CN220492799U - Electromechanical integrated harmonic speed reducer with double output ends - Google Patents
Electromechanical integrated harmonic speed reducer with double output ends Download PDFInfo
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- CN220492799U CN220492799U CN202321965318.4U CN202321965318U CN220492799U CN 220492799 U CN220492799 U CN 220492799U CN 202321965318 U CN202321965318 U CN 202321965318U CN 220492799 U CN220492799 U CN 220492799U
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000010354 integration Effects 0.000 claims abstract description 6
- 238000003466 welding Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Abstract
The utility model relates to the technical field of harmonic reducers, in particular to an electromechanical integrated harmonic reducer with double output ends, which comprises a frameless motor, a cross bearing, an output shaft, a flexible bearing, a flexible gear and a rigid gear; the inner diameter ring of the crossed bearing and the stator of the frameless motor are of an integrated structure; output shafts are arranged at two ends of a rotor of the frameless motor, and flexible bearings forming a wave generator with the output shafts are arranged at the outer sides of the output shafts; the wheel body of the flexible wheel is sleeved and installed on the wave generator, the installation end plate of the flexible wheel is fixed on the end face of the inner diameter ring of the cross bearing, the rigid wheel is sleeved and installed on the outer side of the wheel body of the flexible wheel, and the rigid wheel is fixed on the end face of the outer diameter ring of the cross bearing. The utility model can reduce the on-site assembly difficulty, improve the flexibility and the integration level and realize double-end output; the novel structure of the frameless motor is more compact, and the stator of the frameless motor and the inner diameter ring of the cross bearing are integrated, so that the whole volume can be further reduced.
Description
Technical Field
The utility model relates to the technical field of harmonic reducers, in particular to an electromechanical integrated harmonic reducer with double output ends.
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 reducer has the defects that the mechanical integrated harmonic reducer can only perform one-end output and cannot realize double-end output when in use, and the use is limited. 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 double output ends.
In order to achieve the technical purpose and the technical effect, the utility model is realized by the following technical scheme:
an electromechanical integrated harmonic speed reducer with double output ends comprises a frameless motor, a cross bearing, an output shaft, a flexible bearing, a flexible wheel and a rigid wheel;
the frameless motor comprises a rotor and a stator, wherein the stator is positioned on the outer side of the rotor; the cross bearing comprises an inner diameter ring and an outer diameter ring which can rotate relatively, and the inner diameter ring of the cross bearing and a stator of the frameless motor are of an integrated structure;
output shafts are arranged at two ends of a rotor of the frameless motor, and flexible bearings forming a wave generator with the output shafts are arranged on the outer sides of the output shafts;
the flexible gear is composed of an integrally connected mounting end plate and a gear body, the gear body of the flexible gear is sleeved and mounted on a wave generator capable of driving the flexible gear to deform, the mounting end plate of the flexible gear is fixed on the inner diameter ring end face of the cross bearing, the rigid gear is sleeved and mounted on the outer side of the gear body of the flexible gear, and the rigid gear is fixed on the outer diameter ring end face of the cross bearing.
Further, in the electromechanical integrated harmonic reducer with the double output ends, a ball bearing is arranged between the rotor of the frameless motor and the inner diameter ring of the cross bearing.
Furthermore, in the electromechanical integrated harmonic reducer with the double output ends, two stepped mounting grooves convenient for mounting the ball bearings are symmetrically formed in the outer side of the rotor of the frameless motor.
Further, in the electromechanical integrated harmonic reducer with the double output ends, a flexible tooth groove is formed in the outer side of the gear body of the flexible gear along the circumferential direction, and rigid gear teeth are formed in the inner side of the rigid gear along the circumferential direction.
Further, in the electromechanical integrated harmonic reducer with the double output ends, the installation end plate of the flexible gear is an annular end plate matched with the inner diameter ring of the cross bearing in a shape.
Furthermore, in the electromechanical integrated harmonic reducer with the double output ends, the installation end plate of the flexible gear is fixedly connected with the inner diameter ring of the cross bearing in a welding mode.
The beneficial effects of the utility model are as follows:
the utility model has reasonable structural design, can reduce the on-site assembly difficulty, improve the flexibility and the integration level and realize double-end output on one hand; on the other hand, the novel structure of the frameless motor is more compact, and the stator of the frameless motor and the inner diameter ring of the cross bearing are integrated, so that the whole volume can be further reduced.
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 view of the assembly of a frameless motor and cross bearings of the present utility model;
FIG. 3 is a schematic diagram of the assembly of the wave generator, flexspline and rigid spline of the present utility model;
FIG. 4 is a schematic structural view of a flexspline according to the present utility model;
in the drawings, the list of components represented by the various numbers is as follows:
1-frameless motor, 2-cross bearing, 3-output shaft, 4-flexible bearing, 5-flexible wheel, 501-mounting end plate, 502-wheel body and 6-rigid wheel.
