CN117249218B - A differential rotation power device - Google Patents
A differential rotation power deviceInfo
- Publication number
- CN117249218B CN117249218B CN202311219653.4A CN202311219653A CN117249218B CN 117249218 B CN117249218 B CN 117249218B CN 202311219653 A CN202311219653 A CN 202311219653A CN 117249218 B CN117249218 B CN 117249218B
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- CN
- China
- Prior art keywords
- harmonic
- gear
- power device
- flexible
- central shaft
- 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.)
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Classifications
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- 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
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- 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
- F16H48/00—Differential gearings
- F16H48/38—Constructional details
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
Abstract
本发明属于减速机技术领域，特别涉及一种差速旋转动力装置。其技术方案为：一种差速旋转动力装置，包括十字环，十字环的两外侧均设置有谐波减速电机；所述谐波减速电机包括内置于减速机的中心轴，中心轴上连接有电机定子，电机定子上套设有电机转子，电机转子连接有谐波减速单元，谐波减速单元的输出端与中心轴固定，谐波减速单元的输出端齿啮合有谐波刚轮，谐波刚轮与十字环转动连接，谐波刚轮固定有大齿轮，十字环端部的外圈转动连接有小齿轮，小齿轮分别与两侧的大齿轮啮合。本发明提供了一种可驱动动作端分别在两个相互垂直的平面内转动或复合转动的差速旋转动力装置。
The present invention belongs to the technical field of speed reducers, and particularly relates to a differential rotation power device. Its technical solution is as follows: a differential rotation power device, including a cross ring, with harmonic reduction motors provided on both outer sides of the cross ring; the harmonic reduction motor includes a central shaft built into the speed reducer, a motor stator connected to the central shaft, a motor rotor sleeved on the motor stator, a harmonic reduction unit connected to the motor rotor, an output end of the harmonic reduction unit fixed to the central shaft, a harmonic rigid wheel meshed with the output end teeth of the harmonic reduction unit, the harmonic rigid wheel is rotationally connected to the cross ring, a large gear is fixed to the harmonic rigid wheel, the outer ring of the end of the cross ring is rotationally connected to a small gear, and the small gears are respectively meshed with the large gears on both sides. The present invention provides a differential rotation power device that can drive the action end to rotate or compound rotate in two mutually perpendicular planes.
Description
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a differential rotation power device.
Background
Harmonic reducers are widely used in the field of mechanical transmission due to their large transmission ratio, and generally, they include rigid gears, flexible gears, and wave generators. The rigid gear is actually an annular gear with high rigidity, the flexible gear is cylindrical and made of a material with low rigidity, external teeth are formed on the outer wall of the barrel port end of the flexible gear, the barrel port end of the flexible gear stretches into the rigid gear, the external teeth are used for being meshed with the internal teeth of the rigid gear, the wave generator is elliptic cylindrical and stretches into the barrel port end of the flexible gear, and when the wave generator is driven to rotate by a power mechanism, the external teeth of the flexible gear corresponding to the long axis of the wave generator are continuously meshed with the internal teeth of the rigid gear to enable the wave generator to drive the flexible gear to rotate.
The utility model discloses a hollow harmonic speed reducer with a deep groove ball bearing, which comprises a harmonic speed reducer, a hollow input shaft and the deep groove ball bearing, wherein the hollow input shaft is arranged in the harmonic speed reducer, a bearing fixing assembly is arranged on the harmonic speed reducer, the deep groove ball bearing is arranged between the hollow input shaft and the bearing fixing assembly, the bearing fixing assembly comprises a bearing seat and a bearing pressing plate, the two ends of the deep groove ball bearing are respectively fixed by the bearing seat and the bearing pressing plate, and the hollow harmonic speed reducer with the deep groove ball bearing is provided with the deep groove ball bearing.
However, the harmonic speed reducer can only output rotation in a single direction, and cannot realize rotation or compound movement in two mutually perpendicular planes.
Disclosure of Invention
In order to solve the above problems in the prior art, an object of the present invention is to provide a differential rotation power device capable of driving an operation end to rotate or rotate in two mutually perpendicular planes respectively.
