CN106026515B - A kind of hollow brushless motor, harmonic speed reducer all-in-one machine - Google Patents
A kind of hollow brushless motor, harmonic speed reducer all-in-one machine Download PDFInfo
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- CN106026515B CN106026515B CN201610672283.3A CN201610672283A CN106026515B CN 106026515 B CN106026515 B CN 106026515B CN 201610672283 A CN201610672283 A CN 201610672283A CN 106026515 B CN106026515 B CN 106026515B
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- speed reducer
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Brushless Motors (AREA)
Abstract
The invention discloses a kind of hollow brushless motor, harmonic speed reducer all-in-one machines, it includes machine case, housing cover, hollow spindle, hollow brushless motor assembly, harmonic speed reducer assembly, blind flange, controller, hollow brushless motor assembly includes brushless motor stator component, brushless electric motor rotor component, PCB circuit board, brushless motor stator component includes stator core lamination, coil windings, and brushless electric motor rotor component includes nd-fe-b magnet；Harmonic speed reducer assembly includes the firm gear of flexbile gear and flexbile gear cooperation, the crossed cylindrical roller bearing between flexbile gear and firm gear, machine case, the driving section of flexbile gear, crossed cylindrical roller bearing outer ring be spirally connected successively, ring flange, firm gear, crossed cylindrical roller bearing inner ring be spirally connected successively.By said structure design, the present invention has the advantages that novel in design, compact-sized, small, light-weight, and robot routing problem can be effectively solved, in order to which robot realizes 360 degree rotation.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of hollow brushless motor, harmonic speed reducer all-in-one machines.
Background technology
Harmonic reducer of robot is by its is simple in structure, size is small, noise is small, transmission ratio is big, high transmission accuracy and effect
The advantages that rate is high, and be widely used by the important component as joint of robot.Since nineteen fifty-five U.S. C.W. Mai Saier is invented
Since First harmonic speed reducer, whole world major industrial country has all carried out comprehensive research to it, and then prepare successively
Many series types harmonic speed reducer different with dimensions, wherein being made with involute fine module gear flank profil harmonic speed reducer
With the most extensively.Wherein, the rotation portion in the joint that harmonic speed reducer is widely used in robot by above-mentioned advantage, machine
Rotary table, manipulator rotating part, precision rotary table, Medical Instruments, measurement instrument, the IC manufacture dresses of tool machining center
It sets, aerospace appts, national defence equipment（Such as guided missile, radar, rocket）Equal wide range of areas, especially in industrial robot field
Using very universal；For industrial robot, harmonic speed reducer can greatly reduce the size of industrial robot, reduce and make an uproar
Sound improves efficiency and precision.
For existing robot, harmonic speed reducer is generally driven by servo motor, to realize robot
The speed-down action of transmission；However, for existing robot driving mechanism, generally existing design is unreasonable, cabling is multiple
Defect that is miscellaneous and can not achieve 360 degree of rotations.
Invention content
The purpose of the present invention is to solve the shortcomings of the prior art and providing a kind of hollow brushless motor, harmonic speed reducer one
Body machine, the hollow brushless motor, harmonic speed reducer machine are novel, compact-sized, small, light-weight, and can have
Effect ground solves robot routing problem, in order to which robot realizes 360 degree rotation.
In order to achieve the above objectives, the present invention is achieved through the following technical solutions.
