CN210566104U - Integrated harmonic speed reducer - Google Patents
Integrated harmonic speed reducer Download PDFInfo
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- CN210566104U CN210566104U CN201921220829.7U CN201921220829U CN210566104U CN 210566104 U CN210566104 U CN 210566104U CN 201921220829 U CN201921220829 U CN 201921220829U CN 210566104 U CN210566104 U CN 210566104U
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Abstract
An integrated harmonic speed reducer comprises a driving mechanism and a speed reducing mechanism connected with the driving mechanism; the driving mechanism comprises an outer supporting component, a cam shaft arranged in the outer supporting component in a penetrating way, and an electric component arranged in the outer supporting component; the camshaft comprises a rotating shaft part connected with the electric component and a cam part connected with the rotating shaft part; the cam part extends out of the outer support component along the axial direction of the rotating shaft part; the electric component comprises a stator arranged in the outer support component and a magnetic ring sleeved on the rotating shaft part; the speed reducing mechanism comprises a flexible gear fixedly connected with the outer support component, a rigid gear rotatably arranged on one side of the outer support component and an output end cover connected with the rigid gear; the flexible gear is arranged around the cam part, and the rigid gear is sleeved outside the flexible gear; the rigid wheel and the output end cover rotate relative to the external supporting assembly through the engagement of the local part of the flexible wheel and the rigid wheel, and the rotating speed is lower than that of the camshaft; because the electric component directly drives the flexible gear to deform through the cam shaft, the axial space can be reduced, and the transmission precision is ensured.
Description
Technical Field
The utility model relates to a motor and reduction gear transmission technique especially relate to an integration harmonic decelerator.
Background
The harmonic reducer is mainly composed of a wave generator, a flexible gear, a rigid gear and the like, is driven by a gear which is driven by the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power, is widely used in the mechanical field, particularly in the robot manufacturing field, and has the unique advantages of high bearing capacity, large transmission ratio, small size, stable transmission, high transmission precision and the like.
In the conventional technology, the motor and the harmonic reducer are designed in a split mode, the axial space is large when the output shaft of the motor is directly connected with the harmonic reducer, the problem of tooth jumping easily occurs through belt transmission, and the transmission precision is low.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need for an integrated harmonic speed reducer that can save axial space while ensuring transmission accuracy.
An integrated harmonic reduction unit comprising: the speed reducing mechanism is connected with the driving mechanism; the driving mechanism comprises an outer supporting component, a cam shaft arranged in the outer supporting component in a penetrating way, and an electric component arranged in the outer supporting component; the camshaft comprises a rotating shaft part connected with the electric component and a cam part connected with the rotating shaft part; the cam part extends out of the outer support assembly along the axial direction of the rotating shaft part; the electric component comprises a stator arranged in the outer support component and a magnetic ring sleeved on the rotating shaft part; the speed reducing mechanism comprises a flexible gear fixedly connected with the outer support assembly, a rigid gear rotatably arranged on one side of the outer support assembly, and an output end cover connected with the rigid gear; the flexible gear is arranged around the cam portion, and the rigid gear is sleeved on the outer side of the flexible gear.
In the integrated harmonic speed reducer, the magnetic ring drives the rotating shaft part to rotate along the axis of the rotating shaft part by introducing driving current to the electric component, the cam part drives the flexible wheel to generate controllable elastic deformation in the rotating process of the camshaft, the flexible wheel is meshed with the rigid wheel to transmit motion and power, the rigid wheel and the output end cover are enabled to rotate relative to the external supporting component, and the rotating speed is lower than that of the camshaft; because the electric component directly drives the flexible gear to deform through the cam shaft, the axial space can be reduced, and the transmission precision is ensured.
In one embodiment, the external support mechanism comprises a motor outer frame and a motor rear cover connected with the motor outer frame; the electric component is accommodated in the motor outer frame; the stator is sleeved on the outer side of the magnetic ring and is fixedly connected with the inner side of the motor outer frame; the outer support assembly further includes a first bearing, and a second bearing; the first bearing part is arranged between the rotating shaft part and the opening of the motor outer frame, and the second bearing part is arranged between the rotating shaft part and the opening of the motor rear cover.
