TWM611662U - Mechatronics hollow harmonic reducer - Google Patents

Abstract

The new model is an electromechanical integrated hollow harmonic reducer, which includes a main body, a stator assembly, a rotating shaft, a deceleration structure and an output part, wherein the stator assembly is arranged inside the main body, and the rotating shaft can rotate. It is located in the stator assembly, and one end of the rotating shaft extends out of the space surrounded by the stator assembly. A wave generating portion is formed radially on the part where the rotating shaft extends out of the space surrounded by the stator assembly. The deceleration structure is sleeved on the On the rotating shaft, and the wave generator drives the deceleration structure in a harmonic transmission manner, and the output member is driven by the deceleration structure. The present invention avoids the problem of the overall transmission system being too long and too large through the simplified structure configuration. In this way, an electromechanical integrated hollow harmonic reducer with improved space utilization efficiency is provided.

Description

Mechatronics hollow harmonic reducer

The new model relates to a transmission device, especially a hollow harmonic reducer.

The existing harmonic reducer has a drive shaft, a flexible wheel and a rigid wheel. The drive shaft needs to be connected to an external power source and is driven by the external power source. The drive shaft has an elliptical part to act as a wave Generator, the flexspline is an external gear with flexibility, sleeved on the elliptical part of the transmission shaft, the rigid gear has an inner tooth part, and sleeves on the flexspline, the flexspline and the ellipse One of the rigid wheels is a fixed member, the other is a member connected to an output shaft, and the flexible wheel is partially meshed with the rigid wheel to rotate relatively.

When the transmission shaft is driven by the external power source to rotate, the elliptical portion drives the flexspline to rotate and deform, and meshes with the flexspline along the long axis of the ellipse, so that the flexspline and the flexspline rotate relative to each other , And drive the output shaft to rotate. Through the harmonic gearing (strain wave gearing) between the ellipse and the perfect circle, the rotation speed of the output shaft is lower than the rotation speed of the transmission shaft.

The existing harmonic reducer is widely used, for example, used in a robotic arm. However, the existing harmonic reducer needs to be used with a motor as the external power source, and the motor and the existing harmonic reducer are designed and manufactured separately, so that In use, for example, when installed on the robot arm, the overall volume of the motor and the existing harmonic reducer is bulky, which is not conducive to the efficiency of space use, and the drive shafts of different motors have different lengths, which can easily cause the motor to be The total length of the existing harmonic reducer has changed. When different motors are to be replaced, the size or range of motion of the robot arm may be difficult to match. In summary, the existing harmonic reducer must be connected to an external power source, resulting in space utilization efficiency. The problems of poor performance and increasing the cost of selecting external power sources really need to be improved.

In order to solve the problem that the existing harmonic reducer must be connected to an external power source, resulting in poor space utilization efficiency and increasing the cost of external power source selection, this new model provides an electromechanical integrated hollow harmonic reducer, which is improved through simplified structural configuration. The space utilization efficiency inside and outside the harmonic reducer and the effective improvement of the existing technical problems are further explained as follows.

This new model is an electromechanical integrated hollow harmonic reducer, which includes: An ontology A stator assembly, the stator assembly is arranged inside the body; A rotating shaft, the rotating shaft is rotatably located in the stator assembly, and one end of the rotating shaft extends out of the space surrounded by the stator assembly, and a portion where the rotating shaft extends out of the space surrounded by the stator assembly radially forms a wave generating portion ； A deceleration structure, the deceleration structure is sleeved on the rotating shaft, and the wave generating part drives the deceleration structure in a harmonic transmission mode; and An output piece, the output piece is driven by the deceleration structure.

In the above-mentioned mechatronics hollow harmonic reducer, the wave generating part has a plurality of diameters with different lengths.

In the above-mentioned mechatronics hollow harmonic reducer, the wave generating part has an elliptical shape.

Further, the above-mentioned mechatronics hollow harmonic reducer, wherein the reduction structure includes a rigid wheel and a flexible wheel that are partially meshed with each other, wherein the flexible wheel has flexibility and is arranged between the rigid wheel and the wave generating part In between, one of the rigid wheel and the flexible wheel is fixedly connected to the main body, and the other is connected to the output member, and drives the output member to rotate.

