TWM621127U - Harmonic deceleration module, power unit, self-propelled vehicle, transfer equipment, power output system and electric bicycle - Google Patents

Abstract

This creation discloses a harmonic deceleration module, power unit, self-propelled vehicle, transfer equipment, power output system and electric bicycle. The harmonic reduction module includes a connecting member, a flexible bearing, a first frame, a first rigid wheel, a second frame, and a second rigid wheel. When the connecting member is driven, it can rotate on a central axis. The cam portion of the connecting member and the flexible bearing can jointly form a wave generator. The wave generator can be driven by the connecting member to drive the flexible wheel to be deformed repeatedly, and the flexible wheel that is repeatedly deformed will drive the second rigid wheel to rotate. And the second frame connected with the second rigid wheel rotates. The second frame body includes a hollow channel penetrating along the central axis. The harmonic deceleration module has the effect of small size.

Description

Harmonic deceleration module, power unit, self-propelled vehicle, transfer equipment, power output system and electric bicycle

This creation relates to a deceleration module and a power unit containing the deceleration module, self-propelled vehicles, transfer equipment, power output systems and electric bicycles, especially a harmonic deceleration module and a power unit containing the harmonic deceleration module, Self-propelled vehicles, transfer equipment, power output systems and electric bicycles.

The existing common power devices including motors and reducers used in electric bicycles have the problem of bulkiness, which will directly affect the overall appearance of the electric bicycles.

This creation discloses a harmonic deceleration module, power unit, self-propelled vehicle, transfer equipment, power output system and electric bicycle, which is mainly used to improve the volume of the conventional power unit (including motor and reducer) used in electric bicycles Huge problem.

One of the embodiments of this creation discloses a harmonic deceleration module, which includes: a connecting member, a flexible bearing, a flexible wheel, a first frame, a first rigid wheel, a second frame, and a first frame. Second round. The opposite ends of the connecting member are respectively defined as a first end and a second end. The connecting member has a cam portion; the connecting member is used to connect with an external drive unit. When the connecting member is driven by the external drive unit to rotate , The connecting member rotates with a central axis as the center; the inner ring structure of the flexible bearing is fixed on the periphery of the cam part; when the connecting member is driven to rotate, the cam part and the flexible bearing can form a wave generator together; the inner side of the flexspline Connected to the outer ring structure of the flexible bearing, the periphery of the flexspline includes a plurality of external tooth-like structures; a part of the first frame body is pivotally connected to the periphery of the connecting member; the first rigid wheel is a ring structure, and the first rigid wheel It includes a plurality of first internal tooth-like structures, the first rigid wheel and the first frame body are fixed to each other, and the plurality of first internal tooth-like structures and the plurality of external tooth-like structures are meshed with each other; a part of the second frame body and the connecting member The peripheries are pivotally connected to each other; the second frame body is used to connect with an external output member; when the second frame body is driven to rotate, it rotates with the center axis as the center; the second rigid wheel is a ring structure, and the second rigid wheel It includes a plurality of second internal tooth-like structures, the second rigid wheel and the second frame are fixed to each other, and the plurality of second internal tooth-like structures mesh with a plurality of external tooth-like structures; wherein, the first rigid wheel includes more The number of first internal tooth structures is equal to the number of external tooth structures included in the flexspline, and the number of second internal tooth structures included in the second rigid wheel is greater than the number of external tooth structures included in the flexspline. The number of tooth-like structures; among them, when the connecting member is driven and rotates around the central axis, the wave generator will drive the flexspline to flexibly deform repeatedly, and the flexspline that flexibly deforms repeatedly will drive the second When the rigid wheel rotates, the second frame body rotates with the second rigid wheel centered on the central axis, and the power input by the connecting member will be decelerated and output by the second frame body.

One of the embodiments of the present invention discloses a power device, which includes: a harmonic deceleration module, a driving unit, an outer shell, and an outer end cover. The harmonic reduction module includes: a connecting member, a flexible bearing, a flexible wheel, a first frame, a first rigid wheel, a second frame, a second rigid wheel and an end cover. The opposite ends of the connecting member are respectively defined as a first end and a second end. The connecting member has a cam portion, and the connecting member can be driven to rotate around a central axis; the inner ring structure of the flexible bearing is fixed to The periphery of the cam part; when the connecting member is driven to rotate, the cam part and the flexible bearing can form a wave generator together; the inner side of the flexspline is connected with the outer ring structure of the flexible bearing, and the periphery of the flexspline contains multiple external teeth Structure; a part of the first frame body and the periphery of the connecting member are pivotally connected to each other; the first rigid wheel is a ring structure, the first rigid wheel includes a plurality of first internal tooth-like structures, the first rigid wheel and the first frame are mutually Fixed, a plurality of first internal tooth-like structures and a plurality of external tooth-like structures mesh with each other; a part of the second frame body is pivotally connected to the periphery of the connecting member; the second frame body is used to connect with an external output member; When the two frames are driven to rotate, they rotate with the central axis as the center; the second rigid wheel has a ring structure, and the second rigid wheel includes a plurality of second internal tooth-like structures. The second rigid wheel and the second frame are mutually Fixed, a plurality of second inner tooth-like structures and a plurality of outer tooth-like structures mesh with each other; the end cover is fixedly arranged at one end of the first frame, and the end cover and the periphery of the second frame are pivotally connected to each other; wherein, the first The number of first internal tooth-like structures included in the rigid wheel is equal to the number of external tooth-like structures included in the flexspline, and the number of second internal tooth-like structures included in the second rigid wheel is greater than that of the flexspline The number of multiple external tooth structures included. The driving unit is connected with the connecting member. The outer shell has a hollow structure, and the harmonic deceleration module and the drive unit are arranged in the outer shell. The outer end cover is fixed to one end of the outer shell. Among them, when the driving unit is controlled to rotate the connecting member with the central axis as the center, the wave generator will drive the flexible wheel to repeatedly flexibly deform, and the repeatedly flexibly deformed flexible wheel will drive the second rigid wheel to rotate. The second frame body rotates with the second rigid wheel centered on the central axis, and the power input by the connecting member will be decelerated and output by the second frame body.

One of the embodiments of the invention discloses a self-propelled vehicle, which includes the power device of the invention, at least one wheel and a processing module, one of the wheels is connected to the second frame, and the processing module is electrically connected to the driving unit, The processing module can control the actuation of the driving unit to drive the wheels connected to the second frame to rotate through the harmonic reduction module.

One of the embodiments of the present creation discloses a transfer device, which includes at least one power device of the present creation, at least one connecting component, and at least one processing module. The second frame of the power device is connected to the connecting component, and the processing module The driving unit of the power device is electrically connected, and the processing module can control the operation of the driving unit to drive the connection assembly connected with the second frame to act through the harmonic reduction module.

One of the embodiments of this creation discloses a power output system, which is suitable for installing a frame set of an electric bicycle. The power output system includes: the power device of this creation, and the power output system also includes: a middle shaft, two cranks, A gear plate, a first one-way clutch and a second one-way clutch. Two cranks are connected to the two ends of the central shaft, and the other end of each crank is used to connect a pedal. The first one-way clutch is connected to the bottom bracket, and the first one-way clutch is connected to the gear plate; the second one-way clutch is connected to the second frame, and the second one-way clutch is connected to the first one-way clutch; The power plant also includes: a first auxiliary end cover and a second auxiliary end cover. The first auxiliary end cover has a ring structure, the periphery of the first auxiliary end cover and the inner side of an outer perforation of the outer end cover are fixed to each other, and the inner side of the first auxiliary end cover and the periphery of the central shaft are pivotally connected to each other; the second auxiliary end cover Fixed to one end of the outer shell, the second auxiliary end cover and the first one-way clutch are pivotally connected to each other; wherein, when the user steps on two pedals to make the electric bicycle move forward, the two cranks will drive the central axis to the first one. Rotate in one direction, and the bottom bracket will drive the first one-way clutch to actuate the gear plate to rotate in the first direction, and the gear plate can drive a rear wheel of the electric bicycle through a transmission member to rotate; among them, when the two cranks are When driven to rotate in a second direction, the middle shaft will rotate in the second direction, and the middle shaft will act in conjunction with the first one-way clutch, and the first one-way clutch will not act in conjunction with the rotation of the gear plate; the second direction is opposite to the first one. Direction; wherein, when the drive unit is controlled and actuated, the drive unit will drive the connecting member to rotate in the first direction, and the flexspline will be driven to be flexibly deformed repeatedly, and the flexspline that is repeatedly flexibly deformed will drive the first direction When the second rigid wheel rotates, the second frame will rotate in the first direction along with the second rigid wheel, and the second frame will drive the second one-way clutch to act in conjunction with the first one-way clutch to drive the gear plate Rotate in the first direction.

