CN220488226U - Electromechanical integrated harmonic speed reducer with planetary structure - Google Patents
Electromechanical integrated harmonic speed reducer with planetary structure Download PDFInfo
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- CN220488226U CN220488226U CN202322153591.3U CN202322153591U CN220488226U CN 220488226 U CN220488226 U CN 220488226U CN 202322153591 U CN202322153591 U CN 202322153591U CN 220488226 U CN220488226 U CN 220488226U
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 6
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- 230000004308 accommodation Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of harmonic reducers, in particular to an electromechanical integrated harmonic reducer with a planetary structure, which comprises a shell, a frameless motor, a rear cover, a cross-shaped cross bearing, an input shaft with a sun wheel, a planetary wheel, an annular gear, a flexible bearing and a planet carrier with an output flange, wherein a containing space is arranged in the shell, the input shaft with the sun wheel is rotationally arranged in the containing space, the planetary wheel meshed with the input shaft is arranged on the outer side of the sun wheel, the flexible bearing is arranged in the cross-shaped cross bearing, the annular gear meshed with the planetary wheel is arranged on the inner side of the flexible bearing, and the planetary wheel is assembled on the planet carrier with the output flange. The motor and the harmonic reducer are integrated, so that the on-site installation step is omitted, the integration level is high, and the volume is small; meanwhile, a planetary structure is additionally arranged, so that a larger reduction ratio can be realized, and the application of the planetary structure is expanded.
Description
Technical Field
The utility model relates to the technical field of harmonic reducers, in particular to an electromechanical integrated harmonic reducer with a planetary structure.
Background
When the motor and the harmonic reducer are used for transmission, the motor and the harmonic reducer are usually two separated parts, so that on one hand, the assembly is complex, and the technical requirement on field assembly is high; on the other hand, the assembled device has larger volume, low integration level and poor flexibility.
To this end, this department developed an electromechanical integrated harmonic reducer, disclosed in the patent specification with publication number CN217381538U, 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, and comprises a rotor and a stator, wherein 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 mutually matched to drive the input shaft to rotate; the flexible wheel is sleeved on the wave generator, and the wave generator drives the flexible wheel 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. The motor and the harmonic reducer are integrated together, the rotor is directly used for driving the input shaft to rotate, the on-site installation step is omitted, the integration level is high, and the size is small.
However, the electromechanical integrated harmonic speed reducer has the defect that the mechanical integrated harmonic speed reducer has only one section of speed reduction ratio and cannot realize larger speed reduction ratio when in use. Therefore, there is a need for an improved and optimized structure.
Disclosure of Invention
The utility model aims to overcome the problems in the prior art and provide an electromechanical integrated harmonic reducer with a planetary structure.
In order to achieve the technical purpose and the technical effect, the utility model is realized by the following technical scheme:
the utility model provides a take electromechanical integration harmonic speed reducer of planetary structure, includes casing, frameless motor, back lid, cross bearing, takes input shaft, planet wheel, ring gear, flexible bearing of sun gear and the planet carrier of taking output flange, the inside of casing is equipped with the accommodation space, take the input shaft rotation of sun gear to set up in the accommodation space, frameless motor is located between casing and the input shaft, the back lid is installed to the rear end of casing, cross bearing is installed to the front end of casing, take the input shaft of sun gear to be located the outside of sun gear and install the planet wheel rather than meshing, flexible bearing sets up in the inside of cross bearing, flexible bearing's inboard is equipped with the ring gear with the planet wheel meshing, the planet wheel is assembled on the planet carrier of taking output flange.
Further, in the electromechanical integrated harmonic reducer with the planetary structure, 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.
Further, in the electromechanical integrated harmonic reducer with the planetary structure, the shell is located at the front side of the frameless motor and is provided with the convex front convex pipe, a front ball bearing is installed between the front convex pipe and the outer wall of the input shaft with the sun gear, the rear cover is located at the rear side of the frameless motor and is provided with the convex rear convex pipe, and a rear ball bearing is installed between the rear convex pipe and the outer wall of the input shaft with the sun gear.
