CN115940503A - Joint module of double-rigid-wheel harmonic speed reducer - Google Patents
Joint module of double-rigid-wheel harmonic speed reducer Download PDFInfo
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- CN115940503A CN115940503A CN202211580552.5A CN202211580552A CN115940503A CN 115940503 A CN115940503 A CN 115940503A CN 202211580552 A CN202211580552 A CN 202211580552A CN 115940503 A CN115940503 A CN 115940503A
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Abstract
The invention provides a harmonic speed reducer joint module with double rigid wheels, which relates to the technical field of speed reducers and comprises a wave generator, a flexible bearing, a flexible wheel, a first rigid wheel, a second rigid wheel, a motor shell, a motor stator, a motor rotor, a driving plate, a motor rear cover, a front end cover and a rear end cover, wherein a cross roller bearing is arranged between the first rigid wheel and the second rigid wheel; the motor shell is fixed at one end of the wave generator, the motor rotor is sleeved and fixed outside the wave generator, the motor stator is arranged in the motor shell, and one side of the front end cover, which is close to the wave generator, is provided with a through wire pipe which is integrally formed with the front end cover and is arranged in an inner hole of the wave generator in a penetrating way; a first bearing is arranged between the wave generator and the wire tube, and a second bearing is arranged between the motor rear cover and the wave generator. The invention can improve the motion precision and stability of the module, shorten the axial length of the module and meet the requirements of small size, light weight and high torque density of the module.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a double-rigid-wheel harmonic speed reducer joint module.
Background
The robot joint module is a core component of small robots such as a cooperative robot and a mobile robot, and the robot is quickly and conveniently assembled and maintained through the speed reducer and the motor modularized joint module. At present, robot joint modules are increasingly applied to the service robot industry, so that strict requirements are imposed on the performances of small size, light weight, high torque density, high reliability and the like of the joint modules.
The robot joint module in the prior art is mostly an integrated design adopting a single-rigid-wheel harmonic speed reducer and a frameless torque motor, and the single-rigid-wheel harmonic speed reducer has the problems of long axial length, insufficient load and impact resistance and the like. The frameless torque motor is limited by the size, the thickness, the central aperture and the like, the thickness of a rotor magnetic material is often insufficient, so that the power is insufficient, the output capacity of the harmonic speed reducer cannot be matched, and the load capacity of a module cannot be further met.
If do not use the crisscross bearing to connect between two rigid wheels of two rigid wheel modules among the prior art, then moment of flexure ability is not enough, can't satisfy the demand of module moment of flexure bearing capacity, if use the crisscross bearing to connect, then can lead to in the bulky weight, can't satisfy the miniaturized lightweight demand of module. In addition, most speed reducer shafts and motor shaft are two split type axles among the current module, lead to both hardly to accomplish high axiality, greatly increased the assembly degree of difficulty, can't guarantee module moving stationarity.
Disclosure of Invention
The invention aims to provide a double-rigid-wheel harmonic speed reducer joint module which can improve the motion precision and stability of the module, shorten the axial length of the module and meet the requirements of small size, light weight, high torque density and high reliability of the module.
The technical purpose of the invention is realized by the following technical scheme:
a double-rigid-wheel harmonic speed reducer joint module comprises a wave generator, a flexible bearing, a flexible gear, a first rigid wheel, a second rigid wheel, a motor shell, a motor stator, a motor rotor, a driving plate, a motor rear cover, a front end cover and a rear end cover, wherein the flexible bearing is arranged outside the wave generator, the flexible gear is sleeved outside the flexible bearing, the outer teeth of the flexible gear are meshed with the inner teeth of the first rigid wheel and the inner teeth of the second rigid wheel, one of the flexible gear and the first rigid wheel is meshed with the same teeth, and the other of the flexible gear and the second rigid wheel is meshed with the different teeth; a crossed roller bearing is arranged between the first rigid wheel and the second rigid wheel, the outer walls of the first rigid wheel and the second rigid wheel are respectively used as an inner ring and an outer ring of the crossed roller bearing, and the inner teeth of the first rigid wheel and the inner teeth of the second rigid wheel are respectively processed and formed on the inner ring and the outer ring of the crossed roller bearing;
the motor rotor is sleeved and fixed outside the wave generator to drive the wave generator to rotate, and the motor stator is arranged in the motor shell and matched with the motor rotor; the motor rear cover is arranged at one end of the motor stator far away from the flexible bearing, the rear end cover is arranged at one end of the motor shell far away from the wave generator, and the driving plate is arranged between the motor rear cover and the rear end cover;
the front end cover is arranged at one end of the wave generator far away from the motor shell, one side of the front end cover close to the wave generator is provided with a through wire pipe which is arranged along the axial direction of the wave generator and is integrally formed with the wave generator, and the through wire pipe penetrates through the wave generator and the inner hole of the motor shell and is coaxially arranged with the front end cover and the wave generator; a first bearing close to the front end cover is arranged between the wave generator and the wire tube, and a second bearing is arranged between the motor rear cover and the wave generator.
By adopting the technical scheme, the motor stator is fixed in the motor shell, the motor rotor is fixed on the wave generator, the rigid gear II is connected with the motor shell, the rigid gear I and the rigid gear II are used as fixed ends, the other is used as an output end, the drive plate drives the motor rotor to drive the wave generator to rotate, the wave generator drives the flexible gear to deform through the flexible bearing, the rigid gear I and the rigid gear II are the same as the flexible gear in number of teeth and are meshed with the same number of teeth, the other internal teeth are meshed with one to four more teeth than the flexible gear external teeth in number of teeth, the same number of teeth are meshed with the flexible gear to keep the same speed of rotation, and the differential number of teeth meshed with the flexible gear to keep the differential number of teeth of rotation. And the double rigid wheel harmonic speed reducer is used for replacing a single rigid wheel harmonic speed reducer, so that the impact resistance and the load capacity of the module are improved.
