CN206878639U - A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator - Google Patents
A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator Download PDFInfo
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- CN206878639U CN206878639U CN201720534503.6U CN201720534503U CN206878639U CN 206878639 U CN206878639 U CN 206878639U CN 201720534503 U CN201720534503 U CN 201720534503U CN 206878639 U CN206878639 U CN 206878639U
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Abstract
The utility model provides a kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator, and it includes shell and is cylindrical in shape；Servomotor is fixed on enclosure, including motor casing, drive end bearing bracket, rear end cap, rotating shaft, front and rear cover is located at motor casing both ends respectively, rotating shaft is located inside motor casing, its middle part rear end is located in front and rear cover by front and back bearings respectively, there are annular concave mouth, rotating shaft fore-end ellipsoidal cross section on front side of drive end bearing bracket；Decelerator is located at enclosure, including wave producer, flexible bearing, flexbile gear, bearing, flange and steel wheel, wave producer is the fore-end of the ellipsoidal cross section of rotating shaft, flexible bearing is sheathed on wave producer, flexbile gear one end with teeth is sheathed on flexible bearing, is engaged with the internal tooth of steel wheel, and the bearing outer ring of turn up one end and bearing is fixed in annular concave mouth, steel wheel both ends are fixedly connected with the bearing inner race of flange and bearing, and flange is as output end.The utility model realizes the steel wheel output effect of decelerator.
Description
Technical field
The utility model belongs to machine field, specifically, the utility model is related to a kind of hollow carnival hat type firm gear output
The hollow motor integrating of harmonic speed reducer, more particularly to it is a kind of installing space, output accuracy and moment of torsion are had higher requirements one
Hollow motor integrating of the kind with harmonic speed reducer.
Background technology
As motor particularly servomotor is more and more wider in the application of industrial circle, to motor output precision,
The requirements such as torque also more and more higher.Motor in the market typically will just be connected after decelerator with load, i.e., electric
Machine and decelerator are substantially installed separately fixed, and such mounting structure can introduce many error components, reduce final defeated
The precision of shaft；In addition, the motor and decelerator overall volume of this structure are very huge, contour structures also unsightly, are being pacified
Need motor and decelerator to be separately mounted on pedestal during dress, assembling is cumbersome, and later maintenance maintenance is also troublesome, directly
Influence production and maintenance cost；Moreover, in some specific occasions, also there is strict want to the installing space of motor and decelerator
Ask.In summary, instantly motor design and manufacture encounter new challenge.
The content of the invention
It is of the present utility model to provide a kind of hollow carnival hat type firm gear output harmonic wave in order to solve the problems of the prior art
The hollow motor integrating of decelerator, it includes：Shell, servomotor and hollow carnival hat shaped steel wheel output harmonic wave decelerator；It is described
Shell is cylindrical in shape；The servomotor is fixed on the enclosure, including motor casing, drive end bearing bracket, rear end cap, rotating shaft, described
Drive end bearing bracket, rear end cap are located at the both ends of the motor casing respectively, and the rotating shaft is located inside the motor casing, and the rotating shaft
Middle part, rear end respectively by fore bearing and rear bearing in the drive end bearing bracket, rear end cap, the front side of the drive end bearing bracket is provided with
Annular concave mouth, the partial cross section of the front end of the rotating shaft are oval；The hollow carnival hat shaped steel wheel output harmonic wave decelerator
Positioned at the enclosure, and at the open front of the shell, including wave producer, flexible bearing, flexbile gear, reducer shaft
Hold, harmonic speed reducer flange and steel wheel, the wave producer is the part of the front end of the ellipsoidal cross section of the rotating shaft, institute
Flexible bearing to be stated to be sheathed on the wave producer, the flexbile gear is in hollow shape for hat, and including：One end with teeth and one end of turning up,
Described one end with teeth is sheathed on the flexible bearing, and is engaged with the internal tooth of the steel wheel, and described turn up and described subtracts one end
The bearing outer ring of fast device bearing is sequentially fixed in the annular concave mouth, the both ends of the steel wheel respectively with the flange and institute
The bearing inner race for stating decelerator bearing is fixedly connected, and the flange is as output end.
