CN206246608U - Electromechanical integration harmonic speed reducer - Google Patents
Electromechanical integration harmonic speed reducer Download PDFInfo
- Publication number
- CN206246608U CN206246608U CN201621317020.2U CN201621317020U CN206246608U CN 206246608 U CN206246608 U CN 206246608U CN 201621317020 U CN201621317020 U CN 201621317020U CN 206246608 U CN206246608 U CN 206246608U
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- CN
- China
- Prior art keywords
- motor shaft
- harmonic
- flexbile gear
- speed reducer
- roller bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manipulator (AREA)
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Abstract
The utility model discloses a kind of electromechanical integration harmonic speed reducer, it includes ring flange, crossed roller bearing, flexbile gear, firm wheel, harmonic rolling beering and motor shaft, one end of the motor shaft is provided with cam, ring flange is arranged on motor shaft by bearing, the fixed part of flexbile gear and the outer ring of crossed roller bearing are fixed by screws on ring flange, the deformation part of the flexbile gear is set on cam by harmonic rolling beering, firm wheel is fixed by screws on the inner ring of crossed roller bearing, and internal tooth in the firm wheel is adapted with the external tooth on the deformation part of flexbile gear；The utility model smart structural design, can be arranged in Servomotor shells, rationally servomotor component harmonic reducer assemblies are integrated, effectively simplify overall structure, so that structure is more compact, overall volume also accordingly reduces, and weight is lightweight compared with what conventional belt servomotor cooperation harmonic speed reducer was used, may be mounted at the relatively limited place in space, such as application space flight, aviation technical field.
Description
Technical field
The utility model is related to harmonic speed reducer technical field, and in particular to a kind of electromechanical integration harmonic speed reducer.
Background technology
Harmonic speed reducer is mainly made up of wave producer, three basic building blocks of flexible gear and rigid gear, harmonic drive
Decelerator, be it is a kind of by wave producer make flexible gear produce controlled elasticity to deform, and be meshed with rigid gear and transmit fortune
The gear drive of dynamic and power.Harmonic speed reducer has bearing capacity high, and gearratio is big, small volume, stable drive and transmission essence
High particular advantages are spent, the industries such as electronics, space flight and aviation, robot are widely used in based on these advantage harmonic speed reducers.
It is right lunar rover, artificial satellite, guided missile, rocket, space manipulator etc. to be applied to for existing harmonic speed reducer
In the project that quality and volumetric spaces size are required, the structure of existing harmonic speed reducer must further be optimized,
To realize reducing volume and mitigate weight.But existing harmonic speed reducer and servomotor are set using split-type structural
Meter, takes up room many, installs and bothers, to using making troubles.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is, there is provided a kind of smart structural design, reasonable, small volume, weight
Amount is light, it is easy to the electromechanical integration harmonic speed reducer installed and used.
To achieve the above object, technical scheme provided by the utility model is：A kind of electromechanical integration harmonic speed reducer,
It includes ring flange, crossed roller bearing, flexbile gear, firm wheel, harmonic rolling beering and motor shaft, and one end of the motor shaft is provided with convex
Wheel, the ring flange is arranged on motor shaft by bearing, and the fixed part of flexbile gear and the outer ring of crossed roller bearing pass through spiral shell
Nail is fixed on ring flange, and the deformation part of the flexbile gear is set on cam by harmonic rolling beering, and the firm wheel is solid by screw
It is scheduled on the inner ring of crossed roller bearing, and internal tooth in the firm wheel is adapted with the external tooth on the deformation part of flexbile gear, it is described
Magnet core assembly is provided with the middle part of motor shaft.
Used as a kind of improvement of the present utility model, the magnet core assembly includes that magnet covers and magnetic core, and the magnetic core leads to
Magnet is crossed to be set on motor shaft.
Used as a kind of improvement of the present utility model, the other end of the motor shaft is provided with brake block and encoder.
The beneficial effects of the utility model are：The utility model smart structural design, can be arranged on Servomotor shells
It is interior, rationally servomotor component harmonic reducer assemblies are integrated, effectively simplify overall structure so that structure is more tight
Gather, overall volume also accordingly reduces, weight is lightweight compared with what conventional belt servomotor cooperation harmonic speed reducer was used, can install
In the relatively limited place in space, such as application space flight, aviation technical field bring convenience to installing and using.
Below in conjunction with the accompanying drawings with embodiment, the utility model is further illustrated.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Specific embodiment
Referring to a kind of electromechanical integration harmonic speed reducer that Fig. 1, the present embodiment are provided, it includes ring flange 1, crossed roller
Bearing 2, flexbile gear 3, firm wheel 4, harmonic rolling beering 5 and motor shaft 6, one end of the motor shaft 6 are provided with cam 61, the ring flange 1
It is arranged on motor shaft 6 by bearing 7, the fixed part of flexbile gear 3 and the outer ring 21 of crossed roller bearing 2 are fixed by screws in
On ring flange 1, the deformation part of the flexbile gear 3 is set on cam 61 by harmonic rolling beering 5, and the firm wheel 4 is fixed by screw
On the inner ring 22 of crossed roller bearing 2, and internal tooth in the firm wheel 4 is adapted with the external tooth on the deformation part of flexbile gear 3, institute
The middle part for stating motor shaft 6 is provided with magnet core assembly 7.
