A steel wheel and crossed roller bearing integrated harmonic reducer module

Abstract

The utility model discloses a kind of harmonic reducer module of steel wheel and cross roller bearing integration, including T-type cylinder output flange, cross roller steel wheel integrated outer ring, flexible bearing, cup type flexible wheel, front bearing, cross roller steel wheel integrated inner ring, skeleton oil seal, rotor shaft, connecting flange, flexible wheel connecting flange, rear bearing, motor front cover, rotor shaft sleeve, rotor, frameless torque motor stator coil, motor shaft code disc seat, motor code disc, output end code disc seat, output end code disc, motor casing, servo driver PCB, motor tail cover.

Description

Technical Field

[0001] This utility model belongs to the field of harmonic reducer technology, and more specifically, it relates to a harmonic reducer module that integrates a steel wheel and a crossed roller bearing. Background Technology

[0002] Harmonic reducers are characterized by high transmission efficiency, small size, light weight, smooth transmission, and low noise, and are widely used in the field of robotics, especially in collaborative robotic arms and service robots. With the development of robotics technology, the requirements for harmonic dimensions are becoming increasingly stringent.

[0003] Traditional harmonic reducers consist of three main components: a wave generator, a flexible wheel, and a steel wheel. To meet the requirements of harmonics for axial force, radial force, and bending moment, crossed roller bearings are often used to connect the flexible wheel and the steel wheel.

[0004] Harmonic reducers for hollow joint modules on the market generally use cap-shaped flexible wheels. In order to meet the requirements of high load-bearing capacity and transmission accuracy of hollow joint modules, cap-shaped flexible wheels have high requirements for the strength, toughness and wear resistance of materials. This makes the range of material selection relatively narrow and the material cost relatively high. In addition, the structure of cap-shaped flexible wheels is relatively complex, especially the hollow outward-turned bottom structure, which has high requirements for processing technology and precision, increasing the difficulty and cost of processing. Precision processing equipment and processes are required to ensure its dimensional accuracy and surface quality. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a harmonic reducer module that integrates a steel wheel and a crossed roller bearing, thereby solving the problems mentioned in the background section.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a harmonic reducer module integrating a steel wheel and a crossed roller bearing, comprising a T-shaped output flange, an outer ring of a crossed roller steel wheel, a flexible bearing, a cup-shaped flex wheel, a front bearing, an inner ring of the crossed roller steel wheel, a skeleton oil seal, a rotor shaft, a connecting flange, a flex wheel connecting flange, a rear bearing, a motor front cover, a rotor bushing, a rotor, a frameless torque motor stator coil, a motor shaft code disk holder, a motor code disk, an output end code disk holder, an output code disk, a motor housing, a servo driver PCB, and a motor tail cover; the T-shaped output flange is fixedly connected to the outer ring of the crossed roller steel wheel. The flexible bearing is installed inside the cup-shaped flexible wheel. The inner diameter of the front bearing is positioned by the rotor shaft on the surface. The inner ring of the rotor shaft fixes the outer ring of the front bearing. The inner ring of the cross roller steel wheel and the outer ring of the cross roller steel wheel are fitted in opposite directions on the same axial plane, and a skeleton oil seal is installed in the middle. The inner ring of the motor front cover fixes the outer ring of the rear bearing. The inner ring of the rear bearing is fixed on the rotor shaft. The rotor shaft sleeve is fixed on the rotor shaft. The rotor is fixed on the rotor shaft sleeve. The motor shaft code disk seat and the output end code disk seat are both fixed on the rotor shaft and locked by No. 2 screws. The output end code disk seat fixes the motor shaft code disk seat and the output end code disk.

[0007] Preferably, the cup-shaped flexible wheel is fixed together with the connecting flange and the flexible wheel connecting flange by a No. 1 screw.

[0008] Preferably, the stator coil of the frameless torque motor is fixed on the motor housing, and the motor housing, the front cover of the motor, the flexible wheel connecting flange and the inner ring of the cross roller steel wheel are locked together by screw No. 3. The rear end of the motor housing is equipped with a servo driver PCB, and the motor tail cover is fixed on the motor housing by screw No. 4.

[0009] Preferably, the bottom of the T-shaped cylinder output flange is fixedly connected to the outer ring of the cross roller steel wheel by a No. 5 screw.