One of the embodiments of the present invention discloses an electric bicycle, which includes: the power output system of the present invention, the frame group, a processing module, and a power system. The frame group is provided with a frame, a handle, and a power system. The front wheel, the rear wheel, the seat pad, a brake system and the transmission member; the power output system is arranged in the frame group; the power output system is arranged in the frame; the processing module The driving unit is electrically connected; the power system is electrically connected to the processing module, and the power system is used to provide power required for the operation of the power output system.

In summary, the harmonic deceleration module in this creation, the harmonic deceleration module in the power plant, the harmonic deceleration module in the self-propelled vehicle, the harmonic deceleration module in the transfer equipment, and the power output system Compared with the traditional harmonic reduction module, the harmonic reduction module in the traditional self-propelled vehicle, and the harmonic reduction module in the traditional transfer equipment The deceleration module, the harmonic deceleration module in the traditional power output system and the harmonic deceleration module in the traditional electric bicycle are small in size.

In order to have a better understanding of the features and technical content of this creation, please refer to the following detailed descriptions and drawings about this creation, but these descriptions and drawings are only used to illustrate this creation, not to make any claims about the scope of protection of this creation. limit.

In the following description, if it is pointed out, please refer to the specific drawing or as shown in the specific drawing, it is only used to emphasize in the subsequent description, and most of the related content appears in the specific drawing. However, it is not limited that only the specific drawings can be referred to in this subsequent description.

Please also refer to Figures 1 to 7. The harmonic reduction module A of this creation includes: a connecting member 10, a flexible bearing 11, a flexible wheel 12, a first frame 13, a first rigid wheel 14, A first bearing 15, a second frame 16, a second rigid wheel 17, a second bearing 18, a third bearing 19 and an end cover 20.

As shown in FIGS. 2 to 5, the opposite ends of the connecting member 10 are defined as a first end 10A and a second end 10B, respectively. The connecting member 10 may have a structure that is generally cylindrical. The connecting member 10 may include a cam portion 101, a first ring-shaped portion 102, a first ring-shaped limiting portion 103, a second ring-shaped portion 104, and a second ring-shaped limiting portion 105. The connecting member 10 The direction from the first end 10A to the second end 10B may have a second annular portion 104, a second annular limiting portion 105, a cam portion 101, a first annular limiting portion 103, and a first ring in sequence.状部102。 Form 102.

The outer diameter of the connecting member 10 at the first annular portion 102 is smaller than the outer diameter of the connecting member 10 at the first annular limiting portion 103, and the outer diameter of the connecting member 10 at the first annular limiting portion 103 is smaller than that of the connecting member 10. The outer diameter of the cam portion 101, the outer diameter of the connecting member 10 at the second annular limiting portion 105 is smaller than the outer diameter of the connecting member 10 at the cam portion 101, and the outer diameter of the connecting member 10 at the second annular portion 104 is smaller than that of the connecting member 10 is the outer diameter of the second annular limiting portion 105.

The inner ring structure 111 of the flexible bearing 11 and the outer periphery of the cam portion 101 of the connecting member 10 are fixed to each other, and the outer ring structure 112 of the flexible bearing 11 and the inner side of the flexible wheel 12 are fixed to each other. The periphery of the flexspline 12 has a plurality of external tooth-like structures 121. Regarding the number of the plurality of external tooth-like structures 121 included in the flexspline 12, it is not limited to what is shown in the figure, and it can be increased or decreased according to requirements.

It should be particularly emphasized that the outer periphery 1011 of the cam portion 101 is elliptical, and the cam portion 101 is used as a cam, and when the connecting member 10 is driven, the cam portion 101 and the flexible bearing 11 will jointly form a wave generating A wave generator is used to drive the flexible wheel 12 to flexibly deform repeatedly.

As shown in Figures 2, 3 and 5, the first frame body 13 may include a plate body 131 and a ring side wall 132. The ring side wall 132 is connected to the periphery of the plate body 131, and the plate body 131 and the ring side wall 132 are shared A container 13A is formed. The board 131 may have a through hole 1311 and an inner bearing pocket 1312, and the through hole 1311 penetrates the board 131 along the central axis CP. The inner bearing pocket 1312 is formed by a recessed side of the plate body 131 adjacent to the ring side wall 132, and the inner bearing pocket 1312 and the through hole 1311 are communicated with each other. The end of the ring side wall 132 away from the plate body 131 may be concavely formed with an outer bearing pocket 1322, and the outer bearing pocket 1322 and the pocket 13A communicate with each other. In practical applications, the plate body 131 may be a circular plate structure.

The first rigid wheel 14 is an annular member. A plurality of first internal tooth-like structures 141 are formed on the inner side of the first rigid wheel 14. Fixed to each other. In practical applications, the first rigid wheel 14 and the first frame 13 can be two independent components, and they can be fixed to each other in a suitable manner (such as locking, gluing, welding, etc.), but not limited to this. In different embodiments, the first frame body 13 and the first rigid wheel 14 may also be integrally formed.

The first bearing 15 is disposed in the inner bearing pocket 1312. The inner ring structure 151 of the first bearing 15 is fixed to the periphery of the first annular portion 102 of the connecting member 10, and the outer ring structure 152 of the first bearing 15 and the inner side wall 1313 of the inner bearing pocket 1312 forming the plate body 131 are fixed to each other , And the connecting member 10 is pivotally connected to the first frame 13 through the first bearing 15. The first bearing 15 is mainly used to enable the connecting member 10 and the first frame 13 to be pivotally connected to each other. In practical applications, the first bearing 15 can also be replaced with any component that can achieve the same function.

As shown in Figures 2 and 3, the first frame 13 provided with the first rigid wheel 14 is pivotally connected to each other through the first bearing 15 and the connecting member 10, and the plurality of first internal teeth of the first rigid wheel 14 The structure 141 meshes with a part of the plurality of external tooth-like structures 121 of the flexspline 12, and one side of the first bearing 15 corresponds to the side that abuts against the first ring-shaped limiting portion 103. Through the design of the first ring-shaped limiting portion 103, the first frame 13 with the first bearing 15 is inserted into the connecting member 10 by the second end 10B of the connecting member 10 in the relevant personnel or mechanical equipment. In the process of fixing the first bearing 15 to the first annular portion 102, it will be clear to the relevant personnel or mechanical equipment when one side of the first bearing 15 abuts against one side of the first annular limiting portion 103 It is known that the first bearing 15 and the first frame 13 fixed to each other have been installed in the correct position on the connecting member 10.

As shown in Figures 2, 3, 6 and 7, the second frame 16 has a hollow channel 161, which penetrates the second frame 16 along the central axis CP, and one side of the second frame 16 is concave A bearing pocket 162 is formed, and the bearing pocket 162 communicates with the hollow passage 161. The second bearing 18 is disposed in the bearing pocket 162, the inner ring structure 181 of the second bearing 18 is fixed on the periphery of the second annular portion 104 of the connecting member 10, and the outer ring structure 182 of the second bearing 18 forms a second frame body The inner side walls 163 of the bearing pockets 162 of 16 are fixed to each other, and the second frame body 16 is pivotally connected to the periphery of the connecting member 10 through the second bearing 18. The second bearing 18 is mainly used to enable the connecting member 10 and the second frame 16 to be pivotally connected to each other. In practical applications, the second bearing 18 can also be replaced with any component that can achieve the same function. In different embodiments, the second frame body 16 may not have the hollow channel 161.

In practical applications, the connecting member 10 may have a connecting channel 10C that penetrates the connecting member 10 along the central axis CP, and the hollow channel 161 and the connecting channel 10C are in communication with each other. The connecting channel 10C and the hollow channel 161 communicate with each other, and can be used to install related wires and other components. Of course, the connecting member 10 is not limited to necessarily including the connecting channel 10C. In different embodiments, the connecting member 10 may also be a solid member that does not include the connecting channel 10C.

The second rigid wheel 17 has a ring structure, a plurality of second internal tooth-like structures 171 are formed on the inner side of the second rigid wheel 17, and a part of the second rigid wheel 17 and the outer periphery of the second frame 16 are fixed to each other. In practical applications, the second rigid wheel 17 and the second frame 16 may be integrally formed, but not limited to this. In different embodiments, the second rigid wheel 17 and the second frame 16 may also They are two independent components, and they are fixed to each other in a suitable way (such as locking, gluing, welding, etc.).

When the second frame 16 is pivotally connected to the outer periphery of the connecting member 10 through the second bearing 18, the plurality of second inner tooth structures 171 will mesh with a part of the plurality of outer tooth structures 121 of the flexspline 12. In other words, a part of the plurality of external tooth structures 121 of the flexspline 12 is meshed with the plurality of second internal tooth structures 171 of the second rigid wheel 17, and another part of the plurality of external tooth structures 121 is in mesh with each other. The multiple first internal tooth structures 141 of the first rigid wheel 14 mesh with each other.

