Planetary harmonic reducer and mid-motor using same

Abstract

The invention discloses a planetary harmonic reducer and a middle motor using the planetary harmonic reducer. The planetary harmonic reducer comprises a wave generator, a flexible gear, an output flange plate, a crossed roller bearing, a rigid gear, a needle bearing, a sun gear, a planetary gear, a planetary gear carrier and a planetary gear ring. The planetary harmonic reducer is arranged, output power of a motor rotor is transmitted to the wave generator through the center gear, the planetary gear and the planetary gear carrier, the wave generator rotates and drives the flexible gear to rotate in a speed reduction mode, and therefore speed reduction is achieved, and compared with an existing wave generator, the double-speed-reduction mode is adopted, torque is increased, and the speed reduction effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of mid-mounted motors, and in particular to a planetary harmonic reducer and a mid-mounted motor using the reducer. Background Art

[0002] Because the harmonic reducer has the characteristics of small size, large reduction ratio, large number of meshing teeth, stable transmission, high load-bearing capacity and high transmission accuracy, it is widely used in aerospace, military, industrial robots and other fields. The harmonic reducer is mainly composed of three major components, namely the wave generator, the flexible wheel and the rigid wheel. Since the harmonic transmission mainly relies on the wave generator with an elliptical shaft to force the flexible wheel to undergo elastic deformation, and then mesh with the rigid wheel for transmission, the flexible wheel is a thin-walled structure with a small modulus and a large number of teeth. During the transmission process, the flexible wheel teeth and thin walls are very likely to break, which directly affects the load-bearing capacity and service life of the reducer. When a harmonic reducer of the same volume needs to use a larger reduction ratio, the traditional reducer structure can only be achieved by increasing the number of teeth of the rigid wheel and the flexible wheel, which will result in smaller teeth of the rigid and flexible wheels meshing, increasing the design difficulty and processing cost.

[0003] In existing technical solutions, a single mechanical device, a harmonic reducer, is usually used to achieve the deceleration function of the central motor. However, this deceleration method has certain limitations because the reduction ratio it can provide is relatively limited and cannot meet the needs of all application scenarios. Although the harmonic reducer has the advantages of compact structure, smooth transmission and large transmission ratio, its deceleration capacity may not be sufficient to achieve the desired effect in some high-precision or high-load applications.

[0004] Therefore, how to provide a planetary harmonic reducer and a mid-mounted motor using the reducer to solve the problems existing in the prior art is of great significance to its application. Summary of the invention

[0005] In view of this, the purpose of this application is to provide a planetary harmonic reducer and a mid-mounted motor using the reducer to solve the problem that the reduction ratio provided by the existing harmonic reducer is relatively limited and cannot meet the needs of all application scenarios.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A planetary harmonic reducer and a mid-mounted motor using the reducer, the planetary harmonic reducer comprising: a wave generator, a flexible wheel, an output flange, a cross roller bearing, a rigid wheel, a needle roller bearing, a central gear, a planetary gear, a planetary gear carrier, and a planetary gear ring;

[0008] The wave generator is installed on the inner side of the flexible wheel, the flexible wheel is meshed and connected with the rigid wheel part, the flexible wheel is drivingly connected with the output flange, the planetary gear frame is fixedly connected with the wave generator, and three planetary gears are installed on the side of the planetary gear frame, the inner sides of the three planetary gears are meshed and connected with the central gear, and the outer sides of the three planetary gears are meshed and connected with the planetary gear ring.

[0009] Preferably, the central motor includes a main shaft, a motor stator assembly, a motor rotor, a rotor output shaft, a motor housing 1 and a motor housing 2, the motor rotor is installed inside the motor stator assembly, the motor stator assembly is fixedly connected to the motor housing 1, the motor rotor is rotationally connected to the main shaft through a bearing, and the motor rotor is transmission connected to the center gear through the rotor output shaft.

[0010] Preferably, the rigid wheel is installed inside the second motor housing, and the output flange is connected to the main shaft through a needle bearing transmission.

[0011] Preferably, end covers are installed on the outer side of the motor stator assembly and the outer side of the second motor housing, and the two ends of the main shaft are rotatably connected to the two end covers respectively.

[0012] Preferably, a waterproof pad 1 is provided between the motor housing 1 and the motor housing 2, and the motor housing 1 and the motor housing 2 are fixed by bolts.

[0013] Preferably, the flexible wheel is installed inside the second motor housing through a cross roller bearing.

[0014] Preferably, the wave generator is rotatably connected to the main shaft via a bearing.

[0015] Preferably, a controller housing is installed at the top of the motor housing 1 and the motor housing 2, a controller is installed inside the controller housing, and a waterproof pad 2 is provided on the connecting surface between the controller housing and the motor housing 1 and the motor housing 2.

[0016] Preferably, a torque sensor is installed inside the second motor housing, and a detection end of the torque sensor is connected to the main shaft.