In one embodiment, the speed reducing mechanism further comprises an inner shaft connected with the output end cover, the inner shaft is arranged in a hollow mode and penetrates through the camshaft, and a gap is formed between the inner shaft and the inner side of the camshaft; the speed reduction mechanism further includes a third bearing disposed between an inner side of the camshaft and the inner shaft.
In one embodiment, the driving mechanism further comprises a turntable clamping block connected with the camshaft, an encoding disc connected with the turntable clamping block, a reader corresponding to the encoding disc, and a detection circuit connected with the reader; the reader is fixedly arranged relative to the motor rear cover.
In one embodiment, the outer support assembly includes a sealing cover coupled to the motor rear cover, and the encoder assembly is received in the sealing cover.
In one embodiment, the outer support assembly includes a watertight connector inserted through the sealing cover.
In one embodiment, the outer support mechanism further includes an oil seal member disposed around the inner shaft, and the oil seal member is disposed between the seal cover and the inner shaft.
In one embodiment, the speed reducing mechanism further comprises a fourth bearing member connected with the motor outer frame, and the fourth bearing member is arranged coaxially with the rotating shaft part; the outer ring of the fourth bearing part is fixedly connected with the motor outer frame, and the inner ring of the fourth bearing part is fixedly connected with the rigid wheel.
In one embodiment, the electric assembly further comprises a shaft sleeve fixedly connected with the rotating shaft part, and the shaft sleeve is fixedly connected with the inner side of the magnetic ring.
In one embodiment, the speed reduction mechanism further includes a fifth bearing member provided between the cam portion and the flexible gear, the fifth bearing member being a flexible bearing.
Drawings
Fig. 1 is a schematic perspective view of an integrated harmonic reduction gear according to a preferred embodiment of the present invention;
FIG. 2 is a perspective view of the integrated harmonic reduction unit shown in FIG. 1 at another angle;
FIG. 3 is an exploded schematic view of the integrated harmonic reduction unit shown in FIG. 1;
FIG. 4 is an exploded schematic view of the integrated harmonic reduction unit of FIG. 1 at another angle;
FIG. 5 is a side view of the integrated harmonic reduction unit shown in FIG. 1;
fig. 6 is a cross-sectional view along direction AA of the integrated harmonic speed reduction device shown in fig. 5.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully below. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 6, an integrated harmonic speed reducer 100 according to a preferred embodiment of the present invention is used for providing a power output after speed reduction. The integrated harmonic reduction gear 100 includes a drive mechanism 20 and a reduction mechanism 30 connected to the drive mechanism 20; the driving mechanism 20 comprises an outer supporting component 21, a cam shaft 22 arranged in the outer supporting component 21 in a penetrating way, and an electric component 23 arranged in the outer supporting component 21; the camshaft 22 comprises a rotating shaft part 221 connected with the electric component 23 and a cam part 222 connected with the rotating shaft part 221; the cam portion 222 extends out of the outer support assembly 21 in the axial direction of the rotating shaft portion 221; the electric component 23 comprises a stator 231 installed in the outer support component 21 and a magnetic ring 232 sleeved on the rotating shaft part 221; the speed reducing mechanism 30 comprises a flexible gear 31 fixedly connected with the outer support component 21, a rigid gear 32 rotatably arranged on one side of the outer support component 21 and an output end cover 33 connected with the rigid gear 32; the flexible gear 31 is disposed around the cam portion 222, and the rigid gear 32 is fitted around the flexible gear 31.
By introducing driving current to the electric component 23, the magnetic ring 232 drives the rotating shaft part 221 to rotate along the axis of the rotating shaft part 221, the cam part 222 drives the flexible wheel 31 to generate controllable elastic deformation in the rotating process of the camshaft 22, the flexible wheel 31 is meshed with the rigid wheel 32 to transmit movement and power, the rigid wheel 32 and the output end cover 33 rotate relative to the outer support component 21, and the rotating speed is lower than that of the camshaft 22; because the electric component 23 directly drives the flexible gear 31 to deform through the cam shaft 22, the axial space can be reduced, and the transmission precision is ensured.