The first rigid wheel and the second rigid wheel are respectively used as an inner ring and an outer ring of the crossed roller bearing, inner teeth of the first rigid wheel and the second rigid wheel are processed on the inner walls of the inner ring and the outer ring of the crossed roller bearing, and the crossed rollers are arranged between the first rigid wheel and the second rigid wheel, so that an integrated structure of the first rigid wheel, the second rigid wheel and the crossed roller bearing is formed. That is to say, process the internal tooth respectively with original cross roller bearing's inner circle and outer lane and replace two original rigid wheels, when guaranteeing that moment of flexure ability satisfies module moment of flexure bearing capacity demand, save the weight and the volume of two original rigid wheels, the axial length of harmonic speed reducer machine is only equivalent to the length of original cross roller bearing moreover, and axial length shortens by a wide margin to effectively reduce the volume and the weight of module, satisfy the miniaturization of module, lightweight demand.
In addition, the axial length of the wave generator is lengthened, the motor rotor is installed outside the wave generator, the wave generator is directly used as an input shaft of the frameless torque motor, the coaxiality of the motor and the speed reducer is improved, the assembly difficulty is reduced, the speed reducer and the motor are supported by the first bearing and the second bearing, and the operation stability of the module is guaranteed. And the through line pipe which is integrally formed with the front end cover is arranged, so that the installation between the wave generator and the front end cover is convenient on one hand, and the wiring from the through line pipe is convenient on the other hand.
According to the invention, a double-rigid-wheel harmonic speed reducer replaces a single-rigid-wheel harmonic speed reducer in a module, the wave generator is used as an input shaft of a frameless torque motor, the first bearing and the second bearing are arranged to support the wave generator and the motor, the cross roller bearing is arranged between the first rigid wheel and the second rigid wheel, and the outer walls of the first rigid wheel and the second rigid wheel are used as the inner ring and the outer ring of the cross roller bearing, so that the motion precision and the stability of the module are effectively improved, the axial length of the module is shortened, and the requirements of small size, light weight, high torque density and high reliability of the module are met.
Furthermore, a bearing spacer bush is arranged between the inner ring of the second bearing and the outer circle of the wave generator, and a third bearing is arranged between one end of the motor shell close to the wave generator and the wave generator; the diameter of the outer circle of the wave generator is in a step shape, and the diameters of the outer circles of the wave generator at three positions corresponding to the bearing spacer bush, the third bearing and the flexible bearing are sequentially increased.
By adopting the technical scheme, the axial length of the wave generator is longer, one side of the wave generator is used as an input shaft of the harmonic speed reducer, the other side of the wave generator is used as an input shaft of the frameless torque motor, the first bearing and the third bearing are arranged to jointly support the speed reducer, and the second bearing and the third bearing jointly support the motor. Due to the installation requirement of the third bearing, the diameter of the excircle of the wave generator at the position corresponding to the second bearing is smaller than that of the excircle at the corresponding third position, so that the third bearing can be conveniently installed in place from one end of the wave generator. And the bearing spacer bush is arranged, so that the second bearing can be conveniently installed, the second bearing and the third bearing can be identical in size, and the second bearing does not need to be additionally designed. In addition, the excircle diameter of the excircle of the wave generator relative to the position of the flexible bearing is larger than that of the excircle of the wave generator corresponding to the position of the third bearing, so that on the premise of ensuring the normal function of the wave generator, enough space is provided for the installation of the motor, the weight of the wave generator is reduced as much as possible, and the light-weight requirement of the module is met.
Furthermore, a motor encoder is arranged between the driving plate and the second bearing and is connected with one end, close to the rear end cover, of the wave generator; the motor shell inner wall is equipped with rather than coaxial torque sensor, just torque sensor has the response piece that a plurality of circumference arrays set up.
By adopting the technical scheme, the motor encoder connected with the wave generator is arranged, so that the rotation precision of the wave generator, namely the input end, is improved, and the movement precision of the module is ensured. The torque sensor with the induction sheet can generate elastic deformation when the module is subjected to the torque in the rotating direction and the bending moment in the axial direction, and can calculate the torque magnitude received by the module in different directions according to the measured deformation, so that the work of the module is controlled conveniently.
Furthermore, two flexible bearings are arranged and correspond to the first internal teeth of the rigid wheel and the second internal teeth of the rigid wheel respectively; the outer wall of the first rigid wheel serves as an inner ring of the crossed roller bearing, and the outer wall of the second rigid wheel serves as an outer ring of the crossed roller bearing; end face mounting holes which are matched with each other are formed in the end face, close to the front end cover, of the first rigid wheel and the front end cover, and the axis of each end face mounting hole is parallel to the axis of the first rigid wheel.
By adopting the technical scheme, the two flexible bearings are arranged and respectively correspond to the inner teeth of the first rigid gear and the second rigid gear, so that the wave generator can drive the flexible gear to be respectively and tightly meshed with the first rigid gear and the second rigid gear through the two flexible bearings. Due to the two shapes of the first rigid wheel and the first rigid wheel, the outer wall of the first rigid wheel is used as an inner ring of the crossed roller bearing, the second rigid wheel is used as an outer ring of the crossed roller bearing, and end face mounting holes which are matched with each other are formed in the end face of the first rigid wheel and the front end cover, so that the front end cover and the first rigid wheel can be conveniently mounted and connected.
Furthermore, one flexible bearing is arranged and is positioned in the middle of the flexible gear, the flexible bearing simultaneously corresponds to the first rigid gear and the second rigid gear, and the width of the outer teeth of the flexible gear is consistent with the total width of the inner teeth of the first rigid gear and the inner teeth of the second rigid gear; the outer wall of the first rigid wheel serves as an outer ring of the crossed roller bearing, and the outer wall of the second rigid wheel serves as an inner ring of the crossed roller bearing; the outer wall of the first rigid wheel is provided with an outer circle mounting hole, and the axis of the outer circle mounting hole is arranged along the radial direction of the first rigid wheel.