Further, in the above-mentioned mechatronics hollow harmonic reducer, the body has a drive assembly, the drive assembly is electrically connected to the stator assembly, and the drive assembly, the stator assembly, and the deceleration structure are along the line of the harmonic reducer. One axis is arranged at intervals in sequence.

Still further, in the above-mentioned mechatronics hollow harmonic reducer, the body has a housing, the stator assembly is arranged in the housing, and the flexspline is fixedly connected to the housing.

Still further, the above-mentioned mechatronics hollow harmonic reducer, wherein the body includes a coupling seat, the coupling seat is locked with the flexspline and the housing, and the flexspline is located along the axial direction between the housing and the coupling. Between the seats, the rigid wheel can rotatably abut against the side of the coupling seat away from the housing, and a part of the rigid wheel is located between the coupling seat and the flexspline along a radial direction.

Preferably, the above-mentioned mechatronics hollow harmonic reducer, wherein the housing has an outer joint ring, the inner side of the outer joint ring forms a combined groove, and a part of the joint seat and the outer periphery of the flexspline are located in the Combination slot.

Preferably, the above-mentioned mechatronics hollow harmonic reducer, wherein the output member and the rigid wheel are locked on the side of the rigid wheel away from the coupling seat, and the outer periphery of the output member is along the axial direction A jacket portion is protrudingly formed toward the coupling seat, and the jacket portion partially surrounds the outer periphery of the rigid wheel.

With the above-mentioned technical features, the present invention allows the shaft to be driven by the stator assembly inside the housing through a simplified structural configuration, and further drives the deceleration structure within a short distance, so that the output member is more efficient. Low speed output torque, therefore, the new type can avoid the existing motor and the existing harmonic reducer separately designed and manufactured, with different shells, which leads to the problem of too long and too large overall transmission system, which is beneficial to the inside and outside of the robot arm In summary, the present invention effectively improves the existing harmonic reducer that must be connected to an external power source, thereby providing an electromechanical integrated hollow harmonic reducer with improved space utilization efficiency.

In order to understand the technical features and practical effects of the present invention in detail, and to implement it in accordance with the content of the specification, the preferred embodiment shown in the drawings is further described in detail as follows:

This new model is an electromechanical integrated hollow harmonic reducer. The preferred embodiment is shown in Figures 1 to 3 and 5. It includes a body 10, a stator assembly 20, a rotating shaft 30, a reduction structure 40 and a Output 50.

As shown in Figures 2, 3, 6 and 7, the body 10 includes a mounting base 11, a drive assembly 12, a housing 13, and a coupling base 14. The mounting base 11 includes a circular bottom plate 111 and a The support shaft 112, the support shaft 112 is hollow, and the center of the circular bottom plate 111 penetrates and communicates with the interior of the support shaft 112, so as to provide a wire to pass through; the drive assembly 12 is sleeved on the support shaft 112 and is located A position close to the circular bottom plate 111 is combined with the mounting base 11. In a preferred embodiment of the present invention, the driving assembly 12 includes two circuit boards.

As shown in FIGS. 4, 6 and 7, the housing 13 is fixedly connected to the circular bottom plate 111 of the mounting seat 11 and surrounds the support shaft 112 and the drive assembly 12. The housing 13 includes a partition 131, A accommodating groove 132, an outer joint ring 133 and a joint surface 134, the partition 131 is annularly formed inside the housing 13, and the driving assembly 12 is disposed between the partition 131 and the circular bottom plate 111 The accommodating groove 132 is formed inside the housing 13, the partition 131 is away from the circular bottom plate 111; the outer coupling ring 133 is radially protruding from the housing 13 away from the circular bottom plate 111 end, And the inner diameter of the outer coupling ring 133 is larger than the inner diameter of the accommodating groove 132, so that a coupling surface 134 formed between the inner side of the outer coupling ring 133 and the end surface of the accommodating groove 132 forms a combined groove; the coupling seat 14 is combined with the housing 13, and the coupling base 14 is detachably locked with the coupling surface 134, so a part of the coupling base 14 is located in the combination groove.

As shown in FIGS. 4, 6, 7 and 9, the stator assembly 20 is disposed in the accommodating slot 132 of the housing 13, and is electrically connected to the driving assembly 12. The stator assembly 20 has a plurality of coils The other technical features of the winding are the same as those of the prior art, so they are not detailed here.