In hollow motor integrating as described above, it is preferable that the rotating shaft is hollow axle, during the rotating shaft is formed
Open front and after-opening of the absolutely empty chamber with the shell form the elongated hole of an insertion.
In hollow motor integrating as described above, it is preferable that the rear end of the shell is provided with bonnet, covers in the rear
It is provided with the after-opening.
In hollow motor integrating as described above, it is preferable that the front side of the rear side of the drive end bearing bracket and the rear end cap
Annular boss is equipped with, the motor casing is loaded on two annular boss.
In hollow motor integrating as described above, it is preferable that the leading inside of the shell is formed with shell seam, institute
Stating shell stop portion and being loaded has the drive end bearing bracket.
In hollow motor integrating as described above, it is preferable that the servomotor also includes：Rotary transformer, it is described
Rotary transformer is arranged on the rear end of the rotating shaft, and is clamped in the annular recess on the outside of the rear end cap.
In hollow motor integrating as described above, it is preferable that the servomotor also includes：Oil sealing, the oil sealing are
One O-ring seal, between the inwall of the rotating shaft and the centre bore of the drive end bearing bracket.
What technical scheme provided by the utility model was brought has the beneficial effect that：
Different from the flexbile gear output of traditional decelerator, the flexbile gear of decelerator is fixed to servomotor by the utility model patent
Drive end bearing bracket on, realize the steel wheel output effect of decelerator；
Servomotor and decelerator are made of one, reduce the design and installation error brought due to split-type structural.
Brief description of the drawings
Fig. 1 is a kind of hollow one for hollow carnival hat type firm gear output harmonic wave decelerator that the utility model embodiment provides
The structural representation of motor；
Fig. 2 is a kind of structural representation for servomotor that the utility model embodiment provides；
Fig. 3 is a kind of structural representation for hollow carnival hat shaped steel wheel output harmonic wave decelerator that the utility model embodiment provides
Figure；
Fig. 4 is a kind of structural representation for shell that the utility model embodiment provides.
In figure, symbol description is as follows：
Behind 1 shell, 101 cylinders, 1011 shell seams, 1012 mounting flanges, 10121 flange seams, 102 bonnets, 1021
Bearing behind opening, 2 servomotors, 201 drive end bearing brackets, 202 motor casings, 203 magnet steel, 204 rear end caps, 205 rotary transformers, 206,
207 rotating shafts, 208 stators, 209 fore bearings, 210 oil sealings, 2011 centre bores, 2012 endoporus seams, 2013 spill seams, 2014 rings
Shape boss, 2041 endoporus seams, 2042 annular boss, 2043 annular recess, 2071 oval axle ranks, 3 hollow carnival hat shaped steel wheels
Output harmonic wave decelerator, 301 wave producers, 302 flexible bearings, 303 flexbile gears, 304 firm gears, 305 decelerator bearings bearing in
Circle, the bearing outer ring of 306 decelerator bearings, 307 flanges.
Embodiment
The utility model is described in further details with reference to the accompanying drawings and detailed description.
Referring to Fig. 1~4, the utility model embodiment is provided in a kind of hollow carnival hat type firm gear output harmonic wave decelerator
Empty motor integrating, it includes：Shell 1, servomotor 2 and hollow carnival hat shaped steel wheel output harmonic wave decelerator 3, for the side of description
Just, the abbreviation hereinafter using decelerator as hollow carnival hat shaped steel wheel output harmonic wave decelerator 3 is described.
Specifically, include referring to Fig. 2, servomotor 2：Drive end bearing bracket 201, rear end cap 204, fore bearing 209, rear bearing 206,
Stator 208, magnet steel 203, rotating shaft 207, motor casing 202 and rotary transformer 205, oil sealing 210 etc..
204 structure in the form of annular discs of drive end bearing bracket 201 and rear end cap, its both sides (left side and right side in such as Fig. 2) process respectively
There are some annular grooves (or spill seam) and annular boss (or convex seam), its center is equipped with an endoporus, such as exists
In Fig. 2, drive end bearing bracket is centrally formed with centre bore 2011.
202 cylindrical structure of motor casing, its both ends are loaded in the inner side of the drive end bearing bracket 201 (right side of drive end bearing bracket in Fig. 2 respectively
Side) annular boss 2014 and the inner side of rear end cap 204 (left side of rear end cap in Fig. 2) annular boss 2042 on.
