TWM663528U - Harmonic driver and robot arm joint device - Google Patents

Abstract

This invention provides a harmonic driver and a robot arm joint device. The harmonic driver includes a driving unit, a wave generator, a needle bearing, an elastic gear, and a rigid component. The wave generator has an inner circular-hole portion and an outer-profile portion. The driving unit is positioned in the inner circular-hole portion to drive the wave generator to rotate. A cross-section of the outer-profile portion is a cam shape or an elliptical shape. The needle bearing is placed on the outer-profile portion. The elastic gear has an inner-circular receiving portion and an outer-gear. The wave generator is installed in the inner-circular receiving portion, with the needle bearing contacting a surface of the inner-circular receiving portion. The rigid component has a rigid-receiving portion that accommodates the elastic gear. A surface of the rigid-receiving portion has an inner-gear. When the wave generator drives the elastic gear to rotate, the outer-gear is engaged with the inner-gear to produce relative rotation.

Description

Harmonic deceleration device and robotic arm joint device

This invention relates to the technical field of a harmonic speed reducer, and in particular to a harmonic speed reducer that can achieve miniaturization, high torque, and high precision.

With the development of the semiconductor industry, the manufacturing process of integrated circuits needs to go through multiple complicated and precise processing steps. Among them, in these processing steps, robots are often used to transfer objects or perform required actions. However, existing robots are usually equipped with one or more motors to drive; when there is only one motor, it is usually connected to the robot from the outside, which makes it difficult to miniaturize, and the axis of the robot is driven by the external motor, which may cause improper force transmission configuration, inaccurate precision, or the strength of the component structure does not properly correspond to the force transmission, causing component damage; when there are multiple motors, it is difficult to miniaturize and the manufacturing cost is difficult to reduce.

In summary, the author of this invention has thought about and designed a harmonic deceleration device in order to improve the deficiencies of the known technology and thus promote its implementation in the industry.

The purpose of this invention is to provide a harmonic deceleration device to improve the above-mentioned problems.

Based on the above purpose, the present invention provides a harmonic reduction device, which includes a drive unit, a wave generator, a roller bearing, an elastic gear part, and a rigid part. The wave generator has an inner circular hole portion and an outer contour portion. The drive unit is arranged in the inner circular hole portion to drive the wave generator to rotate around the axis of the inner circular hole portion. The outer contour portion is a cam-shaped or elliptical cross-section. The roller bearing is arranged in the outer contour portion. The elastic gear part has an inner circular accommodating portion and an outer tooth portion. The wave generator is arranged in the inner circular accommodating portion, and the roller bearing contacts the surface of the inner circular accommodating portion. The rigid part has a rigid accommodating portion. The rigid accommodating portion accommodates the elastic gear part. An inner tooth portion is disposed on the surface of the rigid accommodating portion. When the wave generator drives the elastic gear part to rotate, the outer tooth portion engages with the inner tooth portion to generate relative rotation.

Preferably, the elastic gear is a cup-shaped structure. The closed end of the elastic gear has a fixed portion and a plurality of curved portions. The fixed portion is located at the axis of the elastic gear, and the plurality of curved portions are connected between the fixed portion and the outer tooth portion.

Preferably, in the axial direction of the elastic gear member, the length of the outer tooth portion is the distance between the open end of the elastic gear member and the curved portion. The length of the inner tooth portion corresponds to the length of the outer tooth portion.

Preferably, the drive unit is a stator. The wave generator includes an outer sleeve and a rotor. The outer sleeve is a cup-shaped structure, the inner circumference of the outer sleeve is circular to accommodate the rotor, and the outer circumference of the outer sleeve is the outer contour. The rotor is cylindrical, and the inner circumference of the rotor is an inner circular hole.

Preferably, a plurality of magnets are embedded in an annular shape on the inner circumference of the rotor. The plurality of magnets are arranged in a staggered manner with different magnetic properties. A magnet frame is embedded in the outer circumference of the rotor. The drive unit is configured in a fan shape, and the magnet frame is configured in an arc shape.

