CN220101972U - Assembly connecting piece, harmonic reducer and executor - Google Patents

Abstract

The utility model relates to the technical field of driving, and discloses an assembly connecting piece. The fitting connection comprises an annular body; the first ring surface of the ring-shaped body is connected with the speed reducer; the second ring surface of the ring-shaped body is connected with the shell of the motor, so that the transmission of noise generated by the motor is blocked; the first ring surface and the second ring surface are oppositely arranged. The assembly connection can reduce the noise of the actuator. The utility model also discloses a harmonic reducer and an actuator.

Description

Assembly connecting piece, harmonic reducer and executor

Technical Field

The utility model relates to the technical field of driving, in particular to an assembly connecting piece, a harmonic reducer and an actuator.

Background

The actuator is composed of a motor and a speed reducer, the motor is connected with the speed reducer through a transmission shaft, and torque output by the motor is transmitted to the speed reducer through the transmission shaft. For example, the motor includes a housing, and a stator and a rotor disposed in the housing, the rotor being fixedly connected to a transmission shaft of the speed reducer, the rotor, the stator, and the transmission shaft being coaxially disposed. The decelerator includes a housing, which may have the same diameter as the driving motor to ensure the exterior of the actuator is tidy and easy to install.

In addition, in order to reduce the loss of the output torque of the motor, one end of the transmission shaft is directly and fixedly connected with the motor, and the other end of the transmission shaft is directly and fixedly connected with the input end of the speed reducer.

In the process of implementing the embodiment of the utility model, the related art is found to have at least the following problems:

the motor can produce certain noise in the rotation process, and the noise is transmitted to the inside of the speed reducer from the inside of the motor and then reflected by the speed reducer, so that the noise produced by the actuator is relatively large.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the utility model provides an assembly connecting piece and an actuator, which are used for reducing noise generated by the actuator.

In some embodiments, the fitting connection comprises an annular body; the first ring surface of the ring-shaped body is connected with a speed reducer; the second ring surface of the ring-shaped body is connected with the shell of the motor, so that the transmission of noise generated by the motor is blocked; the first annular surface and the second annular surface are oppositely arranged.

Optionally, a first annular raised line is arranged on a first annular surface of the annular body, and the first annular raised line can be sleeved with the speed reducer; a second annular raised line is arranged on a second annular surface of the annular body, and the second annular raised line can be sleeved with a shell of the motor; the first annular raised strip and the second annular raised strip are coaxial.

Optionally, the cylinder surrounded by the outer side surface of the first annular boss is coaxial with the cylinder surrounded by the outer side surface of the second annular convex strip.

Optionally, the cylinder surrounded by the inner side surface of the first annular protruding strip is coaxial with the cylinder surrounded by the inner side surface of the second annular protruding strip.

Optionally, a flange is disposed at an inner edge of the first annular surface, and the flange can be in clearance fit with the transmission shaft.

Optionally, the upper part of the folded edge comprises a folded part pointing to the center of a circle, and the folded part can be in clearance fit with the transmission shaft.

Optionally, the height of the flange relative to the first annular surface is higher than the height of the first annular rib relative to the first annular surface.

Optionally, the first annular bead and the flange form an annular groove, and the bottom of the annular groove is recessed relative to the first annular surface.

Optionally, the diameter of the second annular bead is greater than the diameter of the first annular bead.

Optionally, the inner side root parts of the first annular raised strip and the second annular raised strip are provided with fillets.

Optionally, the annular body is provided with a mounting through hole, the mounting through hole penetrates through the first annular surface and the second annular surface, and the mounting through hole surrounds the first annular raised strip and the second annular raised strip.

Optionally, the number of the installation through holes is multiple, and the axes of the installation through holes are distributed on the same cylindrical surface.

In some embodiments, the harmonic reducer comprises a flat-embedded flexible gear and the assembly connector provided by the previous embodiments, wherein the end surface of one side of the flat-embedded flexible gear, which is far away from the gear teeth, is provided with a third annular raised line; the first annular raised strip of the assembly connecting piece is sleeved with the third annular raised strip.

