A single steel wheel harmonic module

Abstract

The utility model relates to a single steel wheel harmonic wave module, wherein the single steel wheel harmonic wave module comprises a shell, the shell has an inner cavity; a connecting rod is fixedly connected with the shell, the connecting rod is arranged through the inner cavity of the shell along the axial direction; a motor comprises a motor stator, a motor rotor and a motor shaft; the motor rotor is arranged along the axial direction, the motor rotor is arranged on the inner side of the motor stator, the motor shaft is connected with the motor rotor, and the motor shaft is supported on the outer side of the connecting rod through a plurality of groups of interval arrangement stabilizing bearings; a harmonic mechanism comprises a cam, a needle bearing, a flexible wheel and a rigid wheel, the cam is arranged on the motor shaft, the needle bearing is arranged on the outer side of the cam, the flexible wheel is arranged on the outer side of the needle bearing, the flexible wheel is provided with flexible wheel teeth, the rigid wheel is arranged on the outer side of the cam, and the rigid wheel is provided with rigid wheel teeth. The utility model can improve the stability of the motor shaft by sleeving a plurality of groups of interval arrangement stabilizing bearings on the positioning rod arranged through the shell.

Description

Technical Field

[0001] This utility model relates to a harmonic module, and more particularly to a single steel wheel harmonic module. Background Technology

[0002] The description in this section provides only background information related to the disclosure of this utility model and does not constitute prior art.

[0003] Harmonic drive modules are highly integrated transmission components widely used in robotics, automation equipment, precision instruments, and other fields. They integrate a harmonic reducer with key components such as a motor, encoder, and bearings. The main transmission components of a harmonic drive module are a wave generator, a flex wheel, and a rigid wheel. The wave generator consists of an elliptical cam and a flexible bearing, mounted on the motor shaft. The flex wheel has flexible gears and is fitted around the cam of the wave generator. The rigid wheel is fixed to a housing and typically has two more teeth than the flex wheel. Its working principle is that when the motor drives the cam of the wave generator to rotate, the cam causes the flex wheel to undergo elliptical deformation, causing the gear meshing point between the flex wheel and the rigid wheel to move with the rotation, thereby achieving a high reduction ratio output.

[0004] In the prior art, the elliptical cam of the wave generator in the harmonic module rotates at high speed under the drive of the motor shaft. Its speed is much higher than that of the rigid wheel or flexible wheel. The motor shaft is generally sleeved on the positioning rod connected to the housing. Due to the precision of the structure, it is prone to shaking or instability under high rotation.

[0005] It should be noted that the above introduction to the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of this utility model and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this utility model. Utility Model Content

[0006] The purpose of this invention is to provide a single steel wheel harmonic module that can improve the stability of the motor shaft by fitting multiple sets of spaced stable bearings onto a positioning rod that penetrates the housing.

[0007] To achieve the above objectives, this utility model discloses a single steel wheel harmonic module, which includes:

[0008] A housing having an internal cavity;

[0009] A connecting rod, which is fixedly connected to the housing, and the connecting rod is axially inserted through the inner cavity of the housing;

[0010] An electric motor, comprising a motor stator, a motor rotor, and a motor shaft, wherein the motor stator is axially arranged and fixed relative to the housing; the motor rotor is axially arranged and disposed inside the motor stator; the motor shaft is connected to the motor rotor and supported on the outside of the connecting rod by multiple sets of spaced stabilizing bearings;

[0011] A harmonic mechanism includes a cam, a needle roller bearing, a flexible wheel, and a rigid wheel. The cam is mounted on the motor shaft. The needle roller bearing is located on the outer side of the cam. A portion of the flexible wheel is located on the outer side of the needle roller bearing. The outer side of the flexible wheel is provided with flexible wheel teeth. The rigid wheel is located on the outer side of the flexible wheel. The inner side of the rigid wheel has rigid wheel teeth for partial meshing with the flexible wheel teeth.

