CN106230186B - It is a kind of to gather the hollow type harmonic speed reducer for having motor - Google Patents
It is a kind of to gather the hollow type harmonic speed reducer for having motor Download PDFInfo
- Publication number
- CN106230186B CN106230186B CN201610669434.XA CN201610669434A CN106230186B CN 106230186 B CN106230186 B CN 106230186B CN 201610669434 A CN201610669434 A CN 201610669434A CN 106230186 B CN106230186 B CN 106230186B
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- bearing
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- motor
- gear
- camshaft
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Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
- F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
- F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
- F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
- F01L1/352—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear using bevel or epicyclic gear
- F01L2001/3521—Harmonic drive of flexspline type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Abstract
The invention discloses a kind of hollow type harmonic speed reducers gathered and have motor, including flexbile gear, firm gear, rotor wave producer, fixing seat, stator, first bearing, crossed roller bearing, support shaft, second bearing and the bearing block being coaxially disposed；The internal tooth of the external tooth of firm gear and the flexbile gear is intermeshed；Rotor wave producer includes camshaft, flexible bearing and several magnet steel with oval inner hole；The flexible bearing is mounted in the oval inner hole of the camshaft, and inner ring is socketed on the outside diameter hoop face of the internal tooth of the flexbile gear；Several described magnet steel along camshaft even circumferential be fastened on camshaft outer surface on, and it is diametrically opposite with flexible bearing；Stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer.The axial length of complete machine of the invention is shorter, compact-sized, and the transmission chain of entire deceleration mechanism is less, transmission accuracy and more efficient.
Description
Technical field
The present invention relates to a kind of harmonic speed reducers, more particularly to a kind of hollow type harmonic speed reducer gathered and have motor.
Background technique
Harmonic speed reducer mainly includes three rotor wave producer, flexible gear and rigid gear basic building blocks, is by going
A kind of Novel reducer that star gear drive principle develops, due to its transmission ratio is big, compact-sized, small in size, light weight,
Bearing capacity is strong and high transmission accuracy, has a wide range of applications in precision drive field.The working principle of harmonic speed reducer is: turning
The structure and motion principle of wavelet generator are similar to cam, and the high speed rotary motion in mechanism is input to harmonic speed reducer
Interior high speed shaft, rotor wave producer and high speed shaft link, and transfer the motion to flexibility by the outer contour shape of its own
On wheel；Compliant wheel is the flexible external gear that controlled elasticity deformation can occur as its name suggests, with turning for rotor wave producer
Dynamic, compliant wheel does periodical flexible deformation with the outer contour of rotor wave producer, and compliant wheel external toothing has rigid gear, passes through
Number of teeth difference between compliant wheel and rigid wheel realizes the slowing effect of entire harmonic speed reducer.
According to the shape of flexbile gear, harmonic speed reducer can be divided into cup type and hollow type two major classes.In practical application, generally,
The input terminal of harmonic speed reducer is connected to the motor by gear drive or synchronous belt pulley transmission and is connect, the function of retarder seek to by
The high revolving speed input of motor is converted into slow-speed of revolution output, while converting high torque (HT) output for the small torque of motor input.Full
Under the premise of sufficient performance, the direction that the dynamical system of harmonic speed reducer and motor form is constantly smaller to volume, quality is lighter is sent out
Exhibition, wherein combine the two, cancelling intermediate gear drive or synchronous belt pulley transmission is a kind of relatively good scheme, example
Patent of invention if notification number is CN104061300A discloses a kind of Wave gear device, can will be scratched by simple structure
The rigid axle sleeve of property external tooth gear is fixed with bearing inner race, and will reliably be sealed between them.Wave gear device tool
Have: rigid internal-gear；Flexible external tooth gear；Wavegenerator；It supports flexible external tooth gear and enables relative to rigidity
Internal-gear and the bearing rotated freely；And that the inner ring of the rigid axle sleeve of flexible external tooth gear and bearing is fixed to each other
One weld part.First weld part is that the complete cycle weld part of liquid sealing state will be sealed between axle sleeve and inner ring.Axle sleeve and inner ring
Size in the axial direction can be smaller, they can be fixed to each other with less machining period and assembling working hour.But this
The fluctuation gear assembly of kind of structure there is a problem in that: the axial length of complete machine is too long, and structure is not compact enough, entirely subtracts
The transmission chain of fast mechanism is excessive, and transmission accuracy is poor.
