls in the same radial direction mesh with the steel wheel, so that the rotational speed of the flexible wheel is lower than the rotational speed of the wave generator.

[0005] Preferably, the interior of the rotating shaft is hollow to form a wiring hole, which penetrates both ends of the outer casing.

[0006] Preferably, a first support ring and a second support ring are fixed on the outer periphery of the rotating shaft, the rotor assembly is fixed on the outer periphery of the first support ring, and the wave generator is fixed on the outer periphery of the second support ring.

[0007] Preferably, the rotor assembly includes a plurality of silicon steel sheets, which are sequentially and fixed around the outer periphery of the first support ring.

[0008] Preferably, the housing includes a first housing and a second housing, the first housing and the second housing are mounted along the axial direction of the rotating shaft, the rotor assembly and the stator assembly are located in the first housing, and the wave generator, the steel wheel and the flexible wheel are all located in the second housing.

[0009] Preferably, the wiring hole extends through the first housing and the second housing along the axial direction.

[0010] Preferably, the flexible wheel is fixedly provided with a flange, the flange including a driving part and an output part, the driving part and the output part are fixedly connected in a stepped manner, the driving part is fixedly connected to the flexible wheel, the outer diameter of the output part is smaller than the outer diameter of the driving part, and the output part extends to the outside of the first housing for power output.

[0011] Compared with the prior art, the advantages of this utility model are:

[0012] The integrated design of the motor and reducer eliminates the intermediate transmission links such as couplings or gears required by the traditional separate design, avoiding the stiffness attenuation problem caused by elastic deformation, meshing clearance and assembly tolerance. It significantly improves the torsional stiffness and resonant frequency of the transmission system. The simplified design of the coaxial structure reduces the moment of inertia, which is conducive to improving the dynamic response capability and acceleration performance of the system, making motion control more stable and reliable. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0014] Figure 1 This is a schematic diagram of the structure of an integrated drive device according to the present invention;

[0015] Figure 2 This is a cross-sectional structural schematic diagram of an integrated drive device according to the present invention;

[0016] Figure 3 This is a schematic diagram of the structure of the rotating shaft described in this utility model.

[0017] Explanation of reference numerals in the attached figures:

[0018] 1. Outer shell; 11. Receiving cavity; 12. First housing; 13. Second housing; 14. First clearance hole; 15. Second clearance hole; 2. Rotating shaft; 21. Wiring hole; 22. First support ring; 23. Second support ring; 3. Rotor assembly; 31. Silicon steel sheet; 4. Stator assembly; 5. Wave generator; 6. Flexible wheel; 7. Steel wheel; 8. Flange; 81. Drive unit; 82. Output unit. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] The embodiments of this utility model are described in detail below. Examples of these 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.

[0021] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation 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.

[0022] like Figure 1 and Figure 2As shown, an integrated drive device includes a housing 1 and a rotating shaft 2. The housing 1 has a housing cavity 11 inside, and the rotating shaft 2 is rotatably connected to the housing cavity 11. A rotor assembly 3 is fixed to the outer periphery of the rotating shaft 2, and a stator assembly 4 is fixed to the inner wall of the housing 1. The rotor assembly 3 rotates relative to the stator assembly 4 via the rotating shaft 2. A wave generator 5 is also fixed to the outer periphery of the rotating shaft 2. The rotating shaft 2 drives the rotor assembly 3 and the wave generator 5 to rotate coaxially. A steel wheel 7 and a flexible wheel 6 are also provided inside the housing 1. The steel wheel 7 is fixed to the inner wall of the housing 1, and the outer side of the flexible wheel 6 meshes with the steel wheel 7. The flexible wheel 6 is sleeved around the wave generator 5 and undergoes elastic deformation under the drive of the wave generator 5, with its outer teeth periodically meshing with the steel wheel 7. The coaxial rotation of wave generator 5 and rotor can reduce the additional friction and energy loss caused by misalignment, so that the power transmitted by shaft 2 can directly and efficiently drive wave generator 5 to rotate, improve the overall transmission efficiency, and at the same time ensure that the two maintain good coaxiality during rotation, reduce vibration and eccentricity caused by misalignment, make the equipment run smoothly and reliably, and extend the service life of the equipment.