A kind of hollow brushless motor, harmonic speed reducer all-in-one machine, include machine case, the inside of machine case offers
It is front and back completely through shell accommodating cavity, the rear end of machine case is screwed at open rearward end of the lid loaded on shell accommodating cavity
Housing cover, the centre position of housing cover offer it is front and back completely through cover plate through hole, the shell accommodating cavity of machine case
It is inside rotatably embedded with hollow spindle, the front end of hollow spindle extends to the front end side of machine case, hollow spindle
Rear end stretch in the cover plate through hole of housing cover；
Embedded with the hollow brushless motor assembly positioned at hollow spindle periphery, machine shell in the shell accommodating cavity of machine case
The front end side of body is installed with the harmonic speed reducer assembly positioned at hollow brushless motor assembly front end side and positioned at hollow spindle periphery,
Hollow brushless motor assembly includes brushless motor stator component, is located on the inside of brushless motor stator component and determines with brushless motor
The matched brushless electric motor rotor component of sub-component, brushless motor stator component include the stator iron being laminated by silicon steel sheet
Core lamination, the coil windings for being wound in stator core lamination, brushless electric motor rotor component include to be installed in stator core lamination
Inside and set are stuck in the nd-fe-b magnet of hollow spindle periphery, and the interior rear end side in brushless motor stator component of shell accommodating cavity is embedding
Equipped with PCB circuit board, PCB circuit board is electrically connected by conducting wire with the coil windings of brushless motor stator component；
Harmonic speed reducer assembly includes flexbile gear and flexbile gear matched firm gear, the friendship that is installed between flexbile gear and firm gear
Cylinder roller bearing is pitched, flexbile gear is provided with outer gear portion and the driving section perpendicular to outer gear portion, outer gear portion and driving section
Be integrally formed, the outer gear portion core of flexbile gear offer completely through flexbile gear centre bore, the outer circumference surface setting of outer gear portion
There is the axis direction along flexbile gear centre bore to extend and circumferentially the cyclic annular flexbile gear gear teeth being evenly spaced on, the core of firm gear are opened
Equipped with completely through firm gear centre bore, the periphery of firm gear centre bore be provided with extend along firm gear centre bore axis direction and
The circumferentially cyclic annular firm gear gear teeth being evenly spaced on, the outer gear portion of flexbile gear in firm gear centre bore and the firm gear gear teeth with
The flexbile gear gear teeth are meshed, and hollow spindle passes through flexbile gear centre bore and hollow spindle is matched by flexible bearing and flexbile gear centre bore
Close, machine case, the driving section of flexbile gear, crossed cylindrical roller bearing outer ring be spirally connected successively, the front end side of firm gear is installed with set
Ring flange loaded on hollow spindle periphery, ring flange, firm gear, crossed cylindrical roller bearing inner ring be spirally connected successively；
The hollow brushless motor, harmonic speed reducer all-in-one machine further include having controller, and controller passes through conducting wire and PCB circuits
Plate is electrically connected.
Wherein, the periphery set axis set of the hollow spindle, the nd-fe-b magnet are set in axle sleeve housing and rubidium iron boron
Magnet is connect with axle sleeve by flat key rotation stop.
Wherein, the nd-fe-b magnet periphery is set with wheat and draws screening glass.
Beneficial effects of the present invention are：A kind of hollow brushless motor of the present invention, harmonic speed reducer all-in-one machine, packet
Machine case, housing cover are included, hollow spindle is embedded in the shell accommodating cavity of machine case, positioned at the hollow of hollow spindle periphery
Harmonic speed reducer assembly is installed in brushless motor assembly, machine case front end side, and hollow brushless motor assembly includes that brushless motor is fixed
Sub-component, brushless electric motor rotor component, brushless motor stator component include stator core lamination, coil windings, and brushless motor turns
Sub-component includes nd-fe-b magnet, and shell accommodating cavity is interior to be embedded in PCB circuit board, PCB electricity in brushless motor stator component rear end side
Road plate is electrically connected by conducting wire with coil windings；Harmonic speed reducer assembly includes flexbile gear, firm gear, crossed cylindrical roller bearing, soft
Wheel setting outer gear portion, driving section, the outer gear portion of flexbile gear is in the firm gear centre bore of firm gear and the firm gear gear teeth and flexbile gear
The gear teeth are meshed, and hollow spindle passes through flexbile gear centre bore and hollow spindle is matched by flexible bearing with flexbile gear centre bore, machine
Device shell, the driving section of flexbile gear, crossed cylindrical roller bearing outer ring be spirally connected successively, the front end side of firm gear, which is installed with, is set in sky
The ring flange of heart main shaft periphery, ring flange, firm gear, crossed cylindrical roller bearing inner ring be spirally connected successively；The hollow brushless motor,
Harmonic speed reducer all-in-one machine further includes controller, and controller is electrically connected by conducting wire with PCB circuit board.It is set by above structure
Meter, the present invention have the advantages that novel in design, compact-sized, small, light-weight, and can efficiently solve robot cabling
Problem, in order to which robot realizes 360 degree rotation.
Description of the drawings
The present invention is further detailed below with attached drawing, but the embodiment in attached drawing is not constituted to this hair
Bright any restrictions.
Fig. 1 is the structural diagram of the present invention.
