TWI551792B - A reduction gear with a motor - Google Patents

Description

Gear unit with motor

The invention relates to a speed reducing device with a motor, in particular to a possibility of reducing non-coaxial rotation during installation, reducing output torque and device life caused by non-coaxial rotation.

With the development of science and technology, today's technology is paying more and more attention to mechanical automation, which saves human resources and brings great convenience to industry and human beings. General mechanical-related applications, such as robots, robotic arms, machine tools, and automated production equipment, are combined with drive components to provide power for rotation in the axial direction. Among them, the driving component is the cooperation of the speed reducing device and the motor, and the harmonic gear reducer has the advantages of high motion precision, large transmission ratio, light weight, small volume and large bearing capacity compared with the general gear transmission mechanism, so the harmonic gear reduction The device is widely used in automated machinery.

The following are related applications of two harmonic gear reducers and motors. The first conventional rotating shaft of the prior art coaxially passes through the hollow portion of the hollow motor shaft and extends outward, and the output shaft sensor configuration The rear end portion of the rotation transmission shaft protruding rearward of the rear end opening of the hollow motor shaft; since the motor rotor and the rotating shaft are two separate components, there is a problem of tolerance in the collocation, resulting in the motor rotor and the rotating shaft The variability of non-coaxial rotation is produced; in addition, both the input and output angle sensors are disposed at the end of the motor rotor, and the overall volume must be enlarged to create an oversized problem.

Another conventional rotating shaft is mounted coaxially with the wave generator through the inside of the reducer, and the angle encoder is mounted on the rotating shaft and is mounted corresponding to the angle sensor; however, the wave generator and the rotating shaft are two independently combined components. In the case of mutual matching, there is a problem of tolerance, and there is variability in non-coaxial rotation. In addition, the angle encoder is mounted on the rotating shaft and can only read the input rotational speed.

To this end, the foregoing prior art has a separate design in which the components and the rotating shaft are separated, resulting in a tolerance problem when mating with each other, and a lack of variability in non-coaxial rotation.

In view of the above, the present invention has a motor reduction gear, the main purpose of which is to provide a coaxial arrangement of a rotating shaft and a motor rotor and a wave generator to improve the lack of the prior art; the secondary object of the present invention is to provide The first detecting group and the second detecting group are added without increasing the volume of the device to provide a rotation angle of the detecting input end and the output end rotating shaft.

In order to achieve the foregoing object, a motorized reduction device includes a body, a rotary brake member, a flexible external gear transmission member and an internal tooth transmission member. The rotary brake member is disposed in the body and rotates. The brake member has a rotating shaft, a wave generator and a motor, the rotating shaft is disposed through the body, and the rotating shaft is provided with a first end and a second end on the opposite side of the first end, and the wave generator comprises a An elliptical wheel, the elliptical wheel integral forming ring is disposed on an outer circumference of the rotating shaft and adjacent to the first end of the rotating shaft, and the motor includes a motor stator disposed on the rotating shaft and adjacent to the second end of the rotating shaft, and a magnetic motor rotor The motor rotor is integrally formed on the rotating shaft and adjacent to the second end of the rotating shaft, and the motor rotor corresponds to the motor stator; thereby the rotating shaft and the wave occur The rotor and the motor rotor reduce the tolerance problems caused by the assembly of the prior art, and can improve the rotary torque effect. The flexible external tooth transmission member is disposed on an outer circumference of the elliptical wheel, the elliptical wheel drives the flexible external tooth transmission member to operate; and the internal tooth transmission member is sleeved on the outer periphery of the flexible external tooth transmission member, and the flexible external tooth transmission member Engaged with the internal tooth drive portion. The rotating brake member drives the flexible external tooth transmission member to rotate and mesh with the internal tooth transmission member to achieve the deceleration effect.

The details and features of the motorized reduction gear provided by the present invention will be described in the detailed description of the following embodiments. However, it should be understood by those of ordinary skill in the art that the present invention is not limited to the scope of the invention.

