Modular harmonic reducer

Abstract

The invention discloses a modular harmonic reducer, and relates to the technical field of reducers. Comprising an input end cover, a circuit board, an integrated shell, a motor stator, a motor rotor, a wave generator, a connecting shaft sleeve, a steel wheel, a flexible wheel and an output shaft, the circuit board is arranged in the input end cover, the input end cover is fixed to one end of the integrated shell, the hollow motor stator is arranged in the integrated shell, and the motor rotor is arranged in the motor stator. A motor rotor is connected with a hollow wave generator, the wave generator is installed in a flexible gear, the flexible gear and a steel wheel achieve speed reduction through differential tooth transmission, the long shaft end of the flexible gear is connected with an output shaft through a connecting shaft sleeve, and an output flange is arranged at the outer end of the output shaft. The structure design is reasonable, the speed reducer and the motor are directly connected and assembled, the installation space is saved, the speed reducer and the motor are in an integrated module type, the assembly gap is effectively eliminated, the equipment precision is improved, the machine body shaking is reduced, and the operation is more stable and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a modular harmonic reducer. Background Art

[0002] When conventional motors and reducers are installed separately, additional installation space is required, which increases the overall size of the equipment. When the flanges are matched, the accumulated clearance fit size will cause the coaxiality of the whole machine to increase, affecting the accuracy and stability of the equipment. Due to poor coaxiality and clearance fit, the equipment may vibrate during operation, affecting the working effect and equipment life.

[0003] In summary, the present invention designs a harmonic reducer for a palletizing robot module. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a modular harmonic reducer with reasonable structural design. The reducer and motor are directly assembled to save installation space. The reducer and motor are integrated into a modular type, which effectively eliminates assembly gaps, improves equipment accuracy, reduces body vibration, and makes operation more stable and reliable.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a modular harmonic reducer, including an input end cover, a circuit board, an integrated housing, a motor stator, a motor rotor, a wave generator, a connecting sleeve, a steel wheel, a flexible wheel and an output shaft, a circuit board is arranged in the input end cover, the input end cover is fixed to one end of the integrated housing, a hollow motor stator is arranged in the integrated housing, a motor rotor is arranged in the motor stator, the motor rotor is connected to the hollow wave generator, the wave generator is installed in the flexible wheel, the flexible wheel and the steel wheel realize deceleration through differential gear transmission, the long shaft end of the flexible wheel is connected to the output shaft through a connecting sleeve, and the outer end of the output shaft is an output flange.

[0006] Preferably, the circuit board is integrated with temperature, vibration and rotation speed sensors to achieve real-time status monitoring and fault warning.

[0007] Preferably, the motor rotor is directly connected to the wave generator.

[0008] Preferably, the motor rotor adopts a neodymium iron boron motor rotor to improve the motor efficiency and power density. The motor rotor is mounted on the input end cover through a motor mounting seat, and a motor bearing is provided on the motor mounting seat, and the motor bearing is connected to the motor rotor.

[0009] Preferably, the output shaft is arranged through the center of the reducer.

[0010] Preferably, the output shaft and the output flange are an integrated structure.

[0011] Preferably, a flexible connector is provided at the connection between the output flange and the external load to reduce vibration transmission.

[0012] Preferably, a mounting hole is provided on the output flange.

[0013] Preferably, the integrated housing is provided with heat sinks or heat dissipation channels to ensure that the motor can effectively dissipate heat.

[0014] Beneficial effects of the invention: The invention has the characteristics of compact structure, high precision, low jitter and high reliability. It is directly connected to the motor for assembly, which saves installation space. The reducer and motor are integrated into a modular type, which effectively eliminates the assembly gap and improves the equipment accuracy. Its integrated sensor and heat dissipation design further improve the intelligence level and operation stability of the equipment, and is suitable for high-precision transmission fields such as robots, precision machine tools, and aerospace. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments;

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the decomposition of the present invention. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] Reference Figure 1-2 The present specific implementation adopts the following technical scheme: a modular harmonic reducer, comprising an input end cover 1, a circuit board 2, an integrated housing 3, a motor stator 4, a motor rotor 5, a wave generator 6, a connecting sleeve 7, a steel wheel 8, a flexible wheel 9 and an output shaft 10. The input end cover 1 is provided with a circuit board 2, the input end cover 1 is fixed to one end of the integrated housing 3, a hollow motor stator 4 is provided in the integrated housing 3, a motor rotor 5 is provided in the motor stator 4, the motor rotor 5 is connected to the hollow wave generator 6, the wave generator 6 is installed in the flexible wheel 9, the flexible wheel 9 and the steel wheel 8 realize deceleration through differential gear transmission, the long shaft end of the flexible wheel 9 is connected to the output shaft 10 through the connecting sleeve 7, and the outer end of the output shaft 10 is an output flange 11.

[0020] It is worth noting that the circuit board 2 is integrated with temperature, vibration and rotation speed sensors to achieve real-time status monitoring and fault warning.

[0021] It is worth noting that the motor rotor 5 is directly connected to the wave generator 6 .

[0022] It is worth noting that the motor rotor 5 adopts a neodymium iron boron motor rotor to improve the motor efficiency and power density. The motor rotor 5 is installed on the input end cover 1 through a motor mounting seat 41, and a motor bearing 42 is provided on the motor mounting seat 41, and the motor bearing 42 is connected to the motor rotor 5.

[0023] It is worth noting that the output shaft 10 is arranged to pass through the center of the reducer.

