Compact joint module based on harmonic gear

Abstract

The utility model discloses a compact joint module based on harmonic speed reducer, including motor and harmonic speed reducer, and motor includes motor shell and the stator and rotor of being placed in motor shell, and harmonic speed reducer includes speed reducer shell, wave generator, rigid wheel, output flange, cross bearing and flexible wheel, and the one end of flexible wheel is connected with speed reducer shell, and the other end is connected with wave generator, and rotor and stator axial arrangement and rotor are located between stator and harmonic speed reducer, and the length direction of the middle segment of flexible wheel is parallel with the axial direction of the shaft, and the position of the middle segment of flexible wheel is equipped with the corrugated section close to speed reducer shell, and the inner ring of cross bearing is connected with rigid wheel, and the outer ring is connected with speed reducer shell, and the axial arrangement of speed reducer shell and rigid wheel in the shaft, the utility model has reduced the axial and radial dimension of whole joint module, namely the overall size, and the motor outer diameter and harmonic speed reducer outer diameter of joint module after reducing size are more close, and the application is beneficial, and the market requirement is satisfied.

Description

Technical Field

[0001] This utility model relates to a joint module, and more particularly to a compact joint module based on a harmonic reducer. Background Technology

[0002] Currently, regardless of the industry in which the joint modules are used, they all adopt a combination structure of motor + reducer. The reducer is generally a harmonic reducer. The motor provides torque as a power source. This torque is transmitted to the wave generator of the harmonic reducer through the rotating shaft. After being reduced by the harmonic reducer, the torque is amplified, thereby driving the load to move. This load can be various types of equipment.

[0003] Traditional joint modules suffer from the following drawbacks: the stator and rotor of the motor are arranged radially, with the stator located outside the rotor and the rotor inside the stator. The shaft passes through the central hole of the rotor and connects to both the rotor and the wave generator of the harmonic reducer. This structure results in a long axial dimension of the motor with no room for reduction, leading to a large axial dimension of the entire joint module. Furthermore, the deformable section of the flexspline in the harmonic reducer can only be arranged radially; otherwise, its axial length would be too long, preventing a reduction in the outer diameter of the harmonic reducer. This further contributes to a large radial dimension of the entire joint module. Ultimately, both the axial and radial dimensions of the joint module are large, making it difficult to meet market demands for compactness. Since the radial dimension of the harmonic reducer is significantly larger than that of the motor, reducing both the axial and radial dimensions of the motor would significantly reduce the overall size of the joint module. Summary of the Invention

[0004] The purpose of this invention is to provide a compact joint module based on a harmonic reducer with a significantly reduced overall size in order to solve the above problems.

[0005] This utility model achieves the above objectives through the following technical solutions: A compact joint module based on a harmonic reducer includes an interconnected motor and a harmonic reducer. The motor includes a motor housing and a stator and a rotor housed within the motor housing. The harmonic reducer includes a reducer housing, a wave generator, a rigid wheel, an output flange, a cross bearing, and a flexible wheel. One end of the flexible wheel is connected to the reducer housing, and the other end is connected to the wave generator. A rotating shaft passes through the central through-hole of the rotor and is connected to both the rotor and the wave generator. The rotor and the stator are axially aligned, and the rotor is located between the stator and the harmonic reducer. The middle section of the flexible wheel is parallel to the axial direction of the rotating shaft. The middle section of the flexible wheel, near the reducer housing, has an annular concave-convex structure forming a corrugated section. The inner ring of the cross bearing is connected to the rigid wheel, and the outer ring is connected to the reducer housing. The reducer housing and the rigid wheel are axially aligned on the rotating shaft. Note: The motor with the rotor and stator axially arranged as described above is a face motor, which is a mature product with existing technology; the corrugated shape of the corrugated section is the corrugated shape of the bellows in the existing technology.

[0006] Preferably, in order to achieve better deformation function, the axial length of the corrugated section is one-quarter to one-half of the length of the middle section of the flexible wheel.

[0007] Preferably, to facilitate reliable assembly and further reduce size, the reducer housing and the outer ring of the cross bearing are integrally formed as the same component, the rigid wheel and the inner ring of the cross bearing are integrally formed as the same component, the motor housing is connected to the reducer housing through a mounting flange, and the rotor passes through the central through hole of the mounting flange and is connected to the mounting flange through a deep groove ball bearing.