Please refer to Figures 3 to 6, the rotating shaft 30 is rotatably located in the stator assembly 20 and sleeved on the supporting shaft 112, one end of the rotating shaft 30 extends out of the space surrounded by the stator assembly 20, Moreover, a wave generating portion 31 is formed radially on the part where the rotating shaft 30 extends out of the space surrounded by the stator assembly 20. The wave generating portion 31 has an elliptical shape and has a plurality of diameters with different lengths; further, the rotating shaft 30 is located on the outer surface of the part in the space surrounded by the stator assembly 20, combined with a plurality of magnets 301, so that the rotating shaft 30 can be rotated due to the change of the magnetic force provided by the stator assembly 20, in addition, the rotating shaft 30 is in the wave A flexible bearing 302 is sleeved on the generating portion 31.

Please refer to Figure 3, Figure 6 to Figure 8, the deceleration structure 40 is sleeved on the wave generating portion 31 of the shaft 30, so that the drive assembly 12, the stator assembly 20 and the deceleration structure 40 along the harmonic deceleration The axial direction of the machine is arranged at intervals in order to provide a further streamlined structure configuration; as shown in FIG. 7, the output member 50 is combined with the deceleration structure 40 and is driven by the deceleration structure 40.

As shown in Figs. 3 and 6 to 8, the deceleration structure 40 includes a flexible wheel 41 and a rigid wheel 42. The flexible wheel 41 has flexibility and is sleeved on the elliptical flexible bearing 302. And located between the rigid wheel 42 and the wave generating portion 31, as shown in FIGS. 3, 8A and 8B, the flexible wheel 41 and the rigid wheel 42 form a partial mesh through their respective teeth 412, 421, and can The relative rotation causes the wave generating part 31 to drive the flexible wheel 41 and the rigid wheel 42 of the deceleration structure 40 in a harmonic transmission manner.

Further, one of the flexible wheel 41 and the rigid wheel 42 is fixedly connected to the stator assembly 20, and the other is connected to the output member 50 and drives the output member 50 to rotate. In a preferred embodiment of the present invention, As shown in FIG. 6, one side of the flexspline 41 has a radially protruding flange 411, and the flange 411 of the flexspline 41 and the coupling seat 14 are locked on the coupling surface 134 of the housing 13 , And located between the housing 13 and the coupling seat 14 along the axial direction, so that the outer periphery of the flexspline 41 is located in the combined groove formed between the outer coupling ring 133 and the coupling surface 134 of the housing 13, and the rigid The wheel 42 can rotatably abut the coupling seat 14 away from the side of the housing 13, and a part of the rigid wheel 42 is located between the coupling seat 14 and the flexspline 41 in a radial direction, so as to pass through the coupling seat 14 and The annular gap between the flexible wheels 41 provides a positioning effect and prevents the rigid wheels 42 from sliding radially.

As shown in FIG. 7, in the preferred embodiment of the present invention, the output member 50 and the rigid wheel 42 are locked on the side of the rigid wheel 42 away from the coupling seat 14, and the outer periphery of the output member 50 A jacket portion 51 is protrudingly formed toward the coupling seat 14 along the axial direction, and the jacket portion 51 partially surrounds the outer periphery of the rigid wheel 42 to further improve the effect of radial positioning.

With the above-mentioned technical features, the present invention allows the shaft 30 to be driven by the stator assembly 20 inside the housing 13 through the simplified structural configuration, and further drives the deceleration structure 40 to act within a short distance, so that the The output member 50 outputs torsion at a lower speed. Therefore, the present invention can avoid the problems that the existing motor and the existing harmonic reducer are designed and manufactured separately, and have different casings, which will cause the overall transmission system to be too long and too large, which is beneficial to The space utilization inside and outside the robot arm. To sum up, the new model effectively improves the existing harmonic reducer that must be connected to the external power source to provide an electromechanical integrated hollow harmonic reducer with improved space utilization efficiency. .