The outer ring of bearing 206 is loaded on the endoporus seam 2041 of the inner side of rear end cap 204 (left side of rear end cap in Fig. 2) afterwards
Place, the distance of endoporus seam 2041 and shaft axis are less than the distance between annular boss 2042 and shaft axis.Fore bearing
209 outer ring is fitted at the endoporus seam 2012 of the inner side of drive end bearing bracket 201 (right side of drive end bearing bracket in Fig. 2), endoporus seam 2012 with
The distance of shaft axis is less than the distance between annular boss 2014 and shaft axis.
Rotating shaft 207 is provided with the shaft-like structure of several steps, i.e., provided with multiple different sizes on the outer wall of rotating shaft 207
The shaft shoulder (shaft shoulders of the i.e. different diameters of axle).Fore bearing 209, the inner ring of rear bearing 206 are then loaded on two sections of shaft shoulders of rotating shaft 207 respectively
Place.Oil sealing 210 is an O-ring seal, and it is arranged between the inwall of the centre bore 2011 of rotating shaft 207 and drive end bearing bracket 201.
Stator 208 is fixed on the inwall of motor casing 202, and magnet steel 203 is arranged at one section of axle rank of rotating shaft 207, and with determining
Rotatable gap is designed between son 208, it is preferable that the diameter of axle for being provided with the shaft shoulder of magnet steel 303 has the inner ring of fore bearing 209 less than being loaded
The shaft shoulder the diameter of axle, and more than the diameter of axle of the shaft shoulder for having the rear inner ring of bearing 206 of being loaded.
Rotary transformer 205 is arranged on the end of rotating shaft 207, and is clamped on the outside of the rear end cap 204 (right side of rear end cap in Fig. 2
Side) in annular recess 2043.
Rotating shaft 207 has an oval axle rank (i.e. shaft shoulder section is ellipse) 2071 at drive end bearing bracket 201, perpendicular to
On the axis direction of rotating shaft 207, oval shaft shoulder position is corresponding with one end position with teeth of following flexbile gears 303.
Decelerator 3 includes：Wave producer 301, flexible bearing 302, flexbile gear 303, firm gear 304, decelerator bearing, flange
307 etc..
Wave producer 301 and rotating shaft 207 design are integrated, i.e., the oval axle rank (or shaft shoulder) of the left end of rotating shaft 207 is i.e.
For the wave producer.
Flexbile gear 303 is in hollow carnival hat shape thin wall shape structure, and its one end is provided with external tooth (one end i.e. with teeth), and the other end turns up
(one end of turning up).Firm gear 304 is provided with internal thread circular ring, and it passes through screw and the bearing inner race of decelerator bearing
305 are connected.The nesting of flexible bearing 302 is installed on above wave producer 301, and one end with teeth of flexbile gear 303 is nested installed in soft
The outer surface of property bearing 302, and be meshed with the internal tooth of firm gear 304.Outside the bearing of turn up one end and the decelerator bearing of flexbile gear 303
Circle 306 is each attached in the spill seam (or annular groove) 2013 of drive end bearing bracket 201, in figure 3, from left to right, decelerator
The bearing outer ring 306 of bearing and one end of turning up of flexbile gear 303 are successively fixed in spill seam.Flange 307 is a kind of hollow convex
Mesa-shaped structure, it is connected by screw with firm gear 304 and bearing inner race 305 so that flange 307 is used as output end.
The cylinder 101 of shell 1 is cylindrical in shape, and formed with open front and after-opening 1021, its all standing is in decelerator 3 and servo
The outside of motor 2, and with reserving running clearance at the flange 307 of decelerator 3.Bonnet 102 is provided with the rear end of shell 1, rear
After-opening 1021 is provided with lid 102.A shell seam 1011 is provided with the leading inside (right side of shell in Fig. 4) of shell 1, it is preceding
End cap 201 is loaded on the shell stop portion, and is fixed by screw.A mounting flange is additionally provided with the outside of the front end of housing 1
1012, a flange seam 10121 and a circle mounting screw holes are offered on mounting flange 1012.Preferably, open front is opened with after
More than 1021 rotating shafts of mouth are concentric.