10‧‧‧ Ontology

20‧‧‧Rotary brakes

22‧‧‧Rotary axis

222‧‧‧ first end

224‧‧‧ second end

226‧‧‧ axial length

228‧‧‧Line hole

24‧‧‧ Wave Generator

242‧‧‧Elliptical wheel

244‧‧‧flex bearing

26‧‧‧Motor

260‧‧‧Motor stator

262‧‧‧Motor rotor

264‧‧‧Motor housing

End of 264a‧‧

264b‧‧‧ front end

268‧‧‧ axial length

30‧‧‧Flexible external gear transmission

40‧‧‧ internal gear transmission

60‧‧‧First detection group

62‧‧‧First encoder

64‧‧‧First sensor

70‧‧‧roller bearing

72‧‧‧ Inner Ring

74‧‧‧ outer ring

80‧‧‧Second detection group

82‧‧‧Second encoder

84‧‧‧Second sensor

100‧‧‧ Robotic arm

110‧‧‧Wire

200‧‧‧Reducing device

1 is a cross-sectional view of a preferred embodiment of a reduction gear transmission of the present invention; and FIG. 2 is a cross-sectional view mainly showing a configuration relationship of an input end sensor and an input end encoder of the reduction gear transmission according to a preferred embodiment of the present invention; 3 is a cross-sectional view mainly showing an embodiment in which the reduction gear of the preferred embodiment of the present invention is mounted in the outer casing of the robot; and FIG. 4 is a cross-sectional view mainly showing an embodiment in which the reduction gear of the present invention is mounted in another mechanical arm casing.

The above-mentioned and other features and advantages of the present invention will become more apparent from the following detailed description. Please refer to FIG. 1 , which is a deceleration device with a motor, comprising a body 10 , a rotating brake member 20 , a flexible external tooth transmission member 30 , and an internal tooth drive The component 40, a first detecting group 60, a roller bearing 70 and a second detecting group 80. The rotary brake member 20 is disposed in the body 10, and the rotary brake member 20 has a rotary shaft 22, a wave generator 24 and a motor 26.

The rotating shaft 22 is disposed through the body 10, and the rotating shaft 22 is provided with a first end 222 and a second end 224 on the opposite side of the first end 222. The wave generator 24 includes an elliptical wheel 242 and a flex bearing 244. The elliptical wheel 242 is integrally formed on the outer circumference of the rotating shaft 22 and adjacent to the first end 222 of the rotating shaft 22, and the flexible bearing 244 is sleeved with the elliptical wheel 242.

The motor 26 includes a motor stator 260 disposed on the rotating shaft 22 and adjacent to the second end 224 of the rotating shaft 22, a magnetic motor rotor 262 and a motor housing 264 integrally formed in the middle of the rotating shaft 22. And near the second end 224 of the rotating shaft 22, and the motor rotor 262 corresponds to the motor stator 260. The motor housing 264 is disposed outside of the rotating shaft 22, and the rotating shaft 22 is rotatable relative to the motor housing 264, and the motor rotor 262 is located within the motor housing 264.

The rotating shaft 22 defines an axial length 226, and the motor rotor 262 defines an axial length 268 which is between 0.25 and 0.4 in axial extent 226 of the rotating shaft 22 and the axial length 268 of the motor rotor 262.

The flexible external tooth transmission member 30 is sleeved on the elliptical wheel 242 and has an outer ring of the abutting bearing 244 at one end, and the elliptical wheel 242 is abutted against the inner ring of the flexing bearing 244. The internal tooth drive member 40 is of a rigid material, and the internal tooth drive member 40 is sleeved with a flexible external tooth drive member 30, and the flexible external tooth drive member 30 is partially engaged with the internal tooth drive member 40. The flexible external tooth transmission member 30 has the same modulus as the internal tooth transmission member 40, and the difference in the number of teeth between the flexible external tooth transmission member 30 and the internal tooth transmission member 40 is two.

Wherein, when the elliptical wheel 242 is actuated, a portion of the outer tooth of the flexible external tooth transmission member 30 is fully engaged with the inner tooth of the internal tooth transmission member 40, and the external tooth transmission member 30 is rotated in the circumferential direction. Actuate.