In some embodiments, the actuator includes a motor, a decelerator, and the fitting connection provided by the foregoing embodiments, the motor and the decelerator being fitted and connected by the fitting connection.

In some embodiments, the actuator includes a motor and a decelerator, which is the harmonic decelerator provided by the previous embodiments.

The assembly connecting piece, the harmonic reducer and the actuator provided by the embodiment of the utility model can realize the following technical effects:

for the actuator comprising the assembly connecting piece, in the process of transmitting the noise generated by the motor to the speed reducer, the noise transmitted to the speed reducer by the motor can be blocked by the assembly connecting piece, so that the noise which can be reflected by the speed reducer and amplified is reduced, and finally, the noise of the actuator is reduced.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the utility model.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic view of a fitting connection according to an embodiment of the present utility model;

FIG. 2 is a schematic view of section A-A of FIG. 1;

FIGS. 3 and 4 are schematic isometric views of an embodiment of the present utility model providing a fitting connection;

FIG. 5 is a schematic diagram of the assembly connection member, the speed reducer and the motor according to the embodiment of the utility model;

fig. 6 and fig. 7 are schematic structural views of a speed reducer according to an embodiment of the present utility model.

Reference numerals:

100. assembling a connecting piece; 110. a first annulus; 111. a first annular raised strip; 112. folding edges; 113. a bending part; 120. a second annulus; 121. a second annular convex strip; 130. mounting through holes; 210. a housing of the motor; 230. a rotor; 300. a speed reducer; 310. flat embedded flexible wheel; 311. a flat-embedded fixing part; 3111. a first end face; 3112. a second end face; 3113. a third annular raised strip; 312. a cylindrical portion; 3121. gear teeth; 400. and a transmission shaft.

Detailed Description

For a more complete understanding of the nature and the technical content of the embodiments of the present utility model, reference should be made to the following detailed description of embodiments of the utility model, taken in conjunction with the accompanying drawings, which are meant to be illustrative only and not limiting of the embodiments of the utility model. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of embodiments of the utility model and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the utility model herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present utility model, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate the azimuth or the positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are only used to facilitate a better description of embodiments of the utility model and their examples and are not intended to limit the scope of the indicated devices, elements or components to the particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in embodiments of the present utility model will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the utility model, the character "/" indicates that the front object and the rear object are in an OR relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

Fig. 1 to fig. 4 are schematic structural views of an assembly connector according to an embodiment of the present utility model, and fig. 5 is a schematic structural view of an assembly connector according to an embodiment of the present utility model, which is matched with a speed reducer and a motor.

As shown in connection with fig. 1 to 5, the fitting connection comprises an annular body; the first annular surface 110 of the annular body is connected with the speed reducer 300; the second annulus 120 of the annular body is connected with the housing 210 of the motor, thereby blocking the transmission of noise generated by the motor; wherein the first annulus 110 and the second annulus 120 are disposed opposite to each other.

For the actuator including the fitting connection 100, noise generated from the motor may be blocked by the fitting connection 100 during the transmission of the noise to the decelerator 300, so that noise transmitted from the motor to the decelerator 300, that is, noise amplified by reflection of the decelerator 300, is reduced, and finally noise of the actuator is reduced.

The structure of the first annulus 110 and the second annulus 120 is exemplarily described below.

The first annular surface 110 of the annular body is provided with a first annular raised line 111, and the first annular raised line 111 can be sleeved with the speed reducer 300; the second annular surface 120 of the annular body is provided with a second annular raised line 121, and the second annular raised line 121 can be sleeved with the shell 210 of the motor; the cylindrical surface formed on the outer side surface of the first annular ridge 111 is coaxial with the cylindrical surface formed on the outer side surface of the second annular ridge 121.

The term "outside" in the embodiments of the present utility model refers to a direction away from the axis of the annular body; the outer side of the first annular ridge 111 refers to the side of the first annular ridge 111 away from the center of the first annulus 110, and the outer side of the second annular ridge 121 refers to the side of the second annular ridge 121 away from the center of the second annulus 120.