By adopting the technical scheme, the flexible bearings are arranged to be one, the axial lengths of the corresponding wave generator and the elliptical cam matched with the flexible bearings, the flexible gear, the first rigid gear and the second rigid gear can be properly shortened, meanwhile, the width of the outer teeth of the flexible gear on the axial length is kept consistent with the total width of the inner teeth of the first rigid gear and the total width of the inner teeth of the second rigid gear, and the flexible bearings are positioned in the middle of the flexible gear and simultaneously correspond to the first rigid gear and the second rigid gear, so that the stress degree of the outer teeth of the flexible gear, the inner teeth of the first rigid gear and the inner teeth of the second rigid gear in the meshing process is equivalent, the flexible gear is in an optimal balance state, the speed reducer operates most stably, and the service life is maximized. After one flexible bearing replaces two flexible bearings, the size of the whole module is greatly reduced, the axial length is greatly shortened, the axial lengths of the flexible wheel, the rigid wheel I and the rigid wheel II are all shortened, and at the moment, the space for locking the screw in the axial direction is not reserved between the rigid wheel I and the shell wrapping the module, but the outer diameter is not changed, so that the outer circle mounting hole is formed in the outer wall of the rigid wheel I, and the rigid wheel I and the module shell are fixed through the locking screw in the radial direction. Due to the arrangement and appearance requirements of the excircle mounting hole, the outer wall of the first rigid wheel is required to be used as an outer ring of the crossed roller bearing, and the outer wall of the second rigid wheel is required to be used as an inner ring of the crossed roller bearing.
Further, motor housing and rigid wheel two integrated into one piece, motor stator passes through screw fixed mounting on rigid wheel two, wave generator outer wall be equipped with rather than coaxial and with electric motor rotor complex annular, electric motor rotor inlays the dress in the annular.
Through adopting above-mentioned technical scheme, motor housing and two integrated into one piece of rigid wheel, be about to motor housing and two integrated designs of rigid wheel, can increase the rigidity and the intensity of whole module to let the structure of module compacter, further shorten the axial length of module. Utilize the screw to fix motor stator on rigid wheel two for motor stator installs more firmly, avoids part deformation that interference mounting brought or the fixed instability and the glue pollution problem that brings of glue, and it is more convenient to install. In addition, the motor stator is fixed on the second rigid wheel, so that the motor and the speed reducer can be ensured to be coaxial as much as possible, and the motor stator and the speed reducer are fixed firmly as much as possible to avoid relative displacement, so that the stability and the motion precision of the whole operation of the module are ensured. And electric motor rotor inlays the dress in the annular, is about to electric motor rotor and wave generator integrated design, can increase electric motor rotor's thickness on the one hand, promotes the output of motor, and on the other hand can be so that wave generator's hole further enlarges, and the wire pipe enlarges promptly, facilitates for the module wiring to the module structure is simple compacter, and the power density of whole module promotes by a wide margin.
Furthermore, one flexible bearing is arranged and is positioned in the middle of the flexible gear, the flexible bearing simultaneously corresponds to the first rigid gear and the second rigid gear, and the width of the outer teeth of the flexible gear is consistent with the total width of the inner teeth of the first rigid gear and the inner teeth of the second rigid gear; the outer wall of the first rigid wheel serves as an outer ring of the crossed roller bearing, the outer wall of the second rigid wheel serves as an inner ring of the crossed roller bearing, an outer circle mounting hole is formed in the outer wall of the first rigid wheel, and the axis of the outer circle mounting hole is arranged along the radial direction of the first rigid wheel.
By adopting the technical scheme, the flexible bearings are arranged to be one, the axial lengths of the corresponding wave generator and the elliptical cam matched with the flexible bearings, the flexible gear, the first rigid gear and the second rigid gear can be properly shortened, meanwhile, the width of the outer teeth of the flexible gear on the axial length is kept consistent with the total width of the inner teeth of the first rigid gear and the total width of the inner teeth of the second rigid gear, and the flexible bearings are positioned in the middle of the flexible gear and simultaneously correspond to the first rigid gear and the second rigid gear, so that the stress degree of the outer teeth of the flexible gear, the inner teeth of the first rigid gear and the inner teeth of the second rigid gear in the meshing process is equivalent, the flexible gear is in an optimal balance state, the speed reducer operates most stably, and the service life is maximized. After one flexible bearing replaces two flexible bearings, the size of the whole module is greatly reduced, the axial length is greatly shortened, the axial lengths of the flexible wheel, the rigid wheel I and the rigid wheel II are all shortened, and at the moment, the space for locking the screw in the axial direction is not reserved between the rigid wheel I and the shell wrapping the module, but the outer diameter is not changed, so that the outer circle mounting hole is formed in the outer wall of the rigid wheel I, and the rigid wheel I and the module shell are fixed through the locking screw in the radial direction. Due to the arrangement and appearance requirements of the excircle mounting hole, the outer wall of the first rigid wheel is required to be used as an outer ring of the crossed roller bearing, and the outer wall of the second rigid wheel is required to be used as an inner ring of the crossed roller bearing.
Furthermore, a first encoder is arranged between the motor rotor and the second bearing, a second encoder is arranged between the driving plate and the rear end cover, the first encoder is connected with the wave generator, and the second encoder is connected with a through line pipe on the front end cover; the motor shell inner wall is equipped with rather than coaxial torque sensor, just torque sensor has the response piece that a plurality of circumference arrays set up.