Preferably, the closed end of the outer sleeve has an axial hole, and a bearing is provided in the axial hole. The drive unit is sleeved on the axle core, and the axle core is penetrated through the bearing.

Preferably, the elastic gear member and the rigid member are cup-shaped structures. The closed end of the elastic gear member has a fixed portion. The harmonic reduction device includes a side cover member, and the side cover member has an outer ring member and an inner ring member that can rotate relative to each other. The outer ring member is fixed to the open end of the rigid member. The inner ring member is fixed to the fixed portion of the elastic gear member.

Preferably, the fixing part has a plurality of first locking parts arranged in an annular shape with the axis of the elastic gear part. The open end of the rigid part has a plurality of second locking parts arranged in an annular shape with the axis of the rigid part. The first locking part protrudes from the surface of the elastic gear part on the outer side of the elastic gear part to form a protrusion, and the second locking part protrudes from the surface of the rigid part on the outer side of the rigid part to form the protrusion. The inner ring part and the outer ring part have a plurality of locking hole parts corresponding to the first locking part and the second locking part respectively, and the locking hole part has a groove part corresponding to the protrusion.

Based on the above purpose, the invention further provides a robot arm joint device, which includes the above-mentioned harmonic deceleration device, a first arm and a second arm. The first arm is fixed to the rigid part of the harmonic deceleration device. The second arm is indirectly fixed to the elastic gear part of the harmonic deceleration device.

Preferably, the harmonic deceleration device comprises a side cover, the side cover having an outer ring and an inner ring that can rotate relative to each other. The outer ring is fixed to the open end of the rigid member. The inner ring is fixed to the fixed portion of the elastic gear member. The second arm is fixed to the inner ring.

The technical features of the present invention will be described in detail below with specific embodiments and accompanying drawings so that a person skilled in the art can easily understand the purpose, technical features, and advantages of the present invention.

The advantages, features and technical methods achieved by the present invention will be described in more detail with reference to exemplary embodiments and the attached drawings so as to be easier to understand, and the present invention can be implemented in different forms, so it should not be understood to be limited to the embodiments described herein. On the contrary, for those with ordinary knowledge in the relevant technical field, the provided embodiments will make the present disclosure more thorough and comprehensive and completely convey the scope of the present invention, and the present invention will only be defined by the scope of the attached patent application.

It should be understood that although the terms "first", "second", etc. may be used in the present invention to describe various elements, components, regions, sections, layers and/or parts, these elements, components, regions, sections, layers and/or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, section, layer and/or part from another element, component, region, section, layer and/or part.

It should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between two components. For those with ordinary knowledge in the technical field to which this creation belongs, the specific meanings of the above terms in this creation can be understood in specific circumstances.

Unless otherwise defined, all terms (including technical and scientific terms) used in this work have the same meanings as commonly understood by those of ordinary skill in the art to which this work belongs. It will be further understood that those terms as defined in commonly used dictionaries should be interpreted as having definitions consistent with their meanings in the context of the relevant art and this work, and will not be interpreted as idealized or overly formal meanings unless expressly defined as such herein.

It should also be understood that the terms used in this invention specification are only for the purpose of describing specific embodiments and are not intended to limit this invention. As used in this invention specification and the attached patent application, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include plural forms.

Please refer to Figures 1 to 9. Among them, Figures 1 and 2 are exploded schematic diagrams of the harmonic reduction device of the present invention from different viewing angles. Figures 3 and 4 are exploded schematic diagrams and cross-sectional schematic diagrams of some components of the harmonic reduction device of the present invention. Figures 5 to 7 are structural schematic diagrams of the elastic gear parts, outer sleeve parts and rotor parts of the harmonic reduction device of the present invention. Figure 8 is an exploded structural schematic diagram of the side cover parts of the harmonic reduction device of the present invention. Figure 9 is a partial cross-sectional schematic diagram of the harmonic reduction device of the present invention including the side cover parts.

