CN106936261A - Flexbile gear output harmonic wave all-in-one - Google Patents
Flexbile gear output harmonic wave all-in-one Download PDFInfo
- Publication number
- CN106936261A CN106936261A CN201710230080.3A CN201710230080A CN106936261A CN 106936261 A CN106936261 A CN 106936261A CN 201710230080 A CN201710230080 A CN 201710230080A CN 106936261 A CN106936261 A CN 106936261A
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- flexbile gear
- harmonic
- motor
- 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.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 70
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 1
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
-
- 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
- H02K7/08—Structural association with bearings
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
Abstract
Flexbile gear output harmonic wave all-in-one of the present invention, including motor, harmonic speed reducer and generator rotor；The front end of the harmonic speed reducer is provided with a front port, and load is connected by right-angled intersection bearing with the front port；The rear end of the harmonic speed reducer is connected with the motor front end；The generator rotor is arranged in the stator of the motor, and the generator rotor is used as the rotor of the motor and the generator of the harmonic speed reducer simultaneously.The flexbile gear output harmonic wave all-in-one that the present invention is provided, the generator of rotor and harmonic speed reducer is synthesized into a part, its power is also input into and gives harmonic speed reducer while motor rotates, fundamentally solve the problems, such as that its rotary shaft is difficult to keep coaxial with the rotary shaft of motor harmonic speed reducer when in use, improves the performance of harmonic speed reducer.
Description
Technical field
The present invention relates to frame for movement technical field, more particularly to a kind of flexbile gear input harmonics all-in-one.
Background technology
Harmonic speed reducer be it is a kind of by fixed internal circular spline, flexbile gear and make flexbile gear occur radial deformation wave producer group
Into, there is high accuracy, high-bearing capacity, compared with common decelerator, because the material for using will lack 50%, its volume and
Weight at least reduces 1/3.
In harmonic speed reducer use occasion, its power is generally provided by servomotor, i.e. harmonic speed reducer external
Individual servomotor, due to the aspects such as foozle, rigging error, the rotary shaft of harmonic speed reducer is difficult to and servomotor
Rotary shaft keep coaxial, therefore in the course of the work, the performance of harmonic speed reducer to a certain extent, can be influenceed.
The content of the invention
The present invention provides a kind of flexbile gear output harmonic wave all-in-one, is used to solve harmonic speed reducer its rotary shaft hardly possible when in use
Coaxial technical problem is kept with the rotary shaft with servomotor, to improve the performance of harmonic speed reducer.
In order to solve the above problems, the invention provides a kind of flexbile gear output harmonic wave all-in-one, including motor, harmonic reduction
Device and generator rotor；The housing of the all-in-one is coaxial docking shape by the electric machine casing and the harmonic speed reducer housing
Into；The front end of the harmonic speed reducer is provided with a front port, and load is connected by right-angled intersection bearing with the front port, institute
State and be provided between the flexbile gear of harmonic speed reducer and generator a flexible bearing, the flexible bearing be used as the flexbile gear with it is described
The power drive of gear motion between firm wheel；The rear end of the harmonic speed reducer is connected with the motor front end；The generation
Device rotor is arranged in the stator of the motor, and extends to the front end of the harmonic speed reducer, is used to make the harmonic reduction
Flexbile gear produce elastic deformation；The generator rotor is used as the generation of the rotor and the harmonic speed reducer of the motor simultaneously
Device.
Preferably, the electric machine casing is fixedly connected with the harmonic speed reducer housing by multiple bolts, and the electricity
There is positioning between casing body and the harmonic speed reducer housing.
Preferably, the harmonic speed reducer is carnival hat type harmonic speed reducer, and the carnival hat type harmonic speed reducer is hollow type
Harmonic speed reducer, electric wire can be passed through from the hollow cavity of the hollow type harmonic speed reducer.
Preferably, the rear end of the generator rotor is arranged on the rear end cap of the motor by the first spring bearing,
The front end of the generator rotor is arranged on the drive end bearing bracket of the harmonic speed reducer by the second spring bearing, is loaded and flexbile gear
Connection.