Specifically, the magnet core assembly 7 includes that magnet covers and magnetic core, the magnetic core is set on motor by magnet
On axle 6.Preferably, magnet core assembly 7 remains with 0.35 ~ 0.5mm gaps with the copper core coil of servomotor, to adjustment and can pacify
Dress brings convenience.
Preferably, the other end in the motor shaft 6 is provided with brake block and encoder, used with the function of meeting different
Demand.
When using, due to the smart structural design of the utility model electromechanical integration harmonic speed reducer, organic and motor shaft 6
It is combined, can be arranged in Servomotor shells, rationally integrate servomotor component harmonic reducer assemblies, has
Effect simplifies overall structure so that structure is more compact, and overall volume also accordingly reduces, and weight coordinates humorous compared with conventional belt servomotor
It is lightweight that ripple decelerator is used, and may be mounted at the relatively limited place in space, such as application space flight, aviation technical field,
Brought convenience to installing and using.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and changed.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the present utility model should also be as falling into scope of the claims of the present utility model.Additionally, to the greatest extent
Some specific terms have been used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Any limitation is constituted, using the decelerator of same or similar other structures, in the utility model protection domain.
Claims (3)
1. a kind of electromechanical integration harmonic speed reducer, it is characterised in that it includes ring flange, crossed roller bearing, flexbile gear, just
Wheel, harmonic rolling beering and motor shaft, one end of the motor shaft are provided with cam, and the ring flange is arranged on motor shaft by bearing
On, the fixed part of flexbile gear and the outer ring of crossed roller bearing are fixed by screws on ring flange, the deformation part of the flexbile gear
It is set on cam by harmonic rolling beering, the firm wheel is fixed by screws on the inner ring of crossed roller bearing, and the firm wheel
On internal tooth be adapted with the external tooth on the deformation part of flexbile gear, magnet core assembly is provided with the middle part of the motor shaft.
2. electromechanical integration harmonic speed reducer according to claim 1, it is characterised in that：The magnet core assembly includes magnetic
Iron is covered and magnetic core, and the magnetic core is set on motor shaft by magnet.
3. electromechanical integration harmonic speed reducer according to claim 1 and 2, it is characterised in that：The motor shaft it is another
End is provided with brake block and encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621317020.2U CN206246608U (en) | 2016-12-03 | 2016-12-03 | Electromechanical integration harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621317020.2U CN206246608U (en) | 2016-12-03 | 2016-12-03 | Electromechanical integration harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206246608U true CN206246608U (en) | 2017-06-13 |
Family
ID=59003381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621317020.2U Expired - Fee Related CN206246608U (en) | 2016-12-03 | 2016-12-03 | Electromechanical integration harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206246608U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339402A (en) * | 2017-09-05 | 2017-11-10 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer |
| CN108768064A (en) * | 2018-07-13 | 2018-11-06 | 睿尔曼智能科技（北京）有限公司 | A kind of harmonic speed reducer and torque motor integrated apparatus |
| WO2020056963A1 (en) * | 2018-09-19 | 2020-03-26 | 珠海格力电器股份有限公司 | Speed reducer and robot |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
-
2016
- 2016-12-03 CN CN201621317020.2U patent/CN206246608U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107339402A (en) * | 2017-09-05 | 2017-11-10 | 苏州绿的谐波传动科技有限公司 | Harmonic speed reducer |
| CN108768064A (en) * | 2018-07-13 | 2018-11-06 | 睿尔曼智能科技（北京）有限公司 | A kind of harmonic speed reducer and torque motor integrated apparatus |
| WO2020056963A1 (en) * | 2018-09-19 | 2020-03-26 | 珠海格力电器股份有限公司 | Speed reducer and robot |
| US11648662B2 (en) | 2018-09-19 | 2023-05-16 | Gree Electric Appliances, Inc. Of Zhuhai | Speed reducer and robot |
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN114151528A (en) * | 2021-11-22 | 2022-03-08 | 南京拓威宜智能科技有限公司 | Lifting mechanism carrying harmonic reducer and cradle head |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181228 Address after: 224200 No. 48 Dongjin Avenue, Chengdong New District, Dongtai City, Jiangsu Province Patentee after: Jiangsu Baocon Intelligent Equipment Technology Co., Ltd. Address before: 523000 fast track road in the eastern part of deep pit Industrial Zone, Dongguan, Guangdong. Patentee before: Guangdong Bao Bao Intelligent Equipment Technology Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20201203 |