The first annular raised strips 111 of the first annular surface 110 can be sleeved with the speed reducer 300, so that the speed reducer 300 is positioned; the second annular raised strips 121 of the second annular surface 120 can be sleeved with the shell 210 of the motor, so that the shell 210 of the motor is positioned; the cylindrical surface formed on the outer side surface of the first annular protrusion 111 is coaxially arranged with the cylindrical surface formed on the outer side surface of the second annular protrusion 121, which makes the decelerator 300 and the housing 210 of the motor coaxial, and since the housing 210 of the motor is generally coaxially arranged with the stator and the rotor 230 of the motor, the assembly surface of the decelerator 300 is generally coaxially arranged with the transmission shaft 400 of the decelerator 300, which makes the stator, the rotor 230 of the motor and the transmission shaft 400 of the decelerator 300 coaxial; in this way, in the assembly process of the actuator, the reducer 300 is sleeved on the first annular raised line 111 of the assembly connecting piece 100, so as to realize positioning of the reducer 300, the motor housing 210 is sleeved on the second annular raised line 121 of the assembly connecting piece 100, so as to realize positioning of the motor housing 210, and the positioning manner can ensure that the stator, the rotor 230 and the transmission shaft 400 of the reducer 300 of the motor are coaxial, without repeatedly rolling the motor and the reducer 300 on the plane of the mounting table, thereby simplifying the assembly process of the actuator and improving the assembly efficiency of the actuator.

In the practical application of the assembly connection member 100 provided in the embodiment of the present utility model, the socket portion of the reducer 300, which is in socket connection with the first annular protruding strip 111, is coaxial with the transmission shaft 400 of the reducer 300.

The speed reducer 300 may be a harmonic speed reducer 300, or may be a planetary speed reducer 300. In the case that the speed reducer 300 is a harmonic speed reducer 300, the sleeved part of the speed reducer 300, which is sleeved with the first annular raised line 111, may be a flexible gear of the harmonic speed reducer 300, or a flange structure fixedly connected with or integrally formed with the flexible gear; in the case where the speed reducer 300 is a planetary speed reducer 300, the socket portion where the speed reducer 300 is in socket connection with the first annular protruding strip 111 may be an outer ring gear or a flange structure fixedly connected with or integrally formed with the outer ring gear.

In the practical application of the assembly connection 100 provided by the embodiment of the present utility model, the housing 210 of the motor is coaxial with the rotor 230 and the stator in the motor.

The first annular ridge 111 and the second annular ridge 121 in the fitting connector 100 are described in detail below.

The first annular rib 111 and the second annular rib 121 are coaxial and may include: the cylinder surrounded by the outer side surface of the first annular drawing strip is coaxial with the cylinder surrounded by the outer side surface of the second annular raised strip 121; alternatively, the cylinder surrounded by the inner side surface of the first annular ridge 111 and the cylinder surrounded by the inner side surface of the second annular ridge 121 are coaxial.

The root of the outer side surface of the first annular convex strip 111 is not provided with a fillet; the root of the outer side surface of the second annular ridge 121 is not provided with a fillet.

The first annular protrusion 111 is sleeved with the reducer 300, which means that the reducer 300 can be sleeved outside the outer side surface of the first annular protrusion 111; the second annular protruding strip 121 is sleeved with the motor casing 210, and the motor casing 210 can be sleeved outside the outer side surface of the second annular protruding strip 121.

The diameter of the second annular bead 121 may be greater than the diameter of the first annular bead 111, or the diameter of the second annular bead 121 may be less than the diameter of the first annular bead 111, or the diameter of the second annular bead 121 may be equal to the diameter of the first annular bead 111.

The diameter of the first annular bead 111 may be represented by the diameter of a cylindrical surface formed around the outer side surface of the first annular bead 111, or may be represented by the diameter of a cylindrical surface formed around the inner side surface of the first annular bead 111. Correspondingly, the diameter of the second annular bead 121 may be represented by the diameter of the cylindrical surface formed around the outer side surface of the second annular bead 121, or may be represented by the diameter of the cylindrical surface formed around the inner side surface of the second annular bead 121.