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. 1-4, the present embodiment is an electromechanical integrated harmonic reducer with dual output ends, which includes a frameless motor 1, a cross bearing 2, an output shaft 3, a flexible bearing 4, a flexible gear 5 and a rigid gear 6. The frameless motor 1 comprises a rotor and a stator, the stator being located outside the rotor. The cross bearing 2 comprises an inner diameter ring and an outer diameter ring which can rotate relatively, and the inner diameter ring of the cross bearing 2 and the stator of the frameless motor 1 are of an integrated structure.
In this embodiment, output shafts 3 are mounted at both ends of the rotor of the frameless motor 1, and flexible bearings 4 forming a wave generator with the output shafts 3 are mounted on the outer sides of the output shafts 3.
In this embodiment, the flexspline 5 is composed of an integrally connected mounting end plate 501 and a spline 502, the spline 502 of the flexspline 5 is sleeved on a wave generator capable of driving the spline to deform, and the mounting end plate of the flexspline 501 is fixed on the end face of the inner diameter ring of the cross bearing 2. The rigid gear 6 is sleeved and arranged on the outer side of the gear body 502 of the flexible gear 5, and the rigid gear 5 is fixed on the end face of the outer diameter ring of the cross bearing 2.
In this embodiment, a ball bearing is mounted between the rotor of the frameless motor 1 and the inner diameter ring of the cross bearing 2. Two stepped mounting grooves which are convenient for mounting ball bearings are symmetrically formed on the outer side of a rotor of the frameless motor 1.
In this embodiment, a flexible tooth slot is formed on the outer side of the wheel body 502 of the flexible wheel 5 along the circumferential direction, and a rigid gear tooth is formed on the inner side of the rigid wheel 6 along the circumferential direction.
In this embodiment, the mounting end plate 501 of the flexspline 5 is an annular end plate that is in form-fit with the inner diameter ring of the cross bearing 2. The mounting end plate 501 of the flexspline 5 is fixedly connected with the inner diameter ring of the cross bearing 2 by welding.
One specific application of this embodiment is: the harmonic speed reducer mainly comprises a frameless motor 1, a cross bearing 2, an output shaft 3, a flexible bearing 4, a flexible gear 5 and a rigid gear 6, has reasonable design and layout of all parts, can reduce the difficulty of on-site assembly, improves the flexibility and the integration level, and realizes double-end output; the novel structure of the frameless motor 1 is more compact, and the stator of the frameless motor 1 and the inner diameter ring of the cross bearing 2 are integrated, so that the whole volume can be further reduced.
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 integration harmonic reducer with two outputs, its characterized in that: the device comprises a frameless motor, a cross bearing, an output shaft, a flexible bearing, a flexible wheel and a rigid wheel;
the frameless motor comprises a rotor and a stator, wherein the stator is positioned on the outer side of the rotor; the cross bearing comprises an inner diameter ring and an outer diameter ring which can rotate relatively, and the inner diameter ring of the cross bearing and a stator of the frameless motor are of an integrated structure;
output shafts are arranged at two ends of a rotor of the frameless motor, and flexible bearings forming a wave generator with the output shafts are arranged on the outer sides of the output shafts;
the flexible gear is composed of an integrally connected mounting end plate and a gear body, the gear body of the flexible gear is sleeved and mounted on a wave generator capable of driving the flexible gear to deform, the mounting end plate of the flexible gear is fixed on the inner diameter ring end face of the cross bearing, the rigid gear is sleeved and mounted on the outer side of the gear body of the flexible gear, and the rigid gear is fixed on the outer diameter ring end face of the cross bearing.
2. The mechatronic harmonic reducer with two outputs of claim 1, wherein: and a ball bearing is arranged between the rotor of the frameless motor and the inner diameter ring of the cross bearing.
3. The mechatronic harmonic reducer with two outputs of claim 2, wherein: two stepped mounting grooves convenient for mounting the ball bearings are symmetrically formed in the outer side of the rotor of the frameless motor.
4. The mechatronic harmonic reducer with two outputs of claim 3, wherein: the flexible tooth grooves are formed in the outer side of the gear body of the flexible gear along the circumferential direction, and rigid gear teeth are formed in the inner side of the rigid gear along the circumferential direction.
5. The mechatronic harmonic reducer with two outputs of claim 4, wherein: the installation end plate of the flexible gear is an annular end plate matched with the inner diameter ring of the crossed bearing in a shape.
6. The mechatronic harmonic reducer with two outputs of claim 5, wherein: and the installation end plate of the flexible gear is fixedly connected with the inner diameter ring of the cross bearing in a welding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321965318.4U CN220492799U (en) | 2023-07-25 | 2023-07-25 | Electromechanical integrated harmonic speed reducer with double output ends |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321965318.4U CN220492799U (en) | 2023-07-25 | 2023-07-25 | Electromechanical integrated harmonic speed reducer with double output ends |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220492799U true CN220492799U (en) | 2024-02-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321965318.4U Active CN220492799U (en) | 2023-07-25 | 2023-07-25 | Electromechanical integrated harmonic speed reducer with double output ends |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220492799U (en) |
-
2023
- 2023-07-25 CN CN202321965318.4U patent/CN220492799U/en active Active
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