It is worth mentioning that the second frame 16 provided with the second rigid wheel 17 is pivotally connected to each other through the second bearing 18 and the connecting member 10, and one side of the second bearing 18 is correspondingly abutted against the second ring One side of the limit portion 105. Through the arrangement of the second annular stop 105, the second frame 16 with the second bearing 18 installed in the relevant personnel or mechanical equipment is sleeved into the connecting member 10 from the first end 10A of the connecting member 10 to In the process of fixing the second bearing 18 to the second annular portion 104, it will be clear to the relevant personnel or mechanical equipment when one side of the second bearing 18 abuts against the side of the second annular limiting portion 105 It is known that the second bearing 18 and the second frame body 16 fixed to each other have been installed in the correct position on the connecting member 10.

When the second frame 16 and the second rigid wheel 17 are mounted on the first annular portion 102 of the connecting member 10 through the second bearing 18, the second rigid wheel 17 will be correspondingly located in the pocket 13A of the first frame 13 , And a part of the periphery 164 of the second frame 16 will correspond to one end exposed on the first frame 13, and the outer bearing pocket 1322 of the first frame 13 is disposed adjacent to the periphery 164 of the second frame 16. .

A part of the third bearing 19 is disposed in the outer bearing pocket 1322. The inner ring structure 191 of the third bearing 19 is fixed to the outer periphery 164 of the second frame 16, and a part of the outer ring structure 192 of the third bearing 19 and the inner side wall of the outer bearing pocket 1322 forming the first frame 13 are fixed to each other. The end cover 20 has a through hole 201, the through hole 201 penetrates the end cover 20 along the central axis CP, and a bearing accommodating groove 202 is recessed on one side of the end cover 20. The end face of the end cover 20 formed with the bearing pocket 202 and the end face of the first frame 13 with the outer bearing pocket 1322 are fixed to each other. The other part of the outer ring structure 112 of the third bearing 19 is fixed to the inner side wall 203 of the bearing pocket 202 forming the end cover 20, and the second frame 16 can be relative to the first frame 13 and the end through the third bearing 19 The cover 20 rotates. The third bearing 19 is mainly used to enable the second frame body 16 to be pivotally connected to the first frame body 13 and the end cover 20. In practical applications, the third bearing 19 can also be replaced with anything that can achieve the same function. s component.

As shown in Figures 2 and 3, it is worth mentioning that the connecting member 10, the first bearing 15, the first frame 13, the second frame 16, the second bearing 18, the third bearing 19 and the end cover 20, A closed space SP will be formed together, and the flexible bearing 11, the flexible wheel 12, the first rigid wheel 14 and the second rigid wheel 17 are correspondingly located in the closed space SP. In this way, dust outside the harmonic reduction module A can be avoided , Dirt, etc., can easily enter between the plurality of outer tooth-like structures 121, the plurality of first inner tooth-like structures 141, and the plurality of second inner tooth-like structures 171, which can further extend the flexible wheel 12 and the first rigid wheel 14 and the service life of the second rigid wheel 17.

In practical applications, the number of first inner tooth structures 141 included in the first rigid wheel 14 is equal to the number of outer tooth structures 121 included in the flexspline 12. The second rigid wheel 17 includes The number of the plurality of second internal tooth structures 171 is greater than the number of the plurality of external tooth structures 121 included in the flexspline 12. In one of the embodiments, the difference between the number of the plurality of first internal tooth structures 141 included in the first rigid wheel 14 and the number of the plurality of second internal tooth structures 171 included in the second rigid wheel 17 It can be less than 5 teeth.

In a specific application, the connecting member 10 of the harmonic deceleration module A of this embodiment is used to connect with an external drive unit (for example, a motor), and the second frame 16 is used to connect with an external output member The power output by the external drive unit can be transmitted to the external output component through the harmonic reduction module A of this creation.

Specifically, when the connecting member 10 is driven to rotate, the connecting member 10 will rotate around the central axis CP, and the cam portion 101 of the connecting member 10 will drive the flexible bearing 11 to rotate, and the cam portion 101 and the flexible bearing 11 will form a wave generator together, which will drive the flexspline 12 to repeatedly flexibly deform, and a part of the multiple external tooth-like structures 121 of the flexspline 12 will be combined with the multiple first internal teeth of the first rigid wheel 14 Part of the flex-shaped structure 141 meshes with each other. Since the number of the first internal tooth-shaped structure 141 of the first rigid wheel 14 is the same as the number of the external tooth-shaped structure 121 of the flexspline, the flexspline 12 is driven by the wave generator and repeatedly When flexibly deformed, the flexspline 12 will not rotate relative to the first rigid wheel 14; part of the external tooth-like structure 121 of the flexspline 12 that is repeatedly flexibly deformed will be part of the second internal tooth-like structure of the second rigid wheel 17 The structures 171 mesh with each other. Since the number of external tooth-like structures 121 of the flexspline 12 is different from the number of the second internal tooth-like structures 171 of the second rigid wheel 17, the second rigid wheel 17 will be repeatedly flexibly deformed The flexible wheel 12 is driven to rotate, and the second frame 16 will rotate with the second rigid wheel 17. Through the design of the flexible wheel 12, the first rigid wheel 14, and the second rigid wheel 17, the high-speed power input by the connecting member 10 will be output by the second frame 16 at a relatively low speed.

It is worth mentioning that the flexspline in the conventional harmonic deceleration module is roughly cap-shaped or cup-shaped, and the periphery of the flexspline is in addition to the external tooth-like structure. There are parts that do not contain the external tooth structure. On the other hand, the periphery of the flexspline 12 of the harmonic reduction module A of this creation basically only has the external tooth structure 121. Therefore, the harmonic reduction module A of this creation The axial length of the flexspline 12 (in the Y-axis direction as shown in Figure 2) is shorter than the axial length of the traditional cap-shaped or cup-shaped flexspline, and the harmonic reduction module A of this creation Compared with the traditional harmonic deceleration module, the overall volume is smaller.

The harmonic deceleration module A of this creation is designed to rotate around the same central axis CP when the connecting member 10 and the second frame 16 are rotated, which can make the harmonic deceleration module A have a better Dynamic characteristics and smaller vibration noise.

It should be noted that in the drawings of this embodiment, the flexible bearing 11, the first bearing 15, the second bearing 18, and the third bearing 19 are all ball bearings as examples, but the flexible bearing 11, the first bearing 15, the second bearing The second bearing 18 and the third bearing 19 are not limited to ball bearings, and their forms can be selected according to requirements. For example, roller bearings can also be selected. In addition, in practical applications, oil seals may be added around the first bearing 15 and the third bearing 19 to further prevent external dirt from entering the enclosed space SP.

Please refer to FIGS. 8 to 12 together. The self-propelled vehicle B of this creation includes a body B1, four wheels B2, a processing module B3, and a power device C. The body B1 can be used to carry objects or people according to requirements. The processing module B3 is arranged in the body B1, at least a part of the power device C is arranged in the body B1, and the power device C is connected with at least one wheel B2. The main body B1 contains relevant necessary electronic components and mechanical components for normal operation of the self-propelled vehicle B. The processing module B3 is electrically connected to the power device C, and the processing module B3 is used to control the power device C to act, so that the power device C drives the wheels B2 to act. The processing module B3 may be, for example, a circuit board, a microprocessor, etc., and related necessary electronic components used to control the action of the power unit C.

The self-propelled vehicle B in this creation can be, for example, an Automated Guided Vehicle (AGV), but it is not limited to this. The self-propelled vehicle B in this creation generally refers to any manned or guided vehicle with autonomous walking function. It is a loaded car. In addition, the number of wheels B2 included in the self-propelled vehicle B and the number of power devices C included in the self-propelled vehicle B can be changed according to demand.

As shown in FIGS. 9 to 12, the power device C of the present creation includes a driving unit C1, an outer casing C2, a harmonic reduction module A, and an outer end cover C3. The outer casing C2 is a hollow structure, and the harmonic reduction module A and the driving unit C1 are arranged in the outer casing C2. The outer end cover C3 is fixed to one end of the outer shell C2.

The harmonic reduction module A includes: a connecting member 10, a flexible bearing 11, a flexible wheel 12, a first frame 13, a first rigid wheel 14, a first bearing 15, a second frame 16, A second rigid wheel 17, a second bearing 18, a third bearing 19, and an end cover 20. Regarding the connection relationship and operating relationship between these components, please refer to the description of the foregoing embodiment, which will not be repeated here.