The term "inner" in the embodiments of the present utility model refers to a direction approaching the axis of the annular body; the inner side surface of the first annular raised strip 111 refers to the side surface of the first annular raised strip 111, which is close to the center of the first annular surface 110; the inner side of the second annular rib 121 refers to the side of the second annular rib 121 near the center of the second annular surface 120.

In a specific application, the diameter of the adapted first annular protruding strip 111 may be set according to the size of the socket part of the reducer 300; the diameter of the adapted second annular bead 121 may be set according to the size of the socket of the housing 210 of the motor.

Moreover, if the tolerance of the first annular protruding strip 111 and the socket joint part of the reducer 300 is too large, the assembly connector 100 and the reducer 300 are easy to loose, which is not beneficial to relatively fixing the axle center of the transmission shaft 400 of the reducer 300 and the assembly connector 100; if the fit tolerance of the sleeved part of the first annular protruding strip 111 and the reducer 300 is too small, the first annular protruding strip 111 and the reducer 300 are not easy to be sleeved, and the assembly difficulty of the actuator is increased. Therefore, in the practical application process, the fit tolerance of the first annular protruding strip 111 and the socket of the reducer 300 can be set according to the coaxiality requirement of the transmission shaft 400 of the actuator, the motor rotor 230 and the stator.

Likewise, if the fit tolerance of the second annular protruding strip 121 and the sleeved part of the housing 210 of the motor is too large, the device matching connection piece and the housing 210 of the motor are easy to loose, which is not beneficial to relatively fixing the axle center of the stator or the rotor 230 of the motor and the assembly connection piece 100; if the fit tolerance of the second annular protruding strip 121 and the sleeved part of the motor housing 210 is too small, the second annular protruding strip 121 and the motor housing 210 are not easy to be sleeved, and the assembly difficulty of the actuator is increased. Therefore, in the practical application process, the matching tolerance between the second annular protruding strip 121 and the sleeved part of the housing 210 of the motor can be set according to the coaxiality requirement of the transmission shaft 400 of the actuator, the motor rotor 230 and the stator.

The outer side surface of the first annular protruding strip 111 may be perpendicular to the first annular surface 110; the outer side surface of the second annular raised strip 121 may be perpendicular to the second annular surface 120; in this case, the first annulus 110 and the second annulus 120 are parallel. The socket part of the reducer 300 is circular, and the socket part of the housing 210 of the motor is circular.

The inner side root portions of the first annular ridge 111 and the second annular ridge 121 may be provided with fillets. This advantageously avoids stress concentrations and increases the strength of the assembled connector 100.

The first annulus 110 is described in more detail below.

Optionally, the inner rim of the first annulus 110 is provided with a flange 112, the flange 112 being capable of clearance fit with the drive shaft 400. Here, the flange 112 refers to an edge that is bent away from the second annular surface 120. Clearance fit of the flange 112 with the drive shaft 400 means that the tolerance band of the circular hole formed by the flange 112 is above the tolerance band of the drive shaft 400 of the reducer 300. In this way, in the assembled actuator, the flange 112 is in clearance fit with the transmission shaft 400, so as to replace an oil seal, avoid power loss caused by the oil seal to the transmission shaft 400, and improve the efficiency of the actuator; in addition, the flange 112 of the first annular surface 110 and the first annular protrusion 111 may form an annular groove, and grease sliding off the friction member of the speed reducer 300 may collect in the annular groove, so as to avoid the adverse effect of the grease on the motor inner rotor 230 and the stator.

Specifically, the upper portion of the flange 112 includes a bending portion 113 directed toward the center of the circle, and the bending portion 113 can be clearance-fitted with the transmission shaft 400. The round hole formed by the folded edge 112 is a round hole formed by the folded portion 113 of the folded edge 112, and the tolerance zone of the round hole formed by the folded portion 113 of the folded edge 112 is above the tolerance zone of the transmission shaft 400 of the reducer 300.