[0012] As a further description of the above technical solution, the single steel wheel harmonic module also includes an output shaft, which is disposed at one end of the housing along the axial direction, and the steel wheel is connected to the output shaft for transmission.

[0013] As a further description of the above technical solution, the rigid wheel and the output shaft are connected by a cross roller bearing.

[0014] As a further description of the above technical solution, the crossed roller bearing is axially mounted over one end of the single steel wheel harmonic module.

[0015] As a further description of the above technical solution, the stabilizing bearing is configured as a deep groove ball bearing.

[0016] As a further description of the above technical solution, the stabilizing bearing is provided in two parts, which are axially spaced at both ends adjacent to the motor shaft.

[0017] As a further description of the above technical solution, the motor stator is radially mounted on the inner wall of the housing.

[0018] As a further description of the above technical solution, the two ends of the connecting rod are respectively fixedly connected to the two ends of the housing.

[0019] Based on the above technical solution, the beneficial effects of this utility model are as follows:

[0020] This invention relates to a single steel wheel harmonic module, which enhances the stability of the motor shaft by incorporating multiple sets of spaced stabilizing bearings within a positioning rod that penetrates the housing. Specifically, the connecting rod in this invention penetrates the inner cavity of the housing, with both ends fixedly connected to the two ends of the housing. This provides the connecting rod with strong stability, making it less prone to displacement and vibration during motor operation compared to a single-sided fixed or shorter connecting rod. Simultaneously, the multiple sets of spaced stabilizing bearings act as load-bearing elements between the connecting rod and the motor shaft, resulting in stronger indirect support for the motor shaft. This allows for a longer motor shaft, leading to higher waveform output quality and better stability after the high-speed rotation of the cam.

[0021] To further understand the features and technical content of this utility model, please refer to the following detailed description and drawings of this utility model. However, the drawings provided are for reference and illustration only and are not intended to limit this utility model. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a cross-sectional schematic diagram of a single steel wheel harmonic module provided in the embodiments of this specification;

[0024] Figure 2 This is a side view of a single steel wheel harmonic module provided in the embodiments of this specification;

[0025] In the picture:

[0026] 1. Shell;

[0027] 2. Motor; 21. Motor stator; 22. Motor rotor; 23. Motor shaft;

[0028] 3. Harmonic mechanism; 31. Cam; 32. Needle roller bearing; 33. Flexible wheel; 34. Rigid wheel; 35. Connecting rod; 36. Stabilizing bearing;

[0029] 4. Crossed roller bearings. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0031] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can understand the advantages and effects of this utility model from the content disclosed in this specification. This utility model can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this utility model. Furthermore, the accompanying drawings of this utility model are for simple illustration only and are not depictions of actual dimensions, as stated in advance. The following embodiments will further describe the relevant technical content of this utility model in detail, but the disclosed content is not intended to limit the scope of protection of this utility model.

[0032] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components or signals, these components or signals should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one signal from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more of the related listed items.

[0033] Please see Figure 1-2 This embodiment provides a single steel wheel harmonic module, wherein the single steel wheel harmonic module includes:

[0034] Housing 1, housing 1 has an internal cavity;

[0035] The connecting rod 35 is fixedly connected to the housing 1 and is axially inserted through the inner cavity of the housing 1.

[0036] Motor 2 includes a motor stator 21, a motor rotor 22, and a motor shaft 23. The motor stator 21 is axially arranged and fixed relative to the housing 1. The motor rotor 22 is axially arranged and located inside the motor stator 21. The motor shaft 23 is connected to the motor rotor 22. The motor shaft 23 is supported on the outside of the connecting rod 35 by multiple sets of spaced stabilizing bearings 36.