Summary of the invention
In view of the deficiencies of the prior art, the purpose of the invention is to provide it is a kind of set there is the hollow type harmonic wave of motor to subtract
The axial length of fast device, complete machine is shorter, compact-sized, and the transmission chain of entire deceleration mechanism is less, and transmission accuracy and efficiency are more
It is high.
To achieve the above object, the present invention adopts the following technical scheme:
It is a kind of gather have the hollow type harmonic speed reducer of motor, it is characterised in that: including the flexbile gear, just being coaxially disposed
Wheel, rotor wave producer, fixing seat, stator, first bearing, crossed roller bearing, support shaft, second bearing and bearing block；
The flexbile gear includes cylindric flexbile gear main body, the circle radially successively extended outward from the left end of flexbile gear main body
The circle internal tooth on the right end inner wall of flexbile gear main body is arranged in the shaft shoulder of cricoid diaphragm and annular shape；
The firm gear includes cylindric firm gear main body, and the circle external tooth on the right end outer wall of firm gear main body is arranged in；Institute
It states firm gear main body to be arranged in the flexbile gear main body, the internal tooth of the external tooth of the firm gear and the flexbile gear is intermeshed；
The rotor wave producer includes camshaft, flexible bearing and several magnet steel with oval inner hole；It is described soft
Property bearing is mounted in the oval inner hole of the camshaft, and inner ring is socketed in the outside diameter hoop face of the internal tooth of the flexbile gear
On；Several described magnet steel along camshaft even circumferential be fastened on camshaft outer surface on, and with flexible bearing along diameter
To opposite；
The fixing seat is socketed on the outer wall of the camshaft by the first bearing；
The stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；
The crossed roller bearing is mounted on the left end of the firm gear main body, and the outer ring of the crossed roller bearing abuts institute
The shaft shoulder of flexbile gear is stated, and is fastened in fixing seat together with the shaft shoulder, the inner ring of the crossed roller bearing and the firm gear main body
It is fixedly connected；
The support shaft is installed in rotation on the right end of the firm gear main body, and the support shaft and the rotor wave occur
The camshaft of device is fixedly connected；
The bearing block is socketed on the outer wall of the support shaft by the second bearing, the bearing block with it is described solid
Reservation is fixedly connected.
Preferably, further including encoder, reading head and reading head mounting base, the encoder is fixedly installed in the branch
It supports on axis, the reading head is fixedly installed on the bearing block together again after being fastenedly connected with the reading head mounting base.
Preferably, further including rear cover, the rear cover is installed in rotation on the right end of the firm gear main body, the rear cover
It is fixedly connected with the bearing block.
Preferably, the ratio between diameter of bore of the diameter of bore of the firm gear and the flexbile gear is 2/3 or more.
Preferably, the number of teeth of internal tooth described in the gear ratio of the external tooth is 2 few.
Preferably, the fixing seat is made using aluminium alloy.
Preferably, the bearing block is made using aluminium alloy.
Preferably, the rear cover is made using aluminium alloy.
Preferably, the outer ring of the crossed roller bearing, flexbile gear the shaft shoulder and fixing seat between pass through that screw is fixed to be connected
It connects.
Preferably, being fixedly connected between the inner ring of the crossed roller bearing and the firm gear main body by screw.
The beneficial effects of the present invention are:
1, rotor wave producer of the invention includes camshaft, flexible bearing and several magnet steel with oval inner hole；
The flexible bearing is mounted in the oval inner hole of the camshaft, and inner ring is socketed in the outer diameter circle of the internal tooth of the flexbile gear
On circumferential surface；Several described magnet steel along camshaft even circumferential be fastened on camshaft outer surface on, and and flexible bearing
It is diametrically opposite；The stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；Pass through this
Sample design, by the rotor set to the wave producer of retarder of motor, and stator and wave producer parallel arranged in the axial direction,
So that the axial length of complete machine is shorter, compact-sized, so that the transmission chain of entire deceleration mechanism is less, transmission accuracy and efficiency are more
It is high.