The driving unit C1 is connected to the connecting member 10, and the driving unit C1 is electrically connected to the processing module B3. The processing module B3 can control the driving unit C1 to act, and accordingly the connecting member 10 is rotated about the central axis CP through the driving unit C1. Specifically, the driving unit C1 may be, for example, a motor, and the motor includes a rotor assembly C12 and a stator assembly C11. The stator assembly C11 is fixed on the inner side of the outer casing C2, and the rotor assembly C12 is fixed on the periphery of the connecting member 10. In practical applications, the rotor assembly C12 may be disposed adjacent to the second end 10B of the connecting member 10, and the rotor assembly C12 may be located on one side of the first frame 13 of the harmonic reduction module A. In one of the embodiments, the iron core included in the rotor assembly C12 may be nested around the periphery of the connecting member 10, or the plurality of magnets included in the rotor assembly C12 may be arranged in a ring-shaped arrangement on the connecting member 10. Peripheral. By fixing the rotor assembly C12 to the periphery of the connecting member 10, it is possible to make the rotor assembly C12 and the connecting member 10 rotate around the same central axis CP. In this way, the power unit C can be greatly reduced. volume. The assembly method in which the plurality of magnets included in the rotor assembly C12 are arranged annularly on the periphery of the connecting member 10 can be further compared with the assembly method in which the rotor assembly C12 is nested and arranged on the periphery of the connecting member 10 The assembly tolerance between the rotor assembly C12 and the connecting member 10 is reduced, and the problem of deformation of the connecting member 10 during the fitting process can also be avoided, and the probability of successful assembly of the rotor assembly C12 and the connecting member 10 at one time (commonly known as the Through rate).

As shown in Figures 8 to 10, the harmonic deceleration module A is arranged in the outer casing C2, and the first frame 13 and the end cover 20 of the harmonic deceleration module A can be directly connected to the inner side of the outer casing C2. The end cap 20 of the snap-fit and harmonic reduction module A can be arranged corresponding to one end adjacent to the outer casing C2.

The second frame 16 of the harmonic reduction module A is connected to the wheel B2, and the second frame 16 can drive the wheel B2 to rotate. In practical applications, the second frame 16 and the wheel B2 may each include a plurality of corresponding key holes B21, and the plurality of key holes 165 of the second frame 16 and the plurality of key holes 165 of the wheel B2 can be It cooperates with a plurality of screws, so that the second frame 16 and the wheel B2 are fixed to each other.

In a preferred embodiment, the assembling method of the harmonic deceleration module A and the outer casing C2 can be fixed to each other in a repetitive disassembly and assembly manner, and the connecting method of the driving unit C1 and the connecting member 10 can also be It can be connected to each other in a repetitive way of disassembly and assembly, so that when the harmonic deceleration module A of the power unit C fails, the relevant personnel can replace the harmonic deceleration module A of the power unit C through simple disassembly and assembly operations.

In a different embodiment, the power unit C may also include two outer end covers C3. The two outer end covers C3 are correspondingly disposed on both ends of the outer casing C2, and the end cover 20 of the harmonic reduction module A is basically The upper part is located in the outer shell C2. Of course, the outer end cover C3 of the second frame 16 adjacent to the harmonic reduction module A has a through hole, and the second frame 16 and the wheel B2 can be connected to each other through the through hole of the outer end cover C3.

The power device C further includes at least one sensor, and the sensor is used to sense at least one of the torque, the speed, and the position of the connecting member 10 when it rotates. For example, the sensor can be a torque sensor, a speed sensor, etc., which is not limited here. In one of the specific embodiments, the sensor may be a rotary encoder C4, the rotary encoder C4 includes a reading unit C41 and a magnetic ring C42, the reading unit C41 may be fixedly arranged outside The end cover C3 and the magnetic ring C42 can be fixedly arranged on the periphery of the connecting member 10. The reading unit C41 is electrically connected to the processing module B3, and the reading unit C41 and the magnetic ring C42 can cooperate with each other to generate corresponding The signal is transmitted to the processing module B3, and the processing module B3 can analyze the rotation speed, rotation position and other information of the connecting member 10 accordingly.

As shown in Figure 10, Figure 12 and Figure 13, in one of the specific embodiments, the outer end cover C3 may include a through hole C31, the through hole C31 penetrates the outer end cover C3, and one side of the outer end cover C3 A bearing pocket C32 may be formed inwardly. The power plant C may also include an auxiliary bearing C5. The inner ring structure C51 of the auxiliary bearing C5 and the periphery of the connecting member 10 are fixed to each other, and the outer ring structure C52 of the auxiliary bearing C5 and the inner side wall C33 forming the bearing pocket C32 are fixed to each other, The connecting member 10 can rotate relative to the outer end cover C3 through the auxiliary bearing C5. In addition, the connecting passage 10C of the connecting member 10 may be connected to the through hole C31 of the outer end cover C3, and the related wires included in the driving unit C1 and the sensor may be passed through the outer end cover C3. The hole C31 is provided in the connection channel 10C. Wherein, the auxiliary bearing C5, the outer end cover C3, the outer shell C2, the first bearing 15 and the first frame 13 jointly form a closed space SP2, and the driving unit C1 is correspondingly arranged in the closed space SP2.

As described above, as shown in Figures 7 to 10, when the processing module B3 controls the driving unit C1 to act, the driving unit C1 will drive the connecting member 10 to rotate, and the harmonic deceleration module A will act. Finally, the wheels B2 will be driven by the second frame 16 to rotate.

Please refer to Figure 14 and Figure 15 together. The transfer equipment D created by this invention includes a base D1, 5 power devices C, 4 connection components D2, and 5 processing modules D3. The transfer device D of this creation can be applied as a robotic arm device, but it is not limited to this. Regarding the number of power devices C, the number of connecting components D2, and the number of processing modules D3 included in the transfer equipment D, they can all be changed according to requirements, and are not limited to those shown in the figure. In addition, the size and appearance of the connecting component D2 can be changed according to requirements, and are not limited to those shown in the figure.

The base D1 is used to be placed on the ground. The base D1 is connected to a power unit C. The other end of the power unit C connected to the base D1 is connected to a connecting component D2, and the other end of the connecting component D2 is Connect with another power unit C, and so on. For a detailed description of the power unit C, please refer to the foregoing embodiment, which will not be repeated here. Each processing module D3 is electrically connected to a power device C, and the processing module D3 can control the operation of the power device C to which it is connected, so that the plurality of connection components D2 can operate relative to each other. In practical applications, the second frame 16 of the power device C located at the end of the transfer equipment D can be connected to a clamping member or the like according to requirements, which is not limited here.

As shown in FIG. 15, the second frame 16 of the power unit C may be exposed at one end of the outer casing C2 and connected to one connecting component D2, and the other end of the outer casing C2 may be opposite to another connecting component D2. connect. The processing module D3 may be correspondingly disposed in a closed space SP3 formed by the outer casing C2 and the connecting assembly D2.

In one of the specific embodiments, the power device C may also include a brake C7 and a lead member C8. A part of the brake C7 is fixed on one side of the outer end cover C3, and the brake C7 is connected to the connecting member 10; the brake C7 is electrically connected to the processing module D3, and the processing module D3 can control the brake C7 to act, thereby making the connection The member 10 no longer rotates.

The lead member C8 includes a lead channel C81. The lead channel C81 penetrates the lead member C8 along the central axis CP. The lead member C8 and the second frame 16 are fixed to each other, and the lead member C8 and the connecting member 10 are not fixed to each other. One part corresponds to the connection channel 10C provided in the connection member 10, and a part of the lead member C8 corresponds to the hollow channel 161 provided in the second frame 16. The lead channel C81 is used to provide at least one wire arrangement, and the wire is, for example, used to connect the processing module D3, the sensor, the driving unit C1, and the brake C7.

It should be noted that, in this embodiment, a processing module D3 is provided in each power device C as an example, but the processing module D3 is not limited to be provided in the power device C. In different embodiments In the case, the transfer equipment D may also include only a single processing module D3, and the processing module D3 may be arranged in the base D1, and the processing module D3 is a drive unit of each power device C through a wire C1 is electrically connected.

Please refer to Figures 16 to 23 together. The electric bicycle E of this creation includes a frame group E1, a handle E2, a front wheel E31, a rear wheel E32, a pad E4, a brake system E5, and a transmission part. E6, a power output system E7, a power system E8 and a processing module E9. The frame group E1 includes a frame, a front fork, a rear fork, and a seat tube. Handle E2, front wheel E31, rear wheel E32, seat cushion E4, brake system E5, transmission E6, power output system E7, power system E8 and processing module E9 are all set on the frame group E1, specifically, power output The system E7 is a bottom bracket installed in the frame of the frame group E1. The transmission member E6 is used to connect the power output system E7 and the rear wheel E32. The transmission member E6 may be, for example, a chain, but is not limited to this. In practical applications, the electric bicycle E may also include a transmission system. The power system E8 includes, for example, a rechargeable battery. The processing module E9 is electrically connected to the power output system E7 and the power system E8, and the processing module E9 can control the actions of the power output system E7 and the power system E8.

