Improved harmonic speed reduction transmission device

Abstract

An improved harmonic speed reduction transmission device includes a harmonic reducer connected to a motor. The motor rotor has an induction section and a transmission section formed at both ends. The harmonic reducer has a rigid wheel, a flexible wheel meshing in the rigid wheel, and a waveform generating group that drives the flexible wheel to rotate. The waveform generating group includes a rigid ball groove, a plurality of balls, and a flexible outer ring. The rigid ball groove is formed in the transmission section and has an elliptical profile. The rigid ball groove and a flexible ball groove in the flexible outer ring together constrain the rolling trajectory of the plurality of balls. The waveform generating group drives the flexible wheel to output a reduced rotational power through the flexible outer ring, thereby simplifying the structural configuration.

Claims

1. An improved harmonic speed reduction transmission device, comprising: (The device is housed within a housing and arranged along the same axis trajectory) A motor includes a stator fixed within a housing and a rotor pivotally mounted within the stator. The rotor has a sensing portion and a transmission portion relative to the sensing portion along its axial trajectory. The sensing portion is located within the stator and receives electromagnetic induction from the stator. A harmonic reducer includes a rigid wheel fixed within the housing, a flexible wheel meshing within the rigid wheel, and a waveform generating assembly for driving the flexible wheel to rotate. The waveform generating assembly includes a rigid ball groove, a plurality of balls, and a flexible outer ring. The flexible outer ring forms a flexible ball groove. The rigid ball groove is formed in the transmission portion and has an elliptical profile. The rigid ball groove and the flexible ball groove together constrain the rolling trajectory of the plurality of balls, and the waveform generating assembly drives the flexible wheel via the flexible outer ring to output a reduced rotational power.

2. The harmonic deceleration transmission device as claimed in claim 1, wherein the transmission part has an outer wall surface, the rigid ball groove is formed on the outer wall surface, and the shape of the outer wall surface and the rigid ball groove have the same contour translated in the normal direction.

3. The harmonic speed reduction transmission device as claimed in claim 2, wherein the transmission part is formed with at least one protruding ring surrounding the outer wall surface to maintain the lubricating grease filling the space between the rigid ball groove, the plurality of balls and the flexible outer ring.

4. The harmonic reduction gear as described in claim 2 or 3, wherein a filling groove for filling the plurality of balls is provided at a normal position of the rigid ball groove, and the filling groove is closed by being held by a plug.

5. The harmonic deceleration transmission device as claimed in claim 4, wherein the rigid ball groove forms a first radial width and a second radial width smaller than the first radial width, and the filling groove is formed at one end of the rigid ball groove located at the second radial width.

6. The harmonic reduction gear as claimed in claim 1, wherein the rigid wheel has a plurality of internal teeth arranged in a ring, the flexible wheel has a thin-walled portion capable of deformation and a thick-walled portion capable of maintaining rigidity, the thin-walled portion having a smooth inner surface and a plurality of external teeth arranged in a ring around the periphery of the thin-walled portion, the flexible wheel engaging the flexible outer ring by means of the inner surface and engaging a portion of the internal teeth of the rigid wheel by means of the external teeth.

7. The harmonic speed reducer as claimed in claim 6, wherein the housing is pivotally connected to each other by a fractal housing base and a housing cover, the housing base providing fixation for the rigid wheel and the housing cover providing fixation for the thick-walled portion of the flexible wheel, such that the housing cover becomes a power output end of the harmonic speed reducer.

8. The harmonic speed reducer drive as claimed in claim 1, wherein the housing is pivotally connected to a bi-segmented housing base and a housing cover, a first receiving chamber is formed in the housing base, a second receiving chamber communicating with the first receiving chamber is formed in the housing cover, the sensing parts of the stator and the rotor are located in the first receiving chamber, the harmonic speed reducer is located between the first receiving chamber and the second receiving chamber, and the driving part of the rotor extends between the first receiving chamber and the second receiving chamber to drive the harmonic speed reducer.

9. The harmonic speed reduction drive as claimed in claim 1, wherein the induction surface of the rotor is formed with at least one polarity pair by permanent magnets.

10. The harmonic speed reduction drive as claimed in claim 1, wherein the rotor further forms a central pivot hole, the housing forms a central seat portion that extends into the central pivot hole, and the rotor is pivotally mounted between the central seat portion and the stator via the central pivot hole.

11. The harmonic deceleration transmission device as claimed in claim 10, wherein the housing is pivotally connected to a housing seat and a housing cover in a split shape, a central seat portion is formed in the housing seat portion and the central seat portion has a hole, and a central post extends from the housing cover portion and is pivotally connected to the hole.

12. The harmonic deceleration transmission device as claimed in claim 1, wherein the housing is pivotally connected to each other by a fractal housing base and a housing cover, the housing base providing a fixed rigid wheel, the rigid wheel and the housing cover each having at least one adjacent annular end face, and at least one pivoting element disposed between the at least one of the at least one annular end face, the housing cover being pivotally connected to the bottom of the rigid wheel and the housing base by means of the at least one of the pivoting elements.

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