[0010] This utility model provides a harmonic reducer module integrating a steel wheel and a crossed roller bearing, which has the following advantages: 1. High-precision transmission performance: Harmonic transmission, through the deformation and meshing of flexible elements, combined with the high-precision positioning of crossed roller bearings, can control the transmission backlash within 1 arc minute. In addition, the stress concentration area of ​​the cup-shaped structure is optimized (such as the bottom rounded corner transition design), so that the stress distribution of the flex wheel is more uniform during repeated deformation, and the fatigue life is increased by 20%~40% compared with traditional flex wheels, which can adapt to long-term continuous operation. 2. High load-bearing capacity and rigidity: The rollers of the crossed roller bearing are installed in a crossed manner, which can simultaneously withstand radial, axial and overturning moments. Compared with the traditional harmonic reducer with ordinary bearings, it can directly support the load and reduce the need for additional support structures. 3. Compact and lightweight design: The improved cross roller steel wheel structure allows the inner and outer rings of the cross roller steel wheel to be in the same plane in the axial direction. This makes the radial dimension of the cup-shaped flexible wheel module 10%-15% smaller than that of the cap-shaped module of the same specification, saving more space in special robot joints. 4. Installation and space utilization advantages: The hollow structure allows cables, air pipes or material pipes to pass through directly, avoiding additional openings and simplifying the internal wiring of the equipment. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0012] Figure 2 This is a front structural cross-sectional view of the present invention.

[0013] Figure 3 This is an exploded view of the overall structure of this utility model.

[0014] Figure 4 This is an exploded view of part A of the structure of this utility model.

[0015] Figure 5 This is an exploded view of part B of the present invention.

[0016] In the diagram: 1. T-shaped output flange; 2. Outer ring of crossed roller steel wheel; 3. Flexible bearing; 4. Cup-shaped flexible wheel; 5. Front bearing; 6. Inner ring of crossed roller steel wheel; 7. Frame oil seal; 8. Rotor shaft; 9. Connecting flange; 10. Flexible wheel connecting flange; 11. Rear bearing; 12. Motor front cover; 13. Rotor bushing; 14. Rotor; 15. Stator coil of frameless torque motor; 16. Motor shaft encoder holder; 17. Motor encoder; 18. Output encoder holder; 19. Output encoder; 20. Motor housing; 21. Servo driver PCB; 22. Motor tail cover; 23. Screw No. 1; 24. Screw No. 2; 25. Screw No. 3; 26. Screw No. 4; 27. Screw No. 5. Detailed Implementation

[0017] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but should not be used to limit the scope of this utility model.

[0018] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Please see Figures 1 to 5 This utility model provides a technical solution: a harmonic reducer module integrating a steel wheel and a crossed roller bearing, the main components of which are as follows: T-shaped output flange 1, outer ring of a crossed roller steel wheel 2, flexible bearing 3, cup-shaped flexible wheel 4, front bearing 5, inner ring of a crossed roller steel wheel 6, skeleton oil seal 7, rotor shaft 8, connecting flange 9, flexible wheel connecting flange 10, rear bearing 11, motor front cover 12, rotor bushing 13, rotor 14, frameless torque motor stator coil 15, motor shaft code disk holder 16, motor code disk 17, output end code disk holder 18, output end code disk 19, motor housing 20, servo driver PCB 21, and motor tail cover 22.

[0021] The T-shaped output flange 1 is fixedly connected to the outer ring 2 of the cross roller steel wheel. The flexible bearing 3 is installed inside the cup-shaped flexible wheel 4, and the inner diameter of the front bearing 5 is fixed by the rotor shaft 8. The inner ring of the rotor shaft 8 fixes the outer ring of the front bearing 5. The reverse fitting design of the inner ring 6 and outer ring of the crossed roller steel wheel in the axial plane shortens the radial space occupied, and the skeleton oil seal 7 is installed in the middle to prevent lubricating oil leakage. The bottom of the T-shaped cylinder output flange 1 is fixedly connected to the outer ring 2 of the crossed roller steel wheel by No. 5 bolts 27.

[0022] The cup-shaped flexible wheel 4 is fixed together with the connecting flange 9 and the flexible wheel connecting flange 10 by the No. 1 screw 23. Compared with the cap-shaped flexible wheel, the solid cup bottom structure of the cup-shaped flexible wheel 4 does not require complex hollow forming or flanging processes. It can be achieved by conventional processing methods such as cutting and stamping. The equipment investment and mold cost are lower, and the requirements for material strength are relatively relaxed (no need for high toughness alloy), which can further reduce material costs.

[0023] The inner ring of the motor front cover 12 fixes the outer ring of the rear bearing 11. The inner ring of the rear bearing 11 is fixed on the rotor shaft. The rotor shaft sleeve 13 is fixed on the rotor shaft. The rotor 14 is fixed on the rotor shaft sleeve 13. The motor shaft code disk seat 16 and the output end code disk seat 18 are both fixed on the rotor shaft 8 and locked by screw No. 24. The output end code disk seat 18 fixes the motor 17 code disk and the output end code disk 19.

