SK9003Y1 - Axial electric harmonic reducer - Google Patents

Abstract

Axial electric harmonic reducer composed of a stator (3) of a motor fixed on the stator support shaft (1) with integrated cable glands (5), by a fixed connection connected to a rigid body (11) with an internal bevel gear and rotor (4) of the motor, firmly mounted inside the shaft (2) of the rotor with a pressed flexible ball bearing (7) on its inclined outer elliptical cam (6), mounted on bearings attached to the stator support shaft (1). Flexible ring (8) with external bevel gearing, mounted on a flexible ball bearing (7), is connected by a roller bearing to the rotor shaft (2) and by its external bevel gearing is inserted into engagement with the inner bevel gearing of the rigid body (10). The output flange (9), which is connected by a roller bearing to the stator support shaft (1) and the rigid body (10) with internal bevel gearing, is firmly connected to a flexible ring (8) with external bevel gearing.

Description

SK 900 Υ1

Technical field

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

Prior art

Proposed solution of axial electric harmonic reducer (AEHR), with integration of electric drive directly into the wine generator of harmonic transmission and flexible ring with bevel gearing, in current arrangements and versions of harmonic gearboxes / reducers, resp. actuators based on them has not been and is not widely used.

Harmonic transmissions use a conventional arrangement of a wine generator, a flexible toothed ring and a rigid gear into a compact unit with subsequent series connection of the output shaft of the electric drive to the flange of the wine generator. These conventional solutions fully address the needs of standard drive units, which are used primarily in robotic technology as robotic drive joints. However, their application in the overall assembly of machine / robotic equipment requires larger installation dimensions, which has a direct effect on the higher weight of these equipment, and thus these series arrangements only to a small extent cover the requirements for the construction of articulated and collaborative robots.

The integration of the electric drive directly into the wine generator and the flexible ring with conical gearing of the harmonic reducer is not widespread, in drive units / modules it is preferred to connect the drive block to the wine generator flange in the form of an elliptical cam with a specially pressed ball bearing. elliptical axis, a resilient ring with external toothing is fitted, which is inserted into the internal toothing of the rigid body. Examples of such an arrangement are the servo gearbox / actuator series from Harmony drive AG, direct articulated robot drives from Kinavo and Yaskawa America, Inc. etc.

The proposed design solution of the presented utility model is original. Unlike the current conventional servo / drive unit solutions in the present proposal, the original solution is the direct integration of an electric motor into a wine generator with a pressed special ball bearing, on which a flexible ring with a bevel gear is mounted with an axial harmonic reducer output flange connected.

The essence of the technical solution

The axial electric harmonic reducer consisting of a functional block of an electric wine generator, a flexible ring with external bevel gearing, a rigid body with internal bevel gearing and an output flange has a motor stator fixed on the stator support shaft with integrated cable glands, which is firmly attached to the rigid body with internal bevel gearing and the motor rotor has fixedly mounted inside the rotor shaft with a pressed flexible ball bearing, in the place of the elliptical axis, on its inclined outer elliptical cam, the rotor shaft being mounted in bearings connected to the stator support shaft. A resilient ring with an external bevel gear is mounted on the resilient ball bearing, which is connected to the rotor shaft by a roller bearing and is inserted into engagement with the inner bevel gearing of the rigid body by its outer bevel gearing. Attached to the resilient ring with external bevel gearing is a fixed connection, or a grooved connection, an output flange is attached, which is connected by a roller bearing to the stator support shaft and a rigid body with internal bevel gearing.

Combining these parts into a single unit creates a compact axial electric harmonic reducer (AEHR), 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 possibility to create modules of type and power series of axial electric harmonic reducers. With its arrangement and internal construction of functional nodes, AEHR represents a reliable solution of axial electric harmonic reducer for robotic devices, especially for articulated and collaborative robots, manipulators and single-purpose means, which are 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 axial electric harmonic reducer.

SK 900 Υ1

In FIG. 2 is an illustration of the arrangement of the functional block of the electric wine generator of the axial electric harmonic reducer with a mounted conical toothed ring.

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

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

In FIG. 5 is a sectional view of an axial electric harmonic reducer extended by a motor speed sensor and a control and electronic block.

In FIG. 6 is a rear 3D view of an axial electric harmonic reducer extended by a motor speed sensor and a control and electronic block.

Examples of embodiments

An exemplary embodiment of an axial electric harmonic reducer is shown in FIG. 1 to FIG. 4. The axial electric harmonic reducer consists of a functional block of an electric wine generator, a flexible ring with external bevel gearing, a rigid body with internal bevel gearing and an output flange.