The above are only the preferred embodiments of the present invention, and do not limit the present invention in any form. Anyone with ordinary knowledge in the relevant technical field can use the present invention without departing from the scope of the technical solution proposed by the present invention. The disclosed technical content is partially changed or modified equivalent embodiments without departing from the content of the technical solution of the present invention, and all still fall within the scope of the technical solution of the present invention.

10: body 11: Mounting seat 111: round bottom plate 112: Support shaft 12: Drive components 13: shell 131: Partition 132: Containment Slot 133: Outer binding ring 134: Combination Surface 14: Combination seat 20: Stator assembly 30: shaft 301: Magnet 302: Flexible bearing 31: Wave generating part 40: Deceleration structure 41: Flexible wheel 411: Flange 42: Just round 412,421: Teeth 50: output 51: Outerwear

Figure 1 is a perspective view of a preferred embodiment of the present invention. Figure 2 is a perspective view of a partial cross-section of a preferred embodiment of the present invention. Figure 3 is an exploded perspective view of the preferred embodiment of the present invention. Fig. 4 is a three-dimensional exploded view of the stator assembly and the rotating shaft of the preferred embodiment of the present invention. Figure 5 is an end view of the appearance of the preferred embodiment of the present invention. Fig. 6 is a side cross-sectional view taken along the line A-A of Fig. 5; Fig. 7 is a side sectional view taken along the line B-B of Fig. 5; Fig. 8 is an end sectional view taken along the line C-C of Fig. 7; 8A and 8B are partial enlarged views of FIG. 8. FIG. 9 is a block diagram of the electrical connection of the preferred embodiment of the present invention.

10: body

13: shell

14: Combination seat

20: Stator assembly

30: shaft

40: Deceleration structure

50: output

Claims (9)

An electromechanical integrated hollow harmonic reducer, its system includes: An ontology A stator assembly, the stator assembly is arranged inside the body; A rotating shaft, the rotating shaft is rotatably located in the stator assembly, and one end of the rotating shaft extends out of the space surrounded by the stator assembly, and a portion where the rotating shaft extends out of the space surrounded by the stator assembly radially forms a wave generating portion ； A deceleration structure, the deceleration structure is sleeved on the rotating shaft, and the wave generating part drives the deceleration structure in a harmonic transmission mode; and An output piece, the output piece is driven by the deceleration structure. The electromechanical integrated hollow harmonic reducer according to claim 1, wherein the wave generating part has a plurality of diameters with different lengths. The electromechanical integrated hollow harmonic reducer according to claim 2, wherein the wave generating part has an elliptical shape. The mechatronic hollow harmonic reducer according to claim 3, wherein the reduction structure includes a rigid wheel and a flexible wheel that are partially meshed with each other, wherein the flexible wheel is flexible and is arranged between the rigid wheel and the flexible wheel. Between the wave generating parts, one of the rigid wheel and the flexible wheel is fixedly connected with the main body, and the other is connected with the output member, and drives the output member to rotate. The mechatronic hollow harmonic reducer according to claim 4, wherein the body has a drive assembly, the drive assembly is electrically connected to the stator assembly, and the drive assembly, the stator assembly, and the deceleration structure are along the harmonic One axis of the wave reducer is arranged at intervals in sequence. The mechatronic hollow harmonic reducer according to claim 4 or 5, wherein the body has a housing, the stator assembly is arranged in the housing, and the flexspline is fixedly connected to the housing. The mechatronic hollow harmonic reducer according to claim 6, wherein the body includes a coupling seat, the coupling seat is locked with the flexspline and the housing, and the flexspline is located in the housing along the axial direction Between the rigid wheel and the coupling seat, the rigid wheel can rotatably abut against the side of the coupling seat away from the casing, and a part of the rigid wheel is located between the coupling seat and the flexible wheel along a radial direction. The mechatronic hollow harmonic reducer according to claim 7, wherein the housing has an outer joint ring, an inner side of the outer joint ring forms a combined groove, and a part of the joint seat and the outer periphery of the flexspline are located The combination slot. The electromechanical integrated hollow harmonic reducer according to claim 7, wherein the output member and the rigid wheel are locked on the side of the rigid wheel away from the coupling seat, and the outer periphery of the output member is along the axis A jacket portion is protrudingly formed toward the coupling seat, and the jacket portion partially surrounds the outer periphery of the rigid wheel.

Images