Further, the inner angle formed by the non-bending part 113 and the bending part 113 of the folded edge 112 is matched with the shape of the transmission shaft 400, and the bending part 113 and the non-bending part 113 of the folded edge 112 are in clearance fit with the transmission shaft 400.

In some specific applications, the transmission shaft 400 of the reducer 300 includes a first cylinder and a second cylinder, wherein the first cylinder and the second cylinder are concentric cylinders, the diameter of the first cylinder is larger than the diameter of the second cylinder, and the first cylinder is fixedly connected with the rotor 230 of the motor. The non-bent portion 113 of the flange 112 is in clearance fit with the side surface of the first cylinder, and the bent portion 113 of the flange 112 is in clearance fit with the upper bottom surface of the first cylinder, wherein the upper bottom surface of the first cylinder refers to the bottom surface of the first cylinder engaged with the second cylinder.

In this way, the noise generated by the motor can be more effectively prevented from being transmitted to the speed reducer 300, and the noise generated by the actuator can be reduced. Particularly, in the case that the speed reducer 300 is a harmonic speed reducer 300, the noise generated by the motor is more effectively prevented from being transmitted to the speed reducer 300, so that the motor noise which can be amplified by the flexspline of the harmonic speed reducer 300 is more effectively reduced, and the noise generated by the actuator is further reduced.

In addition, the height of the flange 112 relative to the first annular surface 110 is higher than the height of the first annular protrusion 111 relative to the first annular surface 110. After the first annular raised line 111 is sleeved with the sleeved part of the speed reducer 300, the sleeved parts of the first annular raised line 111 and the speed reducer 300 form the outer ring groove wall of the annular groove, the folded edge 112 forms the inner ring groove wall of the annular groove, the height of the folded edge 112 relative to the first annular surface 110 is higher than that of the first annular raised line 111 relative to the first annular surface 110, the depth of the annular groove formed after assembly can be increased, more grease can be gathered, and the maintenance frequency of the actuator is reduced.

Further, the first annular bead 111 and the flange 112 form an annular groove, the bottom of which is recessed with respect to the first annular surface 110. On the one hand, the depth of the annular groove can be increased so as to accumulate more grease, and the maintenance frequency of the actuator is reduced; on the other hand, when the depth of the annular groove is not changed, the height of the first annular ridge 111 relative to the first annular surface 110 can be reduced, the depth of the socket portion of the reducer 300, with which the first ridge is socket, can be reduced, the volume of the reducer 300 can be reduced, and the volume of the actuator can be reduced, compared with the case where the bottom of the annular groove is parallel to the first plane.

The mounting through-hole 130 of the fitting connection member 100 will be described in detail below.

Optionally, the annular body is provided with a mounting through hole 130, the mounting through hole 130 penetrates through the first annular surface 110 and the second annular surface 120, and the mounting through hole 130 surrounds the first annular raised strip 111 and the second annular raised strip 121. The mounting through-hole 130 can fixedly connect the assembly connection 100 with the decelerator 300 and the housing 210 of the motor.

For example, corresponding to the mounting through hole 130, a mounting hole corresponding to the mounting through hole 130 is provided around the socket portion of the decelerator 300, a mounting hole corresponding to the mounting through hole 130 is provided around the socket portion of the housing 210 of the motor, and the decelerator 300, the assembly connection 100, and the housing 210 of the motor may be screw-connected, or stud-connected.

Specifically, the socket of the surrounding decelerator 300 is provided with a through hole corresponding to the mounting through hole 130 of the fitting connection piece 100, and the socket of the surrounding housing 210 of the motor is provided with a through hole corresponding to the mounting through hole 130 of the fitting connection piece 100. In this way, the three components of the decelerator 300, the assembly connection member 100, and the housing 210 of the motor can be screw-coupled.