The functional block of the electric wine generator is solved by direct integration of electric motor with reverse arrangement of stator and rotor into wine generator with inclined elliptical cam so that stator 3 of motor is fixed on stator support shaft 1, fixed connection connected to rigid body 10 with internal bevel gearing. and the motor rotor 4 is fixedly housed inside the rotor shaft 2 with a special ball bearing 7 pressed onto its inclined outer elliptical cam 6, the rotor shaft 2 being roller-connected to the stator support shaft 1. A resilient ring bearing 8 with an external bevel gear is mounted on the resilient ball bearing 7, which is connected by a roller bearing to the rotor shaft 2 and is inserted into its engagement with the inner tapered toothing of the rigid body 10 by its outer tapered toothing. a connecting flange 9 is fastened by a connection, or a grooved connection, which is connected by a roller bearing to the stator support shaft 1 and a rigid body 10 with internal bevel gearing. The output flange 9 has a rotational movement parametrically corresponding to the power parameters of the axial electric harmonic reducer. The bushings 5 of the electric motor cables, which are integrated in the stator support shaft 1, serve for arranging and routing the electric motor cables.

In FIG. 5 and FIG. 6 shows an example of an embodiment of the extension of an axial electric harmonic reducer by a motor speed sensor and a control and electronic block. The axial electric harmonic reducer (AEHR) is extended by an engine speed sensor for monitoring and controlling the engine speed and a control and electronic block so that the sensor head 11 of the engine speed sensor is firmly connected to the stator shaft 1 and the sensor ring 12 of the engine speed sensor. is fixed to the rear surface of the rotor shaft 2. The control and electronic block 13 is fixed to the stator shaft 1 by a fixed connection.

Industrial applicability

The proposed axial electric harmonic reducer (AEHR) is designed for a wide range of robotic technology, especially for a group of industrial and service robots that use rotary drive units / modules to perform rotary and oscillating movements of their functional parts (arms, etc.). These movements are the basic movements of the kinematic structures of robots and manipulation devices.

Axial electric harmonic reducer (AEHR) can be used mainly for articulated robots, which are used in automated workplaces installed in limited operating spaces, which include mainly production sites in the automotive industry, electrical industry, pharmaceutical industry, as well as in other industries where there is a need to achieve smooth movement and high accuracy of movement mechanisms to perform the required work / handling operations, with minimal installation dimensions and low weight.

The proposed AEHR with its functions and properties meets the requirements of drive modules intended not only for the construction of articulated robots, but also in the construction of walking service robots, in the construction of wheel and crawler service robots, in the construction of robotic and handling arms and peripherals of robotic systems, in the construction of exoskeletons. construction - artificial joints.

Claims (6)

SK 900 Υ1 CLAIMS FOR PROTECTION Axial electric harmonic reducer consisting of a functional block of an electric wine generator, a flexible ring with a bevel gear, a rigid body with an internal bevel gear and an output flange, characterized in that the motor stator (3) is fixedly mounted on the stator support shaft (1) , which is fixedly connected to a rigid body (10) with internal bevel gearing and the motor rotor (4) is fixedly housed inside the rotor shaft (2) with a pressurized flexible ball bearing (7) on its oblique outer elliptical cam (6), the rotor shaft (2) is mounted in bearings connected to the stator support shaft (1), furthermore that a flexible ring (8) with external bevel gearing is mounted on the flexible ball bearing (7), which is connected to the output flange by a fixed or grooved connection ( 9) and by rolling bearing connected to the rotor shaft (2) and by its outer bevel gearing inserted into engagement with the inner bevel gearing of the rigid body (10). Axial electric harmonic reducer according to Claim 1, characterized in that the output flange (9) is connected by a roller bearing to the stator support shaft (1) and the rigid body (10) with internal bevel gearing. Axial electric harmonic reducer according to Claim 1, characterized in that the cable glands (5) of the electric motor are directly integrated in the support shaft (1). Axial electric harmonic reducer according to Claim 1, characterized in that the sensor head (11) of the motor speed sensor is fastened to the stator support shaft (1) by a fixed connection. Axial electric harmonic reducer according to Claim 1, characterized in that the sensor ring (12) of the motor speed sensor is fastened to the rear surface of the rotor shaft (2) by a fixed connection. Axial electric harmonic reducer according to Claim 1, characterized in that a control and electronic block (13) is fastened to the stator support shaft (1) in a fixed connection. 3 drawings