Preferably, rotating shaft 207 is hollow axle, and the hollow cavity that hollow axle is formed connects with open front and after-opening 1021
It is logical, i.e., it can form one because decelerator, servomotor and enclosure are hollow structures, after installing, inside it and pass through
It logical elongated hole, both can be used for internal cabling, and be beneficial to the utility model all-in-one again and radiate.
Servomotor 2, decelerator 3 and the mutual erection sequence of shell 1 are specifically described below：
For servomotor 2, the interference of magnet steel 203 is arranged among hollow axle 207 on one section of axle rank first, then
Mounted in the higher one section of axle rank in the left side of hollow axle 207, (diameter of axle of shaft shoulder is more than the axle of middle one section of shaft shoulder to fore bearing 209 i.e. at this
Footpath) on, and 207 highest of hollow axle, one section of axle rank (i.e. at this diameter of axle of shaft shoulder be more than higher one section of shaft shoulder the diameter of axle) block before
Bearing inner race；Similarly, the rear inner ring of bearing 206 gear is on the axle rank of 207 rear end of hollow axle one；Being arranged on the axle of hollow axle 207
Fore bearing 209 on rank is embedded in the concave mouth 2012 of drive end bearing bracket 201, then the nested hollow axle that is arranged on of oil sealing 210 with before
Opening position between end cap central bore 2011；Because the wave producer 301 and hollow axle 207 of decelerator are made of one, so can
Flexible bearing 302 is nested in outside wave producer 301, prepared for installation in next step；
For decelerator 3, bearing inner race 305 is inserted in hollow 303 one end with teeth of carnival hat shape flexbile gear first, flexbile gear turns up one
End fitting bearing outer ring 306；Then, firm gear 304 is concentrically mounted on and states 305 outer side of bearing inner race, and firm gear 304 is installed
Engage 303 one end with teeth of Shi Yaoyu flexbile gears；Finally, flange 307 is concentrically mounted on 304 outer side of firm gear.
For the preassembled servomotor in part 2 and decelerator 3, the motor casing 202 equipped with stator is installed to above-mentioned
On the inside of motor front end cover on convex seam 2014, and cause between the magnet steel 203 on the stator 208 and hollow axle on motor casing
Leave certain running clearance；Then, then back end cover for motor inner concave seam 2041 is coated at electric motor back shaft to hold on 206, electricity
Convex seam 2042 is engaged with motor casing 202 on the inside of machine rear end cap；Above-mentioned rotary transformer 205 is nested in middle idle running again
On axle 207, and the left side of rotary transformer 205 is set to be loaded on the outside of rear end cap in annular recess 2043；Finally, decelerator is had soft
The side for taking turns part of turning up is installed in motor front end cover lateral concave seam 2013, and by screw the bearing on decelerator
Outer ring 306 and flexbile gear 303 are fixed with the phase of motor front end cover 201, meanwhile, make the flexible bearing 302 being arranged on hollow axle 207
It is brought into close contact with 303 one end with teeth of decelerator flexbile gear；
Step before completion, you can servomotor 2 and the integrative-structure of decelerator 3 from the bottom of shell 1 load cylinder (or
Procapsid) 101, and fixed with the phase of seam 1011 inside procapsid, bonnet 102 is then installed to the rear end of cylinder 101 again.
Embodiment operation principle is as follows：
Hollow axle 207 rotates when servomotor 2 is powered, the wave producer 301 being made of one with hollow axle 207
Concomitant rotation, wave producer 301 drive flexible bearing 302 to rotate, and rotation is passed to flexbile gear 303, flexbile gear by flexible bearing 302 again
303 are engaged motion with firm gear 304, and flexbile gear 303 is fixed with bearing outer ring 306 with motor front end cover 201, through over-subtraction
The motion of speed is just exported by firm gear 304 and the bearing inner race 305 fixed with firm gear.
Analysis is understood, compared with prior art, is with beneficial effect the advantages of the utility model：
Different from the flexbile gear output of traditional decelerator, the flexbile gear of decelerator is fixed to servomotor by the utility model patent
Drive end bearing bracket on, realize the steel wheel output effect of decelerator；In modularized design, ensureing that space, precision, cabling etc. will
On the premise of asking, selection scheme is enriched.