Preferably, multiple mounting holes are provided with the rear end cap of the motor, are consolidated for the all-in-one to be installed on into one
On fixed rack.
The flexbile gear output harmonic wave all-in-one that the present invention is provided, one is synthesized by the generator of rotor and harmonic speed reducer
Individual part, its power is also input into and gives harmonic speed reducer while motor rotates, and fundamentally solving harmonic speed reducer makes
Used time, its rotary shaft was difficult to keep coaxial problem with the rotary shaft of motor, improve the performance of harmonic speed reducer.
Brief description of the drawings
Accompanying drawing 1 is the surface structure schematic diagram of the flexbile gear output harmonic wave all-in-one of the specific embodiment of the invention；
Accompanying drawing 2 is the motor rear end cover structure schematic diagram of the flexbile gear output harmonic wave all-in-one of the specific embodiment of the invention；
Accompanying drawing 3 is the profile in A-A directions in accompanying drawing 2.
Specific embodiment
The specific embodiment of the flexbile gear output harmonic wave all-in-one for providing the present invention below in conjunction with the accompanying drawings elaborates.
This specific embodiment provides a kind of flexbile gear output harmonic wave all-in-one, and accompanying drawing 1 is the specific embodiment of the invention
Flexbile gear output harmonic wave all-in-one surface structure schematic diagram, accompanying drawing 2 is the flexbile gear output harmonic wave of the specific embodiment of the invention
The motor rear end cover structure schematic diagram of all-in-one, accompanying drawing 3 is the profile in A-A directions in accompanying drawing 2.
As Figure 1-3, the flexbile gear output harmonic wave all-in-one that this specific embodiment is provided, including motor 12, harmonic wave subtracts
Fast device 11 and generator rotor 7.Wherein, the housing of the all-in-one is same with the harmonic speed reducer housing by the electric machine casing
Axle docks to be formed.The front end of the harmonic speed reducer 11 is provided with a front port 1, load by right-angled intersection bearing 2 with it is described
Front port 1 is connected；A flexible bearing 9, the flexible bearing are provided between the flexbile gear 3 and firm wheel 10 of the harmonic speed reducer 11
9 male parts for being used as gear motion between the flexbile gear 3 and the firm wheel 10；The rear end of the harmonic speed reducer 11 and the electricity
The front end of machine 12 connects；The generator rotor 7 is arranged in the stator 6 of the motor 12, and extends to the harmonic speed reducer
11 front end, is used to make the flexbile gear 3 of the harmonic speed reducer 11 to produce elastic deformation；The generator rotor 7 is used as institute simultaneously
State the rotor of motor 12 and the generator of the harmonic speed reducer 11.In this embodiment, the generator rotor 7 is same
When play a part of the generator of rotor harmonic decelerator, the i.e. all-in-one of this specific embodiment by rotor with
The generator of harmonic speed reducer unites two into one.So, the generator rotor 7 in motor 12 while rotating, its power
Also input gives the harmonic speed reducer 11, and the rotary encoder 8 detects the rotation position of the generator rotor 7, to determine
The rotation direction of the generator rotor 7, flexbile gear 3 constantly produces elastic deformation, institute under the driving of the generator rotor 7
The power drive that flexible bearing 9 is used as gear motion between the flexbile gear 3 and the firm wheel 10 is stated, makes flexbile gear 3 and firm wheel 10
Engagement also constantly change, by it is engaging-in, engage, nibble out, disengage, it is engaging-in again ..., carry out again and again, so as to realize
Flexbile gear 3 slowly rotates relative to firm wheel 10 along the rightabout of the direction of rotation of the generator rotor 7.The all-in-one is in work
When, fixed firm wheel 10 drives generator rotor 7 to rotate by motor, and flexbile gear 3 is used as power output member, driving load motion.
During the harmonic speed reducer housing is docked with the electric machine casing, in order to ensure the harmonic speed reducer
With the fastness of the motor connection, it is preferred that the electric machine casing passes through multiple bolts and consolidates with the harmonic speed reducer housing
Fixed connection, and there is positioning between the electric machine casing and the harmonic speed reducer housing.