Through adopting above-mentioned technical scheme, set up first encoder and second encoder, the module adopts two encoder structures like this, and first encoder is connected with the wave generator input of module promptly, and the second encoder is connected with the output of solenoid and module, and the motion accuracy of module can be promoted to the two encoder closed-loop control of input and output by a wide margin. The torque sensor with the induction sheet can generate elastic deformation when the module is subjected to the torque in the rotating direction and the bending moment in the axial direction, and can calculate the torque magnitude received by the module in different directions according to the measured deformation, so that the work of the module is controlled conveniently.
Furthermore, a motor brake is arranged between the end face of one end, far away from the front end cover, of the wave generator and the drive plate, the motor brake comprises an armature, a magnetic yoke, an electromagnetic coil and a spring, the armature is close to the end face of the wave generator, and when the motor brakes, the spring pushes the armature to press the end face of the wave generator to brake.
Through adopting above-mentioned technical scheme, original motor brake has the brake disc, and this application is direct uses the terminal surface of wave generator as the brake disc, saves original brake disc, and when motor brake when braking, the spring promotes armature and compresses tightly wave generator terminal surface, and under the friction torque effect, wave generator stall immediately, and the motor stall simultaneously promptly realizes brake. Therefore, the weight and the volume of the motor brake can be reduced, and the light weight and the miniaturization of the module are realized.
Furthermore, a sealing gasket ring is arranged between the motor stator and the second rigid wheel, and the sealing gasket ring is a polytetrafluoroethylene gasket ring.
Through adopting above-mentioned technical scheme, the sealing gasket ring that sets up between motor stator and rigid wheel II plays sealed effect, prevents that grease from leaking to the motor in from speed reducer one side. The sealing gasket ring is made of polytetrafluoroethylene, has excellent chemical stability, corrosion resistance, sealing property, high lubrication non-sticking property, electric insulating property and good ageing resistance, and effectively ensures the using effect and the service life of the sealing gasket ring.
In conclusion, the invention has the following beneficial effects:
1. according to the harmonic speed reducer, a double rigid gear structure comprising a first rigid gear and a second rigid gear is adopted to replace a single rigid gear structure, so that the impact resistance and the load capacity of the harmonic speed reducer are enhanced; a cross roller bearing is further arranged between the first rigid wheel and the second rigid wheel, the outer walls of the first rigid wheel and the second rigid wheel are respectively used as an inner ring and an outer ring of the cross roller bearing, inner teeth are processed on the inner ring and the outer ring of the original cross roller bearing to be used as the first rigid wheel and the second rigid wheel, the double rigid wheels and the cross roller bearing are integrally designed, the weight and the volume of the original two rigid wheels are saved, the axial length of a harmonic speed reducer is only equal to the length of the original cross roller bearing, the axial length of the speed reducer is greatly shortened, and the whole module is lighter and smaller;
2. according to the invention, the motor rotor is arranged on the wave generator, the axial length of the wave generator is increased, the wave generator is used for replacing the original motor input shaft, and the first bearing, the second bearing and the third bearing jointly support the speed reducer and the motor, so that the coaxiality of the speed reducer and the motor can be greatly improved, and the running precision and the stability of the module are ensured;
3. according to the invention, the wave generator and the motor rotor are integrated, the motor shell and the rigid wheel are integrated, the coaxiality of the speed reducer and the motor is effectively improved, the operation precision and the stability of the module are improved, meanwhile, the thickness of the motor rotor is increased, the output power of the motor is improved, the power density of the whole module is greatly improved, and the load capacity requirement of the module is met.
Drawings
Fig. 1 is a schematic view of an overall structure of a double-rigid-wheel harmonic reducer joint module in an embodiment;
fig. 2 is a schematic view of an overall structure of a double-rigid-wheel harmonic reducer joint module according to a second embodiment;
fig. 3 is a schematic view of an overall structure of a double-rigid-wheel harmonic reducer joint module in the third embodiment;
fig. 4 is a schematic structural view of a portion a in fig. 3.
In the figure, 1, a wave generator; 2. a compliant bearing; 3. a flexible gear; 4. a first rigid wheel; 41. an end face mounting hole; 42. an excircle mounting hole; 5. a second rigid wheel; 6. a crossed roller bearing; 7. a motor housing; 8. a motor stator; 81. a sealing gasket ring; 82. a screw; 9. a motor rotor; 91. a ring groove; 10. a drive plate; 11. a motor rear cover; 12. a front end cap; 13. a through pipe; 14. a rear end cap; 15. a first bearing; 16. a second bearing; 17. a bearing spacer; 18. a third bearing; 19. a motor encoder; 20. a torque sensor; 21. a first encoder; 22. a second encoder; 23. braking by a motor; 24. an armature; 25. a magnetic yoke; 26. an electromagnetic coil; 27. a spring.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
the utility model provides a two rigid wheel harmonic speed reducer machine joint module, as shown in figure 1, including two rigid wheel harmonic speed reducer machines and motor, two rigid wheel harmonic speed reducer machines include wave generator 1, flexible bearing 2, flexbile gear 3, rigid wheel 4, rigid wheel two 5, the motor includes motor housing 7, motor stator 8, motor rotor 9, drive plate 10, motor rear cover 11, motor housing 7 and the coaxial setting of wave generator 1 just fix in wave generator 1 one end, and the one end that motor housing 7 was kept away from to wave generator 1 is equipped with front end housing 12, the one end that wave generator 1 was kept away from to motor housing 7 is equipped with rear end housing 14.
