Waveform rotor, brushless motor and harmonic reducer

Abstract

The present invention relates to a waveform rotor for integration of a brushless motor and a harmonic reducer, the waveform rotor comprising a rotor body having an elliptical outer circumferential surface and a circular inner circumferential surface on which permanent magnets can be uniformly arranged, and the elliptical outer peripheral surface can be used as a wave generator of the harmonic speed governor, so that the rotor of the brushless motor and the wave generator of the harmonic speed governor are integrated into a whole. According to the waveform rotor, the rotor of the brushless motor and the wave generator of the harmonic reducer are combined, so that the waveform rotor can be used as the rotor of the brushless motor and the wave generator of the harmonic reducer at the same time, integration of the brushless motor and the harmonic reducer is achieved, the number of speed reduction parts adopting the waveform rotor is reduced, and the appearance is more compact; the size and the weight are correspondingly reduced, and the current application requirements of miniaturization and light weight can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a wave rotor, a brushless motor and a harmonic reducer. Background Art

[0002] At present, the reduction motors are composed of motors and harmonic reducers. Both of them generally have their own independent support structures and housings. The motor and the harmonic reducer are mechanically connected through a coupling. This structure makes the existing reduction motors larger in size and weight, which cannot meet the current requirements for miniaturization and lightness. Summary of the invention

[0003] The first object of the present invention is to provide a wave rotor so that the motor and the harmonic reducer can be integrated into one, thereby reducing the volume and weight of the reduction motor using the wave rotor and meeting the application requirements of miniaturization and lightness.

[0004] A second object of the present invention is to provide a brushless motor and a harmonic reducer including the above-mentioned wave rotor.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A wave rotor is used for integrating a brushless motor with a harmonic reducer. The wave rotor comprises a rotor body having an elliptical outer peripheral surface so as to integrate the rotor of the brushless motor with the wave generator of the harmonic reducer.

[0007] Optionally, the wave rotor also includes a wave generator bearing, which is capable of flexing and deforming in the radial direction. The wave generator bearing is mounted on the elliptical outer circumferential surface of the rotor body, and the wave generator bearing as a whole is flexed and deformed into an elliptical shape along the elliptical outer circumferential surface of the rotor body.

[0008] Optionally, the wave generator bearing includes an inner ring, an outer ring, a retaining frame and a plurality of rolling elements, the outer ring is sleeved on the outside of the inner ring, the retaining frame is arranged between the inner ring and the outer ring, each rolling element is arranged on the retaining frame, and the rolling element is respectively rolling-matched with the inner ring and the outer ring, the inner ring is sleeved on the elliptical outer circumferential surface of the rotor body, and the inner ring, the outer ring and the retaining frame can be flexurally deformed in the radial direction.

[0009] Optionally, the inner ring and the rotor body are an integral structure.

[0010] Optionally, the rotor body includes a rotor frame and a rotating shaft, the rotor frame includes an annular wall and an end plate arranged at one end of the annular wall, the outer circumferential wall surface of the annular wall is an elliptical outer circumferential surface of the rotor body, the inner circumferential wall surface of the annular wall is a circular ring wall surface, one end of the rotating shaft is coaxially connected to the end plate with the inner circumferential wall surface of the annular wall, and the other end of the rotating shaft extends from one end of the annular wall away from the end plate.

[0011] Optionally, a plurality of permanent magnets are evenly spaced along the circumferential direction on the inner circumferential surface of the annular wall.

[0012] Optionally, a plurality of hollow holes are evenly spaced along the circumferential direction on the end plate.

[0013] A brushless motor comprises a stator assembly and a rotor assembly rotatably arranged outside the stator assembly, wherein the rotor assembly adopts the wave rotor as described in any one of the above items.

[0014] Optionally, the stator assembly includes a casing, an iron core and a winding wound on the iron core, the iron core is fixedly disposed in the casing, the mounting shaft in the casing passes through the iron core and is rotatably matched with the rotor assembly, and a plurality of permanent magnets of the rotor assembly are surrounded by the periphery of the iron core.

[0015] Optionally, a driver is disposed on the outer surface of the housing, and the driver is electrically connected to the winding.

[0016] A harmonic reducer comprises a cam, a flexible external gear and a rigid internal gear which are sequentially mounted from the inside to the outside, wherein the cam adopts a wave rotor as described in any one of the above items.

[0017] It can be seen from the above technical solution that the present invention discloses a waveform rotor, which is used for the integration of a brushless motor and a harmonic reducer. The waveform rotor includes a rotor body, and the rotor body has an elliptical outer circumferential surface and a circular inner circumferential surface. The circular inner circumferential surface can be used to evenly arrange permanent magnets to form an outer rotor of the brushless motor. The elliptical outer circumferential surface can be used as a wave generator of a harmonic speed limiter, thereby integrating the rotor of the brushless motor with the wave generator of the harmonic reducer.