2, the present invention using internal tooth flexbile gear and external circular spline cooperation, in conjunction with rotor wave producer, fixing seat, first bearing and
The design of crossed roller bearing enables its center via size and the ratio of flexbile gear hole size to reach 2/3 or more, compared with
The prior art is usually no more than 1/2, there is raising by a relatively large margin, can satisfy the design requirement of big center via hole.
3, fixing seat of the invention, bearing block, rear cover are all made of the light materials such as aluminium alloy and are manufactured, difficulty of processing with
Cost not will increase, but the weight of complete machine can be allowed to reduce.
Detailed description of the invention
Fig. 1 is the front view that the set of the embodiment of the present invention 1 has the hollow type harmonic speed reducer of motor；
Fig. 2 be in Fig. 1 A-A to cut-away view；
Fig. 3 is the cut-away view of the flexbile gear of the embodiment of the present invention 1；
Fig. 4 is the assembling structure schematic diagram of the flexbile gear of the embodiment of the present invention 1, firm gear and rotor wave producer.
In figure, 1, flexbile gear；11, flexbile gear main body；12, diaphragm；13, the shaft shoulder；14, internal tooth；2, firm gear；21, firm gear main body；
22, external tooth；3, rotor wave producer；31, camshaft；311, oval inner hole；32, flexible bearing；33, magnet steel；4, fixing seat；
5, first bearing；6, stator；7, crossed roller bearing；71, the outer ring of crossed roller bearing；72, the inner ring of crossed roller bearing；
8, support shaft；9, second bearing；10, bearing block；20, encoder；30, reading head；40, reading head mounting base；50, rear cover.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
Embodiment 1:
- Fig. 4 referring to Fig.1, the present embodiment provides a kind of hollow type harmonic speed reducers gathered and have motor, including coaxially set
The flexbile gear 1 set, firm gear 2, rotor wave producer 3, fixing seat 4, first bearing 5, stator 6, crossed roller bearing 7, support shaft 8,
Second bearing 9 and bearing block 10；
The flexbile gear 1 includes cylindric flexbile gear main body 11, is radially successively extended outwardly from the left end of flexbile gear main body 11
The circle internal tooth 14 on the right end inner wall of flexbile gear main body 11 is arranged in the shaft shoulder 13 of circular diaphragm 12 and annular shape out；
The firm gear 2 includes cylindric firm gear main body 21, and the circle being arranged on the right end outer wall of firm gear main body 21 is outer
Tooth 22；The firm gear main body 21 is arranged in the flexbile gear main body 11, the internal tooth of the external tooth 22 of the firm gear 2 and the flexbile gear 1
14 intermeshings；The ratio between diameter of bore of the diameter of bore of the firm gear 2 and the flexbile gear 1 is 2/3 or more；
The rotor wave producer 3 includes camshaft 31, flexible bearing 32 and several magnet steel with oval inner hole 311
33；The flexible bearing 32 is mounted in the oval inner hole 311 of the camshaft 31, and inner ring is socketed in the flexbile gear 1
On the outside diameter hoop face of internal tooth 14；Several described magnet steel 33 along camshaft 31 even circumferential be fastened on the outer of camshaft 31
On surface, and it is diametrically opposite with flexible bearing 32；
The fixing seat 4 is socketed on the outer wall of the camshaft 31 by the first bearing 5；
The stator 6 is securedly mounted in fixing seat 4, and radially aligned with the magnet steel of rotor wave producer 3 33；Stator
6 with rotor wave producer 3 in the axial direction be parallel arranged, be conducive to shorten retarder complete machine axial length, make structure more
It is compact；
The crossed roller bearing 7 is mounted on the left end of the firm gear main body 21, the outer ring 71 of the crossed roller bearing
It is fastened in fixing seat 4 together against the shaft shoulder 13 of the flexbile gear 1, and with the shaft shoulder 13, the inner ring 72 of the crossed roller bearing 7
It is fixedly connected with the firm gear main body 21；
The support shaft 8 is installed in rotation on the right end of the firm gear main body 21, the support shaft 8 and the rotor wave
The camshaft 31 of generator 3 is fixedly connected；
The bearing block 10 is socketed on the outer wall of the support shaft 8 by the second bearing 9, the bearing block 10 with
The fixing seat 4 is fixedly connected.