[0008] The beneficial effects of this utility model are as follows: This invention improves the arrangement of the motor's rotor and stator from the traditional radial arrangement to an axial arrangement, which shortens the motor's axial length by approximately 20-30%, thereby reducing the axial dimension of the entire joint module. By setting the entire length of the flexure in the middle section of the harmonic reducer to the axial direction and setting a corrugated section near the reducer housing to achieve the deformation function of the flexure, the diameter of the harmonic reducer can be reduced by approximately 20-30%, thereby reducing the radial dimension of the entire joint module. Ultimately, the axial and radial dimensions of the entire joint module, i.e., the overall size, are significantly reduced. Moreover, the outer diameter of the motor in the joint module after the size reduction is closer to the outer diameter of the harmonic reducer, which is beneficial for application and meets the market's requirements for the compactness of the joint module. Attached Figure Description

[0009] Figure 1 This is a front view schematic diagram of the compact joint module based on a harmonic reducer described in this utility model, showing the internal structure. Detailed Implementation

[0010] The present invention will be further described below with reference to the accompanying drawings: like Figure 1 As shown, the compact joint module based on a harmonic reducer of this utility model includes an interconnected motor and a harmonic reducer. The motor includes a motor housing 1 and a stator 3 and a rotor 4 housed within the motor housing 1. The harmonic reducer includes a reducer housing 9, a wave generator 14, a rigid wheel 11, an output flange 13, a cross bearing 10, and a flexible wheel 7. One end of the flexible wheel 7 is connected to the reducer housing 9, and the other end is connected to the wave generator 14. The rotating shaft 2 passes through the central through-hole of the stator 3 and the central through-hole of the rotor 4, and simultaneously connects with the rotor... The rotor 4 is connected to the wave generator 14. The rotor 4 is axially aligned with the stator 3 and is located between the stator 3 and the harmonic reducer. The middle section of the flexible wheel 7 is parallel to the axis of the shaft 2 (which is also the axis of the motor, the harmonic reducer, and the entire joint module). The middle section of the flexible wheel 7, near the reducer housing 9, has an annular concave-convex structure forming a corrugated section 8. The inner ring of the cross bearing 10 is connected to the rigid wheel 11, and the outer ring is connected to the reducer housing 9. The reducer housing 9 and the rigid wheel 11 are axially aligned with the shaft 2. Note: The motor with the rotor 4 and stator 3 axially aligned is a face motor, a mature existing technology. The corrugated shape of the corrugated section 8 is the corrugated shape of a bellows in the prior art.

[0011] Preferably, to achieve better deformation function, the axial length of the corrugated section 8 is one-quarter to one-half of the length of the middle section of the flexible wheel 7; to facilitate reliable assembly and further reduce size, the reducer housing 9 and the outer ring of the cross bearing 10 are integrally formed as the same part, the rigid wheel 11 and the inner ring of the cross bearing 10 are integrally formed as the same part, the motor housing 1 is connected to the reducer housing 9 through the mounting flange 5, and the rotor 4 passes through the central through hole of the mounting flange 5 and is connected to the mounting flange 5 through two deep groove ball bearings 6.

[0012] Figure 1 The image also shows a flexible bearing 12 located between the output flange 13 and the wave generator 14, which is a conventional structure.

[0013] like Figure 1 As shown, in application, the output flange 13 is connected to the rotating power component. After the motor runs, its rotor 4 rotates at high speed, driving the rotor 2 to rotate synchronously. The rotor 2 drives the wave generator 14 to rotate synchronously. Under the action of the flexible wheel 7, the speed of the rigid wheel 11 is reduced, driving the output flange 13 to rotate at low speed, thereby achieving the purpose of deceleration and increasing torque. It is widely used in the joint mechanism of humanoid robots and other products.

[0014] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. A compact joint module based on a harmonic reducer, comprising an interconnected motor and a harmonic reducer, wherein the motor includes a motor housing and a stator and a rotor housed within the motor housing, and the harmonic reducer includes a reducer housing, a wave generator, a rigid wheel, an output flange, a cross bearing, and a flexible wheel, one end of the flexible wheel being connected to the reducer housing and the other end being connected to the wave generator, and a rotating shaft passing through a central through-hole of the rotor and simultaneously connected to the rotor and the wave generator, characterized in that: The rotor is axially aligned with the stator and is located between the stator and the harmonic reducer. The length direction of the middle section of the flexure is parallel to the axis of the rotating shaft. The middle section of the flexure near the reducer housing has an annular concave-convex structure forming a corrugated section. The inner ring of the cross bearing is connected to the rigid wheel, and the outer ring is connected to the reducer housing. The reducer housing and the rigid wheel are axially aligned with the rotating shaft.

2. The compact joint module based on a harmonic reducer according to claim 1, characterized in that: The axial length of the corrugated section is one-quarter to one-half of the length of the middle section of the flexible wheel.

3. The compact joint module based on a harmonic reducer according to claim 1 or 2, characterized in that: The reducer housing and the outer ring of the cross bearing are integrally formed as the same component. The rigid wheel and the inner ring of the cross bearing are integrally formed as the same component. The motor housing is connected to the reducer housing through a mounting flange. The rotor passes through the central through hole of the mounting flange and is connected to the mounting flange through a deep groove ball bearing.

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