Alternatively, the socket part surrounding the decelerator 300 is provided with a through hole corresponding to the mounting through hole 130 of the assembly connection member 100, and the socket part surrounding the housing 210 of the motor is provided with a screw hole corresponding to the mounting through hole 130 of the assembly connection member 100; alternatively, a screw hole corresponding to the mounting through hole 130 of the fitting connection member 100 is provided around the socket of the decelerator 300, and a through hole corresponding to the mounting through hole 130 of the fitting connection member 100 is provided around the socket of the housing 210 of the motor. In this way, the decelerator 300, the assembly connection 100, and the housing 210 of the motor can be screw-coupled or stud-coupled.

The above-mentioned manner of forming the mounting holes in the housing 210 and the decelerator 300 of the motor is merely used to illustrate that the mounting through holes 130 of the socket connector can fixedly connect the assembly connector 100, the housing 210 of the motor and the decelerator 300, and the specific structure of the socket portion of the housing 210 of the motor and the specific structure of the socket portion of the decelerator 300 are not limited substantially, and a person skilled in the art can determine the specific structure of the socket portion of the housing 210 of the motor and the specific structure of the socket portion of the decelerator 300 according to practical situations according to experience.

Further, the number of the mounting through holes 130 is plural, and the axes of the plurality of mounting through holes 130 are distributed on the same cylindrical surface. After the assembly connector 100 is used for connecting the speed reducer 300 and the motor to form the actuator, the plurality of mounting through holes 130 are coaxially distributed, so that each mounting through hole 130 is uniformly stressed, and the speed reducer 300, the assembly connector 100 and the motor shell 210 are not easy to loosen.

In a specific application process, the number of the mounting through holes 130 is related to a torque parameter of the actuator, for example, the greater the torque to be output by the actuator, the greater the number of the mounting through holes 130; the smaller the torque that the actuator needs to output, the number of mounting through holes 130 can be appropriately reduced.

Further, the projection of the plurality of mounting through holes 130 on the perpendicular plane of the axis thereof is center symmetrical and axis symmetrical. By adopting the position of the mounting through holes 130, the stress of the mounting through holes 130 can be uniform in the working process of the actuator, so that the speed reducer 300, the assembly connecting piece 100 and the motor shell 210 are not easy to loosen.

The fitting connection 100 is described below in its entirety.

In general, the assembly plane of the housing 210 and the reducer 300 of the motor is circular, for example, the assembly plane is perpendicular to the axes of the stator and the rotor 230 of the motor, in this case, the assembly connector 100 in the embodiment of the utility model is in an overall shape of a circular flat ring, the first ring surface 110 and the second ring surface 120 are both circular surfaces, and the first annular protruding strip 111 and the second annular protruding strip 121 are both circular protruding strips.

When the assembly plane of the housing 210 and the reducer 300 of the motor is elliptical, for example, the assembly plane is not perpendicular to the axes of the stator and the rotor 230 of the motor, in this case, the overall shape of the assembly connector 100 in the embodiment of the present utility model is an elliptical flat ring, the first ring surface 110 and the second ring surface 120 are both elliptical ring surfaces, and the first annular protruding strip 111 and the second annular protruding strip 121 are both elliptical ring protruding strips.

As shown in fig. 6 and 7, an exemplary description is given of a harmonic reducer including the fitting connection 100.

In some embodiments, the harmonic reducer includes the flat-embedded flexspline 310 and the assembly connector 100 provided in the foregoing embodiments, where the first annular surface 110 of the annular body of the assembly connector 100 is connected to the flat-embedded flexspline 310.

For the actuator including the fitting connection 100, noise generated from the motor may be blocked by the fitting connection 100 during the transmission of the noise to the decelerator 300, so that noise transmitted from the motor to the decelerator 300, that is, noise amplified by reflection of the decelerator 300, is reduced, and finally noise of the actuator is reduced.

The assembly relationship between the harmonic reducer and the housing 210 of the motor is shown in fig. 5, and will not be described again.

The connection form of the fitting connection 100 and the flat flexible gear 310 is exemplarily described below.

Optionally, an end surface of the flat-embedded flexible gear 310 on a side facing away from the gear teeth 3121 is provided with a third annular protruding strip 3113; the first annular protrusion 111 of the fitting connection 100 is sleeved with the third annular protrusion 3113.