As shown in the figure, the harmonic reduction device 1 of the present invention mainly comprises a driving unit 10, a wave generator 11, a roller bearing 12, an elastic gear 13 and a rigid member 14. Driving unit 10.

The drive unit 10 is an outer rotor permanent magnet motor coil stator, which is roughly a three-quarter cylindrical structure, so that the drive unit 10 is configured in a fan-shaped shape and has magnetism. The wave generator 11 has an inner circular hole 114 and an outer contour 113. The drive unit 10 is arranged in the inner circular hole 114 to drive the wave generator 11 to rotate around the axis of the inner circular hole 114. The outer contour 113 is a cam-shaped or elliptical cross-section, and in this embodiment, an elliptical cross-section is used as an exemplary state.

Please refer to Figures 6 and 7. In detail, the wave generator 11 includes an outer sleeve 111 and a rotor 112. The outer sleeve 111 can be a cup-shaped structure made of appropriate engineering plastic. The inner circumference of the outer sleeve 111 is circular to accommodate the rotor 112. The outer circumference of the outer sleeve 111 is the outer contour portion 113. The rotor 112 can be a cylindrical structure made of appropriate engineering plastic, and the inner circumference of the rotor 112 is the inner circular hole portion 114. It is worth mentioning that a magnetic frame 116 is embedded in the outer circumference of the rotor 112, and the outer circumference of the magnetic frame 116 is flush with the outer circumference of the rotor 112; wherein the magnetic frame 116 is configured in an arc shape, such as a three-quarter arc shape. Preferably, the magnetic frame 116 can be disposed on the outer sleeve 111 by a coating injection method. It is also worth mentioning that a plurality of magnets 115 are embedded in the inner circumference of the rotor 112 in an annular shape. The plurality of magnets are arranged in a staggered manner with different magnetic properties, such as a staggered arrangement of N, S, N, S...

In addition, the closed end of the outer sleeve 111 has an axial hole 117, and the axial hole 117 is provided with a bearing member 15. The driving unit 10 is sleeved on a shaft member 101, and the shaft member 101 is penetrated through the bearing member 15. Thereby, the driving unit 10 can rotate stably, thereby driving the wave generator 11 to rotate stably.

The harmonic speed reduction device 1 of the present invention is configured by fixing the outer permanent magnet motor coil of the driving unit 10 on the shaft member and integrating the rotor of the outer magnet ring of the wave generator 11 with the cam-shaped outer sleeve into a whole, so that the driving unit 10 and the wave generator 11 can be formed like an outer motor and can simultaneously achieve the function of a wave generating element; thereby, the harmonic speed reduction device 1 of the present invention can be miniaturized. In addition, since the rotor member 112 or the outer sleeve 111 and the rotor member 112 are made of appropriate engineering plastics, it has the advantages of being lightweight and cost-saving.

The roller bearing 12 is disposed on the outer contour portion 113. The roller bearing 12 is generally a device known or commonly used by a person skilled in the art, and will not be described in detail here.

The elastic gear member 13 can be made of a suitable engineering plastic. The elastic gear member 13 has an inner circle receiving portion 131 and an outer tooth portion 132. The wave generator 11 is disposed in the inner circle receiving portion 131, and the roller bearing member 12 contacts the surface of the inner circle receiving portion 131. Thus, when the wave generator 11 and the driving unit 10 rotate relative to each other, the roller bearing member 12 between the elastic gear member 13 and the outer sleeve 111 can drive the elastic gear member 13 to generate harmonic motion.

Please refer to FIG. 5 . Specifically, the elastic gear member 13 is a cup-shaped structure, and thus has a closed end and an open end. The closed end of the elastic gear member 13 has a fixing portion 133 and a plurality of bent portions 134, and the open end of the elastic gear member 13 is used for the wave generator 11 to be placed therein. The fixing portion 133 is located at the axis of the elastic gear member 13, and can be circular in shape, with an axial hole in the middle, and a plurality of locking portions are provided around the axial hole; thereby, the fixing portion 133 can be fixed to other components or fixed by other components, such as the side cover member 16 mentioned later.