As shown in FIGS. 17-22, the power output system E7 includes: a power device E71, a bottom shaft E72, two cranks E73, a first one-way clutch E74, a chainring E75, and a second one-way clutch E76. The power unit E71 includes an outer shell E711, a harmonic reduction module E712, a drive unit E713, an outer end cover E714, a first auxiliary end cover E715, a first auxiliary bearing E716, a torque sensor E717, A second auxiliary end cover E718 and a second auxiliary bearing E719. The connection relationship and operation relationship among the outer shell E711, the harmonic deceleration module E712, the drive unit E713, and the outer end cover E714 of this embodiment are the same as those of the outer shell C2, the harmonic deceleration module A, and the drive unit of the previous embodiment. The connection relationship and operating relationship of C1 and the outer end cover C3 are roughly the same, and only the differences will be described below.

As shown in FIGS. 18 to 21, the outer end cover E714 of this embodiment further includes an outer perforation E7141, and the outer perforation E7141 penetrates the outer end cover E714. The first auxiliary end cover E715 has a ring structure. The outer periphery of the first auxiliary end cover E715 and the inner side of the outer hole E7141 are fixed to each other, and the inner side of the first auxiliary end cover E715 and the outer ring structure E7162 of the first auxiliary bearing E716 are fixed to each other. The inner ring structure E7161 of the first auxiliary bearing E716 and the periphery of the central shaft E72 are fixed to each other, and the central shaft E72 can rotate relative to the first auxiliary end cover E715 through the first auxiliary bearing E716.

A part of the central shaft E72 is disposed through the power device E71, and a part of the central shaft E72 corresponds to the connecting passage 10C passing through the connecting member 10. The two ends of the bottom bracket E72 are connected with two cranks E73. A pedal E10 is connected to the end of each crank E73 far away from the connection with the central shaft E72. The user can rotate the central shaft E72 by stepping on the two pedals E10.

One end of the torsion sensor E717 can be fixed to the outer end cover E714, and a part of the torsion sensor E717 is arranged in the connection channel 10C of the connecting member 10, and a part of the torsion sensor E717 is connected to the periphery of the central shaft E72 , And the torque sensor E717 is used to sense the torque of the bottom shaft E72 and generate a torque signal correspondingly. The torque sensor E717 is electrically connected to the processing module E9 (as shown in FIG. 16), and the processing module E9 can receive the torque signal transmitted by the torque sensor E717 and determine whether the torque of the bottom bracket E72 reaches a predetermined torque; When the processing module E9 determines that the torque of the central shaft E72 reaches the predetermined torque, the processing module E9 may control the driving unit E713 of the power device E71 to act, so as to rotate the second frame 16.

The second auxiliary end cover E718 has a ring structure. The second auxiliary end cover E718 is fixed to the outer shell E711 opposite to the end where the outer end cover E714 is provided. The end cover 20 of the harmonic deceleration module E712 is correspondingly located in the outer shell E711 Inside. The inner side of the second auxiliary end cover E718 and the outer ring structure E7192 of the second auxiliary bearing E719 are fixed to each other. The inner ring structure E7191 of the second auxiliary bearing E719 is connected with the first one-way clutch E74, and the first one-way clutch E74 can The second auxiliary bearing E719 rotates relative to the second auxiliary end cover E718. The gear plate E75 and the first one-way clutch E74 are fixed to each other, and the gear plate E75 is used to connect with the transmission member E6 (as shown in FIG. 16). The first one-way clutch E74 is connected with the central shaft E72, and the central shaft E72 can be connected to the gear plate E75 through the first one-way clutch E74.

With the setting of the first one-way clutch E74, when the user steps on the pedal E10 (as shown in Figure 16), and the two cranks E73 rotate in front of the electric bicycle E (that is, the user steps forward), the central shaft E72 will pass The first one-way clutch E74 and the gear plate E75 are connected to each other, and the gear plate E75 will rotate with the center shaft E72, whereby the gear plate E75 will drive the rear wheel E32 to rotate forward through the transmission member E6.

Conversely, when the user steps on the pedal E10 (as shown in Figure 16), and the two cranks E73 rotate to the rear of the electric bicycle E (that is, the user steps backward), the center shaft E72 will drive the first one-way clutch E74 to act, and The first one-way clutch E74 will not cause the central shaft E72 to drive the gear plate E75 to act, and the gear plate E75 will not rotate with the central shaft E72.

The second one-way clutch E76 is connected with the second frame 16 of the harmonic deceleration module E712, and the second one-way clutch E76 is connected with the first one-way clutch E74. When the user steps on the pedal E10 (as shown in Figure 16) to rotate the crank E73 forward, the first one-way clutch E74 will drive the second one-way clutch E76, but the second one-way clutch E76 will not drive the first one-way clutch E76. The second frame 16 rotates.

When the user steps on the pedal E10 (as shown in Figure 16) to rotate the crank E73 backwards, the first one-way clutch E74 will prevent the central shaft E72 from interlocking with the gear plate E75, and the central shaft E72 is relative to the first one-way clutch E74 is in an idling state, therefore, the first one-way clutch E74 will not drive the second one-way clutch E76 to act.

When the user steps forward and the central shaft E72 drives the gear plate E75 to rotate forward, if the processing module E9 (as shown in Figure 16) simultaneously controls the drive unit E713 to act, the second one-way clutch E76 will synchronously drive the gear plate The E75 rotates, so that it can achieve the effect of electric assisted riding. In practical applications, while the user is stepping forward, the torque sensor E717 connected to the central shaft E72 will continuously transmit the torque signal to the processing module E9 (as shown in Figure 16), and the processing module E9 (As shown in Figure 16) can be based on the torque signal, when it is determined that the current torque of the bottom bracket E72 exceeds a predetermined torque, the driving unit E713 is controlled to act, and the second frame 16 is actuated accordingly, so as to pass the second one-way clutch E76 and The first one-way clutch E74 rotates the ring gear E75, thereby achieving the effect of electrically assisting riding. For example, when the user rides on a high-gradient terrain, the torque of the central shaft E72 will be relatively large. At this time, the processing module E9 (as shown in Figure 16) will be able to control the drive unit E713 to act accordingly. The chainring E75 rotates, thereby reducing the burden of stepping on the user.

Please refer to FIGS. 22 to 26 together. In practical applications, the first one-way clutch E74 may include a first annular member E741, a first annular wall E742, and a plurality of first rollers E743. The ring member E741 includes a central through hole E7411, and the central through hole E7411 penetrates the first ring member E741. The outer periphery of the first ring member E741 has a plurality of first protruding structures E7412 and a plurality of first grooves E7413. The plurality of first protruding structures E7412 are spaced apart from each other, and each first groove E7413 is located adjacent to each other. Between two first protruding structures E7412, and between two adjacent first grooves E7413, there is a first protruding structure E7412. Each first groove E7413 has two first arc surfaces E7414 and E7415, and the arcs of the two first arc surfaces E7414 and E7415 are different.

The first annular wall E742 may be formed in an auxiliary frame F, which is pivotally connected to the periphery of the central shaft E72 through a third auxiliary bearing F1, and the first annular member E741 forms the inner side wall and the central shaft of the central hole E7411 The peripheries of E72 are fixed to each other, and the first annular wall E742 is arranged to face a plurality of first grooves E7413, each first roller E743 is arranged in one of the first grooves E7413, and each first roller E743 is Located between the first annular member E741 and the first annular wall E742. One end of the auxiliary frame F is connected to the chainring E75.

As shown in Figure 16, Figure 23 and Figure 25, when the user steps forward and rotates the central shaft E72 clockwise (ie, the first direction), the central shaft E72 will drive the first ring member E741 to rotate clockwise, and each The first roller E743 will be located correspondingly between one of the first arc surfaces E7414 of the first groove E7413 and the first annular wall E742. At this time, each first roller E743 will be covered by the first annular wall E742 and the first annular wall E742. A ring member E741 is clamped, and the first ring wall E742 will rotate clockwise with the first ring member E741, and the chainring E75 connected with the auxiliary frame F will rotate with the auxiliary frame F, the teeth The disc E75 will then drive the rear wheel E32 to rotate in the forward direction of the bicycle through the transmission member E6.

As shown in Figure 16, Figure 23, and Figure 26, when the user steps backwards and rotates the central shaft E72 counterclockwise (ie, the second direction), the central shaft E72 will drive the first ring member E741 to rotate counterclockwise, and each A roller E743 will be located correspondingly between the other first arc surface E7415 of the first groove E7413 and the first annular wall E742. At this time, each first protruding structure E7412 will move the adjacent first roller E743, and each first roller E743 will not be held by the first annular member E741 and the first annular wall E742, therefore, the first annular wall E742 will not rotate with the first annular member E741, That is, the auxiliary frame F and the chainring E75 connected to it will not rotate together with the central shaft E72. In other words, when the user steps backwards, the central shaft E72 will drive the first ring member E741 to rotate, and each first roller E743 is in a self-rotating state, and the first ring wall E742 and the chainring connected to it E75 will not follow the rotation.