[0024] The frameless torque motor stator coil 15 is fixed on the motor housing 20. The motor housing 20, the motor front cover 12, the flexible wheel connecting flange 10 and the inner ring 6 of the cross roller steel wheel are locked and fixed together by screw No. 3 25. The servo driver PCB 21 is installed at the rear end of the motor housing 20. Finally, the motor tail cover 22 is fixed on the motor housing 20 by screw No. 4 26.

[0025] This modular harmonic reducer uses a cross roller steel wheel with an outer ring enclosing an inner ring, and is equipped with a cup-shaped flexure 4. It offers the following advantages: 1. High-precision transmission performance: Harmonic transmission utilizes the deformation and meshing of flexible elements, combined with the high-precision positioning of the cross roller bearings, to control the transmission backlash within 1 arc minute. Furthermore, the optimized stress concentration area of ​​the cup-shaped structure (such as the rounded bottom corner design) ensures a more uniform stress distribution during repeated deformation of the flexure, increasing fatigue life by 20%~40% compared to traditional flexures, and enabling long-term continuous operation; 2. High load-bearing capacity and rigidity: The rollers of the cross roller bearings are installed in a cross-arranged manner. It can simultaneously withstand radial, axial, and overturning moments. Compared to the traditional harmonic reducer paired with ordinary bearings, it can directly support the load, reducing the need for additional support structures. 3. Compact and lightweight design: The improved cross roller steel wheel structure allows the inner and outer rings of the cross roller steel wheel to be on the same plane in the axial direction. This allows the radial dimension of the cup-shaped flexible wheel module to be 10%-15% smaller than that of the cap-shaped module of the same specification, saving more space in special robot joint areas. 4. Installation and space utilization advantages: The hollow structure allows cables, air pipes, or material pipes to pass through directly, avoiding additional openings and simplifying the internal wiring of the equipment.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A harmonic reducer module integrating a steel wheel and a crossed roller bearing, characterized in that: The system includes a T-shaped output flange (1), an outer ring (2) of a cross roller steel wheel, a flexible bearing (3), a cup-shaped flexible wheel (4), a front bearing (5), an inner ring (6) of a cross roller steel wheel, a skeleton oil seal (7), a rotor shaft, a connecting flange (9), a flexible wheel connecting flange (10), a rear bearing (11), a motor front cover (12), a rotor bushing (13), a rotor (14), a frameless torque motor stator coil (15), a motor shaft code disk holder (16), a motor code disk (17), an output end code disk holder (18), an output end code disk (19), a motor housing (20), a servo driver PCB (21), and a motor tail cover (22). The T-shaped output flange (1) is fixedly connected to the outer ring (2) of the cross roller steel wheel, the flexible bearing (3) is installed inside the cup-shaped flexible wheel (4), and the front shaft... The inner diameter of the bearing (5) is held in place by the rotor shaft (8) on the surface. The inner ring of the rotor shaft (8) fixes the outer ring of the front bearing (5). The inner ring (6) of the cross roller steel wheel and the outer ring of the inner ring (6) of the cross roller steel wheel are fitted in opposite directions on the same plane in the axial direction, and a skeleton oil seal (7) is installed in the middle. The inner ring of the motor front cover (12) fixes the outer ring of the rear bearing (11). The inner ring of the rear bearing (11) is fixed on the rotor shaft (8). The rotor shaft sleeve (13) is fixed on the rotor shaft (8). The rotor (14) is fixed on the rotor shaft sleeve (13). The motor shaft code disk seat (16) and the output end code disk seat (18) are both fixed on the rotor shaft (8) and locked by the No. 2 screw (24). The output end code disk seat (18) fixes the motor shaft code disk seat (16) and the output end code disk (19).

2. The harmonic reducer module integrating a steel wheel and a crossed roller bearing as described in claim 1, characterized in that: The cup-shaped flexible wheel (4) is fixed together with the connecting flange (9) and the flexible wheel connecting flange (10) by a screw (23).

3. The harmonic reducer module integrating a steel wheel and a crossed roller bearing as described in claim 1, characterized in that: The frameless torque motor stator coil (15) is fixed on the motor housing (20). The motor housing (20), motor front cover (12), flexible wheel connecting flange (10) and cross roller steel wheel inner ring (6) are locked together by screw No. 3 (25). The motor housing (20) is equipped with a servo driver PCB (21) at the rear end. The motor tail cover (22) is fixed on the motor housing (20) by screw No. 4 (26).

4. The harmonic reducer module integrating a steel wheel and a crossed roller bearing as described in claim 1, characterized in that: The bottom of the T-shaped tube output flange (1) is fixedly connected to the outer ring (2) of the cross roller steel wheel by a No. 5 screw (27).

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