[0017] Preferably, the planetary ring gear is installed inside the motor housing.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention is provided with a planetary harmonic reducer. The power output of the motor rotor is transmitted to the wave generator through the central gear, the planetary gear, and the planetary gear carrier. The wave generator rotates and drives the flexible wheel to reduce the speed, thereby achieving deceleration. Compared with the existing wave generator, the present invention adopts a double deceleration method to increase the torque and achieve a better deceleration effect.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings as follows.

[0021] Based on the detailed description of the specific embodiments of the present application in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0023] Figure 1 This is an exploded view of the structure of Embodiment 1 of the present invention;

[0024] Figure 2 It is a structural diagram of the planetary gear carrier of the present invention;

[0025] Figure 3 It is the appearance diagram of the present invention.

[0026] In the figure: 1. end cover; 2. motor stator assembly; 3. motor rotor; 4. wave generator; 5. motor housing 1; 6. waterproof pad 1; 7. flexible wheel; 8. waterproof pad 2; 9. controller housing; 10. controller; 11. output flange; 12. cross roller bearing; 13. rigid wheel; 14. needle bearing; 15. motor housing 2; 16. torque sensor; 17. rotor output shaft; 18. main shaft; 19. center gear; 20. planetary gear; 21. planetary gear carrier; 22. gear ring; 23. movable ring; 24. hinge block; 25. rotating ring; 26. arc connecting rod; 27. locking block; 28. locking teeth; 29. ​​pushing mechanism; 291. micro motor; 292. threaded rod; 293. sliding block. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all of the embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures is omitted in the embodiment.

[0028] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0029] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0030] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0031] See also Figure 1-3 The present invention provides a planetary harmonic reducer and a technical solution of a mid-mounted motor using the reducer:

[0032] A planetary harmonic reducer and a mid-mounted motor using the reducer, the planetary harmonic reducer comprising: a wave generator 4, a flexible wheel 7, an output flange 11, a cross roller bearing 12, a rigid wheel 13, a needle roller bearing 14, a central gear 19, a planetary gear 20, a planetary gear carrier 21, and a planetary gear ring 22;

[0033] The wave generator 4 is installed on the inner side of the flexible wheel 7, the flexible wheel 7 is partially meshed and connected with the rigid wheel 13, the flexible wheel 7 is transmission-connected with the output flange 11, the planetary gear carrier 21 is fixedly connected with the wave generator 4, and three planetary gears 20 are installed on the side of the planetary gear carrier 21, the inner sides of the three planetary gears 20 are meshed and connected with the central gear 19, and the outer sides of the three planetary gears 20 are meshed and connected with the planetary ring gear 22.

[0034] In this embodiment, the central gear 19 drives the three planetary gears 20 to rotate. Since the planetary ring gear 22 is provided, the planetary gears 20 rotate inside the planetary ring gear 22, and the planetary gear carrier 21 rotates at a reduced speed, and the planetary gear carrier 21 drives the wave generator 4 to rotate at a low speed.

[0035] The mid-mounted motor includes a main shaft 18, a motor stator assembly 2, a motor rotor 3, a rotor output shaft 17, a motor housing 1 5 and a motor housing 2 15. The motor rotor 3 is installed inside the motor stator assembly 2. The motor stator assembly 2 is fixedly connected to the motor housing 1 5. The motor rotor 3 is rotationally connected to the main shaft 18 through a bearing. The motor rotor 3 is transmission-connected to the center gear 19 through the rotor output shaft 17.

[0036] When the mid-mounted motor is used for driving, the motor rotor 3 rotates and is transmitted to the central gear 19 through the rotor output shaft 17 to realize transmission.

[0037] The rigid wheel 13 is installed inside the motor housing 15, and the output flange 11 and the main shaft 18 are connected through the needle bearing 14. The output flange 11 and the main shaft 18 can rotate in one direction through the needle bearing 14, avoiding human output driving the motor to rotate, which is more labor-saving.

[0038] End covers 1 are installed on the outer side of the motor stator assembly 2 and the outer side of the motor housing 15 , and the two ends of the main shaft 18 are rotatably connected to the two end covers 1 respectively.

[0039] A waterproof pad 16 is provided between the motor housing 1 5 and the motor housing 2 15 . The motor housing 1 5 and the motor housing 2 15 are fixed by bolts, and the waterproof pad 16 realizes waterproofing between the motor housing 1 5 and the motor housing 2 15 .

[0040] The flexible wheel 7 is installed inside the motor housing 15 through the cross roller bearing 12.

[0041] The wave generator 4 is rotatably connected to the main shaft 18 via a bearing.

[0042] A controller housing 9 is installed at the top of motor housing 1 5 and motor housing 2 15, a controller 10 is installed inside the controller housing 9, and a waterproof pad 2 8 is provided on the connecting surface between the controller housing 9 and motor housing 1 5 and motor housing 2 15, which improves the waterproof property of the controller housing 9 when it is installed.