The technical scheme adopted by the invention is as follows:
The differential rotation power device comprises a cross ring, wherein harmonic speed reducing motors are arranged on two outer sides of the cross ring, each harmonic speed reducing motor comprises a central shaft, motor stators are connected onto the central shafts, motor rotors are sleeved on the motor stators, each motor rotor is connected with a harmonic speed reducing unit, the output ends of the harmonic speed reducing units are fixed with the central shafts, harmonic rigid wheels are meshed with the output end teeth of the harmonic speed reducing units, the harmonic rigid wheels are rotationally connected with the cross ring, large gears are fixedly arranged on the harmonic rigid wheels, small gears are rotationally connected with the outer rings of the end parts of the cross ring, and the small gears are respectively meshed with the large gears on two sides.
The rotating speed of the output end of the harmonic speed reduction unit is greatly reduced relative to the rotating speed of the cam, so that the output end of the harmonic speed reduction motor is stable and outputs at a low speed. The harmonic speed reduction unit is meshed with the harmonic rigid gear teeth, so that the output end of the harmonic speed reduction motor has higher transmission precision relative to the cam. The output end of the harmonic reduction unit is fixed with the central shaft, so that the motor stator is fixed, and the motor rotor can rotate stably relative to the motor stator.
The output ends of the harmonic speed reducing motors at the two sides are connected with action ends, and the pinion is connected with a fixed end. When the motors on two sides rotate in the same direction and the rotating speeds are the same, the pinion and the large gear piece do not rotate relatively, and the action end tilts by taking the central shaft as a rotating shaft. When the motors at the two sides turn reversely and rotate at the same speed, the big gears at the two sides are respectively meshed with the pinion for transmission, the pinion only rotates, and the action end rotates by taking the shaft of the pinion as a rotating shaft. And under other working conditions, the action end performs compound movement. The speed reducer can realize two movements in mutually perpendicular directions, can simulate human joints, has a compact structure, and can be applied to joint parts of robots.
As a preferable scheme of the invention, the harmonic speed reduction unit comprises a cam, the cam is fixed on a motor rotor, a flexible bearing is arranged on the cam, a flexible wheel is sleeved on the outer ring of the flexible bearing, the flexible wheel is meshed with harmonic rigid gear teeth, the number of teeth of the flexible wheel is smaller than that of the harmonic rigid gear teeth, an output flange is fixed on the flexible wheel, and the flexible wheel is fixed with a central shaft.
When the motor is electrified, the motor rotor rotates relative to the motor stator, the motor rotor drives the cam to rotate, and the cam drives the flexible wheel and the harmonic rigid wheel to be meshed and transmitted through the flexible bearing. If the number of teeth of the flexible gear is less than the number of teeth of the harmonic rigid gear by N, when the cam rotates for one circle, the flexible gear rotates for N teeth relative to the harmonic rigid gear, so that an output flange connected to the flexible gear is greatly decelerated, stable output force is ensured, and transmission precision is ensured through tooth transmission.
As a preferable mode of the invention, the inner side of the cam is connected with the central shaft through a rolling bearing. The central shaft is used for reliably supporting the cam, and the central shaft and the cam can rotate relatively.
As a preferable scheme of the invention, the shape of the cam and the flexible bearing is elliptical, and the flexible wheel is meshed with the harmonic rigid wheel at two positions. The flexible bearing pushes the flexible gear and the harmonic rigid gear to be meshed and transmitted from two positions, so that stable transmission of the flexible gear and the harmonic rigid gear is ensured.
As the preferable scheme of the invention, the harmonic speed reduction motor further comprises a crossed roller bearing, wherein the inner ring of the crossed roller bearing is integrally formed or fixedly connected with the output flange, and the outer ring of the crossed roller bearing is integrally formed or fixedly connected with the large gear. The output end of the harmonic speed reduction unit can reliably support the large gear, and the output end of the harmonic speed reduction unit can rotate relative to the large gear.
As a preferable scheme of the invention, the central shaft is provided with a wiring hole, and wiring of the motor stator passes through the wiring hole. The wiring is worn out from the wiring hole, and wiring is conveniently carried out on the wiring. The rotation speed of the central shaft is low, the rotation angle is not large, and the central shaft can return, so that wiring cannot interfere with other structures after penetrating out of the wiring hole.
As a preferable embodiment of the present invention, the central shaft is fixed with a PCB mounting board.
As a preferable scheme of the invention, two positions which are 180 degrees apart on the cross ring are respectively provided with a rotary connector, and the pinion is connected with the cross ring through one rotary connector. The fixed ends can be respectively connected with the two rotary connectors, so that the stability of the differential rotation power device provided by the invention after being mounted on the fixed ends is ensured.
