CN217381538U - Electromechanical integrated harmonic speed reducer - Google Patents
Electromechanical integrated harmonic speed reducer Download PDFInfo
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- CN217381538U CN217381538U CN202221550867.0U CN202221550867U CN217381538U CN 217381538 U CN217381538 U CN 217381538U CN 202221550867 U CN202221550867 U CN 202221550867U CN 217381538 U CN217381538 U CN 217381538U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model relates to the technical field of transmission, especially, relate to an electromechanical integration harmonic speed reducer machine, include: the shell comprises an accommodating space; the input shaft is rotatably arranged in the accommodating space, and one end of the input shaft is provided with a wave generator; the frameless motor is arranged in the accommodating space and positioned between the shell and the input shaft, the frameless motor comprises a rotor and a stator, the rotor is fixedly arranged on the outer wall of the input shaft, the stator is fixedly arranged on the inner wall of the shell, and the rotor and the stator are matched with each other to drive the input shaft to rotate; the flexible gear is sleeved on the wave generator, and the wave generator drives the flexible gear to deform; and the rigid wheel is arranged in the accommodating space and is mutually matched with the flexible wheel, and the rigid wheel is an output shaft. The utility model discloses in, be in the same place motor and harmonic speed reducer are integrated, directly drive the input shaft with the rotor and rotate, saved the installation procedure at scene, and the integrated level is high, and is small.
Description
Technical Field
The utility model relates to the technical field of transmission, especially, relate to an electromechanical integration harmonic speed reducer machine.
Background
The motor is one of the most commonly used power components, but a speed reducing structure is usually required to increase the torque of the motor so as to adapt to different application scenarios. The harmonic speed reducer is mainly composed of wave generator, flexible gear and rigid gear, and is a gear transmission which utilizes the wave generator to assemble upper bearing to make the flexible gear produce controllable elastic deformation and can be meshed with the rigid gear to transfer movement and power.
When the motor and the harmonic speed reducer are used for transmission, the motor and the harmonic speed reducer are usually two separated parts, on one hand, the assembly is complex, and the requirements on field assembly technology are high; on the other hand, the volume is larger after the assembly, the integration level is low, and the flexibility is deficient.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides an electromechanical integration harmonic speed reducer machine to effectively solve the problem in the background art.
In order to achieve the purpose, the utility model adopts the technical proposal that: an mechatronic harmonic reducer comprising:
the shell comprises an accommodating space;
the input shaft is rotatably arranged in the accommodating space, and one end of the input shaft is provided with a wave generator;
the frameless motor is arranged in the accommodating space and is positioned between the shell and the input shaft, the frameless motor comprises a rotor and a stator, the rotor is fixedly arranged on the outer wall of the input shaft, the stator is fixedly arranged on the inner wall of the shell, and the rotor and the stator are matched with each other to drive the input shaft to rotate;
the flexible gear is sleeved on the wave generator, and the wave generator drives the flexible gear to deform;
the rigid wheel is arranged in the accommodating space and is matched with the flexible wheel, and the rigid wheel is an output shaft.
Furthermore, the input shaft is sleeved with two ball bearings, the inner diameter of each ball bearing is fixedly connected with the input shaft, the outer diameter of each ball bearing is fixedly connected with the shell, and the input shaft is rotatably arranged in the accommodating space through the two ball bearings.
Further, the two ball bearings are arranged at two ends of the rotor along the length extending direction of the input shaft.
Further, a rear cover is provided at an end of the housing remote from the wave generator, wherein one of the ball bearings is provided on the rear cover.
Further, the accommodation space includes first diameter section and second diameter section, first diameter section is located and is close to the one end of back lid, the second diameter section is located keeps away from the one end of back lid, first diameter section diameter is greater than the second diameter section, the stator with the rotor set up in first diameter section, the restriction of second diameter section the stator with the rotor is followed input shaft length extending direction is to being close to the one end skew of wave generator.