As shown in fig. 1, the position of the wave generator 1 corresponding to the flexible bearing 2 is in an elliptical cam shape, the flexible bearing 2 is installed on the elliptical cam of the wave generator 1, the flexible bearing 2 is externally sleeved with an annular straight cylindrical flexible gear 3, the external teeth of the flexible gear 3 are simultaneously meshed with the internal teeth of the first rigid gear 4 and the internal teeth of the second rigid gear 5, one of the internal teeth of the first rigid gear 4 and the second rigid gear 5 is the same as the external teeth of the flexible gear 3 in tooth number, the two internal teeth are meshed with the same tooth number to keep rotating at the same speed, the other internal teeth are one to four teeth more than the external teeth of the flexible gear 3, and the differential operation is kept by the meshing of the two different tooth numbers. One of the first rigid wheel 4 and the second rigid wheel 5 serves as an output end, and the other serves as a fixed end.
As shown in fig. 1, a cross roller bearing 6 is arranged between the first rigid wheel 4 and the second rigid wheel 5, the outer walls of the first rigid wheel 4 and the second rigid wheel 5 are respectively used as an inner ring and an outer ring of the cross roller bearing 6, and the inner teeth of the first rigid wheel 4 and the second rigid wheel 5 are respectively processed and formed on the inner ring and the outer ring of the cross roller bearing 6, so that the first rigid wheel 4, the second rigid wheel 5 and the cross roller bearing 6 are integrated. That is to say, the outer teeth meshed with the flexible gear 3 are directly processed on the inner ring and the outer ring of the original crossed roller bearing 6 respectively, so that the inner ring and the outer ring of the crossed roller bearing 6 can directly replace the original two rigid gears, the volume and the weight of the two rigid gears are saved, and the axial length of the double-rigid-gear harmonic speed reducer is greatly reduced.
As shown in fig. 1, in the present embodiment, two flexible bearings 2 are provided, and the two flexible bearings 2 correspond to the internal teeth of the first rigid gear 4 and the internal teeth of the second rigid gear 5, respectively, so as to ensure the meshing effect of the flexible gear 3 with the first rigid gear 4 and the second rigid gear 5. The outer wall of the first rigid wheel 4 serves as an inner ring of the crossed roller bearing 6, the outer wall of the second rigid wheel 5 serves as an outer ring of the crossed roller bearing 6, namely the inner ring machining inner teeth of the crossed roller bearing 6 serve as the first rigid wheel 4, and the outer ring machining inner teeth of the crossed roller bearing 6 serve as the second rigid wheel 5. Based on the structure, in order to facilitate the connection of the rigid wheel 4 and a module shell (not shown in the figure), end face mounting holes 41 which are matched with each other are arranged on the end face of the rigid wheel 4 close to the front end cover 12 and the front end cover 12, and the axis of the end face mounting hole 41 is parallel to the axis of the rigid wheel 4.
As shown in fig. 1, in the present embodiment, the second rigid wheel 5 is located between the first rigid wheel 4 and the motor housing 7 and is connected with the motor housing 7, the axial length of the wave generator 1 is increased, the motor rotor 9 is fixedly installed outside the wave generator 1 in a sleeved manner, and the motor stator 8 is installed inside the motor housing 7 and is matched with the motor rotor 9. The motor rear cover 11 is arranged at one end of the motor stator 8 far away from the flexible bearing 2, the rear end cover 14 is arranged at one end of the motor shell 7 far away from the wave generator 1, the driving plate 10 is arranged between the motor rear cover 11 and the rear end cover 14, and the driving motor rotor 9 drives the wave generator 1 to rotate. Wherein, one side of the front end cover 12 close to the wave generator 1 is provided with a hollow through pipe 13 which is axially arranged along the wave generator and is integrally formed with the front end cover, the through pipe 13 is arranged in inner holes of the wave generator 1 and the motor shell 7 in a penetrating way, and is coaxially arranged with the front end cover 12 and the wave generator 1, thereby facilitating the rotating connection between the wave generator 1 and the front end cover 12 and the threading of the harmonic reducer.
As shown in fig. 1, by increasing the axial length of the wave generator 1, the motor rotor 9 is installed on the wave generator 1, one side of the motor rotor serves as an input shaft of the harmonic reducer, the other side of the motor rotor serves as an input shaft of the motor, and the wave generator 1 is used for replacing the input shaft of the motor, so that the coaxiality of the harmonic reducer and the motor is improved, and the assembly difficulty is reduced. The wave generator 1 is easy to jump when running after the axial length of the wave generator 1 is lengthened, therefore, a first bearing 15 close to the front end cover 12 is arranged between the wave generator 1 and the wire tube 13, a second bearing 16 is arranged between the motor rear cover 11 and the wave generator 1, a bearing spacer 17 is arranged between the inner ring of the second bearing 16 and the outer circle of the wave generator 1, and a third bearing 18 is arranged between one end of the motor shell 7 close to the wave generator 1 and the wave generator 1. The first bearing 15, the second bearing 16 and the third bearing 18 are all high-precision deep groove ball bearings, so that the first bearing 15 and the third bearing 18 are used for supporting the wave generator 1, the second bearing 16 and the third bearing 18 are used for supporting the motor, the coaxiality is guaranteed, meanwhile, the axial runout of the wave generator 1 is reduced, and the running stability of the module is improved.
As shown in fig. 1, in this embodiment, the outer diameter of the wave generator 1 is stepped, and the outer diameters of the outer circles at three positions of the bearing spacer 17, the third bearing 18 and the flexible bearing 2 are sequentially increased, so that sufficient installation space is left for the motor while the overall working performance of the wave generator 1 is ensured, and the overall weight and volume of the module are reduced.
As shown in fig. 1, a motor encoder 19 is further disposed between the driving plate 10 and the second bearing 16, the motor encoder 19 is connected to one end of the wave generator 1 close to the rear end cap 14, and the operation precision of the wave generator 1, i.e., the input end, is precisely controlled by the motor encoder 19. In addition, a torque sensor 20 coaxial with the motor shell 7 is arranged on the inner wall of the motor shell 7, and the torque sensor 20 is provided with a plurality of sensing sheets arranged in a circumferential array. The torque sensor 20 with the sensing piece can elastically deform when the module is subjected to the torque in the rotating direction and the bending moment in the axial direction, and can calculate the torque in different directions of the module according to the measured deformation, so that the work of the module can be controlled conveniently.