Include in Fig. 1：
11 --- machine case 111 --- shell accommodating cavities
12 --- housing cover 121 --- cover plate through holes
2 --- hollow spindle 3 --- hollow brushless motor assemblies
31 --- stator core lamination 321 --- nd-fe-b magnets
322 --- axle sleeve 323 --- flat keys
324 --- wheat draws screening glass 33 --- PCB circuit boards
4 --- harmonic speed reducer assembly 41 --- flexbile gears
411 --- outer gear portion 4111 --- flexbile gear centre bores
412 --- driving section 42 --- firm gears
421 --- firm gear centre bore 43 --- crossed cylindrical roller bearings
44 --- flexible bearing 5 --- ring flanges
6 --- deep groove ball bearing 7 --- oil sealings.
Specific implementation mode
With reference to specific embodiment, the present invention will be described.
As shown in Figure 1, a kind of hollow brushless motor, harmonic speed reducer all-in-one machine, include machine case 11, machine case
11 inside offer it is front and back completely through shell accommodating cavity 111, the rear end of machine case 11 is screwed with lid and is loaded on shell
Housing cover 12 at the open rearward end of accommodating cavity 111, the centre position of housing cover 12 offer it is front and back completely through lid
Plate through-hole 121 is rotatably embedded with hollow spindle 2 in the shell accommodating cavity 111 of machine case 11, hollow spindle 2
Front end extends to the front end side of machine case 11, and the rear end of hollow spindle 2 stretches to the cover plate through hole 121 of housing cover 12
It is interior.
Further, embedded with positioned at the hollow brushless of 2 periphery of hollow spindle in the shell accommodating cavity 111 of machine case 11
The front end side of motor assembly 3, machine case 11 is installed with positioned at hollow 3 front end side of brushless motor assembly and is located at hollow spindle 2
The harmonic speed reducer assembly 4 of periphery, hollow brushless motor assembly 3 include brushless motor stator component, determine positioned at brushless motor
On the inside of sub-component and with the matched brushless electric motor rotor component of brushless motor stator component, brushless motor stator component includes
The stator core lamination 31 that is laminated by silicon steel sheet, the coil windings for being wound in stator core lamination 31, brushless electric motor rotor
Component includes to be installed in 31 inside of stator core lamination and cover the nd-fe-b magnet 321 for being stuck in 2 periphery of hollow spindle, and shell holds
It sets the rear end side in chamber 111 in brushless motor stator component and is embedded with PCB circuit board 33, PCB circuit board 33 passes through conducting wire and nothing
The coil windings of brush motor stator module are electrically connected.
Further, harmonic speed reducer assembly 4 include flexbile gear 41, with 41 matched firm gear 42 of flexbile gear, be installed in
Crossed cylindrical roller bearing 43 between flexbile gear 41 and firm gear 42, flexbile gear 41 are provided with outer gear portion 411 and perpendicular to external tooths
The driving section 412 of wheel portion 411, outer gear portion 411 are integrally formed with driving section 412, and 411 core of outer gear portion of flexbile gear 41 opens up
Have completely through flexbile gear centre bore 4111, the outer circumference surface of outer gear portion 411 is provided with the axis along flexbile gear centre bore 4111
Line direction extends and the circumferentially cyclic annular flexbile gear gear teeth being evenly spaced on, the core of firm gear 42 offer completely through firm gear
Centre bore 421, the periphery of firm gear centre bore 421 is provided with to be extended and circumferentially ring along 421 axis direction of firm gear centre bore
The firm gear gear teeth that shape is evenly spaced on, the outer gear portion 411 of flexbile gear 41 in firm gear centre bore 421 and the firm gear gear teeth with
The flexbile gear gear teeth are meshed, and hollow spindle 2 passes through flexbile gear centre bore 4111 and hollow spindle 2 passes through flexible bearing 44 and flexbile gear center
Hole 4111 matches, machine case 11, the driving section 412 of flexbile gear 41, crossed cylindrical roller bearing 43 outer ring be spirally connected successively, just
The front end side of wheel 42 is installed with the ring flange 5 for being set in 2 periphery of hollow spindle, ring flange 5, firm gear 42, crossed cylindrical roller axis
43 inner ring is held to be spirally connected successively.
In addition, the hollow brushless motor, harmonic speed reducer all-in-one machine further include having controller, controller by conducting wire with
PCB circuit board 33 is electrically connected.