Further, another ball bearing is arranged on the second diameter section.
Furthermore, the second diameter section is provided with an input magnetic encoder, and the input magnetic encoder is respectively arranged on the inner wall of the second diameter section and the outer wall of the input shaft to detect the rotation speed and the position of the input shaft.
Further, a crossed bearing is arranged on the shell, the outer diameter and the inner diameter of the crossed bearing rotate relatively, the outer diameter of the crossed bearing is fixedly connected with the shell, the flexible wheel is fixedly connected with the outer diameter of the crossed bearing, the rigid wheel is arranged on the inner wall of the crossed bearing, and the inner diameter of the crossed bearing is the output shaft.
Furthermore, an output magnetic braid is arranged between the outer diameter and the inner diameter of the crossed bearing, and the output magnetic braids are respectively arranged on the outer diameter and the inner diameter of the crossed bearing to detect the rotating speed and the position of the output shaft.
The utility model has the advantages that: the utility model discloses a set up the casing, the input shaft, frameless motor, flexbile gear and rigid gear, wherein, frameless motor includes rotor and stator, fix the stator in the casing, the rotor is fixed on the input shaft, thereby be in the same place motor and harmonic speed reducer are integrated, it is direct to drive the input shaft with the rotor and rotate, be provided with wave generator on the input shaft, wave generator drives the flexbile gear and warp, because there is the tooth difference between flexbile gear and the rigid gear, at the continuous deformation process of flexbile gear, it rotates to drive the rigid gear, through regarding the rigid gear as the output shaft, thereby export great moment of torsion, with motor and harmonic speed reducer integration, the on-the-spot installation procedure has been saved, and the integrated level is high, small.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the input magnetic braid and the output magnetic braid;
FIG. 3 is a schematic structural view of the housing;
FIG. 4 is a schematic view of the input shaft and flexspline;
fig. 5 is a schematic structural view of a cross bearing and a flexspline.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 5: an mechatronic harmonic reducer comprising:
the shell body 1, the shell body 1 includes a containing space;
the input shaft 2 is rotatably arranged in the accommodating space, and one end of the input shaft 2 is provided with a wave generator 21;
the frameless motor 3 is arranged in the accommodating space and is positioned between the shell 1 and the input shaft 2, the frameless motor 3 comprises a rotor 31 and a stator 32, the rotor 31 is fixedly arranged on the outer wall of the input shaft 2, the stator 32 is fixedly arranged on the inner wall of the shell 1, and the rotor 31 and the stator 32 are matched with each other to drive the input shaft 2 to rotate;
the flexible gear 4 is sleeved on the wave generator 21, and the wave generator 21 drives the flexible gear 4 to deform;
and the rigid wheel 5 is arranged in the accommodating space and is matched with the flexible wheel 4, and the rigid wheel 5 is an output shaft.
The frameless motor 3 comprises a rotor 31 and a stator 32, the stator 32 is fixed in the shell 1, the rotor 31 is fixed on the input shaft 2, so that the motor and the harmonic speed reducer are integrated together, the rotor 31 is directly used for driving the input shaft 2 to rotate, the input shaft 2 is provided with a wave generator 21, the wave generator 21 drives the flexible gear 4 to deform, the flexible gear 4 and the rigid gear 5 are driven to rotate in the continuous deformation process of the flexible gear 4 due to tooth difference, the rigid gear 5 is driven to rotate, the rigid gear 5 is used as an output shaft, so that a large torque is output, the motor and the harmonic speed reducer are integrated, the field installation step is omitted, and the integration level is high and the size is small.
In this embodiment, the input shaft 2 is sleeved with two ball bearings 22, the inner diameter of the two ball bearings 22 is fixedly connected with the input shaft 2, the outer diameter of the two ball bearings 22 is fixedly connected with the housing 1, and the input shaft 2 is rotatably disposed in the accommodating space through the two ball bearings 22.