[0043] A torque sensor 16 is installed inside the motor housing 15 . The detection end of the torque sensor 16 is connected to the main shaft 18 . The torque sensor 16 is used to detect the output torque of the main shaft 18 .

[0044] The planetary ring gear 22 is installed inside the motor housing 5.

[0045] When used specifically:

[0046] The power output of the motor rotor 3 is transmitted to the wave generator 4 through the central gear 19, the planetary gear 20, the planetary gear carrier 21, and the reduction gear. The wave generator 4 rotates and drives the flexible wheel 7 to rotate at a reduced speed. The flexible wheel 7 drives the output flange 11 and the main shaft 18 to transmit, thereby achieving further deceleration. Compared with the existing wave generator, the present invention adopts a double deceleration method to improve the torque and achieve a better deceleration effect. The high-speed rotation of the motor rotor 3 in the present invention has been decelerated before being transmitted to the wave generator 4 of the harmonic deceleration mechanism, so that the rotation speed of the wave generator 4 reduces the number of elastic deformations of the flexible wheel 7 and improves the service life of the flexible wheel 7. The present invention achieves a high reduction ratio without increasing the number of teeth of the rigid wheel and the flexible wheel, avoids smaller teeth of the rigid and flexible wheels meshing, and reduces the design difficulty and processing cost.

[0047] At the same time, the vibration generated when the motor rotor 3 rotates is reduced and transmitted to the wave generator 4 through the clearance fit of the central gear 19, the planetary gear 20, and the planetary gear carrier 21, thereby further improving the service life.

[0048] The above description is only the preferred embodiment of the present invention, which does not limit the protection scope of the present invention. For those skilled in the art, the present invention can be modified and varied in various ways. Within the spirit and principle of the present invention, any change, modification, replacement, integration and parameter change of these embodiments by conventional substitution or capable of achieving the same function without departing from the principle and spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. A planetary harmonic reducer and a mid-mounted motor using the reducer, characterized in that: The planetary harmonic reducer comprises: a wave generator (4), a flexible wheel (7), an output flange (11), a cross roller bearing (12), a rigid wheel (13), a needle roller bearing (14), a central gear (19), a planetary gear (20), a planetary gear carrier (21), and a planetary ring gear (22); The wave generator (4) is installed on the inner side of the flexible wheel (7), the flexible wheel (7) is partially meshed and connected with the rigid wheel (13), the flexible wheel (7) is transmission-connected with the output flange (11), the planetary gear carrier (21) is fixedly connected with the wave generator (4), and three planetary gears (20) are installed on the side of the planetary gear carrier (21), the inner sides of the three planetary gears (20) are meshed and connected with the central gear (19), and the outer sides of the three planetary gears (20) are meshed and connected with the planetary gear ring (22).

2. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 1, characterized in that: The central motor comprises a main shaft (18), a motor stator assembly (2), a motor rotor (3), a rotor output shaft (17), a motor housing (5) and a motor housing (15); the motor rotor (3) is installed inside the motor stator assembly (2); the motor stator assembly (2) is fixedly connected to the motor housing (5); the motor rotor (3) is rotatably connected to the main shaft (18) via a bearing; and the motor rotor (3) is transmission-connected to a central gear (19) via the rotor output shaft (17).

3. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 2, characterized in that: The rigid wheel (13) is installed inside the second motor housing (15), and the output flange (11) and the main shaft (18) are connected by transmission via a needle bearing (14).

4. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 3, characterized in that: End covers (1) are installed on the outer side of the motor stator assembly (2) and the outer side of the second motor housing (15), and the two ends of the main shaft (18) are rotatably connected to the two end covers (1) respectively.

5. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 4, characterized in that: A waterproof pad (6) is provided between the motor housing (5) and the motor housing (15), and the motor housing (5) and the motor housing (15) are fixed by bolts.

6. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 5, characterized in that: The flexible wheel (7) is installed inside the second motor housing (15) via a cross roller bearing (12).

7. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 6, characterized in that: The wave generator (4) is rotatably connected to the main shaft (18) via a bearing.

8. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 7, characterized in that: A controller housing (9) is installed at the top of the motor housing 1 (5) and the motor housing 2 (15), a controller (10) is installed inside the controller housing (9), and a waterproof pad 2 (8) is provided on the connection surface between the controller housing (9) and the motor housing 1 (5) and the motor housing 2 (15).

9. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 8, characterized in that: A torque sensor (16) is installed inside the second motor housing (15), and a detection end of the torque sensor (16) is connected to the main shaft (18).

10. A planetary harmonic reducer and a mid-mounted motor using the reducer as claimed in claim 9, characterized in that: The planetary gear ring (22) is installed inside the motor housing (5).

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