Preferably, further including encoder 20, reading head 30 and reading head mounting base 40, the encoder 20 is fixedly mounted
In in the support shaft 8, the reading head 30 is fixedly installed in institute after being fastenedly connected with the reading head mounting base 40 together again
It states on bearing block 10.Encoder 20 and reading head 30 form the state feedback module of motor, can timely feedback motor in work
The motion states such as the speed of (i.e. rotor wave producer) and position.
Preferably, further including rear cover 50, the rear cover 50 is installed in rotation on the right end of the firm gear main body 21, institute
Rear cover 50 is stated to be fixedly connected with the bearing block 10.Rear cover 50 plays a part of to seal and protect to complete machine.
Preferably, the number of teeth of internal tooth 14 described in the gear ratio of the external tooth 22 is 2 few.Outside the crossed roller bearing
It encloses between the shaft shoulder 13 and fixing seat 4 of 71, flexbile gear 1 and is fixedly connected by screw.The inner ring 72 of the crossed roller bearing and institute
It states and is fixedly connected between firm gear main body 21 by screw.
The present embodiment realizes the installation of rotor wave producer 3 by first bearing 5, it is ensured that rotor wave producer 3 is in certainly
By the state rotated, it is ensured that the realization of deceleration；Set has the center of maximum via hole of the hollow type harmonic speed reducer of motor
Size determines by the size of the inner hole of firm gear 2, therefore, guaranteeing rigidity enough and under the premise of connect reliable fastening, as far as possible
It is designed as maximum, generally, it is ensured that the ratio between the size of the inner hole of firm gear 2 and the hole size of flexbile gear 1 are on 2/3.
In addition, the fixing seat 4, bearing block 10, rear cover 50 are all made of aluminium alloy and are made, difficulty of processing and cost are not
It will increase, but the weight of complete machine can be allowed to reduce.
Then, it elaborates to the working principle of harmonic speed reducer of the present invention.
As shown in Figure 1 and Figure 4, rotor wave producer 3 is fastened together with support shaft 8, and passes through 5 He of first bearing
Second bearing 9 is articulated in fixing seat 4 and bearing block 10 respectively, it is ensured that rotor wave producer 3 is in the state rotated freely；Rotor
Magnet steel 33 is additionally provided on wave producer 3, therefore, rotor wave producer 3 has the function of rotor.When motor driver to
Controlled current flow is passed through in stator 6, electric energy is ultimately converted to mechanical energy by electromagnetic field transmission, and driving rotor wave producer 3 rotates
Get up.Meanwhile the motor condition feedback module that encoder 20 and reading head 30 form, motor (i.e. rotor wave can be detected in time
Generator 3) speed and the motion states such as position, and fed back to motor driver.Motor driver is then according to these feedback coefficients
According to controlling the electric current being passed through in stator 6 in time, and then control starting, revolving speed, positioning and the stopping of rotor wave producer 3, realize
The controllable rotating of rotor wave producer 3 moves.
Rotor wave producer 3 has the function of wave producer simultaneously, to realize the retarded motion of harmonic gear.Flexible bearing
32 are mounted in the oval inner hole 311 of camshaft 31, and Internal and external cycle generates ovalizing deflection, and flexbile gear 1 is socketed in inner ring,
Ovalizing deflection is generated, long axis a and short axle b is formed, in this way, the internal tooth 14 of flexbile gear 1 and the external tooth 22 of firm gear 2 are just certain in short axle b
Range is in meshing state, and is in disengaged condition in long axis a a certain range.When being passed through controlled current flow in stator 6, electric energy passes through
Electromagnetic field transmission is ultimately converted to mechanical energy, and rotor wave producer 3 is driven to rotate, at this moment the internal tooth 14 of flexbile gear 1 and just
The position of engagement of the external tooth 22 of wheel 2 is just circumferentially moved.Generally, the number of teeth of the gear ratio flexbile gear 1 of firm gear 2 is 2 few.Therefore,
When the position of engagement is circumferentially moved, relative rotary motion, this rotation fortune are generated between flexbile gear 1 and firm gear 2 because of teeth number difference
It is dynamic finally to be exported to external by the inner ring of crossed roller bearing by driving sidepiece part by firm gear 2, realize entire mechanism
Deceleration.