By providing the two ball bearings 22, the stability of the axis of the input shaft 2 is ensured during rotation, thereby reducing vibration.
The two ball bearings 22 are disposed at both ends of the rotor 31 along the longitudinal extension direction of the input shaft 2.
Since the rotor 31 is fixed to the input shaft 2 and directly drives the input shaft 2 to rotate, the two ball bearings 22 are disposed at both ends of the rotor 31 in the axial direction of the input shaft 2, so that the rotation of the input shaft 2 is more stable and the vibration is reduced.
As a preference of the above embodiment, the housing 1 is provided with a rear cover 11 at an end remote from the wave generator 21, wherein a ball bearing 22 is provided on the rear cover 11.
The accommodation space includes first diameter section 12 and second diameter section 13, and first diameter section 12 is located the one end that is close to back lid 11, and second diameter section 13 is located the one end of keeping away from back lid 11, and first diameter section 12 diameter is greater than second diameter section 13, and stator 32 and rotor 31 set up in first diameter section 12, and second diameter section 13 restriction stator 32 and rotor 31 are to the one end skew that is close to wave generator 21 along input shaft 2 length extending direction.
Since the relative position of the stator 32 and the rotor 31 needs to be ensured to drive the rotation of the input shaft 2, and the rotor 31 and the stator 32 inevitably generate certain fluctuation in the operation process, so that the relative position of the stator 32 and the rotor 31 is deviated, the accommodating space of the housing 1 is provided with the first diameter section 12 and the second diameter section 13 with two different diameters, the stator 32 and the rotor 31 are installed on the first diameter section 12 with the larger diameter, and the stator 32 and the rotor 31 are limited by the second diameter section 13, so that the deviation between the stator 32 and the rotor 31 is prevented.
Wherein the further ball bearing 22 is arranged at the second diameter section 13.
Preferably, in the above embodiment, the second diameter section 13 is provided with the input magnetic coil 33, and the input magnetic coil 33 is provided on the inner wall of the second diameter section 13 and the outer wall of the input shaft 2, respectively, to detect the rotation speed and the position of the input shaft 2.
Since the motor and the harmonic reducer are integrated together, and the motor needs to detect the relative position and the rotation speed between the rotor 31 and the stator 32 during operation, so as to perform better vector control, and the gap between the rotor 31 and the stator 32 is small and difficult to detect, the input magnetic braid 33 is installed on the second diameter section 13, and the input magnetic braid 33 is respectively installed on the inner diameter of the second diameter section 13 and the outer diameter of the input shaft 2, so that when the input shaft 2 rotates, a magnetic signal is generated, the initial angle and the rotation speed of the input shaft 2 are detected, so that the relative position and the rotation speed between the rotor 31 and the stator 32 are known, and the subsequent vector control is facilitated.
In this embodiment, the housing 1 is provided with a cross bearing 14, the outer diameter and the inner diameter of the cross bearing 14 rotate relatively, the outer diameter of the cross bearing 14 is fixedly connected with the housing 1, the flexible gear 4 is fixedly connected with the outer diameter of the cross bearing 14, the rigid gear 5 is arranged on the inner wall of the cross bearing 14, and the inner diameter of the cross bearing 14 is an output shaft.
When the rigid wheel 5 is used as an output shaft, the cross bearing 14 is arranged on the shell 1 to reduce friction resistance and increase transmission efficiency, wherein the outer diameter of the cross bearing 14 is fixedly connected with the shell 1 and the flexible wheel 4 and cannot rotate, the inner diameter and the outer diameter of the cross bearing 14 can relatively rotate, the rigid wheel 5 is arranged on the inner wall of the cross bearing 14, the flexible wheel 4 is matched with the rigid wheel 5, when the flexible wheel 4 is driven by the wave generator 21 to deform, the flexible wheel 4 continuously changes the part meshed with the rigid wheel 5, and the rigid wheel 5 can slowly rotate due to the tooth difference between the rigid wheel 5 and the flexible wheel 4, so that the deceleration effect is generated.