The rigid member 14 can be made of metal material and has a rigid receiving portion 141. The rigid receiving portion 141 is configured to receive the elastic gear member 13. In addition, an inner tooth portion 142 is disposed on the surface of the rigid receiving portion 141.

It is worth mentioning that the plurality of curved portions 134 are connected between the fixing portion 133 and the outer tooth portion 132. Thus, the elastic gear member 13 can have appropriate elasticity in response to the outer profile portion 113 having a cam-shaped or elliptical cross-section and the roller bearing member 12 located on the outer profile portion 113, thereby appropriately generating elastic deformation, and then when the wave generator 11 drives the elastic gear member 13 to rotate, the outer tooth portion 132 engages with the inner tooth portion 142 to drive the rigid member 14 to rotate.

It should be particularly noted that, in the axial direction of the elastic gear member 13, the length of the outer tooth portion 132 is the distance between the open end of the elastic gear member 13 and the curved portion 134. The length of the inner tooth portion 142 corresponds to the length of the outer tooth portion 132, that is, the length of the inner tooth portion 142 is the length (or depth) of the rigid receiving portion 141. Thus, the engagement between the outer tooth portion 132 and the inner tooth portion 142 can have good structural strength, exert the best service life and load, and have the advantage of low noise. In addition, the elastic gear member 13 can be easily produced. In addition to the long tooth surface deformation, the end surface of the elastic gear member 13 has a wave-shaped continuous deformation area (a plurality of curved portions 134), thereby achieving perfect or excellent generation of harmonics and transmission torque.

Please refer to Figures 8 and 9. Preferably, the harmonic reduction device 1 includes a side cover 16, and the side cover 16 has an outer ring 161 and an inner ring 162 that can rotate relative to each other; for example, a plurality of balls can be arranged between the outer ring 161 and the inner ring 162. The outer ring 161 is fixed to the open end of the rigid member 14. The inner ring 162 is fixed to a fixing portion 133 of the elastic gear member 13. Thus, when the rigid member 14 or the outer ring member 161 fixes one element, and the inner ring member 162 or the elastic gear member 13 fixes another element, the one element and the other element can be driven by the drive unit 10 and the wave generator 11 to produce relative rotation. Among them, through the special bearing connection of the outer ring member 161 and the inner ring member 162 of the side cover member 16, it can perfectly or well generate force transfer, so that the harmonic reduction device 1 can properly withstand the external force and torque in the outward direction.

It is worth mentioning that the fixing portion 133 has a plurality of first locking portions 135 arranged in an annular shape around the axis of the elastic gear member 13. The open end of the rigid member 14 has a plurality of second locking portions 143 arranged in an annular shape around the axis of the rigid member 14. The first locking portion 135 protrudes from the surface of the elastic gear member 13 on the outer side surface of the elastic gear member 13 to form a protrusion 171, and the second locking portion 143 protrudes from the surface of the rigid member 14 on the outer side surface of the rigid member 14 to form the protrusion 171. The inner ring 162 and the outer ring 161 have a plurality of locking holes 163 corresponding to the first locking portion 135 and the second locking portion 143 , respectively. The locking hole 163 has a groove 172 corresponding to the protrusion 171 .

By embedding the protrusion 171 into the groove 172, a positioning effect can be achieved when installing components. Furthermore, by setting the protrusions 171 of different heights and the grooves 172 of different depths, the positioning effect can be achieved while also preventing foolishness.

Please refer to Figures 10 and 11. Figure 10 is an exploded schematic diagram of the joint device of the robot arm of this creation. Figure 11 is an assembled schematic diagram of the joint device of the robot arm of this creation.