As a preferable scheme of the invention, an end cover for limiting is fixed on the rotary connector. The end cover is used for limiting the fixed end, so that the differential rotation power device is prevented from being separated from the fixed end.
As a preferable scheme of the invention, the rotary connector comprises a convex connecting column arranged on the cross ring, and the connecting column is provided with a ball or a bearing. The pinion is connected with one of the connecting columns through a ball or a bearing, one of the connectors of the fixed end is connected with the pinion through a bolt, and the other connector of the fixed end is connected with the connecting column on the opposite side through a ball or a bearing.
The beneficial effects of the invention are as follows:
1. In the invention, when the motors at two sides rotate in the same direction and the rotation speed is the same, the pinion and the large gear piece do not rotate relatively, and the action end tilts by taking the central shaft as the rotation shaft. When the motors at the two sides turn reversely and rotate at the same speed, the big gears at the two sides are respectively meshed with the pinion for transmission, the pinion only rotates, and the action end rotates by taking the cross ring as a rotating shaft. And under other working conditions, the action end performs compound movement. The speed reducer can realize two movements in mutually perpendicular directions, can simulate human joints, has a compact structure, and can be applied to joint parts of robots.
2. The rotating speed of the output end of the harmonic speed reduction unit is greatly reduced relative to the rotating speed of the cam, so that the output end of the harmonic speed reduction motor is stable and outputs at a low speed. The harmonic speed reduction unit is meshed with the harmonic rigid gear teeth, so that the output end of the harmonic speed reduction motor has higher transmission precision relative to the cam. The output end of the harmonic reduction unit is fixed with the central shaft, so that the motor stator is fixed, and the motor rotor can rotate stably relative to the motor stator.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
Fig. 4 is a partial structural view of the present invention.
The device comprises a 1-cross ring, a 2-central shaft, a 3-motor stator, a 4-motor rotor, a 5-harmonic speed reduction unit, a 6-harmonic rigid wheel, a 7-large gear, an 8-small gear, a 9-PCB mounting plate, an 11-rotating connector, a 12-end cover, a 21-rolling bearing, a 51-cam, a 52-flexible bearing, a 53-flexible wheel, a 54-output flange and a 55-cross roller bearing.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
As shown in fig. 1-4, the differential rotation power device of the embodiment comprises a cross ring 1, wherein harmonic speed reducing motors are arranged on two outer sides of the cross ring 1, each harmonic speed reducing motor comprises a central shaft 2, a motor stator 3 is connected to the central shaft 2, a motor rotor 4 is sleeved on each motor stator 3, each motor rotor 4 is connected with a harmonic speed reducing unit 5, an output end of each harmonic speed reducing unit 5 is fixed with the central shaft 2, harmonic rigid wheels 6 are meshed with an output end of each harmonic speed reducing unit 5, each harmonic rigid wheel 6 is rotationally connected with the cross ring 1, a large gear 7 is fixed on each harmonic rigid wheel 6, a small gear 8 is rotationally connected to an outer ring at the end part of the cross ring 1, and each small gear 8 is meshed with the large gears 7 on two sides.
The rotational speed of the output end of the harmonic speed reduction unit 5 of the present invention is greatly reduced with respect to the rotational speed of the cam 51, so that the output end of the harmonic speed reduction motor is stably and low-speed output. The harmonic speed reduction unit 5 is meshed with the harmonic rigid wheel 6 in a tooth mode, and therefore the output end of the harmonic speed reduction motor has high transmission precision relative to the cam 51. The output end of the harmonic reduction unit 5 is fixed with the central shaft 2, so that the motor stator 3 is fixed, and the motor rotor 4 can rotate stably relative to the motor stator 3.
The motor stator 3 and the electronic rotor 4 are arranged in the flexible gear 53, so that the space can be effectively utilized, the volume of the harmonic speed reduction motor is reduced, and the structure is simplified.
The action end is connected between the output ends of the harmonic speed reducing motors at the two sides, and the pinion gear 8 is connected with the fixed end. When the motors on two sides rotate in the same direction and the rotating speeds are the same, the small gear 8 and the large gear 7 do not rotate relatively, and the action end tilts by taking the central shaft 2 as a rotating shaft. When the motors at the two sides turn reversely and rotate at the same speed, the large gears 7 at the two sides are respectively meshed with the small gears 8 for transmission, the small gears 8 only rotate, and the action end rotates by taking the shaft of the small gears 8 as a rotating shaft. And under other working conditions, the action end performs compound movement. The speed reducer can realize two movements in mutually perpendicular directions, can simulate human joints, has a compact structure, and can be applied to joint parts of robots.