It should further be noted that as shown in Figure 1, the periphery set axis set 322 of hollow spindle 2, nd-fe-b magnet 321 is set in
322 housing of axle sleeve and nd-fe-b magnet 321 is connect with axle sleeve 322 by 323 rotation stop of flat key.In addition, 321 periphery of nd-fe-b magnet
It is set with wheat and draws screening glass 324.
In the course of work of the present invention, controller is to be wound in the coil of stator core lamination 31 by PCB circuit board 33
Winding power, field drives nd-fe-b magnet 321 caused by brushless motor stator component rotate, the band again of nd-fe-b magnet 321
Dynamic hollow spindle 2 rotates, and hollow spindle 2 forms wave producer with flexible bearing 44, and the hollow spindle 2 of high-speed rotation is sent out by wave
Raw device drives flexbile gear 41 and flexbile gear 41 is become ovalisation, and flexbile gear 41 merges with the matching of firm gear 42 realizes harmonic reduction；Wherein, originally
The blind flange of invention is as movement and power output end, and blind flange is rotated synchronously with firm gear 42.
It need to be explained further, stator core lamination 31 of the invention can be adhered to shell accommodating cavity 111 by adhesive
Inner wall is installed with deep groove ball bearing 6 respectively between machine case 11 and hollow spindle 2 and between blind flange and hollow spindle 2；
In addition, to ensure the leakproofness of deep groove ball bearing 6, harmonic speed reducer assembly 4, the present invention is in machine case 11 and hollow spindle 2
Between, between blind flange and hollow spindle 2, between the outer ring and inner ring of crossed cylindrical roller bearing 43 be installed with oil sealing 7 respectively.
Based on the above situation, it may be appreciated that by said structure design, the present invention has the following advantages, specially：1, for machine
For device people, power cord and signal wire can pass through hollow brushless motor assembly 3 and harmonic speed reducer by hollow spindle 2
Assembly 4, and then the problem of robot cabling can be efficiently solved, and robot can be made to realize 360 degree rotation；2, size
It greatly reduces, weight saving, to reduce the appearance and size of each key of robot, increases the payload of robot, increase
The motor of robot, the service life of retarder, robot body are added；3, compact-sized, rigidity is big, and precision is high；4, stable movement
Property greatly increases, with small vibration；5, noise is small；6, mechanical efficiency is high, and fever is small.
The above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (3)
1. a kind of hollow brushless motor, harmonic speed reducer all-in-one machine, it is characterised in that：It include machine case（11）, machine shell
Body（11）Inside offer it is front and back completely through shell accommodating cavity（111）, machine case（11）Rear end be screwed with lid
Loaded on shell accommodating cavity（111）Open rearward end at housing cover（12）, housing cover（12）Centre position offer before
Afterwards completely through cover plate through hole（121）, machine case（11）Shell accommodating cavity（111）It is inside rotatably embedded in free
Heart main shaft（2）, hollow spindle（2）Front end extend to machine case（11）Front end side, hollow spindle（2）Rear end stretch
Enter to housing cover（12）Cover plate through hole（121）It is interior；
Machine case（11）Shell accommodating cavity（111）Interior be embedded with is located at hollow spindle（2）The hollow brushless motor of periphery is total
At（3）, machine case（11）Front end side be installed with positioned at hollow brushless motor assembly（3）Front end side and be located at hollow spindle
（2）The harmonic speed reducer assembly of periphery（4）, hollow brushless motor assembly（3）Include brushless motor stator component, positioned at brushless
On the inside of motor stator component and with the matched brushless electric motor rotor component of brushless motor stator component, brushless motor stator component
It include the stator core lamination being laminated by silicon steel sheet（31）, be wound in stator core lamination（31）Coil windings, nothing
Brush motor rotor assembly includes to be installed in stator core lamination（31）Inside and set be stuck in hollow spindle（2）The rubidium iron boron of periphery
Magnet（321）, shell accommodating cavity（111）The interior rear end side in brushless motor stator component is embedded with PCB circuit board（33）, PCB
Circuit board（33）It is electrically connected with the coil windings of brushless motor stator component by conducting wire；