As shown in the figure, the robot arm joint device 2 of the present invention comprises a harmonic reduction device 1, a first arm 21 and a second arm 22. Among them, it is the harmonic reduction device 1 of the embodiment described above. The first arm 21 and the second arm 22 can be mechanical arms that are well known or commonly used by ordinary knowledgeable people in the relevant technical field. Among them, the first arm 21 is fixed to a rigid part 14 of the harmonic reduction device 1. The second arm 22 is indirectly fixed to an elastic gear part 13 of the harmonic reduction device 1. Preferably, the second arm 22 is fixed to the inner ring part 162.

With this configuration, the harmonic reduction device 1 forms a joint of a robot arm so that the first arm 21 and the second arm 22 can rotate relative to each other. For example, the first arm 21 is a fixed arm and the second arm 22 is a movable arm; or, the first arm 21 is a movable arm and the second arm 22 is a fixed arm, etc.

The harmonic deceleration device and the robot arm joint device of the invention can form the drive unit 10 and the wave generator 11 like an external motor through the predetermined structural configuration of the drive unit 10 and the wave generator 11, so as to achieve the miniaturization of the harmonic deceleration device and the lightness after matching with plastic materials. In addition, when the harmonic deceleration device can be arranged at the rotation axis of the robot arm, the robot arm can be miniaturized, and the force can be directly transmitted to the robot arm, thereby improving the precision of the robot arm operation and effectively improving the service life. In addition, by using different shells, the harmonic deceleration device can be used in the joints of the robot arm or other various deceleration mechanisms such as electric bicycles.

In addition, by configuring the lengths of the outer teeth and the inner teeth (as full as possible along the length of the peripheral wall), the engagement between the outer teeth and the inner teeth can have good structural strength, long service life, and low noise.

The above is for illustrative purposes only and is not intended to be limiting. Any equivalent modifications or changes made to the invention without departing from the spirit and scope of the invention shall be included in the scope of the patent application attached hereto.

1: Harmonic reduction device 10: Drive unit 101: Axis 11: Wave generator 111: Outer set 112: Rotor 113: Outer profile 114: Inner hole 115: Magnet 116: Magnet frame 117: Axial hole 12: Roller bearing 13: Elastic gear 131: Inner circle accommodating part 132: Outer tooth part 133: Fixed part 134: Bending part 135: First locking part 14: Rigid part 141: Rigid accommodating part 142: Inner tooth part 143: Second locking part 15: Bearing 16: Side cover 161: Outer ring 162: Inner ring 163: Keyhole 171: Protrusion 172: Groove 2: Machine arm joint device 21: First arm 22: Second arm

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for those with ordinary knowledge in the technical field to which the present invention belongs, other drawings can be obtained based on these drawings.

FIG. 1 is an exploded schematic diagram of the first perspective of the harmonic deceleration device of the present invention.

FIG. 2 is an exploded schematic diagram of the harmonic deceleration device of the present invention from a second viewing angle.

FIG. 3 is an exploded schematic diagram of some components of the harmonic deceleration device of the present invention.

FIG4 is a schematic cross-sectional view of the harmonic deceleration device of the present invention.

FIG5 is a schematic diagram of the structure of the elastic gear member of the harmonic deceleration device of the present invention.

FIG6 is a schematic structural diagram of the outer set of the wave generator of the harmonic deceleration device of the present invention.

FIG. 7 is a schematic diagram showing the structure of the rotor component of the wave generator of the harmonic speed reducer of the present invention.

FIG8 is a schematic diagram of the structure of the explosion of the side cover of the harmonic deceleration device of the present invention.

FIG9 is a partial cross-sectional diagram of the harmonic deceleration device of the present invention including a side cover.

FIG. 10 is an exploded diagram of the joint device of the robot arm of the present invention.

FIG. 11 is a schematic diagram of the assembly of the robot arm joint device of the present invention.