Referring to fig. 6, in one embodiment, in order to provide a sealed space for the electric assembly 23 and reduce friction between the cam shaft 22 and the outer support assembly 21, the outer support assembly 21 includes a motor housing 211 and a motor rear cover 212 connected to the motor housing 211; the electric component 23 is accommodated in the motor housing 211; the stator 231 is sleeved outside the magnetic ring 232, and the stator 231 is fixedly connected with the inner side of the motor outer frame 211; outer support assembly 21 further includes a first bearing 213, and a second bearing 214; the first bearing 213 is disposed between the rotation shaft portion 221 and the opening of the motor outer frame 211, and the second bearing 214 is disposed between the rotation shaft portion 221 and the opening of the motor rear cover 212; the first bearing 213 and the second bearing 214 provide reliable support for the camshaft 22 while reducing the friction experienced by the camshaft 22 as it rotates relative to the outer support assembly 21; an inner cavity is formed between the inner side of the motor outer frame 211 and the motor rear cover 212, and the electric assembly 23 is accommodated in the inner cavity, so that the stability of the electric assembly 23 is improved.
In one embodiment, when the integrated harmonic speed reduction device 100 is applied to a joint of an industrial robot or the like, in order to facilitate an external cable to pass through the integrated harmonic speed reduction device 100, the speed reduction mechanism 30 further includes an inner shaft 34 connected to the output end cover 33, the inner shaft 34 is disposed in a hollow manner and is inserted into the camshaft 22, and a gap is formed between the inner shaft 34 and the inner side of the camshaft 22; the reduction mechanism 30 further includes a third bearing 35 provided between the inner side of the camshaft 22 and the inner shaft 34; specifically, the inner shaft 34 penetrates the camshaft 22, and the third bearing 35 is disposed between the inner side of the cam portion 222 and the inner shaft 34, so that the inner shaft 34 can rotate relative to the camshaft 22, and since the inner shaft 34 and the output end cover 33 rotate synchronously, the rotation speed of the inner shaft 34 is low, when an external cable is inserted into the inner shaft 34, the cable can be prevented from contacting the camshaft 22 rotating at a high speed, and the external cable can be prevented from being damaged; the third bearing 35 reduces friction between the inner shaft 34 and the camshaft 22.
Referring to fig. 3 and fig. 6, in one embodiment, to confirm the rotation angle and the rotation number of the camshaft 22, the driving mechanism 20 further includes a turntable block 241 connected to the camshaft 22, an encoding disc 242 connected to the turntable block 241, a reader 243 corresponding to the encoding disc 242, and a detection circuit 244 connected to the reader 243; the reader 243 is fixedly disposed with respect to the motor rear cover 212; specifically, the rotating disc clamp 241 is fixedly connected to the rotating shaft 221, and the rotating disc clamp 241 is disposed on the outer side of the motor rear cover 212, so that the rotating disc clamp 241 and the encoding disc 242 rotate synchronously with the cam shaft 22, when the encoding disc 242 passes through the sensing position on the reader 243, the reader 243 recognizes the encoded information on the encoding disc 242, and the detection circuit 244 can confirm the current angle of the encoding disc 242 or record the number of rotation turns of the encoding disc 242 through the recognition of the reader 243.
In one embodiment, to provide protection to the encoder assembly 24, the outer support assembly 21 includes a sealing cover 215 connected to the motor rear cover 212, the encoder assembly 24 being received in the sealing cover 215; thereby avoiding the coding assembly 24 from being disturbed externally and improving the reliability of the coding assembly 24. Further, the first bearing 213 and the second bearing 214 are bearings with sealing covers, which prevent the motor outer frame 211 and the lubricating oil inside the motor rear cover 212 from contacting the encoder assembly 24.
Referring to fig. 3 and 4, in one embodiment, in order to further improve the electrical stability of the integrated harmonic reduction apparatus 100, the outer support assembly 21 includes a waterproof connector 216 penetrating through a sealing cover 215; specifically, the signal cable connected to the detection circuit 244 passes through the sealing cover 215 through the waterproof joint 216; after the power cable connected with the stator 231 penetrates through the motor rear cover 212, the power cable penetrates through the sealing cover 215 through the waterproof connector 216, and the edge of the waterproof connector 216 is tightly attached to the surface of a signal circuit or the power cable, so that liquid is prevented from entering the integrated harmonic speed reducer 100 along the cable, and influence on electric components inside the integrated harmonic speed reducer 100 is avoided.
