SK782019U1 - Electric harmonic reducer - Google Patents

Abstract

Electric harmonic reducer composed of a stator (3) of a motor, firmly placed on the stator support shaft (1) with integrated cable glands (5), connected by a fixed connection to a rigid body (11) with inner gearing, and a rotor (4) of a motor. Rotor (4) is firmly placed inside the rotor shaft (2) with a flexible ball bearing (7) pressed on its outer elliptical cam (6), placed in bearings bound to the stator support shaft (1) and a bearing bound to the rigid body (11) with inner gearing. The reducer ouput flange (10) is bound by rolling bearing to the stator support shaft (1) and the rigid body (11) with inner gearing. Reducer output flange (10) is connected by a fixed connection to a reducer cover lid (12) and via circular spline clutch (9) to flexible circular spline (8). Flexible circular spline (8) is sleeved by its inner part onto the flexible ball bearing (7) and its outer gearing mesh with inner gearing of the rigid body (11).

Description

Technical field

The technical solution concerns the electric harmonic reducer (EHR) in the field of mechanical engineering, electrical engineering, handling, robotic and automation technology.

Prior art

The proposed solution of an electric harmonic reducer (EHR) with the integration of an electric motor directly into the wave generator in the current arrangements and designs of harmonic gearboxes / reducers and power units has not been and is not generally widespread. Current harmonic transmissions use a conventional arrangement of a wave generator, a flexible toothed ring and a rigid gear into a compact unit with a subsequent series connection of the electric motor shaft to the wave generator flange.

The solutions of current harmonic gearboxes / reducers with a traditional, serial, connection of an electric motor to a wave generator fully cover the needs of standard power units. However, the application of these conventional solutions, used mainly in robotic technology as robotic joints, requires larger installation dimensions and higher weight of power units, which to a small extent covers the requirements for the construction of articulated and collaborative robots.

The integration of the electric motor directly into the wave generator of the harmonic reducer is not widespread, in drive units / modules the classic connection of the drive block to the flange of the harmonic gearbox is preferred. An example of such an arrangement is the servo gear / actuator series from Harmony drive AG, direct drives for articulated robots from Kinavo and Yaskawa America, Inc. etc.

The proposed design solution of the presented utility model is original. Unlike the current conventional solutions of serial connection of an electric motor to the flange of a harmonic reducer in the present proposal, the original proposal is a solution of direct integration of an electric motor into a wave generator of a harmonic reducer.

The essence of the technical solution

An electric harmonic reducer consisting of a function block of an electric wave generator, a flexible toothed bellows, a rigid body with internal gearing and an output flange has a motor stator fixed on the stator support shaft with integrated cable glands, which is fixed to the rigid body with internal gearing and motor rotor has a fixed bearing inside the rotor shaft with a pressurized flexible ball bearing on its outer elliptical cam, the rotor shaft being mounted in bearings connected to the stator support shaft and a bearing bound to a rigid body with internal gearing. the output flange of the reducer, which is connected by a bearing, to which the gearbox cover is connected by a fixed connection and by a screw connection via a bellows coupling, a resilient toothed bellows is firmly connected, which is an internal ball bearing in.

The connection of these parts into a single unit creates a compact electric harmonic reducer, which with its design and its inputs and outputs guarantees easy installation on subsequent functional groups / nodes, the possibility of easy expansion with sensory and electronic equipment, configuration, as well as the ability to create a module type and power range of electric harmonic reducers. EHR with its arrangement and internal construction of functional nodes represents a reliable solution of electric harmonic reducer for robotic devices, manipulators and single-purpose means intended for mechanization and automation of handling and technological processes.

Overview of figures in the drawings

In FIG. 1 is a sectional view of an electric harmonic reducer

In FIG. 2 is an illustration of an arrangement of a function block of an electric wave generator of an electric harmonic reducer.

In FIG. 3 is an illustration of a flexible bellows arrangement of an electric harmonic reducer.

In FIG. 4 is a front 3D view of an electric harmonic reducer.

In FIG. 5 is a rear 3D view of an electric harmonic reducer.

In FIG. 6 is a sectional view of an electric harmonic reducer extended by sensor equipment and a control and electronic block.

S K 78-2019 U1

In FIG. 7 is a front 3D view of an electric harmonic reducer extended by sensor equipment and a control and electronic block

In FIG. 8 is a rear 3D view of an electric harmonic reducer extended by sensor equipment and a control and electronic block.

In FIG. 9 is a 3D view of an electric harmonic reducer extended by sensor equipment and a control and electronic block with an output grooved shaft

In FIG. 10 is a 3D view of an electric harmonic reducer extended by sensor equipment and a control and electronic block with a pen output shaft.

Examples of embodiments

An exemplary embodiment of an electric harmonic reducer is shown in FIG. 1 to FIG. 5. The electric harmonic reducer consists of a functional block of an electric wave generator, a flexible toothed bellows, a rigid body with internal gearing and an output flange.