The first annular protrusion 111 and the third annular protrusion 3113 of the assembly connector 100 are sleeved, so that the axis of the wave generator of the harmonic reducer is coaxial with the first annular protrusion 111, the second annular protrusion 121 on the assembly connector 100 can be sleeved with the housing 210 of the motor, the rotor 230 and the stator of the motor are coaxial with the second annular protrusion 121, and the first annular protrusion 111 and the second annular protrusion 121 are coaxial, so that the wave generator of the harmonic reducer is coaxial with the rotor 230 and the stator of the motor. Therefore, the coaxiality of the wave generator of the harmonic reducer, the stator and the rotor 230 of the motor can be ensured by sleeving the harmonic reducer with the shell 210 of the motor, the assembly process is simplified, and the assembly efficiency is improved.

The flat-embedded flexspline 310 is exemplified below.

Alternatively, the flat-embedded flexible gear 310 includes a flat-embedded fixed portion 311 and a cylindrical portion 312, the flat-embedded fixed portion 311 includes a first end surface 3111 and a second end surface 3112, the first end of the cylindrical portion 312 is disposed along an inner ring of the first end surface 3111, and the outer wall of the second end of the cylindrical portion 312 is provided with gear teeth 3121; the flat-fitting fixing portion 311 is an end surface of the side facing away from the gear teeth 3121, and the second end surface 3112 is provided with a third annular protruding strip 3113.

The positional relationship of the flat-type flexspline 310 and the fitting connection 100 is exemplarily described below.

The end surface of the flat-embedded flexible gear 310, which is at one side facing away from the gear teeth 3121, is provided with a third annular protruding strip 3113, and the first annular protruding strip 111 of the assembly connector 100 is sleeved with the third annular protruding strip 3113. Specifically, the inner side wall of the third annular boss may be sleeved with the outer side wall of the first annular protruding strip 111, or the outer side wall of the third annular protruding strip 3113 may be sleeved with the inner side wall of the first annular protruding strip 111.

The annular groove formed on the fitting connection member 100 is located opposite to the inside of the cylindrical portion 312 of the flat-embedded flex gear 310. After the actuator is assembled, grease needs to be coated on the wave generator, and during the rotation of the wave generator, the slipped grease can be collected by the annular groove.

Optionally, the second end surface 3112 covers more than half of the opening of the annular groove. The annular groove and the second end surface 3112 form a containing space, and a position of the annular groove, which is not covered by the second end surface 3112, is taken as an inlet of the containing space; such a second end surface 3112 and an annular groove are provided in the actuator, and after the actuator is normally installed, grease sliding in the decelerator 300 can be collected regardless of whether the decelerator 300 and the motor are both on the same horizontal plane or the decelerator 300 is located on the upper side of the motor, the accommodation space formed by the second end surface 3112 and the annular groove.

Alternatively, the outer wall of the third annular protrusion 3113 is disposed along the outer wall of the flat fixing portion 311, and the outer wall of the first annular protrusion 111 is sleeved with the inner wall of the third annular protrusion 3113.

Optionally, the third annular protrusion 3113 is provided with a fixing hole, and the fixing hole is opposite to the mounting through hole 130 on the annular body of the assembly connector 100.

In a specific application process, all fixing holes formed on the third annular raised strips 3113 are used for fixedly connecting with the assembly connector 100 and the motor shell 210; alternatively, a part of the fixing holes formed on the third annular protruding strip 3113 are used for fixedly connecting with the assembly connector 100, and the other part of the fixing holes are used for assembling and connecting with the assembly connector 100 and the housing 210 of the motor.

In some embodiments, the actuator includes a motor, a decelerator 300, and the assembly connection member 100 provided in the foregoing embodiments, and the motor and decelerator 300 are assembled and connected by the assembly connection member 100.

In some embodiments, the actuator includes a motor and a decelerator 300, the decelerator 300 being the harmonic decelerator provided by the foregoing embodiments.