The second embodiment:
a double-rigid-wheel harmonic speed reducer joint module is shown in figures 1 and 2, the structure and the principle of the double-rigid-wheel harmonic speed reducer joint module are basically the same as those of the first embodiment, and the difference is that only one flexible bearing 2 is arranged, two flexible bearings 2 are changed into one flexible bearing, and accordingly the axial lengths of an elliptical cam, a flexible wheel 3, a first rigid wheel 4 and a second rigid wheel 5 which are provided with the flexible bearings 2 on a wave generator 1 can be properly shortened. After the flexible bearing 2 is set to be one, the flexible bearing 2 is required to be located in the middle of the flexible gear 3 and simultaneously correspond to the first rigid gear 4 and the second rigid gear 5, the width of the outer teeth of the flexible gear 3 is consistent with the total width of the inner teeth of the first rigid gear 4 and the total width of the inner teeth of the second rigid gear 5, the stress degree of the outer teeth of the flexible gear 3 is equivalent to that of the inner teeth of the first rigid gear 4 and the inner teeth of the second rigid gear 5 in the meshing process, the flexible gear is in the optimal balance state, the speed reducer operates most stably, and the service life is maximized.
As shown in fig. 1 and 2, after one flexible bearing 2 replaces two flexible bearings 2, the volume of the whole module is greatly reduced, the axial length is greatly shortened, the axial lengths of the flexspline 3, the first rigid gear 4 and the second rigid gear 5 are all shortened, and at this time, no space for locking screws 82 in the axial direction exists between the first rigid gear 4 and a shell (not shown in the figure) wrapping the module, but the outer diameter is not changed, so that the outer circle mounting hole 42 with the axis arranged along the radial direction of the first rigid gear 4 is arranged on the outer wall of the first rigid gear 4, the end face mounting hole 41 in the first embodiment is replaced by the outer circle mounting hole 42, and the first rigid gear 4 and the module shell are fixed by the locking screws 82 in the radial direction.
As shown in fig. 1 and 2, due to the installation and the requirement of the external circle installation hole 42, it is necessary to use the outer wall of the first rigid wheel 4 as the outer ring of the crossed roller bearing 6 and the outer wall of the second rigid wheel 5 as the inner ring of the crossed roller bearing 6, which is equivalent to exchanging the external shapes of the first rigid wheel 4 and the second rigid wheel 5 in the first embodiment, that is, machining the internal teeth on the outer ring of the crossed roller bearing 6 to be used as the first rigid wheel 4 and machining the internal teeth on the inner ring of the crossed roller bearing 6 to be used as the second rigid wheel 5.
Example three:
the utility model provides a two rigid wheel harmonic speed reducer machine joint module, its basic structure and principle are the same basically with in embodiment one, the difference lies in:
as shown in fig. 1 and fig. 3, in the first embodiment, the motor is detachably mounted and connected to the second rigid wheel 5, and the motor rotor 9 is directly fixed outside the wave generator 1 in a sleeved manner, whereas in the present embodiment, the motor housing 7 and the second rigid wheel 5 are integrally formed, the motor stator 8 is fixedly mounted on the second rigid wheel 5 through the screw 82, the outer wall of the wave generator 1 is provided with the annular groove 91 coaxial with the motor housing and matched with the motor rotor 9, and the motor rotor 9 is embedded in the annular groove 91, that is, in the present embodiment, the motor housing 7 and the second rigid wheel 5 are integrally designed, and the motor rotor 9 and the wave generator 1 are integrally designed.
As shown in fig. 1 and 3, the integrated design of the motor housing 7 and the rigid wheel can increase the rigidity and strength of the whole module, make the structure of the module more compact, and further shorten the axial length of the module. The motor stator 8 is fixed on the second rigid wheel 5 through the screw 82, so that the motor stator 8 is more firmly installed, the problems of part deformation caused by interference installation or instability and glue pollution caused by glue fixation are avoided, and the installation is more convenient and faster. In addition, the motor stator 8 is fixed on the second rigid wheel 5, so that the motor and the speed reducer can be ensured to be coaxial as much as possible, and the motor stator and the speed reducer are fixed as much as possible and can be prevented from generating relative displacement, so that the stability and the motion precision of the whole operation of the module are ensured.
As shown in fig. 1 and 3, the motor rotor 9 and the wave generator 1 are integrally designed, so that the thickness of the motor rotor 9 can be increased, the output power of the motor can be improved, the inner hole of the wave generator 1 can be further enlarged, namely, the through wire pipe 13 is enlarged, convenience is provided for module wiring, the module structure is simpler and more compact, and the power density of the whole module is greatly improved.
As shown in fig. 1 and 3, since the second rigid gear 5 and the motor housing 7 are integrally designed in this embodiment, a third bearing 18 between the wave generator 1 and the motor housing 7 and a bearing spacer 17 between the second bearing 16 and the wave generator 1 are eliminated. In addition, as shown in fig. 3, after the second rigid wheel 5 and the motor housing 7 are integrally designed, in order to avoid leakage, a sealing gasket ring 81 is arranged between the motor stator 8 and the second rigid wheel 5, and the sealing gasket ring 81 is a polytetrafluoroethylene gasket ring, so that grease is prevented from leaking into the motor from one side of the speed reducer.