Please refer to Figure 18, Figure 22, Figure 23, Figure 27 and Figure 28, the second one-way clutch E76 includes a second ring member E761, a second ring wall E762 and a plurality of second rollers E763. The outer periphery of the second ring member E761 has a plurality of second protruding structures E7611 and a plurality of second grooves E7612. The plurality of second protruding structures E7611 are spaced apart from each other, and each of the second grooves E7612 is located adjacent to each other. Between two second protruding structures E7611, and between two adjacent second grooves E7612, there is a second protruding structure E7611. Each second groove E7612 has two second arc surfaces E7613 and E7614, and the arcs of the two second arc surfaces E7613 and E7614 are different.

The second ring member E761 may be integrally formed with the second frame 16, and the second ring member E761 is located on the side of the second frame 16 opposite to the flexspline 12 (as shown in FIG. 19 ). The second ring-shaped wall E762 may be formed on the auxiliary frame F, and the second ring-shaped wall E762 is disposed facing a plurality of second grooves E7612, and each second roller E763 is disposed in one of the second grooves. In E7612, each second roller E763 is located between the second annular member E761 and the second annular wall E762.

As shown in Figure 16, Figure 23, Figure 27 and Figure 28, when the driving unit E713 drives the second frame 16 to rotate clockwise, the second ring member E761 will rotate clockwise with the second frame 16, each The two rollers E763 will be correspondingly located between one of the second curved surfaces E7613 of the second groove E7612 and the second annular wall E762. At this time, each second roller E763 will be covered by the second annular wall E762 and the second annular wall E762. The ring member E761 is clamped, and the second ring wall E762 will rotate clockwise with the second ring member E761, and the chainring E75 connected with the auxiliary frame F will rotate with the auxiliary frame F, and the teeth The disc E75 will then drive the rear wheel E32 to rotate in the forward direction of the bicycle through the transmission member E6.

As shown in Figure 23, the middle shaft E72 rotates clockwise so that when the bicycle moves forward, the middle shaft E72 will drive the first ring member E741 to rotate clockwise, and the first ring side wall 132 of the auxiliary frame F will be divided by a plurality of first ring side walls 132. A roller E743 is driven to rotate clockwise, and the second annular wall E762 of the auxiliary frame F will rotate relative to the plurality of second rollers E763, and each of the second rollers E763 will be driven to assume a self-rotating state. The second annular wall E762 of the auxiliary frame F will not hold the plurality of second rollers E763 together with the second annular member E761, that is, when the central shaft E72 rotates clockwise, the drive unit E713 does not actuate The bottom bracket E72 will not drive the second frame 16 to rotate through the first one-way clutch E74 and the second one-way clutch E76.

It is worth mentioning that the first annular wall E742 of the first one-way clutch E74 and the second annular wall E762 of the second one-way clutch E76 are integrally formed in the auxiliary frame F, and the second single The second ring member E761 of the clutch E76 is integrally formed with the second frame 16 and other designs, which can greatly reduce the overall volume of the power output system E7. Of course, in different embodiments, the first annular wall E742 and the second annular wall E762 can also be connected by non-integral forming, and the second annular member E761 and the second frame 16 can also be connected by Connected in a non-integral manner.

It should be noted that, compared with the related power output system of the conventional electric bicycle, the power output system of the electric bicycle created by this invention also has the advantages of convenient assembly and low assembly man-hours.

The above descriptions are only the preferred and feasible embodiments of this creation, which do not limit the scope of patents of this creation. Therefore, all equivalent technical changes made by using this creation specification and schematic content are included in the protection scope of this creation. .

A: Harmonic deceleration module 10: Connecting components 10A: first end 10B: second end 10C: Connection channel 101: Cam 1011: Periphery 102: The first ring 103: The first ring stop 104: The second ring part 105: The second ring stop 11: Flexible bearing 111: inner ring structure 112: Outer ring structure 12: Flexible wheel 121: External tooth structure 13: The first frame 13A: Tolerance 131: Board 1311: perforation 1312: Inner bearing pocket 1313: inner wall 132: Ring side wall 1321: inner side 1322: Outer bearing pocket 14: First round 141: The first internal tooth structure 15: The first bearing 151: inner ring structure 152: Outer ring structure 16: second frame 161: Hollow channel 162: bearing pocket 163: inner wall 164: Peripheral 165: Keyhole 17: Second round 171: The second internal tooth structure 18: The second bearing 181: inner ring structure 182: Outer ring structure 19: The third bearing 191: inner ring structure 192: Outer ring structure 20: end cap 201: Piercing 202: bearing pocket 203: inner wall B: Self-propelled car B1: body B2: wheels B21: keyhole B3: Processing module C: Powerplant C1: drive unit C11: stator assembly C12: Rotor assembly C2: Outer shell C3: Outer end cap C31: Through hole C32: bearing pocket C33: inner wall C4: Rotary encoder C41: Reading unit C42: Magnetic ring C5: auxiliary bearing C51: inner ring structure C52: Outer ring structure C7: Brake C8: Lead member C81: Lead channel D: Transfer equipment D1: Pedestal D2: Connecting components D3: Processing module E: Electric bicycle E1: Frame group E2: Handle E31: front wheel E32: rear wheel E4: seat cushion E5: Brake system E6: Transmission parts E7: Power output system E71: Powerplant E711: Outer shell E712: Harmonic deceleration module E713: drive unit E714: Outer end cap E7141: External perforation E715: First auxiliary end cover E716: First auxiliary bearing E7161: inner ring structure E7162: Outer ring structure E717: Torque sensor E718: second auxiliary end cover E719: Second auxiliary bearing E7191: inner ring structure E7192: Outer ring structure E72: bottom bracket E73: crank E74: The first one-way clutch E741: The first ring member E7411: Center perforation E7412: The first protruding structure E7413: Groove E7414: The first arc E7415: The first arc E742: The first annular wall E743: The first roller E75: Chainring E76: The second one-way clutch E761: Second ring member E7611: The second protruding structure E7612: Groove E7613: Second curved surface E7614: Second curved surface E762: second annular wall E763: second roller E8: Power System E9: Processing module E10: Pedal F: auxiliary frame F1: Third auxiliary bearing CP: Central axis SP: closed space SP2: Enclosed space SP3: Enclosed space

Figure 1 is a schematic diagram of the double-rigid harmonic deceleration module created.

Fig. 2 is a schematic cross-sectional view of Fig. 1 along the line II-II.

Fig. 3 is a partial enlarged schematic diagram of Fig. 2.

Figures 4 to 7 are different partial exploded schematic diagrams of different components included in the double-rigid harmonic deceleration module created.

Figure 8 is a schematic diagram of the self-propelled vehicle created.

Figure 9 is a partial schematic diagram of the self-propelled vehicle created.

Fig. 10 is a schematic cross-sectional view taken along the line X-X of Fig. 9.

Figure 11 is an exploded schematic diagram of the power plant and wheels of the self-propelled vehicle created.

Figures 12 and 13 are respectively partial exploded schematic diagrams of different perspectives of the power plant for creating a self-propelled vehicle.

Figure 14 is a schematic diagram of the transfer equipment created.

Fig. 15 is a schematic cross-sectional view of Fig. 14 along the XV-XV section line.

Figure 16 is a schematic diagram of the electric bicycle created.

Figure 17 is a schematic diagram of the power output system of the electric bicycle created.

Fig. 18 is a schematic cross-sectional view of Fig. 17 along the XVIII-XVIII section line.

Fig. 19 is a partial enlarged schematic diagram of Fig. 18.

Figures 20-22 are partial exploded schematic diagrams of different components of the power output system of the electric bicycle created.

Figure 23 is a partial cross-sectional schematic diagram of the power output system of the electric bicycle created.

Fig. 24 is a schematic cross-sectional view of Fig. 17 along the line XXIV-XXIV.

Fig. 25 is a partial enlarged schematic diagram of Fig. 24.

Fig. 26 is a partially enlarged schematic diagram of another state of the central shaft, the first ring member, the first ring wall and the first roller of the power output system of the electric bicycle created.

Fig. 27 is a schematic cross-sectional view of Fig. 17 along the line XXVII-XXVII.

Fig. 28 is a partial enlarged schematic diagram of Fig. 27.