[0018] The above-mentioned waveform rotor combines the rotor of the brushless motor with the wave generator of the harmonic reducer, so that it can be used as the rotor of the brushless motor and the wave generator of the harmonic reducer at the same time, thereby realizing the integration of the brushless motor and the harmonic reducer. The number of components of the deceleration device using the above-mentioned waveform rotor is reduced, the appearance is more compact, and the volume and weight are also reduced accordingly, which can meet the current miniaturization and lightweight application requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic structural diagram of a rotor body of a wave rotor provided in an embodiment of the present invention;

[0021] Figure 2 A rear view of a rotor body of a wave rotor provided in an embodiment of the present invention;

[0022] Figure 3 A top view of a rotor body of a wave rotor provided in an embodiment of the present invention.

[0023] In the figure:

[0024] 1 is the rotor body; 101 is the rotor frame; 102 is the rotating shaft; 103 is the elliptical outer peripheral surface; 104 is the permanent magnet; 105 is the hollow hole; 106 is the circular inner peripheral surface. DETAILED DESCRIPTION

[0025] One of the cores of the present invention is to provide a wave rotor, the structural design of which enables it to integrate a brushless motor and a harmonic reducer into one, thereby reducing the volume and weight of the reduction motor using the wave rotor and meeting the application requirements of miniaturization and lightweight.

[0026] Another core of the present invention is to provide a brushless motor and a harmonic reducer including the above-mentioned wave rotor.

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figures 1 to 3 , Figure 1 A schematic diagram of the structure of the rotor body of the wave rotor provided in an embodiment of the present invention, Figure 2 A rear view of a rotor body of a wave rotor provided in an embodiment of the present invention, Figure 3 A top view of a rotor body of a wave rotor provided in an embodiment of the present invention.

[0029] A wave rotor is disclosed in an embodiment of the present invention. The wave rotor is used for integrating a brushless motor and a harmonic reducer. The wave rotor includes a rotor body 1. The rotor body 1 has an elliptical outer circumferential surface 103 and a circular inner circumferential surface 106. The circular inner circumferential surface 106 can be used to evenly arrange permanent magnets 104 to form an outer rotor of the brushless motor. The elliptical outer circumferential surface 103 can be used as a wave generator of a harmonic speed limiter, thereby integrating the rotor of the brushless motor and the wave generator of the harmonic reducer into one.

[0030] It should be noted that the outer peripheral surface of the rotor body 1 may be an elliptical surface, or may be a quasi-elliptical surface formed by smoothly connecting multiple curved surfaces.

[0031] It can be seen that compared with the prior art, the waveform rotor provided in the embodiment of the present invention combines the rotor of the brushless motor with the wave generator of the harmonic reducer, so that it can be used as the rotor of the brushless motor and the wave generator of the harmonic reducer at the same time, thereby realizing the integration of the brushless motor and the harmonic reducer. The number of components for deceleration using the above-mentioned waveform rotor is reduced, the appearance is more compact, and the volume and weight are also reduced accordingly, which can meet the current application requirements of miniaturization and lightweight.

[0032] Furthermore, in an embodiment of the present invention, the wave rotor also includes a wave generator bearing, which can be flexurally deformed in the radial direction. The wave generator bearing is mounted on the elliptical outer circumferential surface 103 of the rotor body 1, and the wave generator bearing as a whole is flexurally deformed into an elliptical shape along the elliptical outer circumferential surface 103 of the rotor body 1.

[0033] Specifically, in an embodiment of the present invention, the wave generator bearing includes an inner ring, an outer ring, a retaining frame and a plurality of rolling elements. The outer ring is sleeved outside the inner ring. Both the inner ring and the outer ring are annular. A first raceway is arranged on the outer surface of the inner ring, and a second raceway is arranged on the inner surface of the outer ring. The first raceway and the second raceway are arranged opposite to each other. The shapes of the surfaces of the first raceway and the second raceway include but are not limited to a spherical surface, an elliptical surface, a cylindrical surface, and a conical surface. The retaining frame is arranged between the inner ring and the outer ring. Each rolling element is arranged on the retaining frame, and the rolling element rolls with the inner ring and the outer ring respectively. The rolling element includes but is not limited to balls and rollers. The inner ring is sleeved on the elliptical outer circumferential surface 103 of the rotor body 1. The inner ring, the outer ring and the retaining frame can be flexurally deformed in the radial direction.

[0034] To further optimize the above technical solution, the inner ring and the rotor body 1 may be interference fit, or, in an embodiment of the present invention, the inner ring and the rotor body 1 are an integral structure, that is, the inner ring and the rotor body 1 are inseparable.

[0035] like Figure 2 and Figure 3As shown, in an embodiment of the present invention, the rotor body 1 includes a rotor skeleton 101 and a rotating shaft 102. The rotor skeleton 101 includes an annular wall and an end plate arranged at one end of the annular wall. The outer circumferential wall surface of the annular wall is an elliptical outer circumferential surface 103 of the rotor body, and the inner circumferential wall surface of the annular wall is a circular inner circumferential surface 106 of the rotor body. One end of the rotating shaft 102 is coaxially connected to the end plate with the inner circumferential wall surface of the annular wall, and the other end of the rotating shaft 102 extends from one end of the annular wall away from the end plate.