[0037] The harmonic mechanism 3 includes a cam 31, a needle roller bearing 32, a flexible wheel 33, and a rigid wheel 34. The cam 31 is mounted on the motor shaft 23. The needle roller bearing 32 is mounted on the outer side of the cam 31. Part of the flexible wheel 33 is mounted on the outer side of the needle roller bearing 36. Flexible wheel teeth are provided on the outer side of the flexible wheel 33. The rigid wheel 34 is mounted on the outer side of the flexible wheel 33. The inner side of the rigid wheel 34 has rigid wheel teeth for partial meshing with the flexible wheel teeth.

[0038] With the above structure, during installation, the operator can axially install a connecting rod 35, whose axial dimension matches that of the housing 1, through the housing 1, thus forming a stable fixed connection between the two. Specifically, the two ends of the connecting rod 35 are fixedly connected to the two ends of the housing 1, respectively. This can achieve the maximum strength of the connecting rod 35 and improve its resistance to radial shear force.

[0039] Specifically, please refer to the following when using it. Figure 1 An external control signal is sent to motor 2, which supplies power to motor 2, causing motor rotor 22 to rotate about the axis relative to motor stator 21 under electromagnetic action. Motor stator 21 does not rotate relative to housing 1. Motor rotor 22 is located on one side of motor shaft 23, so motor shaft 23 rotates about the axis. Motor shaft 23 drives cam 31 to rotate about the axis. A needle roller bearing 32 is provided on the outer side of cam 31, and a flexible wheel 33 with a certain degree of flexibility and capable of deformation is provided on the outer side of needle roller bearing 32. Cam 31 is elliptical, so when the ellipse rotates, it continuously squeezes the flexible wheel 33 and rotates in the positive direction, causing the flexible wheel teeth on the outer side of the flexible wheel 33 to engage with the rigid wheel teeth of rigid wheel 34 locally and periodically, and can drive rigid wheel 34 to rotate in the opposite direction with deceleration.

[0040] During the above process, the motor shaft 23 rotates at high speed relative to the connecting rod 35. Supported by multiple stabilizing bearings 36, the motor shaft 23 always maintains high-speed rotation around the axial direction and always maintains a high degree of coaxiality with the connecting rod 35.

[0041] Therefore, when the rigid wheel 34 needs to output torque to an external output shaft, the external output shaft is directly connected to the rigid wheel 34 for transmission, thus obtaining the torque output after the rigid wheel 34 reduces speed. Specifically, in this embodiment, the output shaft is located at one end of the housing 1 along the axial direction, and the rigid wheel 34 is connected to the output shaft for transmission. The output shaft is the structure described above that directly outputs slow-speed, high-torque rotational force to the outside under the drive of the rigid wheel 34.

[0042] Specifically, the output shaft and the rigid wheel 34 are connected by a cross roller bearing 4. The cross roller bearing 4 is suitable for bearing axial and radial loads and has high precision. Its principle is based on the rolling friction of the internal rollers between the inner and outer rings. In this embodiment, the cross roller bearing 5 is axially mounted on one end of the single steel wheel harmonic module, that is, the cross roller bearing 4... Figure 1 The cover is installed from right to left to support and transmit force to the output shaft on the right side.

[0043] Based on the above-described structure of this utility model, the stability of the motor shaft 23 can be improved by fitting multiple sets of spaced stabilizing bearings 36 onto the positioning rod 35 that penetrates the housing 1. Specifically, the connecting rod 35 in this utility model penetrates the inner cavity of the housing 1, and both ends of the connecting rod 35 are fixedly connected to both ends of the housing 1, thereby giving the connecting rod 35 strong stability. Compared with a single-sided fixed or shorter connecting rod 35, it is less prone to displacement and vibration during motor operation. At the same time, the multiple sets of spaced stabilizing bearings 36 play a load-bearing role between the connecting rod 35 and the motor shaft 23, resulting in stronger indirect support for the motor shaft 23. The motor shaft 23 can also be made longer, and the waveform output generated by the high-speed rotation of the cam 31 has higher quality and better stability.