For example, the assembly connector 100 includes an annular body, a first annular surface 110 of the annular body is provided with a first annular protruding strip 111, a second annular surface 120 of the annular body is provided with a second annular protruding strip 121, and a cylindrical surface formed on an outer side surface of the first annular protruding strip 111 is coaxial with a cylindrical surface formed on an outer side surface of the second annular protruding strip 121;

the decelerator 300 comprises a sleeving part, and the sleeving part of the decelerator 300 is sleeved with the first annular convex strip 111; the socket part of the decelerator 300 is coaxially arranged with the transmission shaft 400 of the decelerator 300;

the motor shell 210 comprises another sleeving part, and the sleeving part of the motor shell 210 is sleeved with the second annular raised strip 121; the housing 210, stator and rotor 230 of the motor are coaxially arranged.

Thus, the first annular protrusion 111 can locate the axis of the transmission shaft 400 of the speed reducer 300, that is, the transmission shaft 400 of the speed reducer 300 is coaxial with the first annular protrusion 111; the second annular rib 121 can locate the axial center of the motor stator and rotor 230, i.e., the motor stator, rotor 230 and second annular rib 121 are coaxial. The assembly process of the actuator is simple, and the assembly efficiency of the actuator is improved.

The above description and the drawings illustrate embodiments of the utility model sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiment of the present utility model is not limited to the structure that has been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

Claims (10)

1. A fitting connection, comprising:

an annular body;

a first annular raised line is arranged on a first annular surface of the annular body, and the first annular raised line can be sleeved with the speed reducer;

the second annular surface of the annular body is provided with a second annular raised line which can be sleeved with the shell of the motor, so that the transmission of noise generated by the motor is blocked;

the first annular raised line and the second annular raised line are coaxial.

2. The fitting connection of claim 1, wherein an inner rim of the first annulus is provided with a flange that is capable of clearance fit with a drive shaft, the flange being a rim that is bent away from the second annulus.

3. The fitting connection of claim 2, wherein the upper portion of the flange includes a bend directed toward the center of the circle, an interior angle formed by the non-bend and the bend of the flange is adapted to the shape of the drive shaft, and the bend and the non-bend of the flange are both in clearance fit with the drive shaft.

4. The fitting connection of claim 2, wherein a height of the flange relative to the first annulus is greater than a height of the first annular rib relative to the first annulus.

5. The fitting connection of claim 2 wherein said first annular bead and said flange form an annular groove, a bottom of said annular groove being recessed relative to said first annular surface.

6. The fitting connection of any of claims 1 to 5, wherein inner side roots of the first and second annular ribs are provided with fillets;

the root of the outer side face of the first annular raised line is not provided with a round angle, and the root of the outer side face of the second annular raised line is not provided with a round angle.

7. The fitting connection of any of claims 1 to 5, wherein the annular body is provided with a mounting through hole that extends through the first and second annular faces, the mounting through hole encircling the first and second annular ribs.

8. A harmonic reducer, characterized by comprising:

flat embedded flexible wheel;

the fitting connection of any one of claims 1 to 7;

the end face of one side of the flat embedded flexible gear, which is far away from the gear teeth, is provided with a third annular raised line, and the first annular raised line of the assembly connecting piece is sleeved with the third annular raised line.

9. The harmonic reducer of claim 8, wherein the flat-embedded flexspline comprises a flat-embedded fixed portion and a cylindrical portion;

the flat embedding fixing part comprises a first end face and a second end face, and the second end face is provided with the third annular raised line;

the first end of the cylinder part is arranged along the inner ring of the first end surface, and the outer wall of the second end of the cylinder part is provided with gear teeth;

on the basis that the first annular raised strips and the folded edges of the assembly connecting pieces form an annular groove, the second end face covers more than half of the opening of the annular groove.

10. An actuator comprises a motor and a speed reducer, and is characterized in that,

further comprising the fitting connection of any one of claims 1 to 7, through which the motor and the decelerator are fitted;

or,

the speed reducer is the harmonic speed reducer of claim 8 or 9.