Preferably, the harmonic speed reducer is carnival hat type harmonic speed reducer, and the carnival hat type harmonic speed reducer is hollow type
Harmonic speed reducer, electric wire can be passed through from the hollow cavity of the hollow type harmonic speed reducer.So, can save significantly
Save the space that the all-in-one takes.
In order to improve the stability of the flexbile gear output harmonic wave all-in-one machine structure described in this specific embodiment so that whole one
The structure of body machine is compacter, it is preferred that the rear end of the generator rotor 7 is arranged on the electricity by the first spring bearing 5
On the rear end cap of machine 12, the front end of the generator rotor 7 is arranged on the harmonic speed reducer 11 by the second spring bearing 11
Drive end bearing bracket on, the load is connected with the flexbile gear 3.
In order to fix the all-in-one, it is preferred that multiple mounting holes 13 are provided with the rear end cap of the motor 12, are used for
The all-in-one is installed on a fixed support.
The flexbile gear output harmonic wave all-in-one that the present invention is provided, one is synthesized by the generator of rotor and harmonic speed reducer
Individual part, its power is also input into and gives harmonic speed reducer while motor rotates, and fundamentally solving harmonic speed reducer makes
Used time, its rotary shaft was difficult to keep coaxial problem with the rotary shaft of motor, improve the performance of harmonic speed reducer.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (5)
1. a kind of flexbile gear output harmonic wave all-in-one, it is characterised in that including motor, harmonic speed reducer and generator rotor；It is described
The housing of all-in-one is coaxial docking with the harmonic speed reducer housing by the electric machine casing and is formed；Before the harmonic speed reducer
End is provided with a front port, and load is connected by right-angled intersection bearing with the front port, the flexbile gear of the harmonic speed reducer and
A flexible bearing is provided between firm wheel, the flexible bearing is used as the power of gear motion between the flexbile gear and the firm wheel
Actuator；The rear end of the harmonic speed reducer is connected with the motor front end；The generator rotor is arranged at the motor
In stator, and the front end of the harmonic speed reducer is extended to, be used to make the flexbile gear of the harmonic reduction to produce elastic deformation；It is described
Generator rotor is used as the rotor of the motor and the generator of the harmonic speed reducer simultaneously.
2. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the electric machine casing and the harmonic wave
Reducer shell is fixedly connected by multiple bolts, and in the presence of fixed between the electric machine casing and the harmonic speed reducer housing
Position.
3. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the harmonic speed reducer is carnival hat type
Harmonic speed reducer, the carnival hat type harmonic speed reducer is hollow type harmonic speed reducer, and electric wire can subtract from the hollow type harmonic wave
Passed through in the hollow cavity of fast device.
4. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that the rear end of the generator rotor leads to
The first spring bearing is crossed on the rear end cap of the motor, the front end of the generator rotor is pacified by the second spring bearing
On the drive end bearing bracket of the harmonic speed reducer, load is connected with flexbile gear.