[0044] In this embodiment, the output shaft uses a deep groove ball bearing as the stabilizing bearing 36. The deep groove ball bearing consists of an inner ring, an outer ring, steel balls, and a cage. It has fewer parts and mainly bears radial loads. After increasing the clearance, it can bear bidirectional axial loads. In this embodiment, it is mainly used to transmit force to the connecting rod 35. The stability advantage of the connecting rod 35 is used to achieve the stability of the rotation of the motor shaft 23 of the external motor 2 and the rigid wheel 34 of the harmonic mechanism 3.

[0045] Specifically, two stabilizing bearings 36 are provided, and the two stabilizing bearings 36 are axially spaced at both ends adjacent to the motor shaft 23. In this embodiment, as... Figure 1 As shown, the axial dimension of the motor shaft 23 is shorter than that of the connecting rod 35. With the help of two stabilizing bearings 36 set at both ends, the stability of the coaxiality of the motor shaft 23 along the axial direction can be achieved with minimal structural support components.

[0046] In this embodiment, the motor stator 21 is radially mounted on the inner wall of the housing 1, specifically, as shown in the example below. Figure 1 As shown, the size of the motor stator 21 can be set to be comparable to the space vacated by the cavity of the housing 1, and it is radially engaged, so that its support for the force around the axial direction is more stable, and it has a relatively larger weight and stability compared to the motor stator 21.

[0047] The above-disclosed content is only a preferred and feasible embodiment of the present utility model, and is not intended to limit the scope of the patent application of the present utility model. Therefore, all equivalent technical changes made using the contents of the present utility model specification and drawings are included in the scope of the patent application of the present utility model.

[0048] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0049] Although this application has been described by way of examples, those skilled in the art will know that this application has many modifications and variations without departing from the spirit of this application, and it is intended that the appended embodiments include these modifications and variations without departing from this application.

Claims

1. A single steel wheel harmonic module, characterized in that, The single steel wheel harmonic module includes: A housing having an internal cavity; A connecting rod, which is fixedly connected to the housing, and the connecting rod is axially inserted through the inner cavity of the housing; An electric motor, comprising a motor stator, a motor rotor, and a motor shaft, wherein the motor stator is axially arranged and fixed relative to the housing; the motor rotor is axially arranged and disposed inside the motor stator; the motor shaft is connected to the motor rotor and supported on the outside of the connecting rod by multiple sets of spaced stabilizing bearings; A harmonic mechanism includes a cam, a needle roller bearing, a flexible wheel, and a rigid wheel. The cam is mounted on the motor shaft. The needle roller bearing is located on the outer side of the cam. A portion of the flexible wheel is located on the outer side of the needle roller bearing. The outer side of the flexible wheel is provided with flexible wheel teeth. The rigid wheel is located on the outer side of the flexible wheel. The inner side of the rigid wheel has rigid wheel teeth for partial meshing with the flexible wheel teeth.

2. The single steel wheel harmonic module according to claim 1, characterized in that: The single steel wheel harmonic module also includes an output shaft, which is disposed at one end of the housing along the axial direction, and the steel wheel is connected to the output shaft for transmission.

3. The single steel wheel harmonic module according to claim 2, characterized in that: The rigid wheel and the output shaft are connected by a cross roller bearing.

4. The single steel wheel harmonic module according to claim 3, characterized in that: The crossed roller bearing is axially mounted over one end of the single steel wheel harmonic module.

5. The single steel wheel harmonic module according to claim 1, characterized in that: The stabilizing bearing is configured as a deep groove ball bearing.

6. The single steel wheel harmonic module according to claim 1, characterized in that: Two stabilizing bearings are provided, and the two stabilizing bearings are spaced apart along the axial direction at both ends near the motor shaft.

7. The single steel wheel harmonic module according to claim 1, characterized in that: The motor stator is radially mounted on the inner wall of the housing.

8. The single steel wheel harmonic module according to claim 1, characterized in that: The two ends of the connecting rod are fixedly connected to the two ends of the housing, respectively.

Images