Specifically, as shown in fig. 4, the harmonic speed reduction unit 5 includes a cam 51, the cam 51 is fixed on the motor rotor 4, a flexible bearing 52 is mounted on the cam 51, a flexible gear 53 is sleeved on an outer ring of the flexible bearing 52, the flexible gear 53 is meshed with the harmonic rigid gear 6, the number of teeth of the flexible gear 53 is smaller than that of the harmonic rigid gear 6, an output flange 54 is fixed on the flexible gear 53, and the flexible gear 53 is fixed with the central shaft 2. The cam 51 and the flexible bearing 52 are both elliptical in shape, and the flexible wheel 53 is meshed with the harmonic rigid wheel 6 at two positions. The flexible bearing 52 pushes the flexible gear 53 and the harmonic rigid gear 6 to be meshed and driven from two positions, so that stable driving of the flexible gear 53 and the harmonic rigid gear 6 is ensured.
The principle of deceleration of the harmonic gear motor is to utilize the relative motion of the flexible gear 53, the harmonic rigid gear 6 and the cam 51, and mainly realize motion and power transmission by the controllable elastic deformation of the flexible gear 53. The elliptical cam 51 rotates in the flexspline 53, deforming the flexspline 53. When the gear teeth of the flexible gear 53 at both ends of the major axis of the elliptical cam 51 and the gear teeth of the harmonic rigid gear 6 enter into engagement, the gear teeth of the flexible gear 53 at both ends of the minor axis are disengaged from the gear teeth of the harmonic rigid gear 6. For the teeth between the major and minor axes of the cam 51, the semi-engaged state in which they gradually enter engagement is called meshing in different sections along the circumference of the flexspline 53 and the flexspline 6. In a state of gradually withdrawing from engagement with the half engagement, called engagement. When the cam 51 continuously rotates, the flexible gear 53 continuously deforms, so that the original working states of the gear teeth of the two gears are continuously changed in the processes of meshing, meshing out and disengaging, staggered tooth movement is generated, and the movement transmission of the cam 51 and the flexible gear 53 is realized. The harmonic speed reducing motor has stable transmission, low noise, high motion precision and back clearance less than 10 angular seconds.
When the motor is electrified, the motor rotor 4 rotates relative to the motor stator 3, the motor rotor 4 drives the cam 51 to rotate, and the cam 51 pushes the flexible wheel 53 to be meshed with the harmonic rigid wheel 6 through the flexible bearing 52 for transmission. The flexible bearing 52 is also elliptical, and the flexible bearing 52 rotates synchronously with the cam 51. The flexible wheel 53 is made of flexible material and is sleeved on the flexible wheel 53. When the flexible bearing 52 rotates, the teeth of the flexible gear 53 are blocked by the teeth of the harmonic rigid gear 6, so that the flexible gear 53 slides on the flexible bearing 52. The meshing position of the flexspline 53 and the harmonic rigid gear 6 is continuously changed due to the pressing action of the flexspline 52. Since the number of teeth of the flexible gear 53 is smaller than that of the harmonic rigid gear 6, when the cam 51 rotates one turn, the meshing position of the flexible gear 53 and the harmonic rigid gear 6 does not change one turn. If the number of teeth of the flexible gear 53 is less than the number of teeth of the harmonic rigid gear 6 by N, when the cam 51 rotates for one turn, the flexible gear 53 rotates for N teeth relative to the harmonic rigid gear 6, so that the output flange 54 connected to the flexible gear 53 is greatly decelerated, stable output force is ensured, and transmission precision is ensured by tooth transmission. In fig. 3, the number of teeth of the flexible gear 53 is two teeth less than the number of teeth of the harmonic rigid gear 6, and when the cam 51 rotates one turn, the flexible gear 53 rotates two teeth, and the output flange 54 rotates by a corresponding angle along with the cam 51.
In order to support the cam 51, the inner side of the cam 51 is connected to the center shaft 2 through the rolling bearing 21. The central shaft 2 reliably supports the cam 51, and the central shaft 2 and the cam 51 can rotate relatively. The cam 51 and the center shaft 2 can be connected by two rolling bearings 21, and the stability of the cam 51 is further improved. The rolling bearing 21 here may be a deep groove ball bearing.