A: Harmonic deceleration module

10: Connecting components

10A: first end

10B: second end

10C: Connection channel

11: Flexible bearing

12: Flexible wheel

13: The first frame

131: Board

1311: perforation

132: Ring side wall

14: First round

15: The first bearing

16: second frame

161: Hollow channel

17: Second round

18: The second bearing

19: The third bearing

20: end cap

201: Piercing

CP: Central axis

SP: closed space

Claims (21)

A harmonic deceleration module, which includes: A connecting member, the opposite ends of which are defined as a first end and a second end, respectively, the connecting member has a cam portion; the connecting member is used for connecting with an external drive unit, the connecting member When being driven to rotate by the external drive unit, the connecting member rotates around a central axis; A flexible bearing whose inner ring structure is fixed on the periphery of the cam portion; when the connecting member is driven to rotate, the cam portion and the flexible bearing can together form a wave generator; A flexspline, the inner side of which is connected with the outer ring structure of the flexible bearing, and the periphery of the flexspline includes a plurality of external tooth-like structures; A first frame body, a part of which is pivotally connected to the periphery of the connecting member; A first rigid wheel, which is a ring structure, the first rigid wheel includes a plurality of first internal tooth-like structures, the first rigid wheel and the first frame are fixed to each other, and a plurality of the first An internal tooth-like structure meshes with a plurality of said external tooth-like structures; A second frame body, a part of which is pivotally connected to the periphery of the connecting member; the second frame body is used to connect with an external output member; when the second frame body is driven to rotate, it is The central axis is the center of rotation; A second rigid wheel, which is a ring structure, the second rigid wheel includes a plurality of second internal tooth-like structures, the second rigid wheel and the second frame are fixed to each other, and a plurality of the second rigid wheels An internal tooth-like structure meshes with a plurality of said external tooth-like structures; Wherein, the number of the plurality of first internal tooth-shaped structures included in the first rigid wheel is equal to the number of the plurality of external tooth-shaped structures included in the flexspline, and the second rigid wheel includes The number of the plurality of second inner tooth-like structures is greater than the number of the plurality of outer tooth-like structures included in the flexspline; Wherein, when the connecting member is driven to rotate around the central axis, the wave generator will drive the flexspline to be repeatedly flexibly deformed, and the flexspline that is repeatedly flexibly deformed will Drive the second rigid wheel to rotate, the second frame body will rotate with the second rigid wheel centered on the central axis, and the power input by the connecting member will be decelerated by the second frame body Output. The harmonic deceleration module according to claim 1, wherein the connecting member has a connecting channel, and the connecting channel penetrates the connecting member along the central axis; the second frame body has a hollow channel , The hollow channel penetrates the second frame along the central axis; the hollow channel and the connecting channel communicate with each other; the first frame and the first rigid wheel are integrally formed, the The second frame is integrally formed with the second rigid wheel; the plurality of first internal tooth structures included in the first rigid wheel and the plurality of first internal tooth structures included in the second rigid wheel The difference in the number of the two internal tooth-like structures is less than 5 teeth. The harmonic reduction module according to claim 1, wherein the harmonic reduction module further includes at least three bearings, and the three bearings are respectively defined as a first bearing, a second bearing and a third bearing. Bearing, the inner ring structure of the first bearing and the periphery of the connecting member are fixed to each other, the outer ring structure of the first bearing and the first frame are fixed to each other; the inner ring structure of the second bearing is fixed to each other The peripheries of the connecting member are fixed to each other, and the outer ring structure of the second bearing and the second frame are fixed to each other; the harmonic reduction module further includes an end cover, and the end cover is fixedly arranged on the first One end of a frame; the inner ring structure of the third bearing and the outer periphery of the second frame are fixed to each other, the outer ring structure of the third bearing and the inner side of the first frame, the end cover The inner sides are fixed to each other; wherein the connecting member, the first bearing, the second bearing, the third bearing, the first frame body, the second frame body and the end cover are formed together A closed space, and the flexible wheel, the first rigid wheel, the second rigid wheel and the flexible bearing are correspondingly located in the closed space. A power plant, which includes: A harmonic deceleration module, which includes: A connecting member, the opposite ends of which are defined as a first end and a second end, respectively, the connecting member has a cam portion, and the connecting member can be driven to rotate around a central axis; A flexible bearing whose inner ring structure is fixed on the periphery of the cam portion; when the connecting member is driven to rotate, the cam portion and the flexible bearing can together form a wave generator; A flexible wheel, the inner side of which is connected with the outer ring structure of the flexible bearing, and the periphery of the flexible wheel includes a plurality of external tooth-like structures; A first frame body, a part of which is pivotally connected to the periphery of the connecting member; A first rigid wheel, which is a ring structure, the first rigid wheel includes a plurality of first internal tooth-like structures, the first rigid wheel and the first frame are fixed to each other, and a plurality of the first rigid wheels are fixed to each other with the first frame. An internal tooth-like structure meshes with a plurality of said external tooth-like structures; A second frame body, a part of which is pivotally connected to the periphery of the connecting member; the second frame body is used to connect with an external output member; when the second frame body is driven to rotate, it is The central axis is the center of rotation; A second rigid wheel, which is a ring structure, the second rigid wheel includes a plurality of second internal tooth-like structures, the second rigid wheel and the second frame are fixed to each other, and a plurality of the second rigid wheels An internal tooth-like structure meshes with a plurality of said external tooth-like structures; An end cover, which is fixedly arranged at one end of the first frame body, and the end cover and the periphery of the second frame body are pivotally connected to each other; Wherein, the number of the plurality of first internal tooth structures included in the first rigid wheel is equal to the number of the plurality of external tooth structures included in the flexspline, and the second rigid wheel includes The number of the plurality of second inner tooth-like structures is greater than the number of the plurality of outer tooth-like structures included in the flexspline; A driving unit connected with the connecting member; An outer shell, which is a hollow structure, the harmonic deceleration module and the drive unit are arranged in the outer shell; An outer end cover, which is fixed to one end of the outer shell; Wherein, when the driving unit is controlled to make the connecting member rotate around the central axis, the wave generator will drive the flexspline to repeatedly flexibly deform, and repeatedly flexibly deform. The flexible wheel will drive the second rigid wheel to rotate, and the second frame will rotate with the second rigid wheel around the central axis, and the power input by the connecting member will be driven by the The second frame decelerates the output. The power plant according to claim 4, wherein the connecting member has a connecting channel that penetrates the connecting member along the central axis; the second frame body has a hollow channel, the A hollow channel penetrates the second frame along the central axis; the hollow channel and the connecting channel are in communication with each other; the power device further includes a lead member, the lead member including a lead channel, the lead channel The lead member is penetrated along the central axis, the lead member and the second frame are fixed to each other, and the lead member and the connecting member are not fixed to each other, and the lead channel is used to provide at least one wire arrangement . The power plant according to claim 4, wherein the second frame body and the second rigid wheel are integrally formed, and the first frame body and the first rigid wheel are integrally formed; the The difference between the number of the plurality of first internal tooth-shaped structures included in the first rigid wheel and the plurality of second internal tooth-shaped structures included in the second rigid wheel is less than 5 teeth. The power plant according to claim 4, wherein the harmonic reduction module further includes at least four bearings, and the four bearings are respectively defined as a first bearing, a second bearing, a third bearing and a Auxiliary bearing, the inner ring structure of the first bearing and the periphery of the connecting member are fixed to each other, the outer ring structure of the first bearing and the first frame are fixed to each other; the inner ring structure of the second bearing Fixed to the periphery of the connecting member, the outer ring structure of the second bearing and the second frame are fixed to each other; the inner ring structure of the third bearing and the periphery of the second frame are fixed to each other, The outer ring structure of the third bearing is fixed to the inner side of the first frame and the inner side of the end cover; wherein, the connecting member, the first bearing, the second bearing, and the first Three bearings, the first frame, the second frame, and the end cover together form a closed space, and the flexible wheel, the first rigid wheel, the second rigid wheel and the flexible The bearing is correspondingly located in the enclosed space; the inner ring structure of the auxiliary bearing and the periphery of the connecting member are fixed to each other, and the outer ring structure of the auxiliary bearing and the outer end cover are fixed to each other; wherein, the drive unit It is located in another enclosed space formed by the connecting member, the first frame body, the outer shell, the auxiliary bearing and the outer end cover. The power device according to claim 4, wherein the drive unit is a motor, the motor includes a stator assembly and a rotor assembly, the stator assembly is fixed on the inner side of the outer casing, and the rotor assembly is connected to The peripheries of the connecting members are fixed to each other, and when the driving unit is driven, the rotor assembly rotates relative to the stator assembly with the central axis as the center. The power device according to claim 4, wherein the power device further includes at least one sensor for sensing at least one of torque, speed, and position when the connecting member rotates. The power device according to claim 9, wherein one of the sensors is a rotary encoder, and the rotary encoder includes a reading unit and a magnetic ring, and the reading unit is fixedly arranged on the In the outer end cover, the magnetic ring is fixedly arranged on the periphery of the connecting member. A self-propelled vehicle, comprising the power plant according to any one of claim 4 to claim 10, at least one wheel, and a processing module, wherein one of the wheels is connected to the