The roller bearing 70 includes an inner ring 72 and an outer ring 74. One end of the inner ring 72 abuts the internal tooth drive member 40, and the other end abuts the flexible external tooth drive member 30, and the outer ring 74 is connected at one end to the flexible end. The first detecting unit 60 includes a first encoder 62 and at least one first sensor 64. The first encoder 62 is disposed on the outer circumference of the second end 224 of the rotating shaft 22, and the first A sensor 64 is disposed at the end 264a of the motor casing 264. The number of the first sensors 64 is an even number, and the first sensor 64 is a symmetric ring disposed at the end 264a of the motor casing 264 (please Referring to the second figure, there are four first sensors 64 corresponding to each other. The first sensor 64 corresponds to the first encoder 62, and the first sensor 64 is used for reading the rotation. The angular displacement and rotational speed of the shaft 22.

The second detecting unit 80 includes a second encoder 82 and the at least one second sensor 84. The at least one second sensor 84 is disposed at the front end 264b of the motor housing 264. The second encoder 82 is disposed. The second encoder 82 is disposed at one end of the outer ring 74 of the roller bearing 70, and the second encoder 82 corresponds to the second sensor 84, and the total number of the second sensors 84 is an even number. The second sensor 84 is provided. The symmetrical ring is disposed on the front end 264b of the motor casing 264 (since the second sensor 84 is disposed in the same manner as the first sensor 64, the drawing is not repeated here, and only the second part is referred to in this section. The content of the figure, that is, the arrangement of the second sensor 84 can be easily inferred, and the second sensor 84 is used to read the displacement angle and the rotational speed of the roller bearing 70.

In addition, referring to Figures 3 and 4, the present invention can be mounted in the robot arm 100, so that the mechanical wire 110 can pass through the reduction gear 200 of the present invention, so the rotation of the present invention The shaft 22 is axially disposed with a line hole 228. As disclosed in the drawings, the wire 110 of the robot arm 100 can pass from the line hole 228 of the rotating shaft 22 to the other end of the robot arm 100 from one end of the robot arm 100.

In summary, the structure of the present invention through the rotating shaft 22, the elliptical wheel 242 and the motor rotor 26 can reduce the tolerance of the three joints and the eccentric rotation caused by the non-coaxial arrangement, and the elliptical wheel The 242 can uniformly and stably apply force to the flexible external tooth transmission member 30, so that the flexible external tooth transmission member 30 and the internal tooth transmission member 40 are surely engaged with each other to lift the flexible external tooth transmission member 30 and the internal tooth transmission member 40. The service life, the overall rigidity of the present invention and the output torque and device life that reduce the effects of non-coaxial rotation. In addition, since the second encoder 82 of the second detecting group 80 and the first encoder 62 of the first detecting group 60 are respectively disposed on the outer ring 74 and the rotating shaft 22 of the roller bearing 70, the accurate measurement is simultaneously performed. The rotation speed and angle of the rotating shaft 22 and the roller bearing 70 are not required to increase the volume to achieve this effect.

Finally, it must be explained again that the constituent elements disclosed in the foregoing embodiments are merely illustrative and are not intended to limit the scope of the present invention. Alternatives or variations of other equivalent elements should also be the scope of patent application of the present application. Covered.

10‧‧‧ Ontology

20‧‧‧Rotary brakes

22‧‧‧Rotary axis

222‧‧‧ first end

224‧‧‧ second end

226‧‧‧ axial length

228‧‧‧Line hole

24‧‧‧ Wave Generator

242‧‧‧Elliptical wheel

244‧‧‧flex bearing

26‧‧‧Motor

260‧‧‧Motor stator

262‧‧‧Motor rotor

264‧‧‧Motor housing

End of 264a‧‧

264b‧‧‧ front end

268‧‧‧ axial length

30‧‧‧Flexible external gear transmission

40‧‧‧ internal gear transmission

60‧‧‧First detection group

62‧‧‧First encoder

64‧‧‧First sensor

70‧‧‧roller bearing

72‧‧‧ Inner Ring

74‧‧‧ outer ring

80‧‧‧Second detection group

82‧‧‧Second encoder

84‧‧‧Second sensor

Claims (6)