[0036] like Figure 2 As shown, a plurality of permanent magnets 104 are evenly spaced along the circumferential direction on the inner circumferential surface of the annular wall.

[0037] In order to reduce the weight of the rotor body 1, as Figure 2 As shown, in one embodiment of the present invention, a plurality of hollow holes 105 are evenly spaced along the circumferential direction on the end plate, and the shapes of the hollow holes 105 include but are not limited to fan-shaped, circular, strip-shaped and the like.

[0038] An embodiment of the present invention also provides a brushless motor, which includes a stator assembly and a rotor assembly rotatably disposed outside the stator assembly. The rotor assembly adopts the waveform rotor described in the above embodiment. Since the brushless motor adopts the waveform rotor in the above embodiment, the brushless motor is easy to combine with a harmonic reducer to reduce the volume and weight of the combined motor.

[0039] Specifically, in an embodiment of the present invention, the above-mentioned stator assembly includes a casing, an iron core and a winding wound on the iron core. The iron core is fixedly arranged in the casing, and the installation shaft in the casing passes through the iron core and is rotatably matched with the rotor assembly. The multiple permanent magnets of the rotor assembly are surrounded by the periphery of the iron core.

[0040] Preferably, a driver is disposed on the outer surface of the housing, and the driver is electrically connected to the winding.

[0041] An embodiment of the present invention also provides a harmonic reducer, which includes a cam, a flexible external gear and a rigid internal gear which are sequentially assembled from the inside to the outside. The cam adopts the wave rotor described in the above embodiment. Since the harmonic reducer adopts the wave rotor in the above embodiment as the cam, the harmonic reducer is easy to be combined with a brushless motor to reduce the volume and weight of the combined motor.

[0042] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0043] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A wave rotor for integration of a brushless motor and a harmonic reducer, characterized in that: The wave rotor includes a rotor body having an elliptical outer peripheral surface to integrate the rotor of the brushless motor and the wave generator of the harmonic reducer.

2. The wave rotor according to claim 1, characterized in that: The wave rotor further includes a wave generator bearing, which can be flexibly deformed in the radial direction. The wave generator bearing is sleeved on the elliptical outer peripheral surface of the rotor body, and the wave generator bearing is flexibly deformed as a whole into an elliptical shape along the elliptical outer peripheral surface of the rotor body.

3. The wave rotor according to claim 2, characterized in that: The wave generator bearing includes an inner ring, an outer ring, a retaining frame and a plurality of rolling elements. The outer ring is sleeved on the outside of the inner ring, the retaining frame is arranged between the inner ring and the outer ring, each of the rolling elements is arranged on the retaining frame, and the rolling elements are respectively rolling-matched with the inner ring and the outer ring. The inner ring is sleeved on the elliptical outer circumferential surface of the rotor body, and the inner ring, the outer ring and the retaining frame can be flexurally deformed in the radial direction.

4. The wave rotor according to claim 3, characterized in that: The inner ring and the rotor body are an integral structure.

5. The wave rotor according to any one of claims 1 to 4, characterized in that: The rotor body includes a rotor frame and a rotating shaft. The rotor frame includes an annular wall and an end plate arranged at one end of the annular wall. The outer circumferential wall surface of the annular wall is an elliptical outer circumferential surface of the rotor body, and the inner circumferential wall surface of the annular wall is a circular ring wall surface. One end of the rotating shaft is coaxially connected to the end plate with the inner circumferential wall surface of the annular wall, and the other end of the rotating shaft extends from one end of the annular wall away from the end plate.

6. The wave rotor according to claim 5, characterized in that: A plurality of permanent magnets are evenly spaced and arranged on the inner circumferential surface of the annular wall along the circumferential direction.

7. The wave rotor according to claim 5, characterized in that: A plurality of hollow holes are evenly spaced along the circumferential direction on the end plate.

8. A brushless motor, comprising a stator assembly and a rotor assembly rotatably disposed outside the stator assembly, characterized in that: The rotor assembly adopts the wave rotor as described in any one of claims 1-7.

9. The brushless motor according to claim 8, characterized in that: The stator assembly includes a casing, an iron core and a winding wound on the iron core. The iron core is fixedly arranged in the casing. The mounting shaft in the casing passes through the iron core and is rotatably matched with the rotor assembly. A plurality of permanent magnets of the rotor assembly surround the periphery of the iron core.

10. The brushless motor according to claim 9, characterized in that: A driver is arranged on the outer surface of the housing, and the driver is electrically connected to the winding.

11. A harmonic reducer, comprising a cam, a flexible external gear and a rigid internal gear which are sequentially mounted from the inside to the outside, characterized in that: The cam adopts the wave rotor as described in any one of claims 1-7.

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