1: Harmonic deceleration device

10: Drive unit

101: Axis parts

11: Wave generator

111:External Kit

112: Rotor parts

12: Roller bearings

13: Elastic gear parts

14: Rigid parts

141: Rigid housing part

142: Inner teeth

15: Bearings

Claims (10)

A harmonic deceleration device, comprising: a driving unit; a wave generator having an inner circular hole and an outer contour; the driving unit is arranged in the inner circular hole to drive the wave generator to rotate around the axis of the inner circular hole; the outer contour is a cam-shaped or elliptical cross-section; a roller bearing is arranged in the outer contour; an elastic gear having an inner circular accommodating portion and an outer tooth portion; the wave generator is arranged in the inner circular accommodating portion, and the roller bearing contacts the surface of the inner circular accommodating portion; and A rigid part has a rigid accommodation portion; the rigid accommodation portion accommodates the elastic gear part; an inner tooth portion is provided on the surface of the rigid accommodation portion; wherein, when the wave generator drives the elastic gear part to rotate, the outer tooth portion engages with the inner tooth portion to generate relative rotation. A harmonic deceleration device as described in claim 1, wherein the elastic gear member is a cup-shaped structure; the closed end of the elastic gear member has a fixed portion and a plurality of curved portions; the fixed portion is located at the axis of the elastic gear member, and the plurality of curved portions are connected between the fixed portion and the outer tooth portion. A harmonic deceleration device as described in claim 2, wherein in the axial direction of the elastic gear member, the length of the outer tooth portion is the distance between the open end of the elastic gear member and the curved portion; and the length of the inner tooth portion corresponds to the length of the outer tooth portion. A harmonic deceleration device as described in claim 1, wherein the drive unit is a stator; the wave generator includes an outer sleeve and a rotor member; the outer sleeve is a cup-shaped structure, the inner circumference of the outer sleeve is circular to accommodate the rotor member, and the outer circumference of the outer sleeve is the outer contour portion; the rotor member is cylindrical, and the inner circumference of the rotor member is an inner circular hole portion. As described in claim 4, a harmonic deceleration device, wherein a plurality of magnets are annularly embedded in the inner circumference of the rotor member; the plurality of magnets are arranged in an alternating manner with different magnetic properties; a magnet frame is embedded in the outer circumference of the rotor member; the drive unit is configured in a fan shape, and the magnet frame is configured in an arc shape. In the harmonic deceleration device as described in claim 4, the closed end of the outer sleeve has an axial hole, and a bearing component is provided in the axial hole; the drive unit is sleeved on a shaft core component, and the shaft core component is penetrated by the bearing component. A harmonic deceleration device as described in claim 1, wherein the elastic gear member and the rigid member are cup-shaped structures; the closed end of the elastic gear member has a fixed portion; the harmonic deceleration device includes a side cover member, the side cover member has an outer ring member and an inner ring member that can rotate relative to each other; the outer ring member is fixed to the open end of the rigid member; the inner ring member is fixed to a fixed portion of the elastic gear member. A harmonic reduction device as described in claim 7, wherein the fixing portion has a plurality of first locking portions arranged in an annular shape around the axis of the elastic gear member; the open end of the rigid member has a plurality of second locking portions arranged in an annular shape around the axis of the rigid member; the first locking portion forms a protrusion on the outer side surface of the elastic gear member protruding from the surface of the elastic gear member, and the second locking portion forms the protrusion on the outer side surface of the rigid member protruding from the surface of the rigid member; the inner ring member and the outer ring member have a plurality of locking hole portions corresponding to the first locking portion and the second locking portion, respectively, and the locking hole portion has a groove portion corresponding to the protrusion. A machine arm joint device, comprising: A harmonic deceleration device as described in any one of claims 1 to 8; A first arm, which is a rigid member fixed to the harmonic deceleration device; and A second arm, which is an elastic gear member indirectly fixed to the harmonic deceleration device. A robot arm joint device as described in claim 9, wherein the harmonic deceleration device includes a side cover, the side cover having an outer ring and an inner ring that can rotate relative to each other; the outer ring is fixed to the open end of the rigid part; the inner ring is fixed to a fixed portion of the elastic gear part; and the second arm is fixed to the inner ring.