Referring to fig. 6, in one embodiment, in order to prevent the lubricant on the surface of the inner shaft 34 or the lubricant from other bearing components from flowing out of the sealing cover 215 along the gap between the inner shaft 34 and the sealing cover 215 to affect the cleanliness of the surface of the integrated harmonic reduction device 100, the outer support assembly 21 further includes an oil seal 217 disposed on the inner shaft 34, and the oil seal 217 is disposed between the sealing cover 215 and the inner shaft 34; thereby blocking the lubricant flowing out along the inner shaft 34 and preventing the lubricant from flowing out to the outside of the seal cover 215.
In one embodiment, the speed reduction mechanism 30 further includes a fourth bearing 36 connected to the motor outer frame 211, the fourth bearing 36 being disposed coaxially with the rotation shaft portion 221; the outer ring of the fourth bearing piece 36 is fixedly connected with the motor outer frame 211, and the inner ring of the fourth bearing piece 36 is fixedly connected with the rigid wheel 32; specifically, the screw members are sequentially inserted into the outer ring of the fourth bearing member 36, the outer edge of the flexible gear 31, and the motor outer frame 211 to fix the three members; in addition, screw members are sequentially arranged on the inner rings of the output end cover 33, the rigid wheel 32 and the fourth bearing member 36 in a penetrating way to fix the three; specifically, the fourth bearing 36 is a cross roller bearing, so that the rigid wheel 32 and the output end cover 33 have large radial and axial bearing capacity; in order to prolong the service life and waterproof property of the fourth bearing 36, a sealing washer 361 is sleeved on one side of the fourth bearing 36, and the sealing washer 361 is arranged between the fourth bearing 36 and the output end cover 33.
In one embodiment, in order to fit the magnetic ring 232 with the rotating shaft 221, the electric assembly 23 further includes a sleeve 233 fixedly connected to the rotating shaft 221, and the sleeve 233 is fixedly connected to the inner side of the magnetic ring 232. Thereby filling the gap between the magnetic ring 232 and the rotating shaft part 221 and enabling the magnetic ring 232 and the camshaft 22 to be fixedly connected.
In one embodiment, the speed reduction mechanism 30 further includes a fifth bearing 37 provided between the cam portion 222 and the flexible gear 31, the fifth bearing 37 being a flexible bearing; in particular, the cam portion 222 and the fifth bearing 37 constitute a wave generator, the fifth bearing 37 avoiding direct friction between the cam portion 222 and the flexspline 31.
Preferably, to simplify the assembly of the integrated harmonic reduction device 100 and improve the reliability of the camshaft 22, the rotating shaft portion 221 is integrally connected with the cam portion 222; when the integrated harmonic speed reducer device 100 operates, the stator 231 is energized with a driving current to generate an alternating magnetic field near the magnetic ring 232, so that the magnetic ring 232 drives the camshaft 22 to rotate; the rotation of the cam portion 222 makes the meshing portion between the surface of the flexible gear 31 and the inner side of the rigid gear 32 periodically change, and since the flexible gear 31 is fixed relative to the motor outer frame 211, the rigid gear 32 rotates relative to the outer support assembly 21, and the rotation speed is lower than that of the cam shaft 22, specifically, the output speed ratio of the rigid gear 32 is (n +1), for example, the speed reduction mechanism 30 with the speed ratio of 50, and the output speed ratio of the rigid gear 32 is 51; and finally outputs the driving force to an external device through the output cover 33.
In the embodiment, the magnetic ring drives the rotating shaft part to rotate along the axis of the rotating shaft part by introducing driving current to the electric assembly, the cam part drives the flexible wheel to generate controllable elastic deformation in the rotating process of the camshaft, the flexible wheel is meshed with the rigid wheel to transmit motion and power, the rigid wheel and the output end cover are enabled to rotate relative to the external supporting assembly, and the rotating speed is lower than that of the camshaft; because the electric component directly drives the flexible gear to deform through the cam shaft, the axial space can be reduced, and the transmission precision is ensured. Specifically, since the rotating shaft portion and the cam portion are integrated, the accuracy loss of the intermediate transfer is reduced, and the axial space is shortened.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. An integrated harmonic reduction gear, comprising: the speed reducing mechanism is connected with the driving mechanism; the driving mechanism comprises an outer supporting component, a cam shaft arranged in the outer supporting component in a penetrating way, and an electric component arranged in the outer supporting component; the camshaft comprises a rotating shaft part connected with the electric component and a cam part connected with the rotating shaft part; the cam part extends out of the outer support assembly along the axial direction of the rotating shaft part; the electric component comprises a stator arranged in the outer support component and a magnetic ring sleeved on the rotating shaft part; the speed reducing mechanism comprises a flexible gear fixedly connected with the outer support assembly, a rigid gear rotatably arranged on one side of the outer support assembly, and an output end cover connected with the rigid gear; the flexible gear is arranged around the cam portion, and the rigid gear is sleeved on the outer side of the flexible gear.