Furthermore, in the electromechanical integrated harmonic reducer with the planetary structure, an input magnetic braid is arranged between the front convex pipe and the outer wall of the input shaft with the sun gear, the input magnetic braid is positioned at the front side of the front ball bearing, and the input magnetic braid can detect the rotation speed and the position of the input shaft.
Further, in the electromechanical integrated harmonic reducer with the planetary structure, the outer diameter ring and the inner diameter ring of the crossed bearing relatively rotate, the outer diameter ring of the crossed bearing is fixedly connected with the shell, and the inner diameter ring of the crossed bearing is fixedly connected with the outer ring of the flexible bearing.
Further, in the electromechanical integrated harmonic reducer with the planetary structure, an output magnetic braid is arranged between the outer diameter ring and the inner diameter ring of the cross bearing, and the output magnetic braid can detect the rotating speed and the position of the inner diameter ring of the cross bearing.
The beneficial effects of the utility model are as follows:
the utility model has reasonable structural design, integrates the motor and the harmonic reducer, omits the on-site installation step, and has high integration level and small volume; on the other hand, the planetary gear can realize larger reduction ratio and expand the application of the planetary gear through an input shaft with a sun gear, a planetary gear, an inner gear ring and a planetary carrier with an output flange.
Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of the present utility model;
FIG. 2 is a schematic diagram of the structure of the present utility model with some planetary structures omitted;
FIG. 3 is a schematic diagram of a partial planetary structure of the present utility model;
FIG. 4 is a schematic illustration of the structure of the sun gear-carrying input shaft of the present utility model;
FIG. 5 is a schematic diagram of a planet in accordance with the present utility model;
FIG. 6 is a schematic view of the structure of the planet carrier with output flange of the present utility model;
in the drawings, the list of components represented by the various numbers is as follows:
1-shell, 2-frameless motor, 3-back cover, 4-cross bearing, 5-input shaft with sun wheel, 6-planetary wheel, 7-annular gear, 8-flexible bearing, 9-planetary carrier with output flange, 10-input magnetic braid, 11-output magnetic braid, 12-front ball bearing and 13-back ball bearing.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-6, the present embodiment is an electromechanical integrated harmonic reducer with a planetary structure, which includes a housing 1, a frameless motor 2, a rear cover 3, a cross bearing 4, an input shaft 5 with a sun gear, a planet wheel 6, an inner gear ring 7, a flexible bearing 8, and a planet carrier 9 with an output flange. The inside of casing 1 is equipped with the accommodation space, and take input shaft 5 rotation setting in the accommodation space of sun gear, and frameless motor 2 is located between casing 1 and the input shaft 5 of taking the sun gear. A rear cover 3 is mounted at the rear end of the housing 1, and a cross bearing 4 is mounted at the front end of the housing 1. The input shaft 5 with the sun gear is positioned at the outer side of the sun gear and is provided with a planet wheel 6 meshed with the sun gear, the flexible bearing 8 is arranged in the cross bearing 4, the inner side of the flexible bearing 8 is provided with an inner gear ring 7 meshed with the planet wheel 6, and the planet wheel 6 is assembled on the planet carrier 9 with the output flange.
In this embodiment, the frameless motor 2 includes a rotor and a stator, the rotor is fixedly disposed on the outer wall of the input shaft, the stator is fixedly disposed on the inner wall of the housing 1, and the rotor and the stator are mutually matched to drive the input shaft 5 with the sun gear to rotate.
In this embodiment, the casing 1 is located at the front side of the frameless motor 2 and is provided with a convex front convex pipe, a front ball bearing 12 is installed between the front convex pipe and the outer wall of the input shaft 5 with the sun gear, the rear cover 3 is located at the rear side of the frameless motor 2 and is provided with a convex rear convex pipe, and a rear ball bearing 13 is installed between the rear convex pipe and the outer wall of the input shaft 5 with the sun gear.
In this embodiment, an input magnetic braid 10 is installed between the front protruding tube and the outer wall of the input shaft 5 with the sun gear, the input magnetic braid 10 is located at the front side of the front ball bearing 12, and the input magnetic braid 10 can detect the rotation speed and position of the input shaft.