In order to support the large gear 7, the harmonic speed reduction motor further comprises a crossed roller bearing 55, wherein an inner ring of the crossed roller bearing 55 is integrally formed or fixedly connected with the output flange 54, and an outer ring of the crossed roller bearing 55 is integrally formed or fixedly connected with the large gear 7. The output flange 54 can reliably support the large gear 7, and the output flange 54 can rotate relative to the large gear.
In order to facilitate connection and wiring, a wiring hole is formed in the central shaft 2, and wiring of the motor stator 3 penetrates out of the wiring hole. The wiring is worn out from the wiring hole, and wiring is conveniently carried out on the wiring. The rotation speed of the central shaft 2 is low, the rotation angle is not large, and the central shaft can return, so that wiring cannot interfere with other structures after penetrating out of the wiring hole.
A PCB mounting plate 9 is fixed to the central shaft 2. The PCB mounting plate 9 is fixed on one side of the central shaft 2, which is close to the cross ring 1, and a gap is reserved between the cross ring 1 and the PCB mounting plate 9, so that movement interference is avoided.
In order to further reduce the occupied space, the pinion gear 8 and the large gear 7 are bevel gears, so that the outline of the speed reducer is more similar to a sphere, and the speed reducer is convenient to install at the joint of the humanoid simulation robot.
The flexible gear 53 and the output flange 54 are provided with bolt holes at the same position, and the connecting bolts respectively penetrate through the flexible gear 53 and the output flange 54 and then are connected with the action end, so that the connection stability of the output end is further improved. The flexible wheel 53 is fixedly connected with the central shaft 2, so that the central shaft 2 can stably support the motor stator 3, and the motor rotor 4 can reliably rotate relative to the motor stator 3.
Further, two positions on the cross ring 1, which are 180 degrees apart, are provided with rotating connectors 11, and the pinion 8 is connected with the cross ring 1 through one of the rotating connectors 11. The fixed ends can be respectively connected with the two rotary connectors 11, so that the stability of the differential rotary power device provided by the invention after being mounted on the fixed ends is ensured.
As shown in fig. 3, the swivel joint 11 comprises a protruding coupling post provided on the cross ring 1, on which a ball or bearing is mounted. Pinion 8 is connected with one of them spliced pole through ball or bearing, and one of them connector of stiff end is connected with pinion 8 through the bolt, and another connector of stiff end is connected through ball or bearing with the spliced pole of offside.
In order to ensure the limit, an end cover 12 for limiting is fixed on the rotary connector 11. The end cover 12 is used for limiting the fixed end, so as to prevent the differential rotation power device from separating from the fixed end.
The invention is not limited to the above-described alternative embodiments, and any person who may derive other various forms of products in the light of the present invention, however, any changes in shape or structure thereof, all falling within the technical solutions defined in the scope of the claims of the present invention, fall within the scope of protection of the present invention.
Claims (10)
1. A differential rotation power device is characterized by comprising a cross ring (1), wherein harmonic speed reducing motors are arranged on two outer sides of the cross ring (1), each harmonic speed reducing motor comprises a central shaft (2), a motor stator (3) is connected to the central shaft (2), a motor rotor (4) is sleeved on each motor stator (3), each motor rotor (4) is connected with a harmonic speed reducing unit (5), the output end of each harmonic speed reducing unit (5) is fixed to the central shaft (2), harmonic rigid wheels (6) are meshed with the output end teeth of each harmonic speed reducing unit (5), the harmonic rigid wheels (6) are in rotary connection with the cross ring (1), large gears (7) are fixed to the harmonic rigid wheels (6), small gears (8) are rotatably connected to the outer rings of the end portions of the cross ring (1), and the small gears (8) are meshed with the large gears (7) on two sides respectively.
2. The differential rotation power device according to claim 1, wherein the harmonic speed reduction unit (5) comprises a cam (51), the cam (51) is fixed on the motor rotor (4), a flexible bearing (52) is arranged on the cam (51), a flexible gear (53) is sleeved on the outer ring of the flexible bearing (52), the flexible gear (53) is meshed with the harmonic rigid gear (6), the number of teeth of the flexible gear (53) is smaller than that of the harmonic rigid gear (6), an output flange (54) is fixed on the flexible gear (53), and the flexible gear (53) is fixed with the central shaft (2).
3. A differential rotation power device according to claim 2, characterized in that the inner side of the cam (51) is connected to the central shaft (2) by means of a rolling bearing (21).