Harmonic speed reducer assembly（4）It include flexbile gear（41）With flexbile gear（41）Matched firm gear（42）, be installed in flexbile gear（41）
With firm gear（42）Between crossed cylindrical roller bearing（43）, flexbile gear（41）It is provided with outer gear portion（411）And perpendicular to outer
Gear part（411）Driving section（412）, outer gear portion（411）With driving section（412）It is integrally formed, flexbile gear（41）External gear
Portion（411）Core offer completely through flexbile gear centre bore（4111）, outer gear portion（411）Outer circumference surface be provided with along
Flexbile gear centre bore（4111）Axis direction extend and the circumferentially cyclic annular flexbile gear gear teeth being evenly spaced on, firm gear（42）Core
Portion offer completely through firm gear centre bore（421）, firm gear centre bore（421）Periphery be provided with along firm gear centre bore
（421）The firm gear gear teeth that axis direction extends and circumferentially ring-type is evenly spaced on, flexbile gear（41）Outer gear portion（411）It is embedding
Loaded on firm gear centre bore（421）The interior and firm gear gear teeth are meshed with the flexbile gear gear teeth, hollow spindle（2）Across flexbile gear centre bore
（4111）And hollow spindle（2）Pass through flexible bearing（44）With flexbile gear centre bore（4111）It matches, machine case（11）, flexbile gear
（41）Driving section（412）, crossed cylindrical roller bearing（43）Outer ring be spirally connected successively, firm gear（42）Front end side be installed with set
Loaded on hollow spindle（2）The ring flange of periphery（5）, ring flange（5）, firm gear（42）, crossed cylindrical roller bearing（43）Inner ring
It is spirally connected successively；
The hollow brushless motor, harmonic speed reducer all-in-one machine further include having controller, and controller passes through conducting wire and PCB circuit board
（33）Electrical connection.
2. a kind of hollow brushless motor according to claim 1, harmonic speed reducer all-in-one machine, it is characterised in that：The sky
Heart main shaft（2）Periphery set axis set（322）, the nd-fe-b magnet（321）It is set in axle sleeve（322）Housing and rubidium iron boron magnetic
Iron（321）With axle sleeve（322）Pass through flat key（323）Rotation stop connects.
3. a kind of hollow brushless motor according to claim 2, harmonic speed reducer all-in-one machine, it is characterised in that：The rubidium
Iron boron magnets（321）Periphery is set with wheat and draws screening glass（324）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672283.3A CN106026515B (en) | 2016-08-16 | 2016-08-16 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610672283.3A CN106026515B (en) | 2016-08-16 | 2016-08-16 | A kind of hollow brushless motor, harmonic speed reducer all-in-one machine |
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| Publication Number | Publication Date |
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| CN106026515A CN106026515A (en) | 2016-10-12 |
| CN106026515B true CN106026515B (en) | 2018-07-27 |
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| CN109538735A (en) * | 2019-01-14 | 2019-03-29 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109707826A (en) * | 2019-01-14 | 2019-05-03 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN110182254A (en) * | 2019-04-29 | 2019-08-30 | 江苏开璇智能科技有限公司 | A kind of AGV carriage walking steering composite joint |
| CN110303484A (en) * | 2019-07-04 | 2019-10-08 | 大族激光科技产业集团股份有限公司 | Joint module and robot |
| CN114069955A (en) * | 2021-11-22 | 2022-02-18 | 无锡巨蟹智能驱动科技有限公司 | Carry on compact power component of harmonic speed reducer ware |
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| CN106026515A (en) | 2016-10-12 |
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Effective date of registration: 20161223 Address after: 523401 Guangdong City, Liaobu Province, Yang Yang Community Community silver sleep Road on the 1st floor, No. 37, No. Applicant after: Dongguan City gold technetium and rhenium Robot Automation Co Ltd Address before: 523400 Guangdong City, Liaobu Province, Yang Yang Community Community silver sleep Road on the 1st floor, No. 37, No. Applicant before: Ma Xinquan |
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| TR01 | Transfer of patent right |
Effective date of registration: 20211103 Address after: 523000 Room 501, No. 49, first Chuangye Road, Muxuan Town, Changping Town, Dongguan City, Guangdong Province Patentee after: Guangdong sibanke Intelligent Equipment Co.,Ltd. Address before: 529200 room 701, 6 cuiliyuan, Xinshi Road, Shuibu Town, Taishan City, Jiangmen City, Guangdong Province Patentee before: Ma Xinquan |