In this embodiment, the outer diameter ring and the inner diameter ring of the cross bearing 4 rotate relatively, the outer diameter ring of the cross bearing 4 is fixedly connected with the housing 1, and the inner diameter ring of the cross bearing 4 is fixedly connected with the outer ring of the flexible bearing 8.
In this embodiment, an output magnetic braid 11 is disposed between the outer diameter ring and the inner diameter ring of the cross bearing 4, and the output magnetic braid 11 can detect the rotation speed and the position of the inner diameter ring of the cross bearing 4.
One specific application of this embodiment is: the electromechanical integrated harmonic reducer integrates the motor and the harmonic reducer, omits the on-site installation step, and has high integration level and small volume; the input shaft 5 with the sun gear, the planet gears 6, the annular gear 7 and the planet carrier 9 with the output flange form a planetary structure, so that a larger reduction ratio can be realized, and the application of the planetary structure can be expanded.
The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. An electromechanical integrated harmonic speed reducer with a planetary structure is characterized in that: the planetary gear transmission mechanism comprises a shell, a frameless motor, a rear cover, a cross bearing, an input shaft with a sun gear, a planetary gear, an annular gear, a flexible bearing and a planetary gear carrier with an output flange, wherein a containing space is arranged in the shell, the input shaft with the sun gear is rotationally arranged in the containing space, the frameless motor is located between the shell and the input shaft, the rear cover is arranged at the rear end of the shell, the cross bearing is arranged at the front end of the shell, the input shaft with the sun gear is arranged at the outer side of the sun gear and is meshed with the planetary gear carrier, the flexible bearing is arranged in the cross bearing, the annular gear which is meshed with the planetary gear is arranged at the inner side of the flexible bearing, and the planetary gear is assembled on the planetary gear carrier with the output flange.
2. The electromechanical integrated harmonic reducer with planetary structure according to claim 1, characterized in that: the frameless motor comprises a rotor and a stator, wherein the rotor is fixedly arranged on the outer wall of an input shaft, the stator is fixedly arranged on the inner wall of a shell, and the rotor and the stator are matched with each other to drive the input shaft to rotate.
3. The electromechanical integrated harmonic reducer with planetary structure according to claim 2, characterized in that: the shell is located the front side of the frameless motor and is provided with a convex front convex pipe, a front ball bearing is arranged between the front convex pipe and the outer wall of the input shaft with the sun gear, the rear cover is located the rear side of the frameless motor and is provided with a convex rear convex pipe, and a rear ball bearing is arranged between the rear convex pipe and the outer wall of the input shaft with the sun gear.
4. The mechatronic harmonic reducer with planetary structure according to claim 3, characterized in that: an input magnetic braid is arranged between the front convex tube and the outer wall of the input shaft with the sun wheel, the input magnetic braid is positioned at the front side of the front ball bearing, and the input magnetic braid can detect the rotation speed and the position of the input shaft.
5. The electromechanical integrated harmonic reducer with planetary structure according to claim 4, characterized in that: the outer diameter ring and the inner diameter ring of the cross bearing rotate relatively, the outer diameter ring of the cross bearing is fixedly connected with the shell, and the inner diameter ring of the cross bearing is fixedly connected with the outer ring of the flexible bearing.
6. The electromechanical integrated harmonic reducer with planetary structure according to claim 5, characterized in that: an output magnetic braid is arranged between the outer diameter ring and the inner diameter ring of the cross bearing, and the output magnetic braid can detect the rotating speed and the position of the inner diameter ring of the cross bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322153591.3U CN220488226U (en) | 2023-08-11 | 2023-08-11 | Electromechanical integrated harmonic speed reducer with planetary structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322153591.3U CN220488226U (en) | 2023-08-11 | 2023-08-11 | Electromechanical integrated harmonic speed reducer with planetary structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220488226U true CN220488226U (en) | 2024-02-13 |
Family
ID=89837267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322153591.3U Active CN220488226U (en) | 2023-08-11 | 2023-08-11 | Electromechanical integrated harmonic speed reducer with planetary structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220488226U (en) |
-
2023
- 2023-08-11 CN CN202322153591.3U patent/CN220488226U/en active Active
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