second frame, and The processing module is electrically connected to the driving unit, and the processing module can control the operation of the driving unit to drive the wheel connected to the second frame to rotate through the harmonic reduction module. A transfer equipment comprising at least one power device according to any one of claim 4 to claim 10, at least one connection component and at least one processing module, and the second frame of the power device is connected to The connecting assembly is connected, the processing module is electrically connected to the drive unit of the power device, and the processing module can control the drive unit to actuate to drive and The connecting assembly connected to the second frame is actuated. A power output system, which is suitable for being installed in a frame set of an electric bicycle, the power output system comprising: the power device according to any one of claim 4 to claim 10, the power output system further Include: A middle shaft Two cranks, which are connected to the two ends of the bottom bracket, and the other end of each of the cranks is used to connect a pedal; A chainring A first one-way clutch connected with the bottom bracket, and the first one-way clutch connected with the gear plate; A second one-way clutch connected with the second frame, and the second one-way clutch is connected with the first one-way clutch; Wherein, the power plant further includes: A first auxiliary end cover, which has a ring structure, the outer periphery of the first auxiliary end cover and the inner side of an outer perforation of the outer end cover are mutually fixed, and the inner side of the first auxiliary end cover is connected to the central axis Peripheries are pivotally connected to each other; A second auxiliary end cover, which is fixed to one end of the outer shell, and the second auxiliary end cover and the first one-way clutch are pivotally connected to each other; Wherein, when the user steps on the two pedals to make the electric bicycle move forward, the two cranks will drive the central shaft to rotate in a first direction, and the central shaft will drive the first The one-way clutch is actuated to link the gear plate to rotate in the first direction, and the gear plate can drive a rear wheel of the electric bicycle to rotate through a transmission member; Wherein, when the two cranks are driven to rotate in a second direction, the middle shaft will rotate in the second direction, and the middle shaft will act in conjunction with the first one-way clutch, and the first one-way clutch A one-way clutch will not rotate the gear plate; the second direction is opposite to the first direction; Wherein, when the driving unit is controlled and actuated, the driving unit will drive the connecting member to rotate in the first direction, and the flexspline will be driven to be repeatedly flexibly deformed and repeatedly flexibly The deformed flexible wheel will drive the second rigid wheel to rotate, the second frame body will rotate in the first direction along with the second rigid wheel, and the second frame body will drive the The second one-way clutch is actuated to act in conjunction with the first one-way clutch to drive the gear plate to rotate in the first direction. The power output system according to claim 13, wherein the power output system further includes a processing module and a torque sensor, and the processing module is electrically connected to the torque sensor and the drive unit , The torque sensor is used to sense the torsion force of the center shaft, and correspondingly generate a torsion sensing signal; when the center shaft is driven to rotate in the first direction, and the processing module is based on the torsion force Sensing the signal to determine that the torque of the bottom bracket exceeds a predetermined torque value, the processing module will control the actuation of the drive unit, so that the second frame body drives the second one-way clutch to act, according to The gear plate is driven to rotate in the first direction through the first one-way clutch. The power output system according to claim 13, wherein the first one-way clutch includes a first annular member, a first annular wall, and a plurality of first rollers, and the first annular member is fixed On the periphery of the bottom bracket, the outer periphery of the first ring-shaped member has a plurality of first protruding structures and a plurality of first grooves, a plurality of the first protruding structures and a plurality of the first grooves Are arranged at intervals, and each of the first grooves is located between two adjacent first protruding structures; the first annular wall is formed on an auxiliary frame, and the auxiliary frame is pivotally connected On the periphery of the bottom bracket, the second one-way clutch is connected with the auxiliary frame, and one end of the auxiliary frame is connected with the gear plate; each of the first grooves has two first arcs Surface, the arcs of the two first arcs are not the same; when the central shaft is driven to rotate in the first direction, each of the first rollers will be located on one of the first arcs and the Between the first ring-shaped walls, and each of the first rollers will be held by the first ring-shaped member and the first ring-shaped wall, and the first ring-shaped wall will be oriented along with the central axis The rotation in the first direction drives the gear wheel to rotate in the first direction; when the central shaft is driven to rotate in the second direction, each of the first rollers will be driven to the other The first arc surface and the first ring-shaped wall rotate between them, and the first ring-shaped wall will not be linked by the central shaft. The power output system according to claim 15, wherein the second one-way clutch includes a second annular member, a second annular wall, and a plurality of second rollers, and the second annular member forms On one side of the second frame, the periphery of the second ring-shaped member has a plurality of second protruding structures and a plurality of second grooves, a plurality of the second protruding structures and a plurality of the The second grooves are spaced apart from each other, and each of the second grooves is located between two adjacent second protruding structures; the second ring-shaped wall is formed on the auxiliary frame; The second groove has two second arc surfaces, and the arcs of the two second arc surfaces are different; when the driving unit is driven to drive the second frame body to rotate in the first direction, each The second roller will be located between one of the second curved surfaces and the second annular wall, and each of the second rollers will be covered by the second annular member and the second ring The shaped wall is fixed, and the second annular wall will rotate in the first direction along with the second frame body, so as to link the gear plate to rotate in the first direction. An electric bicycle, comprising: the power output system according to claim 13, the frame group, a processing module and an electric system, the frame group is provided with a frame, a handle, a front wheel, and the The rear wheel, a seat pad, a brake system and the transmission part; the power output system is arranged in the frame assembly; the processing module is electrically connected to the drive unit; the power system is electrically connected to the The processing module, the power system is used to provide the power required for the operation of the power output system. The electric bicycle according to claim 17, wherein the power output system further includes a processing module and a torque sensor, and the processing module is electrically connected to the torque sensor and the driving unit, The torque sensor is used to sense the torsion of the center shaft, and correspondingly generate a torque sensing signal; when the center shaft is driven to rotate in the first direction, and the processing module is based on the torque sensor By measuring the signal, when it is determined that the torque of the bottom bracket exceeds a predetermined torque value, the processing module will control the actuation of the driving unit, so that the second frame body drives the second one-way clutch to act, according to The first one-way clutch drives the gear plate to rotate in the first direction. The electric bicycle according to claim 17, wherein the first one-way clutch includes a first ring-shaped member, a first ring-shaped wall, and a plurality of first rollers, and the first ring-shaped member is fixed to The periphery of the bottom bracket, the periphery of the first ring-shaped member has a plurality of first protruding structures and a plurality of first grooves, and the plurality of first protruding structures and the plurality of first grooves are mutually Are arranged at intervals, and each of the first grooves is located between two adjacent first protruding structures; the first annular wall is formed on an auxiliary frame, and the auxiliary frame is pivotally connected to On the periphery of the bottom bracket, the second one-way clutch is connected with the auxiliary frame, and one end of the auxiliary frame is connected with the gear plate; each of the first grooves has two first curved surfaces , The arcs of the two first arcs are not the same; when the central shaft is driven to rotate in the first direction, each of the first rollers will be located on one of the first arcs and the first arc Between a ring-shaped wall, and each of the first rollers will be held by the first ring-shaped member and the first ring-shaped wall, and the first ring-shaped wall will be oriented along with the central axis The rotation in the first direction drives the gear wheel to rotate in the first direction; when the central shaft is driven to rotate in the second direction, each of the first rollers will be driven to move in another direction. The first arcuate surface and the first annular wall rotate between, and the first annular wall will not be interlocked by the central shaft. The electric bicycle according to claim 19, wherein the second one-way clutch includes a second ring-shaped member, a second ring-shaped wall, and a plurality of second rollers, and the second ring-shaped member is formed in On one side of the second frame, the outer periphery of the second ring member has a plurality of second protruding structures and a plurality of second grooves, a plurality of the second protruding structures and a plurality of the first grooves. The two grooves are spaced apart from each other, and each of the second grooves is located between two adjacent second protruding structures; the second ring-shaped wall is formed on the auxiliary frame; The second groove has two second arcs, and the arcs of the two second arcs are not the same; when the driving unit is driven to drive the second frame to rotate in the first direction, each The second roller will be located between one of the second curved surfaces and the second annular wall, and each of the second rollers will be covered by the second annular member and the second annular wall. The wall is fixed, and the second ring-shaped wall will rotate in the first direction along with the second frame body, so as to link the gear plate to rotate in the first direction. The electric bicycle according to claim 20, wherein the power unit further includes a first auxiliary bearing, a second auxiliary bearing, and a third auxiliary bearing, and the inner ring structure of the first auxiliary bearing and the bottom bracket The outer ring structure of the first auxiliary bearing and the inner side wall of the outer end cover forming the outer perforation are fixed to each other; the inner ring structure of the second auxiliary bearing and the outer periphery of the auxiliary frame The outer ring structure of the second auxiliary bearing and the inner side of the second auxiliary end cover are fixed to each other; the inner ring structure of the third auxiliary bearing and the periphery of the bottom bracket are fixed to each other, and the third auxiliary bearing The outer ring structure of the bearing and the inner side of the auxiliary frame are fixed to each other.

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