In the above embodiment, it is preferable that the output magnetic encoder 34 is provided between the outer diameter and the inner diameter of the cross bearing 14, and the output magnetic encoder 34 is provided on each of the outer diameter and the inner diameter of the cross bearing 14 to detect the rotation speed and the position of the output shaft.
By arranging the output magnetic encoder 34, the position and the rotating speed of the output shaft are detected, the deceleration effect of the system is detected, and the normal operation is ensured.
It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An electromechanical integrated harmonic speed reducer, comprising:
the shell comprises an accommodating space;
the input shaft is rotatably arranged in the accommodating space, and one end of the input shaft is provided with a wave generator;
the frameless motor is arranged in the accommodating space and is positioned between the shell and the input shaft, the frameless motor comprises a rotor and a stator, the rotor is fixedly arranged on the outer wall of the input shaft, the stator is fixedly arranged on the inner wall of the shell, and the rotor and the stator are matched with each other to drive the input shaft to rotate;
the flexible gear is sleeved on the wave generator, and the wave generator drives the flexible gear to deform;
the rigid wheel is arranged in the accommodating space and is matched with the flexible wheel, and the rigid wheel is an output shaft.
2. The mechatronic harmonic reducer according to claim 1, wherein the input shaft is sleeved with two ball bearings, an inner diameter of the two ball bearings is fixedly connected with the input shaft, an outer diameter of the two ball bearings is fixedly connected with the housing, and the input shaft is rotatably disposed in the accommodating space through the two ball bearings.
3. An mechatronic harmonic reducer according to claim 2, wherein the two ball bearings are disposed at opposite ends of the rotor along the direction of extension of the length of the input shaft.
4. An mechatronic harmonic reducer according to claim 3 wherein the housing is provided with a back cover at the end remote from the wave generator, and wherein a ball bearing is provided on the back cover.
5. The mechatronic harmonic reducer of claim 4 wherein the receiving space comprises a first diameter section and a second diameter section, the first diameter section being located at an end proximal to the back cap and the second diameter section being located at an end distal from the back cap, the first diameter section having a larger diameter than the second diameter section, the stator and the rotor being disposed at the first diameter section, the second diameter section limiting the stator and the rotor from shifting along the length of the input shaft to an end proximal to the wave generator.
6. An mechatronic harmonic reducer according to claim 5 wherein another ball bearing is provided at the second diameter section.
7. The mechatronic harmonic reducer of claim 6, wherein the second diameter section is provided with input magnets, the input magnets are respectively arranged on the inner wall of the second diameter section and the outer wall of the input shaft to detect the rotation speed and position of the input shaft.
8. The mechatronic harmonic reducer according to claim 1, wherein a cross bearing is disposed on the housing, the cross bearing has an outer diameter and an inner diameter which rotate relatively, the outer diameter of the cross bearing is fixedly connected to the housing, the flexspline is fixedly connected to the outer diameter of the cross bearing, the rigid gear is disposed on the inner wall of the cross bearing, and the inner diameter of the cross bearing is the output shaft.
9. The mechatronic harmonic reducer according to claim 8, wherein an output magnetic encoder is provided between an outer diameter and an inner diameter of the crossed bearing, the output magnetic encoder is provided on the outer diameter and the inner diameter of the crossed bearing, respectively, and detects the rotation speed and the position of the output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221550867.0U CN217381538U (en) | 2022-06-20 | 2022-06-20 | Electromechanical integrated harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221550867.0U CN217381538U (en) | 2022-06-20 | 2022-06-20 | Electromechanical integrated harmonic speed reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217381538U true CN217381538U (en) | 2022-09-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221550867.0U Active CN217381538U (en) | 2022-06-20 | 2022-06-20 | Electromechanical integrated harmonic speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217381538U (en) |
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2022
- 2022-06-20 CN CN202221550867.0U patent/CN217381538U/en active Active
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