In the present embodiment, only one flexible bearing 2 is provided, instead of two flexible bearings in the first embodiment, as shown in fig. 2 and 3, as in the second embodiment, a single flexible bearing 2 is located in the middle of the flexible gear 3 and simultaneously corresponds to the first rigid gear 4 and the second rigid gear 5, and the width of the outer teeth of the flexible gear 3 is consistent with the total width of the inner teeth of the first rigid gear 4 and the inner teeth of the second rigid gear 5. Similarly, an outer circumferential mounting hole 42 whose axis is arranged in the radial direction of the first rigid wheel 4 is provided in the outer wall of the first rigid wheel 4, the end face mounting hole 41 in the first embodiment is replaced with the outer circumferential mounting hole 42, and the first rigid wheel 4 and the module case are fixed by a locking screw 82 in the radial direction. Due to the arrangement and the shape requirement of the outer circle mounting hole 42, the outer wall of the first rigid wheel 4 is used as the outer ring of the crossed roller bearing 6, and the outer wall of the second rigid wheel 5 is used as the inner ring of the crossed roller bearing 6, which is equivalent to the shape exchange of the first rigid wheel 4 and the second rigid wheel 5 in the first embodiment, that is, inner teeth are processed on the outer ring of the crossed roller bearing 6 to be used as the first rigid wheel 4, and inner teeth are processed on the inner ring of the crossed roller bearing 6 to be used as the second rigid wheel 5.
As shown in fig. 1 and 3, in the present embodiment, as in the first embodiment, the torque sensor 20 is disposed on the inner wall of the motor housing 7 and is coaxial with the motor housing, and the torque sensor 20 has a plurality of sensing sheets arranged in a circumferential array, so that the magnitude of the torque applied to the module in different directions is calculated by using the deformation measured by the torque sensor 20, thereby facilitating the operation of the control module.
As shown in fig. 1 and 3, the present embodiment is different from the first embodiment in that two encoders 19 are provided instead of one motor encoder. A first encoder 21 is arranged between the motor rotor 9 and the second bearing 16, a second encoder 22 is arranged between the driving plate 10 and the rear end cover 14, the first encoder 21 is connected with the wave generator 1, and the second encoder 22 is connected with the through-wire pipe 13 on the front end cover 12. The module adopts the dual encoder structure like this, and first encoder 21 is connected with wave generator 1 the input of module promptly, and second encoder 22 is connected with the output of the module promptly of lead wire pipe 13, and the dual encoder closed-loop control of input and output can promote the motion precision of module by a wide margin.
As shown in fig. 3 and 4, in the present embodiment, a motor brake 23 is disposed between an end face of the wave generator 1 far from the front end cover 12 and the drive plate 10, the motor brake 23 includes an armature 24, a yoke 25, an electromagnetic coil 26, and a spring 27, and the armature 24 is close to the wave generating end face, and when the motor brake 23 brakes, the spring 27 pushes the armature 24 to press the end face of the wave generator 1 for braking. The original motor brake 23 is provided with a brake disc, the end face of the wave generator 1 is directly used as the brake disc in the embodiment, and the end face of the wave generator 1 is processed to achieve the use performance of the original brake disc. When the motor brake 23 brakes, the spring 27 pushes the armature 24 to press the end face of the wave generator 1, and under the action of the friction torque, the wave generator 1 stops running immediately, namely the motor stops running at the same time, so that the braking is realized. Therefore, the original brake disc is omitted, the weight and the volume of the motor brake 23 can be reduced, and the light weight and the miniaturization of the module are realized.
While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a two rigid wheel harmonic speed reducer machine joint module which characterized in that: the flexible gear generator comprises a wave generator (1), a flexible bearing (2), a flexible gear (3), a first rigid gear (4), a second rigid gear (5), a motor shell (7), a motor stator (8), a motor rotor (9), a drive plate (10), a motor rear cover (11), a front end cover (12) and a rear end cover (14), wherein the flexible bearing (2) is installed outside the wave generator (1), the flexible gear (3) is sleeved outside the flexible bearing (2), the outer teeth of the flexible gear (3) are meshed with the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5), the flexible gear (3) is meshed with one of the first rigid gear (4) and the second rigid gear (5) in the same tooth manner, and the other is meshed in the different tooth manner; a crossed roller bearing (6) is arranged between the first rigid wheel (4) and the second rigid wheel (5), the outer walls of the first rigid wheel (4) and the second rigid wheel (5) are respectively used as an inner ring and an outer ring of the crossed roller bearing (6), and the inner teeth of the first rigid wheel (4) and the inner teeth of the second rigid wheel (5) are respectively processed and formed on the inner ring and the outer ring of the crossed roller bearing (6);
the motor shell (7) is coaxial with the wave generator (1) and is fixed at one end of the wave generator (1), the rigid wheel II (5) is positioned between the rigid wheel I (4) and the motor shell (7) and is connected with the motor shell (7), the motor rotor (9) is sleeved and fixed outside the wave generator (1) to drive the wave generator (1) to rotate, and the motor stator (8) is arranged in the motor shell (7) and is matched with the motor rotor (9); the motor rear cover (11) is arranged at one end, far away from the flexible bearing (2), of the motor stator (8), the rear end cover (14) is arranged at one end, far away from the wave generator (1), of the motor shell (7), and the driving plate (10) is arranged between the motor rear cover (11) and the rear end cover (14);
the front end cover (12) is arranged at one end of the wave generator (1) far away from the motor shell (7), a through line pipe (13) which is axially arranged along the wave generator (1) and is integrally formed with the wave generator is arranged at one side of the wave generator (1), the through line pipe (13) penetrates through inner holes of the wave generator (1) and the motor shell (7), and the through line pipe, the front end cover (12) and the wave generator (1) are coaxially arranged; a first bearing (15) close to the front end cover (12) is arranged between the wave generator (1) and the through wire pipe (13), and a second bearing (16) is arranged between the motor rear cover (11) and the wave generator (1).