4. A differential rotation power device according to claim 2, wherein the cam (51) and the flexible bearing (52) are elliptical in shape, and the flexible gear (53) is engaged with the harmonic rigid gear (6) at two positions.
5. A differential rotary power device as set forth in claim 2, wherein said harmonic speed reducing motor further comprises a cross roller bearing (55), an inner ring of the cross roller bearing (55) is integrally formed with or fixedly connected to the output flange (54), and an outer ring of the cross roller bearing (55) is integrally formed with or fixedly connected to the large gear (7).
6. A differential rotation power device according to claim 1, wherein the center shaft (2) is provided with a wiring hole, and wiring of the motor stator (3) is passed through the wiring hole.
7. A differential rotation power device according to claim 1, wherein said central shaft (2) is fixed with a PCB mounting plate (9).
8. A differential rotation power device according to claim 1, characterized in that the two positions of the cross ring (1) which are 180 degrees apart are provided with rotation connectors (11), and the pinion (8) is connected with the cross ring (1) through one of the rotation connectors (11).
9. The differential rotation power device as set forth in claim 8, wherein an end cap (12) for limiting is fixed to the rotation joint (11).
10. A differential rotation power device according to claim 8, wherein said rotary joint (11) comprises a protruding connecting post provided on the cross ring (1) on which balls or bearings are mounted.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311219653.4A CN117249218B (en) | 2023-09-20 | 2023-09-20 | A differential rotation power device |
| PCT/CN2024/112947 WO2025060781A1 (en) | 2023-09-20 | 2024-08-19 | Differential rotation power device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311219653.4A CN117249218B (en) | 2023-09-20 | 2023-09-20 | A differential rotation power device |
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| Publication Number | Publication Date |
|---|---|
| CN117249218A CN117249218A (en) | 2023-12-19 |
| CN117249218B true CN117249218B (en) | 2025-10-14 |
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| CN202311219653.4A Active CN117249218B (en) | 2023-09-20 | 2023-09-20 | A differential rotation power device |
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| CN (1) | CN117249218B (en) |
| WO (1) | WO2025060781A1 (en) |
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| CN117249218B (en) * | 2023-09-20 | 2025-10-14 | 四川天链机器人股份有限公司 | A differential rotation power device |
| CN119787757B (en) * | 2025-03-12 | 2025-06-13 | 上海理工大学 | Double-rotor joint motor |
| CN121132731A (en) * | 2025-10-31 | 2025-12-16 | 上海大拙天成智能科技有限公司 | A joint module with heat dissipation function and its assembly method |
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| CN220748966U (en) * | 2023-09-20 | 2024-04-09 | 四川福德机器人股份有限公司 | Differential rotation power device |
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| CN208331176U (en) * | 2018-06-11 | 2019-01-04 | 廊坊市钦纵传动科技有限公司 | A kind of differential harmonic speed reducer |
| CN215928297U (en) * | 2021-09-27 | 2022-03-01 | 北京中技克美谐波传动股份有限公司 | Reciprocating transmission device |
| CN117249218B (en) * | 2023-09-20 | 2025-10-14 | 四川天链机器人股份有限公司 | A differential rotation power device |
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2023
- 2023-09-20 CN CN202311219653.4A patent/CN117249218B/en active Active
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2024
- 2024-08-19 WO PCT/CN2024/112947 patent/WO2025060781A1/en active Pending
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| CN102341221A (en) * | 2009-03-06 | 2012-02-01 | 株式会社安川电机 | Robot joint unit and robot |
| CN106224488A (en) * | 2016-08-31 | 2016-12-14 | 四川福德机器人股份有限公司 | A kind of integrated harmonic speed reducer device of built-in motor |
| CN220748966U (en) * | 2023-09-20 | 2024-04-09 | 四川福德机器人股份有限公司 | Differential rotation power device |
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| Publication number | Publication date |
|---|---|
| WO2025060781A1 (en) | 2025-03-27 |
| CN117249218A (en) | 2023-12-19 |
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Country or region after: China Address after: No. 10, South Section of Huohuxi Street, High tech Zone, Mianyang City, Sichuan Province, 621050 Applicant after: Sichuan Tianlian Robotics Co.,Ltd. Address before: No. 10, South Section of Huohuxi Street, High tech Zone, Mianyang City, Sichuan Province, 621050 Applicant before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |
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