[0023] like Figure 2 and Figure 3 As shown, the hollow interior of the rotating shaft 2 forms a wiring hole 21. Specifically, the wiring hole 21 is arranged along the axial direction of the rotating shaft 2, and the central axis of the wiring hole 21 is coaxial with the central axis of the rotating shaft 2, so that the wall thickness of the rotating shaft 2 is uniform. The wires pass through the wiring hole 21 from inside the integrated drive device, avoiding interference and entanglement between the wires and other external components of the rotating shaft 2. This not only makes the appearance of the equipment neater and more aesthetically pleasing, but also reduces the risk of damage to the wires due to external factors.

[0024] A first support ring 22 and a second support ring 23 are fixedly mounted on the outside of the rotating shaft 2, and the first support ring 22 and the second support ring 23 are distributed along the axial direction of the rotating shaft 2. That is, the inner wall of the first support ring 22 is fixedly connected to the outer wall of the rotating shaft 2, and the inner wall of the second support ring 23 is fixedly connected to the outer wall of the rotating shaft 2. Preferably, the outer diameter of the first support ring 22 is larger than the outer diameter of the second support ring 23.

[0025] like Figure 3 As shown, the rotor assembly 3 is fixed to the outer wall of the first support ring 22. The rotor assembly 3 includes several silicon steel sheets 31, which are sheet-shaped and are uniformly fixed to the outer periphery of the first support ring 22. The first support ring 22 provides a larger mounting surface for the rotor assembly 3, increases the torque transmission efficiency between the rotor assembly 3 and the shaft 2, and disperses the mechanical stress caused by the electromagnetic force.

[0026] The stator assembly 4 is an annular stator core with several stator slots evenly distributed on the inner side for housing the stator windings (not shown in the figure). The stator assembly 4 and the rotor assembly 3 are at the same height, and there is an air gap between the stator assembly 4 and the rotor. The rotor rotates under electromagnetic action, which drives the rotating shaft 2 to rotate, thereby driving the wave generator 5 to rotate.

[0027] The inner wall of the wave generator 5 is fixedly connected to the inner wall of the second support ring 23. The second support ring 23 is adapted to the connection requirements of the wave generator 5, avoiding structural interference, and at the same time reducing the rotational inertia of the wave generator 5 end, thus improving the response speed. In this embodiment, the outer contour of the wave generator 5 is elliptical; in other embodiments, the wave generator 5 is a dual-waveform.

[0028] like Figure 2 As shown, the flexible wheel 6 is fitted around the outer contour of the wave generator 5. Preferably, the flexible wheel 6 is made of thin-walled high-strength alloy steel, making it easily deformable but fatigue-resistant. The flexible wheel 6 has external teeth on its exterior for meshing with the steel wheel 7. The steel wheel 7 is fixed to the inner wall of the outer shell 1. The steel wheel 7 is a hollow annular structure with internal teeth on its inner ring. The number of internal teeth on the steel wheel 7 is greater than the number of external teeth on the flexible wheel 6. In this embodiment, the number of internal teeth on the steel wheel 7 is two more than the number of external teeth on the flexible wheel 6. For every rotation of the wave generator 5, the flexible wheel 6 moves two tooth pitches in the opposite direction relative to the steel wheel 7, achieving a high reduction ratio.

[0029] The outer casing 1 includes a first housing 12 and a second housing 13, which are fixedly connected along the axis of the rotating shaft 2. That is, the first housing 12 and the second housing 13 together form a receiving cavity 11. The first housing 12 has a first clearance hole 14, and the second housing 13 has a second clearance hole 15 coaxial with the first clearance hole 14. One end of the wiring hole 21 of the rotating shaft 2 is connected to the first clearance hole 14, and the other end is connected to the second clearance hole 15.