In short, harmonic speed reducer and motor have been incorporated into together by the present invention, so that the structure of entire deceleration mechanism is very
Compact, volume is smaller, and quality is lighter.
For those skilled in the art, it can make other each according to the above description of the technical scheme and ideas
Kind is corresponding to be changed and deforms, and all these change and deform the protection model that all should belong to the claims in the present invention
Within enclosing.
Claims (9)
1. it is a kind of gather have the hollow type harmonic speed reducer of motor, it is characterised in that: including be coaxially disposed flexbile gear, firm gear,
Rotor wave producer, fixing seat, stator, first bearing, crossed roller bearing, support shaft, second bearing and bearing block；
The flexbile gear includes cylindric flexbile gear main body, the annular shape radially successively extended outward from the left end of flexbile gear main body
Diaphragm and annular shape the shaft shoulder, be arranged on the right end inner wall of flexbile gear main body one circle internal tooth；
The firm gear includes cylindric firm gear main body, and the circle external tooth on the right end outer wall of firm gear main body is arranged in；It is described rigid
Wheel body is arranged in the flexbile gear main body, and the internal tooth of the external tooth of the firm gear and the flexbile gear is intermeshed；
The rotor wave producer includes camshaft, flexible bearing and several magnet steel with oval inner hole；The flexible shaft
It holds in the oval inner hole for being mounted on the camshaft, inner ring is socketed on the outside diameter hoop face of the internal tooth of the flexbile gear；Institute
State several magnet steel along camshaft even circumferential be fastened on camshaft outer surface on, and with flexible bearing radially phase
It is right；
The fixing seat is socketed on the outer wall of the camshaft by the first bearing；
The stator is securedly mounted in fixing seat, and radially aligned with the magnet steel of rotor wave producer；
The crossed roller bearing is mounted on the left end of the firm gear main body, and the outer ring of the crossed roller bearing is against described soft
The shaft shoulder of wheel, and be fastened in fixing seat together with the shaft shoulder, the inner ring of the crossed roller bearing is fixed with the firm gear main body
Connection；
The support shaft is installed in rotation on the right end of the firm gear main body, the support shaft and the rotor wave producer
Camshaft is fixedly connected；
The bearing block is socketed on the outer wall of the support shaft by the second bearing, the bearing block and the fixing seat
It is fixedly connected；
It further include encoder, reading head and reading head mounting base, the encoder is fixedly installed in the support shaft, the reading
Several be fastenedly connected with the reading head mounting base after be fixedly installed on the bearing block together again.
2. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: it further include rear cover,
The rear cover is installed in rotation on the right end of the firm gear main body, and the rear cover is fixedly connected with the bearing block.
3. it is according to claim 1 gather have the hollow type harmonic speed reducer of motor, it is characterised in that: the firm gear it is interior
The ratio between diameter of bore of bore dia and the flexbile gear is 2/3 or more.
4. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the tooth of the external tooth
Number 2 fewer than the number of teeth of the internal tooth.
5. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the fixing seat is adopted
It is made with aluminium alloy.
6. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the bearing block is adopted
It is made with aluminium alloy.
7. according to claim 2 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the rear cover uses
Aluminium alloy is made.
8. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the crossed roller
It is fixedly connected between the outer ring of bearing, the shaft shoulder of flexbile gear and fixing seat by screw.
9. according to claim 1 gather the hollow type harmonic speed reducer for having motor, it is characterised in that: the crossed roller
It is fixedly connected between the inner ring of bearing and the firm gear main body by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669434.XA CN106230186B (en) | 2016-08-15 | 2016-08-15 | It is a kind of to gather the hollow type harmonic speed reducer for having motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610669434.XA CN106230186B (en) | 2016-08-15 | 2016-08-15 | It is a kind of to gather the hollow type harmonic speed reducer for having motor |
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| CN106230186B true CN106230186B (en) | 2019-05-24 |
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| CN106230186A (en) | 2016-12-14 |
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