[0024] It is worth noting that the output shaft 10 and the output flange 11 are an integrated structure.

[0025] It is worth noting that a flexible connector is provided at the connection between the output flange 11 and the external load, which reduces vibration transmission.

[0026] It is worth noting that a mounting hole 12 is provided on the output flange 11 .

[0027] It is worth noting that the integrated housing 3 is provided with heat sinks or heat dissipation channels to ensure that the motor can effectively dissipate heat.

[0028] In addition, the steel wheel 8 is also connected to the output housing 13 .

[0029] The working principle of this specific embodiment is as follows: first, the motor stator 4 generates a rotating magnetic field after being energized, driving the motor rotor 5 (made of high-performance NdFeB material) to rotate; the motor rotor 5 is directly connected to the wave generator 6 to transmit the rotational motion to the wave generator 6; the wave generator 6 is installed in the flexible wheel 9, and the rotation of the wave generator 6 causes the flexible wheel 9 to undergo elastic deformation; the flexible wheel 9 and the steel wheel 8 achieve reduction transmission through differential tooth meshing, and the number of teeth of the flexible wheel 9 is less than that of the steel wheel 8, thereby achieving a high reduction ratio; the long axis end of the flexible wheel 9 is connected to the output shaft 10 through the connecting sleeve 7, and the reduced rotational motion is transmitted to the output shaft 10; the output shaft 10 and the output flange 11 are an integrated structure, and finally the power is transmitted to the external load through the output flange 11; the circuit board 2 integrates temperature, vibration, and speed sensors to monitor the operating status of the equipment in real time and realize fault warning; the integrated housing 3 is provided with a heat sink or a heat dissipation channel to ensure that the motor and the reducer effectively dissipate heat during operation.

[0030] In this specific embodiment, the motor and reducer are designed as an integrated whole and directly assembled, which reduces the installation space requirements of the traditional separate structure. The transmission accuracy of the equipment is improved by eliminating the assembly gap and adopting high-precision transmission components (such as flexible wheels and steel wheels). A flexible connector is provided between the output flange 11 and the external load, which effectively reduces the vibration transmission and makes the operation smoother. The motor rotor 5 is made of neodymium iron boron material, which improves the motor efficiency and power density. The harmonic reducer itself has a high reduction ratio and high transmission efficiency, which is suitable for precision transmission occasions. The circuit board 2 integrates temperature, vibration, and speed sensors, which can monitor the equipment status in real time, warn of potential faults in advance, and improve equipment reliability. The integrated housing 3 is provided with a heat sink or a heat dissipation channel to ensure that the motor and reducer maintain good heat dissipation performance during long-term operation and avoid performance degradation caused by overheating.

[0031] The integrated design of this specific embodiment makes the structure more modular and convenient for installation, disassembly and maintenance. The output flange 11 is provided with a mounting hole 12, which is convenient for quick connection with an external load and adapts to a variety of application scenarios. The output shaft 10 and the output flange 11 are an integrated structure, which enhances the overall rigidity and reduces deformation and wear. Key components such as the flexible wheel and the steel wheel are made of wear-resistant materials to extend the service life.

[0032] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Modular harmonic reducer, characterized in that: The invention comprises an input end cover (1), a circuit board (2), an integrated housing (3), a motor stator (4), a motor rotor (5), a wave generator (6), a connecting sleeve (7), a steel wheel (8), a flexible wheel (9) and an output shaft (10). The input end cover (1) is provided with a circuit board (2). The input end cover (1) is fixed to one end of the integrated housing (3). A hollow motor stator (4) is provided in the integrated housing (3). A motor rotor (5) is provided in the motor stator (4). The motor rotor (5) is connected to the hollow wave generator (6). The wave generator (6) is installed in the flexible wheel (9). The flexible wheel (9) and the steel wheel (8) are decelerated by differential gear transmission. The long shaft end of the flexible wheel (9) is connected to the output shaft (10) through the connecting sleeve (7). The outer end of the output shaft (10) is an output flange (11).

2. The modular harmonic reducer according to claim 1, characterized in that: The circuit board (2) is integrated with temperature, vibration and rotation speed sensors to achieve real-time status monitoring and fault early warning.

3. The modular harmonic reducer according to claim 1, characterized in that: The motor rotor (5) is directly connected to the wave generator (6).

4. The modular harmonic reducer according to claim 1, characterized in that: The motor rotor (5) is a neodymium iron boron motor rotor. The motor rotor (5) is mounted on the input end cover (1) via a motor mounting seat (41). A motor bearing (42) is provided on the motor mounting seat (41). The motor bearing (42) is connected to the motor rotor (5).

5. The modular harmonic reducer according to claim 1, characterized in that: The output shaft (10) is arranged to pass through the center of the reducer.

6. The modular harmonic reducer according to claim 1, characterized in that: The output shaft (10) and the output flange (11) are an integrated structure.

7. The modular harmonic reducer according to claim 1, characterized in that: A flexible connection piece is provided at the connection between the output flange (11) and the external load, thereby reducing vibration transmission.

8. The modular harmonic reducer according to claim 1, characterized in that: The output flange (11) is provided with a mounting hole (12).

9. The modular harmonic reducer according to claim 1, characterized in that: The integrated housing (3) is provided with heat sinks or heat dissipation channels to ensure that the motor can effectively dissipate heat.

10. The modular harmonic reducer according to claim 1, characterized in that: The steel wheel (8) is also connected to the output housing (13).

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