2. The double rigid-wheel harmonic speed reducer joint module of claim 1, characterized in that: a bearing spacer bush (17) is arranged between the inner ring of the second bearing (16) and the outer circle of the wave generator (1), and a third bearing (18) is arranged between one end of the motor shell (7) close to the wave generator (1) and the wave generator (1); the outer circle diameter of the wave generator (1) is in a step shape, and the outer circle diameters of the wave generator at three positions relative to the bearing spacer bush (17), the third bearing (18) and the flexible bearing (2) are increased in sequence.
3. The double-rigid-wheel harmonic reducer joint module of claim 2, characterized in that: a motor encoder (19) is arranged between the driving plate (10) and the second bearing (16), and the motor encoder (19) is connected with one end, close to the rear end cover (14), of the wave generator (1); the motor is characterized in that a torque sensor (20) coaxial with the motor is arranged on the inner wall of the motor shell (7), and the torque sensor (20) is provided with a plurality of sensing pieces arranged in a circumferential array.
4. The double-rigid-wheel harmonic reducer joint module according to claim 3, characterized in that: the number of the flexible bearings (2) is two, and the two flexible bearings (2) correspond to the inner teeth of the first rigid wheel (4) and the inner teeth of the second rigid wheel (5) respectively; the outer wall of the rigid wheel I (4) is used as an inner ring of the crossed roller bearing (6), and the outer wall of the rigid wheel II (5) is used as an outer ring of the crossed roller bearing (6); the end face, close to the front end cover (12), of the first rigid wheel (4) and the front end cover (12) are provided with end face mounting holes (41) which are matched with each other, and the axis of each end face mounting hole (41) is parallel to the axis of the first rigid wheel (4).
5. The double rigid-wheel harmonic speed reducer machine joint module of claim 3, characterized in that: the flexible bearing (2) is provided with one flexible bearing and is located in the middle of the center of the flexible gear (3), the flexible bearing (2) corresponds to the first rigid gear (4) and the second rigid gear (5) simultaneously, and the width of the outer teeth of the flexible gear (3) is consistent with the total width of the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5); the outer wall of the first rigid wheel (4) is used as an outer ring of the crossed roller bearing (6), and the outer wall of the second rigid wheel (5) is used as an inner ring of the crossed roller bearing (6); the outer wall of the first rigid wheel (4) is provided with an outer circle mounting hole (42), and the axis of the outer circle mounting hole (42) is arranged along the radial direction of the first rigid wheel (4).
6. The double-rigid-wheel harmonic reducer joint module according to claim 1, characterized in that: motor housing (7) and rigid wheel two (5) integrated into one piece, motor stator (8) pass through screw (82) fixed mounting on rigid wheel two (5), wave generator (1) outer wall be equipped with rather than coaxial and with electric motor rotor (9) complex annular (91), electric motor rotor (9) inlay and adorn in annular (91).
7. The double-rigid-wheel harmonic reducer joint module of claim 6, characterized in that: the flexible bearing (2) is provided with one flexible bearing and is located in the middle of the center of the flexible gear (3), the flexible bearing (2) corresponds to the first rigid gear (4) and the second rigid gear (5) simultaneously, and the width of the outer teeth of the flexible gear (3) is consistent with the total width of the inner teeth of the first rigid gear (4) and the inner teeth of the second rigid gear (5); the outer wall of the first rigid wheel (4) serves as an outer ring of the crossed roller bearing (6), the outer wall of the second rigid wheel (5) serves as an inner ring of the crossed roller bearing (6), an outer circle mounting hole (42) is formed in the outer wall of the first rigid wheel (4), and the axis of the outer circle mounting hole (42) is arranged along the radial direction of the first rigid wheel (4).
8. The double-rigid-wheel harmonic reducer joint module according to claim 7, characterized in that: a first encoder (21) is arranged between the motor rotor (9) and the second bearing (16), a second encoder (22) is arranged between the driving plate (10) and the rear end cover (14), the first encoder (21) is connected with the wave generator (1), and the second encoder (22) is connected with a through pipe (13) on the front end cover (12); the motor is characterized in that a torque sensor (20) coaxial with the motor is arranged on the inner wall of the motor shell (7), and the torque sensor (20) is provided with a plurality of sensing pieces arranged in a circumferential array.
9. The double-rigid-wheel harmonic reducer joint module of claim 8, characterized in that: be equipped with motor brake (23) between one end terminal surface and drive plate (10) of front end housing (12) are kept away from in wave generator (1), motor brake (23) include armature (24), yoke (25), solenoid (26) and spring (27), just armature (24) are close to the ripples and take place the terminal surface, during motor brake (23) braking, spring (27) promote armature (24) and compress tightly wave generator (1) terminal surface and brake the braking.
10. The double-rigid-wheel harmonic reducer joint module of claim 9, characterized in that: and a sealing gasket ring (81) is arranged between the motor stator (8) and the second rigid wheel (5), and the sealing gasket ring (81) is a polytetrafluoroethylene gasket ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211580552.5A CN115940503A (en) | 2022-12-09 | 2022-12-09 | Joint module of double-rigid-wheel harmonic speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211580552.5A CN115940503A (en) | 2022-12-09 | 2022-12-09 | Joint module of double-rigid-wheel harmonic speed reducer |
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| CN115940503A true CN115940503A (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211580552.5A Pending CN115940503A (en) | 2022-12-09 | 2022-12-09 | Joint module of double-rigid-wheel harmonic speed reducer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116247874A (en) * | 2023-05-06 | 2023-06-09 | 哈尔滨艾拓普科技有限公司 | Cycloid differential driving module |
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- 2022-12-09 CN CN202211580552.5A patent/CN115940503A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116247874A (en) * | 2023-05-06 | 2023-06-09 | 哈尔滨艾拓普科技有限公司 | Cycloid differential driving module |
| CN116247874B (en) * | 2023-05-06 | 2023-08-11 | 哈尔滨艾拓普科技有限公司 | Cycloid differential driving module |
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