A deceleration device with a motor includes: a body; a rotating brake member disposed in the body, and the rotary brake member has a rotating shaft, a wave generator and a motor, the rotating shaft is disposed through the body, the rotating shaft a first end and a second end on the opposite side of the first end, wherein the wave generator comprises an elliptical wheel, the elliptical wheel is integrally formed on the outer circumference of the rotating shaft and adjacent to the first end of the rotating shaft, and The motor includes a motor stator disposed on the rotating shaft and adjacent to the second end of the rotating shaft, and a magnetic motor rotor integrally formed on the rotating shaft and the motor rotor is disposed corresponding to the motor stator; a flexible external gear transmission member The sleeve is sleeved on the outer circumference of the elliptical wheel, and the elliptical wheel drives the flexible external tooth transmission member to operate; an internal tooth transmission member is sleeved on the outer circumference of the flexible external tooth transmission member, and the flexible external tooth transmission member and the internal tooth The transmission member is partially engaged; a first detection group, and the motor further includes a motor housing, the motor housing is disposed outside the rotating shaft, and the rotating shaft is rotatable relative to the motor housing, and the motor rotor is located The first detecting unit includes a first encoder and at least one first sensor, the first encoder is disposed on a periphery of the second end of the rotating shaft, and the at least one first sensor is disposed in the motor housing. Is disposed at an end of the motor casing, and the at least one first sensor corresponds to the first encoder, the at least one first sensor is configured to read a rotational angular displacement of the rotating shaft; and a roller bearing and a In the second detecting group, the roller bearing comprises an inner ring and an outer ring, one end of the inner ring abuts the internal tooth transmission member, and the other end abuts the flexible external tooth transmission member, and the outer ring end is connected to the flexible outer portion a tooth transmission member; the second detection group includes a second encoder and the at least one second sense a detector, the at least one second sensor is disposed at a front end of the motor casing, the second encoder is disposed at an opposite end of the outer ring and the flexible external gear transmission, and the at least one second encoder corresponds to at least A second sensor. The motor-equipped speed reducer according to claim 1, wherein the sum of the at least one first sensor is an even number, and the first sensor is provided with a symmetrical ring at the end of the motor casing. The motor-equipped speed reducer according to claim 1, wherein the sum of the at least one second sensor is an even number, and the second sensor is a symmetric ring disposed at a front end of the motor casing. A motor-driven reduction gear according to claim 1, wherein the rotating shaft extends axially through a line hole. The motor-equipped reduction gear device according to claim 1, wherein the flexible external tooth transmission member has the same modulus as the internal tooth transmission member, and the flexible external tooth transmission member and the internal tooth transmission member are The difference in the number of teeth is 2. A deceleration device with a motor includes: a body; a rotating brake member disposed in the body, and the rotary brake member has a rotating shaft, a wave generator and a motor, the rotating shaft is disposed through the body, the rotating shaft a first end and a second end on the opposite side of the first end, wherein the wave generator comprises an elliptical wheel, the elliptical wheel is integrally formed on the outer circumference of the rotating shaft and adjacent to the first end of the rotating shaft, and The motor includes a motor stator disposed on the rotating shaft and adjacent to the second end of the rotating shaft, and a motor rotor having a magnet, the motor rotor is integrally formed on the rotating shaft and the motor rotor is disposed corresponding to the motor stator; a flexible external tooth transmission member is sleeved on the outer circumference of the elliptical wheel, the elliptical wheel drives the flexible external tooth transmission member to operate; and an internal tooth transmission member is sleeved on the outer periphery of the flexible external tooth transmission member, and is flexible The external tooth transmission member is partially engaged with the internal tooth transmission member, the rotation shaft and the motor rotor each defining an axial length, and the axial length of the magnetic motor rotor and the axial length of the rotary shaft are in a range of 0.25 to 0.4. between.