[0030] The motor, formed by the rotor assembly 3 and the stator assembly 4, is located within the first housing 12, while the reducer, formed by the wave generator 5, the flexible wheel 6, and the steel wheel 7, is located within the second housing 13. The separation of these two components into different chambers reduces interference from the motor's electromagnetic field on the precision meshing of the harmonic reducer, thus improving system stability. If the motor or reducer is damaged, it can be disassembled and replaced individually without requiring overall disassembly, reducing disassembly difficulty and improving maintenance efficiency.

[0031] The flexible wheel 6 is fixed to the flange 8 for outputting high torque and low speed power. The flange 8 includes a drive section 81 and an output section 82, both of which are annular structures and are fixedly connected in a stepped manner. The inner diameter of the output section 82 is smaller than the inner diameter of the drive section 81, and the outer diameter of the output section 82 is smaller than the outer diameter of the drive section 81. Part of the sidewall of the flexible wheel 6 is rigidly fixed to the drive section 81, and part of the output section 82 extends out of the second clearance hole 15 for connecting the load, thereby achieving high torque and low speed output.

[0032] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. An integrated drive device, characterized in that, include: The outer shell (1) has a built-in receiving cavity (11); The rotating shaft (2) is rotatably connected to the receiving cavity (11); The rotor assembly (3) is fixed on the outer periphery of the rotating shaft (2), and the rotor assembly (3) is rotatably connected to the outer shell (1) through the rotating shaft (2); The stator assembly (4) is fixed on the outer casing (1) outside the rotor assembly (3) and maintains an air gap fit with the rotor assembly (3); A wave generator (5) is fixed on the outer periphery of the rotating shaft (2), and the rotating shaft (2) drives the rotor assembly (3) and the wave generator (5) to rotate coaxially. A steel wheel (7) is fixed to the outer shell (1); The flexible wheel (6) is coaxially mounted on the outer side of the wave generator (5), and under the drive of the wave generator (5), its opposite sidewalls in the same radial direction mesh with the steel wheel (7), so that the rotational speed of the flexible wheel (6) is lower than that of the wave generator (5).

2. The integrated drive device according to claim 1, characterized in that: The hollow interior of the rotating shaft (2) forms a wiring hole (21), which penetrates both ends of the outer shell (1).

3. The integrated drive device according to claim 1, characterized in that: The outer periphery of the rotating shaft (2) is fixed with a first support ring (22) and a second support ring (23), the rotor assembly (3) is fixed on the outer periphery of the first support ring (22), and the wave generator (5) is fixed on the outer periphery of the second support ring (23).

4. The integrated drive device according to claim 3, characterized in that: The rotor assembly (3) includes a plurality of silicon steel sheets (31), which are sequentially fixed around the outer periphery of the first support ring (22).

5. The integrated drive device according to claim 2, characterized in that: The outer casing (1) includes a first casing (12) and a second casing (13), the first casing (12) and the second casing (13) are mounted along the axial direction of the rotating shaft (2), the rotor assembly (3) and the stator assembly (4) are located in the first casing (12), and the wave generator (5), the steel wheel (7) and the flexible wheel (6) are all located in the second casing (13).

6. The integrated drive device according to claim 5, characterized in that: The wiring hole (21) passes through the first housing (12) and the second housing (13) along the axial direction.

7. The integrated drive device according to claim 5, characterized in that: The flexible wheel (6) is fixedly provided with a flange (8), the flange (8) includes a drive part (81) and an output part (82), the drive part (81) and the output part (82) are fixedly connected in a stepped manner, the drive part (81) is fixedly connected to the flexible wheel (6), the outer diameter of the output part (82) is smaller than the outer diameter of the drive part (81), and the output part (82) extends to the outside of the first housing (12) for power output.

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