As known by the technical knowledge, the utility model can pass through other essence without departing from its spirit or the reality of essential feature
Scheme is applied to realize.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only
's.It is all in the scope of the utility model or in the change being equal in the scope of the utility model by the utility model bag
Contain.
Claims (7)
- A kind of 1. hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator, it is characterised in that the hollow one Machine includes：Shell, servomotor and hollow carnival hat shaped steel wheel output harmonic wave decelerator；The shell is cylindrical in shape；The servomotor is fixed on the enclosure, including motor casing, drive end bearing bracket, rear end cap, rotating shaft, the drive end bearing bracket, Rear end cap is located at the both ends of the motor casing respectively, and the rotating shaft is located inside the motor casing, and the middle part of the rotating shaft, Respectively by fore bearing and rear bearing in the drive end bearing bracket, rear end cap, the front side of the drive end bearing bracket is recessed provided with annular for rear end Seam, the partial cross section of the front end of the rotating shaft are oval；The hollow carnival hat shaped steel wheel output harmonic wave decelerator is located at the enclosure, and close to the open front of the shell Locate, including wave producer, flexible bearing, flexbile gear, decelerator bearing, harmonic speed reducer flange and steel wheel, the wave producer are The part of the front end of the ellipsoidal cross section of the rotating shaft, the flexible bearing are sheathed on the wave producer, the flexbile gear In hollow shape for hat, and including：One end with teeth and turn up one end, described one end with teeth is sheathed on the flexible bearing, and with institute State the internal tooth engagement of steel wheel, the bearing outer ring of turn up one end and the decelerator bearing is sequentially fixed at that the annular is recessed to stop Intraoral, the bearing inner race of the both ends of the steel wheel respectively with the flange and the decelerator bearing is fixedly connected, the flange As output end.
- 2. hollow motor integrating according to claim 1, it is characterised in that the rotating shaft is hollow axle, the rotating shaft Open front and after-opening of the hollow cavity of formation with the shell form the elongated hole of an insertion.
- 3. hollow motor integrating according to claim 2, it is characterised in that the rear end of the shell is provided with bonnet, in institute Covered after stating and be provided with the after-opening.
- 4. hollow motor integrating according to claim 1, it is characterised in that the rear side of the drive end bearing bracket and the rear end cap Front side be equipped with annular boss, the motor casing is loaded on two annular boss.
- 5. hollow motor integrating according to claim 1, it is characterised in that the leading inside of the shell is formed with shell Seam, the shell stop portion are loaded and have the drive end bearing bracket.
- 6. hollow motor integrating according to claim 1, it is characterised in that the servomotor also includes：Rotate transformation Device, the rotary transformer are arranged on the rear end of the rotating shaft, and are clamped in the annular recess on the outside of the rear end cap.
- 7. hollow motor integrating according to claim 1, it is characterised in that the servomotor also includes：Oil sealing, it is described Oil sealing is an O-ring seal, between the inwall of the rotating shaft and the centre bore of the drive end bearing bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534503.6U CN206878639U (en) | 2017-05-15 | 2017-05-15 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720534503.6U CN206878639U (en) | 2017-05-15 | 2017-05-15 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
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| Publication Number | Publication Date |
|---|---|
| CN206878639U true CN206878639U (en) | 2018-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720534503.6U Active CN206878639U (en) | 2017-05-15 | 2017-05-15 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106961181A (en) * | 2017-05-15 | 2017-07-18 | 中国电子科技集团公司第二十研究所 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
| CN109139856A (en) * | 2018-10-15 | 2019-01-04 | 南京信息工程大学 | A kind of carnival hat type harmonic speed reducer having both sensing function |
| CN111756153A (en) * | 2019-03-26 | 2020-10-09 | 湖南中车时代电动汽车股份有限公司 | Motor reducer integration frame |
-
2017
- 2017-05-15 CN CN201720534503.6U patent/CN206878639U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106961181A (en) * | 2017-05-15 | 2017-07-18 | 中国电子科技集团公司第二十研究所 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
| CN109139856A (en) * | 2018-10-15 | 2019-01-04 | 南京信息工程大学 | A kind of carnival hat type harmonic speed reducer having both sensing function |
| CN111756153A (en) * | 2019-03-26 | 2020-10-09 | 湖南中车时代电动汽车股份有限公司 | Motor reducer integration frame |
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