5. flexbile gear output harmonic wave all-in-one according to claim 1, it is characterised in that set on the rear end cap of the motor
There are multiple mounting holes, for the all-in-one to be installed on into a fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230080.3A CN106936261A (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230080.3A CN106936261A (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106936261A true CN106936261A (en) | 2017-07-07 |
Family
ID=59425645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710230080.3A Pending CN106936261A (en) | 2017-04-10 | 2017-04-10 | Flexbile gear output harmonic wave all-in-one |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106936261A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN114684318A (en) * | 2022-03-15 | 2022-07-01 | 苏州绿的谐波传动科技股份有限公司 | Central-positioned driving device and power-assisted bicycle |
| CN114851242A (en) * | 2022-06-13 | 2022-08-05 | 深圳市飞瑶电机科技有限公司 | High integration robot joint module based on harmonic reducer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105822730A (en) * | 2016-05-25 | 2016-08-03 | 浙江来福谐波传动股份有限公司 | MiNi type harmonic reducer with motor shaft |
| CN205780622U (en) * | 2016-05-25 | 2016-12-07 | 浙江来福谐波传动股份有限公司 | A kind of hollow type harmonic speed reducer of charged arbor |
| CN106487158A (en) * | 2016-11-18 | 2017-03-08 | 四川福德机器人股份有限公司 | A kind of flat integration harmonic speed reducer device of built-in motor |
| CN206628939U (en) * | 2017-04-10 | 2017-11-10 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
-
2017
- 2017-04-10 CN CN201710230080.3A patent/CN106936261A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105822730A (en) * | 2016-05-25 | 2016-08-03 | 浙江来福谐波传动股份有限公司 | MiNi type harmonic reducer with motor shaft |
| CN205780622U (en) * | 2016-05-25 | 2016-12-07 | 浙江来福谐波传动股份有限公司 | A kind of hollow type harmonic speed reducer of charged arbor |
| CN106487158A (en) * | 2016-11-18 | 2017-03-08 | 四川福德机器人股份有限公司 | A kind of flat integration harmonic speed reducer device of built-in motor |
| CN206628939U (en) * | 2017-04-10 | 2017-11-10 | 南京信息工程大学 | Flexbile gear output harmonic wave all-in-one |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN114684318A (en) * | 2022-03-15 | 2022-07-01 | 苏州绿的谐波传动科技股份有限公司 | Central-positioned driving device and power-assisted bicycle |
| CN114684318B (en) * | 2022-03-15 | 2023-09-22 | 苏州绿的谐波传动科技股份有限公司 | Centrally-mounted driving device and power-assisted bicycle |
| CN114851242A (en) * | 2022-06-13 | 2022-08-05 | 深圳市飞瑶电机科技有限公司 | High integration robot joint module based on harmonic reducer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106936261A (en) | Flexbile gear output harmonic wave all-in-one | |
| CN206628939U (en) | Flexbile gear output harmonic wave all-in-one | |
| CN201565772U (en) | Steam turbine rotor assembly device | |
| CN103591202A (en) | Pinion-and-rack rotating power generation car shock absorber | |
| CN106300795B (en) | A kind of big retarding is than harmonic reduction all-in-one machine | |
| CN204076277U (en) | A kind of joint of robot | |
| CN109079770A (en) | A kind of multi-degree-of-freemechanical mechanical arm | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN101633130B (en) | Direct-drive type feeding device of milling machine | |
| CN202344646U (en) | Novel electric throwing machine | |
| CN209350133U (en) | A kind of assembling diesel generator fixing tool | |
| CN202991357U (en) | Umbrella-shaped wind power generating set | |
| CN209083299U (en) | A kind of shield machine segment conveying device | |
| CN202985576U (en) | Drive joint of robot second arm | |
| CN204755179U (en) | Spur rack formula wind turbine blade adjustment mechanism | |
| CN108544943A (en) | A kind of charging pile equipped with radiator based on new energy field | |
| CN103696897B (en) | The hydraulic turbine structure of burning voltage can be provided | |
| CN207166289U (en) | Double straight drive screw mandrel modules | |
| CN203380623U (en) | Double-rotating table of gantry type five-shaft linkage vertical machining center | |
| CN201896695U (en) | Double-reverse collapsible type vertical-shaft tidal fluid energy water turbine | |
| CN106507758B (en) | A kind of miniaturization, fast-response, the electric steering engine of self-locking | |
| CN209351485U (en) | A kind of modular power system synthesis | |
| CN201907022U (en) | Double-pendulum milling head driven by alternating-current permanent magnet synchronous outer rotor type torque motor | |
| CN208007134U (en) | Robot differential driving structure | |
| CN202405933U (en) | Full-static seal low-speed submersible motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230703 Address after: 312400 Ganlin Town Industrial Park, Shengzhou City, Shaoxing City, Zhejiang Province Applicant after: ZHEJIANG LAIFUAL HARMONIC DRIVE Co.,Ltd. Address before: 210044 No. 219, Ning six road, Nanjing, Jiangsu Applicant before: Nanjing University of Information Science and Technology |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170707 |