The functional block of the electric wave generator is solved by direct integration of electric motor with reverse arrangement of stator and rotor into elliptical wave generator so that stator 3 of motor is fixed on stator support shaft 1 firmly connected to rigid press body by internal gearing and motor rotor 4 is fixed inside the rotor shaft 2 with a pressed special resilient ball bearing 7 on its outer elliptical cam 6, the rotor shaft 2 being mounted on bearings bound to a stator support shaft 1 and a bearing bound to a rigid body 11 with internal gearing. bonded to the stator support shaft 1 and the rigid body by internal gearing, a resilient toothed bellows 8 is connected by a fixed connection via a bellows coupling 9, which is slid by its inner part onto a special resilient ball bearing 7 and at the same time inserted by its outer gearing into internal engagement. toothing of the rigid body 11. The cover lid 12 of the reducer is fixed connected to the output flange 10 of the reducer, t. j. this assembly has a parametric rotational movement corresponding to the EHR performance parameters. The bushings 5 of the electric motor cables, which are integrated in the stator support shaft 1, serve to arrange and guide the electric motor cables.

In FIG. 6 to FIG. 8 shows an example of an embodiment of the extension of an electric harmonic reducer with sensor equipment and a control and electronic block. The electric harmonic reducer (EHR) is extended by an engine speed sensor for monitoring and controlling engine speed, an absolute position sensor providing monitoring and control of position accuracy, an electrical distribution ring for cabling in the system and a control and electronic block so that the sensor sensor head 13 The speed of the motor speed sensor is connected to the rear surface of the rotor shaft 2 by a fixed connection. The control and electronic block 15 with the integrated reading head of the absolute position sensor is connected to the stator support shaft 1 by a fixed connection. The inlet glands 18, which serve for the routing and arrangement of cable distributions, are connected by a fixed connection to the rear flange 17 of the control and electronic block, which is firmly connected to a rigid body 11 with internal gearing The electric distribution ring 19 is firmly connected to the rear flange by its static part. 17 of the control and electronic block and connected by its rotating part to the inner diameter of the shaft of the cover cover 12 of the reducer, which is connected by a roller bearing to the support shaft 1 of the stator. An absolute position sensor ring 16 is connected to the gearbox cover shaft 12 by a fixed connection.

In FIG. 9 to FIG. 10 shows an example of an embodiment of an extended electric harmonic reducer with sensor equipment and a control and electronic block with different embodiments of the cover of the reducer. The cover cap 12 of the electric harmonic reducer can be constructed with an output shaft 21 for the tongue or with an output grooved shaft 20.

Industrial applicability

The proposed electric harmonic reducer (EHR) is designed for a wide range of automation and robotic technology, especially for groups that use rotary drive units to implement rotary oscillating movements of their functional parts (arms, etc.). These movements are the basic movements of the kinematic structures of robots and handling equipment, which are used in automated workplaces, which include mainly production workplaces in the automotive industry, electrical industry, pharmaceutical industry and other industries where smooth movement and high accuracy is needed. movement mechanisms for the implementation of the required work / handling operations, with minimal installation dimensions and low weight.

Claims (11)

CLAIMS FOR PROTECTION Electric harmonic reducer consisting of a functional block of an electric wave generator, a flexible toothed bellows, a rigid body with internal gearing and an output flange, characterized in that the motor stator (3) is fixedly mounted on a stator support shaft (1) which is fixed connected by a connection to a rigid body (11) with internal gearing and the rotor (4) of the motor is fixedly mounted inside the rotor shaft (2) with a pressed flexible ball bearing (7) on its outer elliptical cam (6), the rotor shaft (2) being mounted in bearings connected to the stator support shaft (1) and to a bearing bound to the rigid body (11) with internal gearing, further that the output flange (10) is connected to the stator support shaft (1) and the rigid body (11) with internal gearing by a roller bearing. ) of the reducer, connected by a fixed connection to the cover lid (12) of the reducer, to which, by a fixed connection, a resilient toothed bellows (8) is connected via a bellows coupling (9), which is slid internally onto the resilient ball bearing (7) and an external toothing inserted into engagement with the internal teeth of the rigid body (11). Electric harmonic reducer according to Claim 1, characterized in that the shaft of the cover cover (12) of the reducer is connected to the stator support shaft (1) by a roller bearing. Electric harmonic reducer according to Claim 1, characterized in that the cable glands (5) of the electric motor are directly integrated in the stator support shaft (1). Electric harmonic reducer according to Claim 1, characterized in that the sensor head (13) of the motor speed sensor is connected to the stator support shaft (1) by a fixed connection. Electric harmonic reducer according to Claim 1, characterized in that the sensor ring (14) of the motor speed sensor is connected to the rear surface of the rotor shaft (2) by a fixed connection. Electric harmonic reducer according to Claim 1, characterized in that a control and electronic block (15) with an integrated reading head of the absolute position sensor is fastened to the stator support shaft (1). Electric harmonic reducer according to Claims 1 and 2, characterized in that the ring (16) of the absolute position sensor is connected to the shaft of the cover of the reducer cover (12) by a fixed connection. Electric harmonic reducer according to Claim 1, characterized in that the rear flange (17) of the control and electronic block is connected to the rigid body (11) with internal gearing by a fixed connection. Electric harmonic reducer according to Claims 1 and 8, characterized in that the inlet glands (18) are connected to the rear flange (17) of the control and electronic block by a fixed connection. Electric harmonic reducer according to Claims 1, 2 and 8, characterized in that the rear flange (17) is an electrical connection with its static part if an electric rotary distribution (19) is connected by its rotating part to the shaft of the reducer cover (12). . Electric harmonic reducer according to Claims 1 and 2, characterized in that the cover cover (12) of the reducer is designed with a tongue output shaft (21) or with a splined output shaft (20).