2. The integrated harmonic reduction gear according to claim 1, wherein the outer support mechanism comprises a motor outer frame and a motor rear cover connected with the motor outer frame; the electric component is accommodated in the motor outer frame; the stator is sleeved on the outer side of the magnetic ring and is fixedly connected with the inner side of the motor outer frame; the outer support assembly further includes a first bearing, and a second bearing; the first bearing part is arranged between the rotating shaft part and the opening of the motor outer frame, and the second bearing part is arranged between the rotating shaft part and the opening of the motor rear cover.
3. The integrated harmonic speed reduction device of claim 2, wherein the speed reduction mechanism further comprises an inner shaft connected with the output end cover, the inner shaft is arranged in a hollow manner and penetrates through the camshaft, and a gap is formed between the inner shaft and the inner side of the camshaft; the speed reduction mechanism further includes a third bearing disposed between an inner side of the camshaft and the inner shaft.
4. The integrated harmonic reduction gear according to claim 3, wherein the drive mechanism further comprises a turntable block connected to the camshaft, a code wheel connected to the turntable block, a reader corresponding to the code wheel, and a detection circuit connected to the reader; the reader is fixedly arranged relative to the motor rear cover.
5. The integrated harmonic reduction device of claim 4 wherein the outer support assembly includes a seal cover coupled to the motor rear cover, the encoder assembly being received in the seal cover.
6. The integrated harmonic reduction gear according to claim 5 wherein the outer support assembly comprises a watertight fitting that is threaded onto the seal cover.
7. The integrated harmonic reduction gear according to claim 5 wherein the outer support mechanism further comprises an oil seal disposed over the inner shaft, the oil seal being disposed between the seal gland and the inner shaft.
8. The integrated harmonic reduction gear according to claim 2, wherein the reduction mechanism further comprises a fourth bearing member connected to the motor housing, the fourth bearing member being disposed coaxially with the rotation shaft portion; the outer ring of the fourth bearing part is fixedly connected with the motor outer frame, and the inner ring of the fourth bearing part is fixedly connected with the rigid wheel.
9. The integrated harmonic reduction gear according to claim 1, wherein the electric component further comprises a bushing fixedly connected to the rotating shaft portion, the bushing being fixedly connected to an inner side of the magnetic ring.
10. The integrated harmonic reduction device of claim 1 wherein the reduction mechanism further comprises a fifth bearing disposed between the cam portion and the flex spline, the fifth bearing being a compliant bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921220829.7U CN210566104U (en) | 2019-07-29 | 2019-07-29 | Integrated harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921220829.7U CN210566104U (en) | 2019-07-29 | 2019-07-29 | Integrated harmonic speed reducer |
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| Publication Number | Publication Date |
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| CN210566104U true CN210566104U (en) | 2020-05-19 |
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| CN201921220829.7U Active CN210566104U (en) | 2019-07-29 | 2019-07-29 | Integrated harmonic speed reducer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
| CN112079235A (en) * | 2020-10-13 | 2020-12-15 | 朱幕松 | Economical building is plus installs elevator |
| CN112202279A (en) * | 2020-10-19 | 2021-01-08 | 朱幕松 | Harmonic speed reduction middle-placed motor of electric vehicle |
-
2019
- 2019-07-29 CN CN201921220829.7U patent/CN210566104U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054628A (en) * | 2020-10-07 | 2020-12-08 | 朱幕松 | Harmonic reducer hub motor |
| CN112079235A (en) * | 2020-10-13 | 2020-12-15 | 朱幕松 | Economical building is plus installs elevator |
| CN112202279A (en) * | 2020-10-19 | 2021-01-08 | 朱幕松 | Harmonic speed reduction middle-placed motor of electric vehicle |
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